Patent ID: 7453374

Claim:
A travel safety apparatus for a vehicle, comprising: a first object detector having a first detection area defined by a first detection angle, and detecting an object ahead of the vehicle; a second object detector having a second detection area defined by a second detection angle that is smaller than the first detection angle, and detecting an object ahead of the vehicle; a motion state determination unit determining a motion state of the vehicle; a collision determination unit determining whether there is possibility of collision of an object detected in at least one of the first detection area and the second detection area to the vehicle based on the motion state determined by the motion state determination unit; a controller controlling the vehicle so that a collision is avoided when it is determined by the collision determination unit that there is possibility of collision of the object to the vehicle; and an object identity determination unit determining, when a first object is detected in the first detection area and a second object is detected in the second detection area, whether the first object and the second object are identical, wherein when a first object is detected in the first detection area and a second object is detected in the second detection area, and the first object and the second object are determined identical by the object identity determination unit, the collision determination unit determines whether there is possibility of collision of the first object that is identical with the second object to the vehicle.