OBSTACLE DETECTION APPARATUS, ACCELERATION SUPPRESSION CONTROL APPARATUS, AND OBSTACLE DETECTION METHOD

摘要

PROBLEM TO BE SOLVED: To provide an obstacle detection apparatus which determines whether an object located in an advancing direction of a vehicle is a stationary object or not with high determination accuracy.SOLUTION: A sonar detects an object located in an advancing direction of a vehicle, and calculates a detection distance Ds to the detected object. The detection distance Ds obtained when the object is detected is stored as an initial detection distance Db. A moving distance &Dgr;D of the vehicle moving from the time when the object is detected, is detected according to rotation of a wheel. An estimated distance De to the object is calculated by subtracting the moving distance &Dgr;D from the initial detection distance Db. When a difference between the detection distance Ds and the estimated distance De is within a predetermined range after the first detection of the object, the object is determined as a stationary object.