OBSTACLE DETECTOR FOR VEHICLE, AND OBSTACLE DETECTION PROGRAM FOR VEHICLE

摘要

PROBLEM TO BE SOLVED: To accurately, regardless the vehicle type, determine whether there is an obstacle on the own lane.SOLUTION: An on-vehicle obstacle detector 100 includes: an obstacle detection unit 61 that is disposed at a predetermined position on a vehicle and detects the obstacle on the basis of the feature outside the vehicle; a turning center correction unit 292 for correcting the turning center of a circular arc curve of an estimated trajectory calculated using a turning center correction amount; and a control object determination unit 293. When the own lane deviation, which is the distance difference between the distance from the turning center after the correction to the obstacle and the radius of the estimated trajectory, is within a predetermined range, the control object determination unit 293 determines that the obstacle is an obstacle as a control object of the vehicle.