| 摘要 |
PROBLEM TO BE SOLVED: To suitably conduct follow-up control in correspondence with an operation state of a preceding vehicle to be followed-up. SOLUTION: A target candidate recognized in a predetermined detection area is determined whether it exists in an estimated travel locus of an own vehicle or not (step S11). The target candidate existing in the estimated travel locus is determined whether it is a traveling object moving to the traveling direction of the own vehicle or not (step S12). When the target candidate existing in the estimated travel locus is a stopped vehicle or a facing vehicle or the like, it is determined whether the target candidate is a control target at a previous process or not (step S14). When the determination result is 'YES', it is determined that a lock condition is established (step S13). When the determination result is 'NO', the target candidate is determined that the target candidate is set as the control target in the past time, and after the release of the set, it is determined whether the elapsed time is within a predetermined time range or not (step S15). When the determination result is 'YES', it is determined that the lock condition is established.
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