| 摘要 |
PROBLEM TO BE SOLVED: To continuously detect a preceding vehicle even if the absolute speed of the preceding vehicle drops by estimating the present position of an object based on the position of the detection object when the object detected as vehicle cannot be detected as the vehicle. SOLUTION: A vehicle judgment means 26 judges whether a mobile object positioned in front is a vehicle or not by using the absolute speed of the front object, which is detected by a front object absolute speed detection means 22. When it is judged to be the vehicle, the storage of the position of the front object and operated absolute speed is started with first alienation time and second alienation time, when time common to an object position storage means 30 and a speed information storage means 31 is set to be a reference, as variables. When the speed of the front vehicle drops and it becomes lower than prescribed absolute speed, the vehicle judgment means 26 does not judge it to be the vehicle. Then, an object position estimation means 27 and a second object absolute speed storage means 33 estimate the position of the front vehicle by using data stored in the object position storage means 30 and the speed information storage means 31.
|
