JP4878483B2 - Radar equipment - Google Patents

Description

  The present invention relates to a radar apparatus that measures the presence of an object existing in front by scanning with an electromagnetic wave such as a laser beam or a millimeter wave, and determines the type of the object.

  2. Description of the Related Art Conventionally, there is a radar device that scans the front of a vehicle with a laser beam or the like to measure whether or not an object exists, and the distance and direction to the object. The radar device determines that the detected object is stationary when the ground speed of the detected object is zero. However, the radar device may actually be determined to be a moving object even if it is a ground installation. As shown in FIG. 10, when the road shape in front of the host vehicle is curved or the host vehicle is traveling on a curved road, strong reflected waves are generated from a specific position (such as a reflector installation location) on the roadside protective wall and guard fence. Is detected as an object. Since the protective wall and the protective fence are continuously installed along the road shape, an object is detected at a certain distance from the own vehicle as the own vehicle moves (as the measurement period N elapses). Therefore, the radar apparatus may misrecognize that the detected object is moving at the same speed as the own vehicle.

  The vehicle control device, based on the object information (type and position) input from the radar device, makes the vehicle follow the preceding vehicle and keeps the distance between vehicles constant (ACC: Adaptive Cruise Control), etc. It is carried out. As described above, when a stationary structure along the road (hereinafter referred to as a road structure) is misrecognized as a preceding vehicle, the vehicle control device or the like has a distance from the misrecognized object. When the distance is less than a predetermined distance (safe distance), the vehicle is decelerated and stopped.

  Therefore, for example, the radar apparatus described in Patent Document 1 measures distances and horizontal positions from a plurality of objects, rearranges the detected objects in the order of distance, and detects adjacent objects in the rearranged order. Whether or not there is continuity in a predetermined direction is determined. Then, grouping is performed based on the result of the continuity determination, and based on the information of detection points belonging to the group, the detected object is a road structure (protective wall, fence, etc.) with continuity or a preceding vehicle without continuity. Do the classification.

  However, in the apparatus of Patent Document 1, when a preceding vehicle is present in front of the road structure, the road structure may be blocked by the preceding vehicle and the continuity may be interrupted. In this case, the detection points of the grouped road structures are determined not to be continuous and may be classified as a preceding vehicle.

Therefore, in the apparatus of Patent Document 2, a straight line is obtained by performing a Hough transform on a plurality of grouped detection points, and it is determined whether this straight line has a high correlation with the direction of the host vehicle. The car is classified.
JP-A-7-270536 JP 2003-255047 A

  The apparatus of Patent Literature 2 obtains a straight line by performing a Hough transform on a plurality of grouped detection points, and when it is determined that the straight line has a high correlation with the traveling direction of the host vehicle, this group is set as a group of road structures. to decide. Then, a regression line is obtained from a plurality of detection points grouped in the road structure, and each detection point in the vicinity of the regression line is approximated as a position where the road structure exists.

  However, actual road structures are installed along the road shape. That is, when the road shape ahead of the host vehicle is a curve, or when the host vehicle is traveling on a curve road, the road structure is also installed along the shape of the curve. In the apparatus of Patent Document 2, each detection point in the vicinity of the regression line is set as the position where the road structure is present, so the shape of the road structure cannot be accurately grasped. There is a problem that it is determined that the preceding vehicle is a road structure.

  This situation will be described with reference to FIG. As shown in FIG. 5A, if a preceding vehicle detection point exists within an error range near the regression line, the preceding vehicle is determined to be a road structure. On the other hand, as shown in FIG. 5B, detection points that are not in the vicinity of the regression line are excluded, and are determined not to be road structures.

  In addition, a large number of data is required to accurately determine the straight line by the Hough transform and the regression line of multiple grouped detection points. When there are few detection points, each group is accurately identified as a road structure. There was a problem that could not be judged.

  The present invention provides a radar device that estimates the shape of a road structure with high accuracy and determines whether or not the detected object is a road structure even if there is no continuity at each detection point and a small amount of data. The purpose is to provide.

