Central axis deflection amount calculation device, center axis deflection amount correction device, and inter-vehicle distance control device of vehicle obstacle detection device

摘要

PROBLEM TO BE SOLVED: To eliminate influence by a travelling environment such as off-set travelling and curve road travelling at the time of calculating an amount of the deflection of an irradiation center axis for a car center axis. SOLUTION: In the case of off-set travelling as shown in (a) and (c), even if a between two cars is increased and decreased, an off-set X0 which is the distance of a car width direction (X-axis direction) is constant, its distribution B1 is deviated in the X-axis direction as a whole, and is not inclined for a Y-axis. In the case where off-set travelling is not performed and a preceding car runs just in front of an own car 91 as shown in (b) and (d), even if the distance between two cars is increased and decreased, a deviation angle from the car center axis of an irradiation center axis 95 is constant and distribution B2 itself is inclined for the Y-axis. Thus, a degree of the off-set for the car width direction of the distribution can be grasped on the basis of the distribution, and after an influence part by the off-set travelling is eliminated and reduced, an amount of the deflection of the irradiation center axis 95 can be properly calculated.