A vehicular control object determination system includes: a radar device
for detecting an object that is present in the direction of travel of a
vehicle; a travel locus estimator for estimating a future travel locus of
the vehicle; and a control object determiner for determining a control
object based on a detection result obtained by the radar device, a travel
locus estimated by the travel locus estimator. The control object
determiner modifies the control object determination conditions when the
estimated travel locus is not a straight line and the detected relative
sideways speed is less than the threshold value, and when the estimated
travel locus is a straight line and the detected relative sideways speed
is equal to or greater than the threshold value, thereby preventing
erroneous identification of a preceding vehicle traveling on an adjacent
lane as a control object.