| 摘要 |
PROBLEM TO BE SOLVED: To sense an object before a vehicle, estimate a travel locus of the vehicle and set a predetermined sensing area before the vehicle based on the estimated travel locus. SOLUTION: Based on an object sensed result and the set sensing area, a preceding vehicle is extracted, and based on an inter-vehicular distance, the vehicle is controlled to follow the preceding vehicle. At this time, when a distance with respect to the preceding vehicle sensed within the sensing area is the target inter-vehicular distance or less, the sensing area is expanded in accordance with start of the following traveling, and when the distance with respect to the preceding vehicle is larger than the target inter-vehicular distance, the expansion of the sensing area is prohibited until a predetermined time passes after start of the following traveling. Thus, when the vehicle follows an other vehicle on the next lane by mistake, before stable following of the other vehicle is performed, the other vehicle can be removed from the sensing area. COPYRIGHT: (C)2012,JPO&INPIT
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