| 摘要 |
<p>PROBLEM TO BE SOLVED: To accurately determine the detection range of a preceding vehicle even in night-time driving or the like by determining a range for detecting the preceding vehicle based on a side position or the like on the road of an own vehicle. SOLUTION: A range for detecting a preceding vehicle is determined based on a side position or the like in the road of an own vehicle. More specifically, left and right detection rangesθL andθR of the vehicle are determined by a width W of a lane (own lane) where the own vehicle is driving, a distance P where the vehicle deviates from the center of the own lane, and a distance L to the preceding vehicle, thus determining a detection region from one end of the own lane to the other with a radar of a thin beam and hence improving the detection accuracy of the vehicle in the own lane. An own vehicle side position detection part detects a side position in the road of the own vehicle based on the shape (especially, the position of a white line on the road) of the road being captured by a camera. The width W of the road can be obtained from the white line data of the road being captured by the camera.</p> |
