JPH07253467A - Radar equipment for vehicle - Google Patents

Abstract

PURPOSE:To accurately identify a plurality of obstacles in front of a vehicle and to recognize the same obstacle. CONSTITUTION:Radar equipment for vehicle is composed of a distance detecting means (laser light emitting device 102, reflected-pulse detector 105, and distance detector 106) which detects the distance to an obstacle from its own vehicle, scanning means (reflection mirror 103, turntable 104, and control circuit 107) which scans the front of its own vehicle, arithmetic means (external computing element 110) which calculates the distance and azimuth to the obstacle from its own vehicle, same-obstacle acquirirng means (external computing element 110) which discriminates the obstacles corresponding to a plurality of data in which the distances are approximate to each other and azimuths adjacently continue as the same obstacle and acquires one distance and azimuth as the representative values of the obstacle, and discriminating means (external computing element 110) which compares the recent representative values with preceding representative values and, when the differences fall within thresholds set by taking the running state of its own vehicle into account, discriminates that the obstacle corresponding to the recent representative values and the obstacle corresponding to the preceding representative values are the same object.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicular radar system used for an obstacle detection device, a follow-up traveling device, etc., and more specifically, it accurately recognizes a plurality of obstacles and the same obstacle. The present invention relates to a scanning type radar device for a vehicle.

[0002]

2. Description of the Related Art There are two conventional radar systems for vehicles, a multi-beam system and a scanning system. As a multi-beam method, for example, the one shown in FIG. 5 is known. In the multi-beam method, the laser head emits three pulse beams 5 from the radar head of the vehicle 501.
02, 503, 504 are transmitted, the reflected pulse from the obstacle (the vehicle in front here) 505 is detected, and as shown in FIG. 6, the time difference Δt (Δ
t = 2R / C: R is distance, C is speed of light)
The distance between 01 and the obstacle 505 is detected. The threshold value in the figure is a value for determining the presence or absence of an obstacle from the level of the received pulse, and a received pulse equal to or higher than the threshold value is recognized as a reflected pulse from the obstacle.

As a scanning method, for example,
The one shown in FIG. 7 is known. This is one thin pulse beam emitted from the radar head of the host vehicle 701 by laser light, and this pulse beam is gradually changed from 702 to 703.
→ 704 → 705 → 706
The distance and the angle between 1 and the obstacle 707 (or 708) are detected.

[0004]

However, according to the above-described conventional vehicle radar device, in the multi-beam system, the beam width is wide and the beams 50 on both sides are provided.
Since the reference numerals 2 and 504 are only for covering the area where the main beam 503 does not hit at a short distance, the distance information of the obstacle can be obtained, but the angle information with high accuracy cannot be obtained and a plurality of obstacles cannot be obtained. There is a problem that it is difficult to identify things.

Further, in the scanning method, for example, the obstacle 707 in FIG.
As shown in FIG. 8, it is detected as an obstacle at the position 801 on the center line 704a of the scanned beam 704 as shown in FIG. However, since there are regions where the beams to be scanned overlap, for example, the obstacle 708 in FIG.
Are redundantly detected by the three beams 703, 704, and 705. As shown in FIG. 8, an obstacle at a position 802 on the center line 703a of the scanned beam 703 and a center line 704a of the scanned beam 704 are detected. There is a problem that the obstacle at position 803, the obstacle at position 804 on the center line 705a of the scanned beam 705 are erroneously recognized as three, and the processing algorithm after detection becomes complicated.

The present invention has been made in view of the above, and an object thereof is to accurately identify a plurality of obstacles in front of a vehicle and to recognize the same obstacle.

The present invention has been made in view of the above, and is a state in which a plurality of obstacles in front of a vehicle are accurately detected and the environment changes when the obstacles in front are hidden. The objective is to be able to determine the same obstacle and its movement.

[0008]

In order to achieve the above object, a vehicle radar device according to a first aspect of the present invention is provided with a light, a radio wave,
A sound wave or the like is transmitted as a transmitted wave, a reflected wave reflected by an obstacle is incident on the transmitted wave, and the own vehicle and the obstacle are identified based on the time difference between the transmitted time of the transmitted wave and the incident time of the reflected wave. Distance detecting means for detecting the distance, the sending angle of the sending wave sent by the distance detecting means, and the scanning means for scanning the front of the own vehicle with the sending wave, and the sending angle of the sending wave by the scanning means. Based on the data and the distance data detected by the distance detecting means, a calculating means for calculating a distance and a direction between the own vehicle and the obstacle, and a distance and a direction between the own vehicle and the obstacle obtained by the calculating means. On the basis of the obstacles, the obstacles corresponding to a plurality of data whose distances are close to each other and whose directions are adjacent to each other are determined to be the same obstacle, and the obstacles corresponding to the plurality of data determined to be the same obstacle are determined. 1 of the things
The same obstacle acquisition means that acquires two distance data and direction data as representative values was compared with the representative value obtained by this scanning and the representative value obtained by the previous scanning, and obtained by this scanning. Corresponding to the obstacle corresponding to the representative value obtained by the current scan and the representative value obtained by the previous scan when the movement amount of the representative value is within a predetermined threshold value considering the traveling state of the own vehicle It is provided with a judging means for judging that the obstacle is the same object.

Further, in the vehicular radar device according to the second aspect of the invention, when the determination means has not obtained the representative value by the previous scanning, the determination is made by the representative value obtained by the current scanning and the scanning two times before. The representative value obtained by this scanning is compared with the representative value obtained by this scanning when the amount of movement of the representative value obtained by this scanning is within a predetermined threshold considering the running state of the own vehicle. It is determined that the corresponding obstacle and the obstacle corresponding to the representative value obtained by the scan two times before are the same object.

