| 摘要 |
PROBLEM TO BE SOLVED: To prevent errors of detecting obstacles and hasten a detecting timing of the obstacles. SOLUTION: A navigation system 17 detects a driving condition of a vehicle, and estimates a possibility of the presence of obstacles in front of the vehicle based on the detecting result. When a detected time in which a leading vehicle is continuously detected by an intervehicular distance sensor 12 is greater than a leading vehicle detecting time, the leading vehicle is detected as an obstacle of the driving lane. In addition, if the possibility of the presence of obstacles is high such as traffic jam, the leading vehicle detecting time is shortened, and if the possibility is low, the leading vehicle detecting time is lengthened. |
