Vehicle driving control device

Abstract

To provide a vehicle travel control device capable of preventing unnecessary emergency braking operation by appropriately determining whether an opposing mobile object moves straight or turns as an intersecting mobile object.SOLUTION: A travel ECU 22 recognizes a mobile object having a supplementary angle θ, between a velocity vector Vv_v calculated on the basis of a moving direction of respective latest set frames of a mobile object detected through a radar device and a travel direction of an own vehicle, larger than an angle threshold θth as an intersecting mobile object C. When the supplementary angle θ, between the velocity vector Vv_v of the mobile object before the same is recognized as the intersecting mobile object and the travel direction of the own vehicle, is equal to or less than the angle threshold θth and a lateral distance x of the intersecting mobile object C with respect to the own vehicle M at the time of recognition of the intersecting mobile object C is equal to or less than a distance threshold xth or when a size of the mobile object at the time of the recognition of the intersecting mobile object C is less than a set value and maintained for a set period or longer and the lateral distance x of the intersecting mobile object C with respect to the own vehicle M at the time of the recognition of the intersecting mobile object C is equal to or less than the distance threshold xth, the travel ECU excludes the intersecting mobile object C from an object subject to emergency braking control.SELECTED DRAWING: Figure 6

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