| 摘要 |
PROBLEM TO BE SOLVED: To naturally and stably realize traveling control by realizing fine traveling vehicle detection requested according to a traveling environment or the detection state of an on-vehicle camera or the like. SOLUTION: When it is decided that a vehicle is not in a state that a remote place can not be satisfactorily recognized, a traveling region is enlarged, and when it is decided that the vehicle is put in a state that the remote place can be satisfactorily recognized, the traveling region is reduced, and the preceding vehicle is extracted on the basis of the traveling region. The quantity of the enlargement of the traveling region is varied according to the traveling environment at that time or the detection status of a white line, and the quantity of the reduction of the traveling region is varied according to the recognition state of the white line and the farthest recognition distance. COPYRIGHT: (C)2005,JPO&NCIPI
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