Travel Control Apparatus Edge Detection Error Prevention

The patent applies local quality by setting different location ranges for objects detected at different positions within the detection range. Specifically, when an object is detected at the right or left end of the detection range, a narrower location range is applied compared to objects detected more centrally. This localized adjustment of the location range threshold prevents erroneous vehicle control for objects at the edges while maintaining appropriate control for centrally detected objects.

The patent applies preliminary action by performing a location range determination before executing vehicle control. The control determination unit first determines whether the object's location range satisfies a predetermined condition (narrower for edge-detected objects), and only then does the vehicle control unit execute control based on lateral movement speed. This preliminary filtering prevents unnecessary or excessive vehicle control that would result from erroneous detections at the detection range ends.

The patent applies dynamics by making the location range condition dynamic based on the object's position within the detection range. The control determination unit dynamically adjusts the location range threshold: objects detected at the right or left ends of the detection range are subject to a narrower location range condition, while objects detected more centrally are subject to a wider location range condition. This dynamic adjustment allows the system to maintain expanded detection coverage while preventing false lateral movement speed detection for edge objects.