This onset Ming, an electromagnetic wave irradiation unit for irradiating an electromagnetic wave, an electromagnetic wave reception section which receives a reflected wave from the irradiation direction of the electromagnetic wave, an estimation unit that estimates a road bend shape, the electromagnetic wave of the electromagnetic wave irradiation unit The scanning unit that scans the irradiation direction and the receiving direction of the electromagnetic wave receiving unit, and the distance of the reflection point based on the reflected wave received by the electromagnetic wave receiving unit for each search direction at predetermined angular intervals of the scanning Grouping reflection points estimated as substantially the same target from reflection points in a plurality of exploration directions to set a collection of reflection points, the inclination of the collection with respect to the direction of the vehicle, and the estimation unit A controller that determines whether or not the aggregate is a road structure along the road, based on the inclination of the curved shape of the road estimated with respect to the direction of the vehicle ,
The control unit calculates a degree of coincidence between the center position of the aggregate and the center position of the road shape estimated by the estimation unit;
Satisfying the first condition that the difference between the inclination of the aggregate with respect to the direction of the vehicle and the inclination of the road shape estimated by the estimation unit with respect to the direction of the vehicle is a predetermined value or less,
And a radar device that determines that the aggregate is a stationary structure along a road when the degree of coincidence satisfies a second condition that is a predetermined value or less,
Even if the control unit satisfies the first condition and the second condition, the distance of the center position of the aggregate is not more than a predetermined value, and the aggregate is in the vicinity of the electromagnetic wave irradiation axis. If it exists, it is determined that the aggregate is not a stationary structure along the road.

  In the present invention, each detection point (target) is grouped. For example, adjacent detection points are grouped. The inclination of the grouped target set with respect to the own vehicle is calculated. For example, the angle from the horizontal axis of the own lane is calculated from the positions of the right end target and the left end target in the target set. Further, the road shape ahead of the host vehicle is estimated, and the inclination of the estimated road shape with respect to the host vehicle is calculated. For example, the slope of the tangent line of the estimated road curve may be calculated. The road shape may be estimated using any method, but is calculated based on the vehicle speed, the yaw rate, etc. of the host vehicle, for example. The inclination of the target set is compared with the inclination of the tangent line of the estimated road curve to determine whether or not the road structure. For example, if these differences are within a predetermined reference value, it is determined that the vehicle is a road structure, and if it is greater than the reference value, it is determined that the vehicle is a vehicle.

Further, the estimated road shape is compared with the detected position of the aggregate, and the degree of coincidence is calculated. This set when the difference between the inclination of the target set and the tangent of the estimated road curve is less than or equal to the reference value (first condition) and the degree of coincidence is less than or equal to the predetermined value (second condition) It is determined that the body is a road structure. However, it is determined that an aggregate existing near the center of the electromagnetic wave irradiation axis at a distance value less than the reference value is not a road structure.
In addition, even when the first condition and the second condition are satisfied, the control unit has a degree of coincidence of aggregates set at substantially the same position in the past larger than a predetermined value and If the degree of coincidence is equal to or greater than a second predetermined value smaller than the predetermined value, the aggregate may be determined not to be a road structure along the road.
In this configuration, for an aggregate whose degree of coincidence is larger than a predetermined value in the past, if the second predetermined value is smaller than the predetermined value, the first condition and the second condition are satisfied. Even if it exists, it determines with it not being a road structure. Thereby, the frequency of erroneous determination can be reduced.

  Further, in the radar apparatus of the present invention, the control unit is a set that is set at substantially the same position in the past more than a predetermined number of times even when the first condition and the second condition are satisfied. When it is determined that the body is not a road structure along the road, the aggregate is determined not to be a road structure along the road.

  In the present invention, an assembly that has been determined not to be a road structure in the past a predetermined number of times (that is, a predetermined time or more) is not a road structure even when the first condition and the second condition are satisfied. Is determined. This prevents erroneous determination.

  According to the present invention, each detection target is grouped, a horizontal inclination with respect to the own vehicle is calculated for each grouped group, and the road structure is compared with the estimated inclination of the road curve ahead of the own lane. Therefore, each detection point has no continuity and can be determined even with a small amount of data.

  In addition, since the road curve and the inclination estimated for each group are compared, the shape of the road structure can be estimated with higher accuracy than the straight line approximation, and more accurate determination can be performed. .

FIG. 1 is a block diagram of a laser radar device (vehicle ranging device) according to an embodiment of the present invention. The laser radar device is installed so as to irradiate a laser beam in front of the own vehicle.
An LD (Laser Diode) drive circuit 10 controls light emission of the LD 12 based on the drive signal generated by the control circuit 11. The scanner 13 scans the laser beam generated by the LD 12 within a predetermined scan range based on the control of the control circuit 11. The laser light emitted from the scanner 13 is emitted in the traveling direction (forward) of the host vehicle through the light projecting lens. The scanning position detection device 14 detects the scanning position of the laser beam in the scanner 13 and outputs it to the control circuit 11.

