| 摘要 |
PROBLEM TO BE SOLVED: To enable tracking of a surrounding vehicle using surrounding vehicle information and a predicted value of the surrounding vehicle information and to enable more interpolation processing to be performed if the abundance of surrounding vehicles is high, in order to enhance safety against collision. SOLUTION: A surrounding vehicle monitoring part 11 detects a surrounding vehicle and calculates surrounding vehicle information including an inter-vehicle distance and a relative speed between the surrounding vehicle and its own vehicle. A tracking part 12 calculates a predicted value of the surrounding vehicle information expected in the next detection for the surrounding vehicle detected this time, compares the predicted value of the surrounding vehicle information and the surrounding vehicle information calculated at the next detection, and determines whether or not the vehicle is an identical vehicle. If it determines that the vehicle is not identical, a collision time calculation part 14 calculates a collision time required for the own vehicle to collide with the surrounding vehicle, and a branching road presence determination part 15 determines whether or not any branching road is present near the own vehicle and the surrounding vehicle. An interpolation frequency control part 16 sets the upper limit number of interpolation according to the collision time and the presence of a branching road. An interpolation section 13 repeatedly executes interpolation processing, within the upper limit number of times, until the surrounding vehicle is recognized again. COPYRIGHT: (C)2008,JPO&INPIT
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