Drive assist apparatus for tracking moving objects temporarily obscured by nearby stationary objects

Abstract

A drive assist apparatus includes: a driving environment information obtaining unit that obtains driving environment information ahead of a vehicle; a target course setter that sets a target course; an object recognizer that recognizes a moving object and a stationary object; an object detection area setter that sets an object detection area; and a driving control arithmetic unit that controls the vehicle's driving state. The driving control arithmetic unit includes a before-entering-sharp-curvature controller and a passing-sharp-curvature controller including a lost determiner that determines whether the moving object overlaps with the stationary object and is lost, and a lost retention time setter that sets a lost retention time to be long. The passing-sharp-curvature controller includes a passing speed setter that sets a passing speed to a value less than a speed set when there is no change in the lost retention time.