ON-VEHICLE OBJECT DETERMINATION DEVICE

摘要

PROBLEM TO BE SOLVED: To provide an on-vehicle object determination device which can determine whether or not an obstacle detected by an obstacle sensor is a mobile object regardless of whether the own vehicle is traveling or stopping.SOLUTION: An on-vehicle object determination device comprises: a detection state estimation part 16 which estimates the detection states of an obstacle by a first ultrasonic sensor 2a and a second ultrasonic sensor 2b at the current time point when the obstacle is assumed to be stationary on the basis of the position of the obstacle detected by the first ultrasonic sensor 2a and the second ultrasonic sensor 2b with respect to the own vehicle, the installation positions of the first ultrasonic sensor 2a and the second ultrasonic sensor 2b, and the positional change of the own vehicle from the detection of the obstacle to the current time point; and a determination part 19 which determines that the obstacle is the mobile object on the basis of the divergence of the detection state of the obstacle estimated by the detection state estimation part 16 from the actual detection states of the obstacle by the first ultrasonic sensor 2a and the second ultrasonic sensor 2b at the current time point.SELECTED DRAWING: Figure 1