| 摘要 |
PROBLEM TO BE SOLVED: To quickly redetect a preceding vehicle on its own lane when lane deviation prevention control is operated after the detected preceding vehicle is switched. SOLUTION: A preceding vehicle detection device presumes a lane on which its own vehicle travels based on a yaw rate after filter processing for smoothing the change of the yaw rate, and detects the preceding vehicle within the presumed lane. After the detected preceding vehicle is switched, when lane deviation prevention control for controlling the vehicle so that its own vehicle can be prevented from deviating from its own lane, the characteristics of filter processing are reduced so that the level of smoothing of the change of the yaw rate can be reduced. Thus, it is possible to quickly redetect a preceding vehicle 12 on its own lane for a presumed lane 21 before the change of the filter characteristics within a presumed lane 22 after the change of the filter characteristics. COPYRIGHT: (C)2007,JPO&INPIT
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