  The reflected light that the laser beam emitted from the LD 12 is reflected back to a detection target (for example, a part of a vehicle) as a detection target is collected by a light receiving lens and received by a PD (Photo Diode) 15. A signal corresponding to the intensity of the reflected light is output to the light receiving circuit 16. The light receiving circuit 16 digitizes the signal level of the input reflected light (hereinafter referred to as the light receiving level or the amount of received light) and outputs it to the control circuit 11. The control circuit 11 stores the input light reception level in the memory 17 corresponding to the scan position input from the scan position detector 14. In this way, the target is searched for every predetermined scanning direction. The memory 17 also stores a program such as a procedure for determining whether the detection target is a road structure.

  A vehicle speed sensor 18, a yaw rate sensor 19, and a GPS 20 are connected to the control circuit 11. The vehicle speed sensor 18 detects the vehicle speed of the host vehicle. The yaw rate sensor 19 detects the yaw rate of the own vehicle. The GPS 20 detects the position of the own vehicle. The control circuit 11 estimates the road shape (curvature radius of curvature) ahead of the host vehicle based on information detected by the vehicle speed sensor 18, the yaw rate sensor 19, and the GPS 20. As the estimation method, a known method may be used. When the position information of the vehicle detected by the GPS 20 is used, it may be linked with map information for navigation (not shown). Alternatively, a front image may be taken with a camera, and the road shape may be estimated based on this image.

Next, FIG. 2 shows a configuration of a portion of the scanner 13 that supports the light projecting lens and the light receiving lens.
In FIG. 2, a control signal from the control circuit 11 is input to the drive circuit 30. The drive circuit 30 supplies a drive current to the drive coil 31 based on the input control signal. The driving coil 31 generates a magnetic field according to the current value, and generates an attractive force or a reaction force with a permanent magnet (not shown) that is installed, so that the light projecting lens 33 and the light receiving lens 34 are integrally supported. The supporting members (not shown) to be moved are respectively moved in the horizontal direction. The support member is supported by the leaf spring 32 so as to be movable in the horizontal direction. Therefore, the support members (the light projecting lens 33 and the light receiving lens 34) move to a horizontal position where the force generated in the drive coil 31 by the drive current and the reaction force generated in the leaf spring 32 are balanced, and are stopped. The position of each lens is detected by a sensor (not shown) and the sensor output is input to the drive circuit 30 to constitute a servo mechanism. In this way, the light projecting lens 33 and the light receiving lens 34 can be moved to predetermined positions in the horizontal direction. By changing the current input to the drive coil 31 by the drive circuit 30 in a triangular waveform on the time axis at a constant period, each lens can be periodically oscillated, and the target can be searched for every predetermined angle. A half cycle of rocking (a time for rocking from one end to the other in the horizontal direction) is one frame.

  The optical paths of the light projecting lens 33 and the light receiving lens 34 driven by the scanner 13 are shown in FIG. The light projecting lens 33 is provided on the front surface of the LD 12, and the light receiving lens 34 is provided on the front surface of the PD 15.

  The laser light emitted from the LD 12 is condensed on the light projecting lens 35. When the position of the light projection lens 35 is in the neutral position of scanning, the laser light is emitted to the front along the optical path as indicated by the solid line in FIG. The emitted laser light is reflected by an object (for example, a vehicle) ahead, enters the light receiving lens 36 through an optical path as indicated by a solid line in FIG. 3, and is received by the PD 16.

  Further, when the projection lens 33 is moved upward in the figure by the scanner 13, the laser light is emitted upward in the figure along an optical path as indicated by a dotted line in FIG. Then, the emitted laser light is reflected by an upward target in the drawing, enters the light receiving lens 34 through an optical path as indicated by a dotted line in FIG. 3, and is received by the PD 15.

  In this manner, the scanner 13 scans the laser light in the horizontal direction by moving the light projecting lens 33 and the light receiving lens 34 integrally to a predetermined position in the horizontal direction. In the above example, a configuration is shown in which scanning is performed only in the horizontal direction. However, scanning may be performed in the vertical direction. When scanning in the vertical direction, the vertical angle may be changed at the end of the horizontal scan.

