| 摘要 |
PROBLEM TO BE SOLVED: To provide an apparatus for recognizing a preceding vehicle, having a preceding vehicle detection means for detecting a preceding vehicle in front of the own vehicle, to accurately determine a preceding vehicle on the course of the own vehicle by estimating as accurately as possible the course of the own vehicle based on the yaw rate and speed of the own vehicle. SOLUTION: Yaw rate is corrected based on the inter-vehicular distance between the preceding vehicle and the own vehicle and the steering angle velocity of the steering of the own vehicle (step S6, S7, S9 and S10). Based on the yaw rate corrected and the speed of the own vehicle, the course of the own vehicle is estimated (step S11). COPYRIGHT: (C)2008,JPO&INPIT
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