| 摘要 |
PROBLEM TO BE SOLVED: To accurately determine a control object like a leading vehicle for controlling a user's own vehicle. SOLUTION: A locus correlation degree calculation means M4 calculates the degree of correlation between a vehicle's future travelling locus estimated by a first travelling locus estimation means M1 based on the speed and the yaw rate of the vehicle, and the vehicle's future travelling locus estimated by a second travelling locus estimation means M3 based on the vehicle's past travelling locus calculated by a travelling locus calculation means M2. A control object determination means M5 determines a control object based on the travelling locus estimated by the first travelling locus estimation means M1 and predetermined control object determination conditions. In this instance the control object determination conditions are changed depending on the degree of correlation, or the degree of reliability of the travelling locus estimated by the first travelling locus estimation means M1. By this arrangement, both securing of the precision of the control object determination and the determination of the control object in the distance are achieved. COPYRIGHT: (C)2006,JPO&NCIPI |