  The control circuit 11 can know the light reception timing from the light reception level information. That is, the control circuit 11 receives the light reception level information continuously over time and records these acquisition timings. The control circuit 11 can measure the distance from the detection target by measuring the time difference between the timing at which laser projection is instructed and the timing at which light is received. The control circuit 11 determines the timing indicating the peak of the light reception level on the time axis as the position where the detection target exists, and determines this as the distance from the detection target. Moreover, since the control circuit 11 can detect the laser projection angle as described above, it is possible to detect the presence, direction, and distance of the detection target from these pieces of information.

  Further, the control circuit 11 can obtain the moving speed and moving direction (moving vector) of the target by repeating the detection of each target a plurality of times in succession. As a grouping. From this grouped target set, the size (width) of the object can be calculated. Further, the control circuit 11 can calculate the ground speed of each grouped target set by detecting the vehicle speed of the own vehicle by the vehicle speed sensor 18. From this information, the control circuit 11 can determine whether the detected target set is a person, a vehicle, a road structure, or the like, and can perform processing for recognizing the type of the object. .

  The control circuit 11 recognizes the type of the object and transmits information (direction, distance, speed, type) of the object to a subsequent vehicle control device (not shown) or the like. Based on the information on the object, the vehicle control device performs constant inter-vehicle distance follow-up running (ACC) that keeps the host vehicle following the preceding vehicle and keeping the inter-vehicle distance constant. The preceding vehicle refers to the nearest vehicle (one vehicle) among vehicles traveling in front of the host vehicle. The laser radar device of the present embodiment estimates the road shape ahead of the vehicle based on information such as the yaw rate and GPS, and based on the road shape ahead of the vehicle, each object is a road structure or vehicle It is a feature to determine whether or not.

Hereinafter, specific processing of the control circuit 11 will be described in detail with reference to FIGS.
FIG. 4 is a diagram illustrating the overall flow of the road structure detection operation of the control circuit 11.
This operation is an operation of one frame of the control circuit 11 (one scan, that is, a time for swinging from the horizontal end to one end). When the process is started, first, in ST1, the position (distance, direction) of each target is acquired. In ST2, the acquired position of each target is converted into two-dimensional coordinates (see FIG. 5) on a horizontal plane with the own vehicle position as the origin.

  In ST3, the targets are grouped and collected as a target set. The control circuit 11 compares each target with a past target, and associates the targets whose scan directions are close to each other. The movement vector of each target is calculated from the associated targets, and adjacent targets having the same movement vector are grouped as the same object. The grouped target set is one detection object.

  In ST4, the left and right ends and the center position of each detected object are determined from the positions of the targets grouped in ST3. As shown in FIG. 5, among the grouped targets, the positions of the targets at the ends in the left-right direction (X coordinate) are set as the left-right end targets R (XR, YR) and targets L (XL, YL) ). The midpoint of the left and right target is the center position (XC, YC) of the object.

Next, in ST5, the estimated road shape ahead of the host vehicle (own vehicle lane) and the inclination of the object are compared. The comparison of the inclination will be described with reference to FIG. First, the inclination θ0 of the object from the left and right end targets is determined as follows.
tan θ0 = (YR−YL) / (XR−XL)
A straight line passing through the center position (XC, YC) of the object from the center of the estimated road shape curve (arc) is defined, and the slope of the tangent at the contact point between the straight line and the estimated road shape curve is determined as follows.
tan θr = (R−XC) / YC
Further, a predetermined reference value width θt is set for the inclination θr of the estimated road shape. In the reference value determination in ST7, it is determined whether or not the angle difference between the inclination θ0 of the object and the inclination θr of the estimated road shape is within the reference value width θt. In ST5, (θr + θt) and (θr−θt) are determined as follows.

tan (θr + θt) = (tan θr + tan θt) / (1−tan θr × tan θt)
tan (θr−θt) = (tan θr−tan θt) / (1 + tan θr × tan θt)
Next, in ST6, the degree of coincidence between the estimated road shape ahead of the host vehicle (host vehicle lane) and the object position is calculated. The degree of coincidence will be described with reference to FIG. FIG. 4A shows a case where the degree of coincidence is large, and FIG. 4B shows a case where the degree of coincidence is small. As shown in FIG. 6A, the degree of coincidence is maximized (for example, 1) when the center position of the object substantially matches the estimated center position (curve) of the road shape, as shown in FIG. In addition, the degree of coincidence is set to the minimum (for example, 0) when the center position of the object is shifted by more than half of the estimated road width. The road width may be determined in advance, or may be obtained from the photographed image when photographing the front with a camera. Further, the degree of coincidence may be determined by obtaining a deviation amount between the center position of the object and the road center position from the captured image.

