An image sensor section and a millimeter-wave sensor section separately detect
objects. A sensor matching section determines whether the objects detected by the
image sensor section and the millimeter-wave sensor section are one and the same
object. If the objects are one and the same object, the sensor matching section
estimates a position of the obstacle after a certain period. A collision prediction
section determined whether there is going to be a collision between the vehicle
and the object 50 from the position estimated by the sensor matching section.
