Abstract: A vehicle control device assists in checking a rear side of an own vehicle. The vehicle control device includes a position estimation unit, an SN index calculation unit, a lane determination unit, and an alarm determination unit. The position estimation unit estimates a lateral position of an other vehicle based on a reflected wave of a radar wave. The SN index calculation unit calculates, based on the reflected wave, an SN index indicating a relationship between level of a noise and level of a signal. In response to determining a lane in which the other vehicle is traveling based on information on the lateral position of the other vehicle, the lane determination unit performs determination on the lane based on the SN index. The alarm determination unit determines whether a condition for issuing an alarm about the other vehicle is satisfied based on a result of determination of the lane.

Abstract: An object detection apparatus is mounted to a vehicle and detects an object by a reflected wave of a probe wave. The object detection apparatus calculates a relative velocity of the object to the vehicle, estimates an azimuth of the object relative to the vehicle, and corrects the estimated azimuth. The object detection apparatus generates a velocity-azimuth curve that indicates a relationship between the relative velocity of the object and the azimuth of the object that is calculated based on a theoretical mounting angle of the object detection apparatus, supplies a weight to an azimuth error that is an error between the velocity-azimuth curve and the estimated azimuth, based on the estimated azimuth, and calculates a correction value of the estimated azimuth by calculating, as an actual mounting angle deviation of the object detection apparatus, a weighted average value of the azimuth error to which the weight is supplied.

Abstract: A mobile warning apparatus according to one aspect of the present disclosure includes a velocity calculator, a position determiner, and an eliminator. The velocity calculator calculates one or more relative velocities of one or more observed points. The position determiner determines whether the observed points are in a predetermined proximity extent. The eliminator eliminates, in response to determination that the observed points are in the predetermined proximity extent, all the observed points from a warning target.