| 摘要 |
PROBLEM TO BE SOLVED: To provide an obstacle determination device that prevents an increase in load during collision determination control and improves accuracy of collision determination.SOLUTION: An obstacle determination device 1 includes a driving support ECU 3 that determines a collision with an obstacle detected by an output of a radar 2 mounted on a vehicle, to support driving of the vehicle. The driving support ECU 3 uses a distance of a null point section formed by null points where an output of the radar 2 decreases, as an inter-null-point distance, and determines that a vehicle does not collide with the obstacle when a predetermined number of null point sections or more having inter-null-point distance shorter than an inter-null-point distance of a reference section are detected at a distance far from the reference null point section closest to the vehicle in a predetermined range. |
