| 摘要 |
<p>An obstacle determination device (1) provided with a driving assistance ECU (3) for determining collision with an obstacle detected by output from a radar (2) mounted on a vehicle, and assisting with the driving of the vehicle, wherein the driving assistance ECU (3) determines that a collision will not occur with the detected obstacle when the distance across a null-point zone demarcated by null points having reduced output from the radar (2) is set as the distance between the null points, and when a null-point zone having a distance between the null points that is less than the distance between the null points in a reference zone is detected a predetermined number of times or greater farther away than the reference zone in a predetermined range, the reference zone being the null-point zone nearest to the host vehicle.</p> |
