| 摘要 |
PROBLEM TO BE SOLVED: To properly perform suppression of support control corresponding to a detected object.SOLUTION: An object recognition device 10 includes a radar device 11 and an imaging device 12 detecting an object, and a support control device 14. The support control device 14 suppresses support control in the case of that it is detected that a vehicle is in a rotation state, and a relative speed of the vehicle to an object is equal to or more than a prescribed speed. The support control device 14 sets a prescribed speed so as to make a brake avoidance limit distance less than a rotation avoidance limit distance when a relative speed is equal to or less than a prescribed speed. The support control device 14 detects that the vehicle is in a rotation state in the case of that a yaw rate of the vehicle has a value corresponding to a direct advance state of the vehicle, and a steering angle or a steering torque of the vehicle has a value changed from a value corresponding to a direct advance state of the vehicle. |
