Patent attributes
A driving assist ECU which performs collision avoidance control for the target based on a detection result of a target around an own vehicle by a radar device acquires, at a predetermined cycle, angle deviation information of the radar device in the vertical direction, the angle deviation information being calculated from a detection position of the target, and calculates an axis deviation angle by performing statistical processing of a history of the angle deviation information acquired after activation, the axis deviation angle being a deviation amount of a mounting angle of the radar device in the vertical direction. Until a predetermined initial time period elapses after the activation, a limitation is imposed on the collision avoidance control for, among targets detected by the radar device, a stationary target which is a target corresponding to a stationary object.
