| 摘要 |
An in-vehicle object determining apparatus is provided with a detection state estimating unit (16) that, on the basis of the position relative to the vehicle of an obstacle detected by ultrasonic sensors (2a, 2b) at a first point in time, the installation positions of the ultrasonic sensors, and the change in the position of the vehicle from the first point in time, when the obstacle was detected, to a second point in time, at which a predetermined amount of time has elapsed since the first point in time, calculates the estimated detection state of the obstacle as detected by the ultrasonic sensors at the second point in time if the obstacle were stationary. The in-vehicle object determining apparatus is further provided with a determining unit (19) that determines that the obstacle is a moving object if the calculated estimated detection state of the obstacle deviates from the actual detection state of the obstacle as detected by the ultrasonic sensors at the second point in time. |
