Patent ID: 7733266

Claim:
A control target recognition system comprising: a transmitter for transmitting electromagnetic waves toward a predetermined detection area at a predetermined time interval; a receiver for receiving reflected waves that are the electromagnetic waves transmitted by the transmitter and reflected by an object; an object detection device for detecting the object on the basis of a reflected wave having a reflection level of a detection threshold or higher among the reflected waves received by the receiver; a relative relationship calculator for calculating a relative relationship between a subject vehicle and the object on the basis of a detection result of the object detection device; a relative relationship prediction device for predicting a current relative relationship on the basis of the relative relationship calculated last time by the relative relationship calculator; an identity determination device for comparing the relative relationship predicted this time by the relative relationship prediction device with the relative relationship calculated this time by the relative relationship calculator, and determining that an object detected last time is identical to an object detected this time; a control target object recognition device for recognizing, as a control target object, an object when the object is determined to be identical by the identity determination device a predetermined number of times; an extrapolation device for assuming that the object predicted by the relative relationship prediction device is actually detected and extrapolating the object up to a predetermined number of times, when an object that has been recognized as a control target by the control target object recognition device by last time is not recognized as the control target this time; a stationary object determination device for determining whether the object recognized as the control target is a stationary object; and a reflection level prediction device for predicting a reflection level of the object recognized as the control target at a next detection from a reflection level at a previous detection and a reflection level at a current detection; wherein the extrapolation device reduces the limit of the number of extrapolations when the object is the stationary object, and when the predicted reflection level is lower than the detection threshold.