As described above, using the obtained information, it is determined whether or not the object is a road structure in the processing of ST7 and subsequent steps in FIG. In ST7, it is determined whether or not the inclination θ0 of the object calculated in ST5 is within the range of (θr + θt) and (θr−θt). That is, it is determined whether or not the following condition is satisfied.
tan (θr−θt) ≦ tan θ0 ≦ tan (θr + θt)
If this condition is not satisfied, the object is not a road structure and the road structure detection operation ends. If this condition is satisfied, a comparison with an object detected in the past is performed in ST8. For example, when the center position is close to the object detected one frame before, these are associated. In ST9, the coincidence is corrected. If the condition of ST7 is satisfied, the object is likely to be a road structure, so it is far from the center of the road, and the degree of coincidence is likely to be small in ST8. However, even if the ST7 condition is satisfied in the current frame, if the object of the previous frame associated in ST8 does not satisfy the ST7 condition and is determined as a vehicle, the object is still a vehicle. Will have the potential. Therefore, in ST9, the degree of coincidence is corrected to a half value of the degree of coincidence calculated for the object one frame before associated in ST8.

In ST10, it is determined that the road structure is not satisfied when the following condition is satisfied, and it is determined that the road structure is satisfied when the following condition is not satisfied.
(1) Whether the vehicle is determined to be a preceding vehicle more than a predetermined number of frames (2) Whether the distance of the object is less than a specified value and intersects the optical axis center region (3) Whether the degree of coincidence is a predetermined value or more Each condition will be described in detail. Condition (1) is for preventing erroneous determination. As a result of associating with an object in a past frame in ST8, if the object is stably determined as a preceding vehicle for a predetermined number of frames or more (does not satisfy the condition of ST7 and is the closest vehicle), this time Even if the condition of ST7 is satisfied in this frame, it is determined that it is not a road structure, and the road structure detection operation is finished.

  The condition (2) is for eliminating the case where the laser beam enters under the vehicle of the preceding vehicle and the inclination of the object increases. For example, as shown in FIG. 7, when the preceding vehicle 3 is installed at a high position like a truck and is located at a short distance from the own vehicle 1, the laser emitted from the laser radar device 2 of the own vehicle 1. The light is not reflected by the reflector, but is diffusely reflected at the lower rear of the loading platform. In this case, the width and tilt of the object cannot be measured accurately, and the tilt of the object may increase. Therefore, as shown in FIG. 8, when an object is detected within the optical axis center region (within a predetermined light projection angle range from the optical axis) and less than the specified distance, it is determined that the road structure is not present. Finish the object detection operation.

  Condition (3) is for canceling misjudgment early and reducing the frequency of misjudgment. The condition (3) for the degree of coincidence will be described with reference to FIG. The horizontal axis of the graph in the figure represents time, and each point represents the degree of coincidence obtained in each frame. As shown in FIG. 5A, in each frame, when the degree of coincidence of the object is a predetermined value M1 or more, the condition (3) is satisfied and it is determined that this is not a road structure. When the degree of coincidence of the object is equal to or less than the predetermined value M2, it is determined that the object is a road structure because the condition (3) is not satisfied.

  On the other hand, as shown in FIG. 5B, when the degree of coincidence of the object is not more than a predetermined value M1 and not less than the predetermined value M2, the degree of coincidence in the past frame is referred to. If it is determined in ST8 of FIG. 4 that the object in the past frame is not a road structure as a result of the association with the object in the past frame, it is determined that the object is not a road structure in the current frame.

  Conversely, as shown in FIG. 5C, when the degree of coincidence of the object is a predetermined value M1 or less and a predetermined value M2 or more and it is determined that the object in the past frame is a road structure, It is determined that the current frame is also a road structure.

  If the above exclusion conditions are not met, it is determined that the object is a road structure, and a road structure flag is set in ST11. The object for which the road structure flag is set is determined as a road structure and is not used for ACC or the like by the vehicle control device.

  Although the laser radar apparatus has been described in the present embodiment, the configuration of the present invention can also be used for other radar apparatuses such as a millimeter wave radar.

  Further, in the present embodiment, the example of scanning the front of the host vehicle and determining the object ahead has been described, but the vehicle and the road structure that follow the vehicle by scanning the rear with the radar device attached to the rear of the host vehicle It may be used to distinguish things.

