Preceding vehicle recognition device for vehicle

Abstract

A preceding vehicle recognition device for a vehicle includes a driving environment recognition unit, a lane change determination unit, a preceding vehicle provisional registration unit, and a provisional registration cancellation unit. The driving environment recognition unit recognizes information about a driving environment including one or more lanes and vehicles on a road. The lane change determination unit determines whether the vehicle is in the process of changing lanes. The preceding vehicle provisional registration unit executes, from the start to the end of the changing lanes of the vehicle, a provisional registration that designates, as a preceding vehicle, one of the one or more vehicles in a target lane selected as a lane change destination. The provisional registration cancellation unit cancels, after the vehicle moves into the target lane, the provisional registration when the preceding vehicle is continuously identified as an adjacent vehicle for a set number of times.