| 摘要 |
In a vehicle including a distance sensor capable of detecting longitudinal and lateral distances from a subject vehicle to an object, the following steps are carried out: a step of enclosing some of the detection data, detected by the distance sensor, which exist within a first predetermined distance from one another, into a block having a block label assigned thereto, a step of comparing last and current values of the center of gravity position of each block with each other for every same block label to calculate a relative speed of each block relative to the subject vehicle, a step of determining object data by determining that some of the blocks, which exist within a second predetermined distance from one another and a difference between the relative speeds of which is within a preset value, are the same object, and a step of averaging lateral relative speeds of the blocks in the same object to determine a lateral relative speed of the object relative to the subject vehicle. In this manner, objects whose relative motions relative to the subject vehicle are different from one another are correctly detected, and lateral relative speed of the objects relative to the subject vehicle are accurately detected.
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