The block diagram of the laser radar apparatus which is embodiment of this invention The figure which shows the structure of the part which supports the light projection lens and light reception lens of a scanner. The figure which shows the optical path of the light projection lens and light reception lens which were driven by the scanner Flowchart showing road structure detection operation Diagram showing the coordinates of each point Diagram showing the degree of coincidence of the own lane Diagram explaining laser light penetration Diagram showing optical axis center area within specified distance as exclusion condition Figure showing the change in the degree of coincidence Figure showing a case where a road structure is erroneously detected as a preceding vehicle The figure explaining the case where it judges that it is not a road structure with the conventional apparatus, or conversely the preceding vehicle is a road structure.

Claims (4)

An electromagnetic wave irradiation unit for irradiating electromagnetic waves;
An electromagnetic wave receiving unit for receiving a reflected wave from the irradiation direction of the electromagnetic wave;
An estimation unit for estimating the curved shape of the road;
A scanning unit that scans the electromagnetic wave irradiation direction of the electromagnetic wave irradiation unit and the reception direction of the electromagnetic wave reception unit;
Measuring the distance of the reflection point based on the reflected wave received by the electromagnetic wave receiving unit for each scanning direction of the scanning at predetermined angle increments,
By grouping the reflection points that are estimated to be the same target from the reflection points in multiple exploration directions, a set of reflection points is set.
Based on the inclination of the aggregate with respect to the direction of the vehicle and the inclination of the curved shape of the road estimated by the estimation unit with respect to the direction of the vehicle, it is determined whether or not the aggregate is a stationary structure along the road. A control unit for determining ,
The control unit calculates a degree of coincidence between the center position of the aggregate and the center position of the road shape estimated by the estimation unit;
Satisfying the first condition that the difference between the inclination of the aggregate with respect to the direction of the vehicle and the inclination of the road shape estimated by the estimation unit with respect to the direction of the vehicle is a predetermined value or less,
And a radar device that determines that the aggregate is a stationary structure along a road when the degree of coincidence satisfies a second condition that is a predetermined value or less,
Even if the control unit satisfies the first condition and the second condition, the distance of the center position of the aggregate is not more than a predetermined value, and the aggregate is in the vicinity of the electromagnetic wave irradiation axis. A radar device that determines that the aggregate is not a stationary structure along the road . An electromagnetic wave irradiation unit for irradiating electromagnetic waves;
An electromagnetic wave receiving unit for receiving a reflected wave from the irradiation direction of the electromagnetic wave;
An estimation unit for estimating the curved shape of the road;
A scanning unit that scans the electromagnetic wave irradiation direction of the electromagnetic wave irradiation unit and the reception direction of the electromagnetic wave reception unit;
Measuring the distance of the reflection point based on the reflected wave received by the electromagnetic wave receiving unit for each scanning direction of the scanning at predetermined angle increments,
By grouping the reflection points that are estimated to be the same target from the reflection points in multiple exploration directions, a set of reflection points is set.
Based on the inclination of the aggregate with respect to the direction of the vehicle and the inclination of the curved shape of the road estimated by the estimation unit with respect to the direction of the vehicle, it is determined whether or not the aggregate is a stationary structure along the road. A control unit for determining,
The control unit calculates a degree of coincidence between the center position of the aggregate and the center position of the road shape estimated by the estimation unit;
Satisfying the first condition that the difference between the inclination of the aggregate with respect to the direction of the vehicle and the inclination of the road shape estimated by the estimation unit with respect to the direction of the vehicle is a predetermined value or less,
And a radar device that determines that the aggregate is a stationary structure along a road when the degree of coincidence satisfies a second condition that is a predetermined value or less,
Even if the control unit satisfies the first condition and the second condition, the degree of coincidence of the aggregates set at substantially the same position in the past is larger than a predetermined value and the current coincidence A radar device that determines that the aggregate is not a stationary structure along a road if the degree is equal to or greater than a second predetermined value that is smaller than the predetermined value. Even if the control unit satisfies the first condition and the second condition, the distance of the center position of the aggregate is not more than a predetermined value, and the aggregate is in the vicinity of the electromagnetic wave irradiation axis. The radar device according to claim 2, wherein the radar apparatus determines that the aggregate is not a stationary structure along the road. Even if the control unit satisfies the first condition and the second condition, the control unit is not a stationary structure along the road that has been set at substantially the same position a predetermined number of times or more in the past. The radar apparatus according to any one of claims 1 to 3, wherein if it is determined, the aggregate is determined not to be a stationary structure along the road.

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