| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To prevent the incidence of misjudging a controlled object even when reliability of a future traveling track of a driver's vehicle is reduced. <P>SOLUTION: A controlled object judging means M4 judges a controlled object based on the result of detection by a radar device 14 of an object present in the direction that a driver's vehicle is travelling, a future travelling track of a driver's vehicle estimated by a travelling track estimation means M1 from the vehicle speed and the yaw rate, and predetermined controlled object judgment conditions. A lateral relative speed detection means M3 detects a lateral relative speed of the object to a driver's vehicle. When the estimated travelling track is not in a linear state, and the lateral relative speed of the object is under the threshold value, or when the estimated travelling track is in a linear state, and the lateral relative speed of the object is the threshold value or above, the object beyond the predetermined distance from a driver's vehicle is excluded from the control. In this way, misjudgment of a vehicle travelling ahead in a neighboring lane as a controlled vehicle can be prevented. <P>COPYRIGHT: (C)2006,JPO&NCIPI</p> |
