Patent ID: 7103478

Claim:
A vehicular control object determination system comprising: an object detector for detecting an object that is present in the direction of travel of a vehicle; a travel locus estimator for estimating a future travel locus of the vehicle; a certainty calculator for calculating, based on a detection result obtained by the object detector, a travel locus estimated by the travel locus estimator, and predetermined certainty calculation conditions, a certainty with which the object becomes a control object; a control object determiner for determining the object, as a control object for a subject vehicle, according to a cumulative value of the certainty; a sideways relative speed detector for detecting a sideways relative speed (A) at which the object detected by the object detector approaches the travel locus of the subject vehicle; and a direction-of-travel relative speed detector for detecting a direction-of-travel relative speed (B) at which the object approaches the subject vehicle; the certainty calculator modifying the certainty calculation conditions based on the sideways relative speed (A) and the direction-of-travel relative speed (B).