Abstract: If there is a detection point that is erroneously recognized as an obstacle even though the detection point indicates a control-target vehicle, an obstacle that does not exist has been detected near the control-target vehicle. Consequently, the control-target vehicle might become unable to autonomously travel in an attempt to avoid a collision with the erroneously recognized obstacle. Considering this, an object indicated by a detection point that is detected by a road-side sensor and that exists within a certain distance range from a position of a control-target vehicle specified by an own-position measurement device, is not regarded as an obstacle.

Abstract: If there is a detection point that is erroneously recognized as an obstacle even though the detection point indicates a control-target vehicle, an obstacle that does not exist has been detected near the control-target vehicle. Consequently, the control-target vehicle might become unable to autonomously travel in an attempt to avoid a collision with the erroneously recognized obstacle. Considering this, an object indicated by a detection point that is detected by a road-side sensor and that exists within a certain distance range from a position of a control-target vehicle specified by an image recognition camera of a road-side unit, is not regarded as an obstacle.

Abstract: The present disclosure includes a multiple of object detection devices including a transmission system that transmits a transmission wave and a receiving system that receives a reflected wave from an object, and a control device into which detected information is input from each of the multiple of object detection devices, wherein the control device includes a representative value calculation unit that calculates a representative value of reception strength of the reflected wave obtained by each of the multiple of object detection devices detecting a peripheral object at regular intervals, and a performance decline determination unit that determines that a decline in performance of the multiple of object detection devices has occurred.