| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To correctly track when one group comprising a plurality of object candidates gathered by an integrating means is separated into two. <P>SOLUTION: When an object candidate position detecting means M2 detects a position of the object candidate, the integrating means M3 gathers the plurality of object candidates detected in a predefined coupling region into one group. When a relative position of the object candidate stored in an integration information storage means M7 varies and a single group is separated into a plurality of groups, a tracking means M5 determines whether any of the object candidates constituting the group before separation is continuously detected on a cruising lane estimated by a cruising lane estimating means M8 where an own vehicle travels. In addition, when the candidate is determined to be continuously detected, continuity is determined between a group after separation and a group before the separation containing the object candidate. Thus, the group detected on the own lane is prevented from being erroneously related with a group separated into another lane and making inappropriate vehicle control. <P>COPYRIGHT: (C)2010,JPO&INPIT</p> |
