| 摘要 |
PROBLEM TO BE SOLVED: To prevent wrong alarming, etc., as to a controller for vehicles which transmits a detection wave to a range which is specific in height and horizontal directions, detects a body at the periphery of its vehicle V1 according to distance data obtained by areas obtained by dividing the transmission range of the detection wave, and generates an alarm, etc., according to the relative position between its vehicle V1 and a body V2. SOLUTION: Areas wherein the same body V2 is detected are grouped, data removal processing for excluding areas of less than specific height from the grouped areas is performed, and the distance from the vehicle V1 to the body V2 is detected according to data on the shortest distance to the vehicle V1 in the group of the area after the processing.
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