Patent ID: 9666077
Date: 2017-05-30
CPC Classifications: G01S,G06K,G08G

Claim:
1. A collision determination device that cyclically performs a predetermined process, comprising: a radar detection unit that detects an object around a vehicle using a radar wave; an image detection unit that captures an image of the surroundings of the vehicle and detects the object using the captured image; and a collision determination unit that predicts a collision between the vehicle and the object on the basis of a composite target which is generated using a detection result of the radar detection unit and a detection result of the image detection unit, wherein, if the object has been detected by both the radar detection unit and the image detection unit, and if the object has been detected by the image detection unit and not the radar detection unit in an immediately preceding processing cycle, the collision determination unit sets the composite target using the detection result of the image detection unit of the immediately preceding processing cycle.