[0010]

The vehicle radar device according to the present invention (claim 1)
Calculates the distance and azimuth between the own vehicle and the obstacle based on the sending angle of the transmitted wave by the scanning means and the distance detected by the distance detecting means, and then calculates the distance and azimuth between the own vehicle and the obstacle. On the basis of the above, obstacles corresponding to a plurality of data whose distances are close to each other and whose azimuths are adjacent to each other are determined to be the same obstacle, and the obstacles corresponding to the plurality of data determined to be the same obstacle One distance data and bearing data in the obstacle is acquired as a representative value. Then, the representative value obtained by the current scanning is compared with the representative value obtained by the previous scanning, and the movement amount of the representative value obtained by the current scanning is determined in consideration of the traveling state of the own vehicle. When it is within the threshold of, it is determined that the obstacle corresponding to the representative value obtained by the current scanning and the obstacle corresponding to the representative value obtained by the previous scanning are the same object.

Further, in the vehicle radar device according to the present invention (claim 2), when the representative value is not obtained by the previous scanning, the representative value obtained by the current scanning and the scanning before the previous scanning are obtained. The representative value obtained by this scan is compared with the representative value obtained by this scan when the amount of movement of the representative value obtained by this scan is within a predetermined threshold considering the running state of the host vehicle. By determining that the obstacle that is in motion and the obstacle corresponding to the representative value obtained by the scan two times before are the same object, even if the obstacle in front is hidden and appears again, it is still the same object. Be recognized.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a block diagram showing the configuration of a vehicle radar device according to the present invention. In the figure, 101
Reference numeral denotes a radar head, which is a laser light emitting device 102 for generating pulsed light (transmitted wave) 108 in the form of a thin beam, and a reflecting mirror 103 for irradiating the pulsed light 108 toward an obstacle.
And a rotating table 104 that supports the reflecting mirror 103, rotates the reflecting mirror 103 left and right within a certain range, scans the pulsed light 108, and outputs the rotation amount as angle information.
And a reflection pulse detector 105 for injecting a reflection pulse (reflected wave) 109 from an obstacle through the reflection mirror 103, a light emission signal of the laser light emitter 102, and a reflection pulse detector 1
A distance detector 106 that obtains the time difference from light emission to reception using the reception signal output when the reflection pulse 109 of 05 reaches the threshold value, calculates the distance to the obstacle from the time difference, and outputs distance information. , The laser light emitter 102 and the turntable 104 are output with the light emission control signal of the pulsed light 108 or the rotation control signal of the turntable 104, and the distance information from the distance detector 106 and the angle information from the turntable 104 are output. The control circuit 107 outputs to the outside.

Further, 110 is connected to the control circuit 107, outputs a system control signal to the control circuit 107, and continuously in the angular direction based on the distance information and the angle information output from the control circuit 107. This is an external computing unit that computes the central position of the data as the position of the obstacle when there is the data. Further, 111 is an output device for displaying an output signal from the external computing unit 110 or for notifying by sound, and for example, a CRT or a speaker is used.

The laser emitter 102, the reflection pulse detector 105, the distance detector 106 and the control circuit 107 correspond to the distance detecting means of the present invention, and the reflecting mirror 103, the rotary base 104 and the control circuit 107 of the present invention. The external arithmetic unit 110 corresponds to the arithmetic unit, the same obstacle acquisition unit, and the judgment unit of the present invention.

Next, the gist of the operation of the vehicle radar apparatus configured as described above will be described with reference to FIG. The external arithmetic unit 110 inputs the distance information and the angle information from the control circuit 107, and when there is continuous data in the angular direction, judges these continuous data as the same obstacle data, and determines the center of the data. The position is determined to be the same obstacle position. Specifically, the distances are similar to each other as in the obstacle position data 202, 203, and 204 in FIG.
In addition, in the case of a plurality of data (here, three data) in which the angular directions are adjacent and continuous, these are determined as the same obstacle, and the data 203 at the center position is determined as the position of the same obstacle. Then, the position obtained by the current scan is compared with the position obtained by the previous scan, and the amount of movement of the position obtained by the current scan is within a predetermined threshold considering the traveling state of the own vehicle. At some point, the obstacle corresponding to the position obtained by this scanning and the obstacle corresponding to the position obtained by the previous scanning are regarded as the same object,
In other cases, the obstacle is a newly appearing obstacle.

The above operation processing will be described in detail with reference to the flowchart shown in FIG. In the figure, when the processing of this system is started, first, the turntable 104 rotates by a certain amount, and the laser light emitter 102 generates the pulsed light 108,
The distance information from the distance detector 106 and the angle information from the turntable 104 are fetched (S301). Next, the current angle information and the previous angle information are compared to determine whether the scan directions are the same (S302). This step 2
In 02, when it is determined that the scan directions are not the same, it is determined that one scan is finished, and the array of history data including the angle and distance information of the previous scan is sorted (S303). That is, as a result of comparing the angle and distance information of the obstacle obtained by the current scan with the angle and distance information of the previous scan, data of the same object and data other than new data are deleted.

On the other hand, when it is determined in step S302 that the scanning directions are the same,
It is determined whether or not the distance information includes valid data, that is, whether or not there is an obstacle (S304). When it is determined in this step S304 that the distance information has valid data (a reception signal is detected), the angle and distance information of the detected obstacle are recorded (S305),
The rotary table 104 is rotated to generate the pulsed light 108 and read the next data.

On the other hand, when it is determined in step S304 that there is no valid data in the distance information (the reception signal is not detected), it is further determined whether or not the obstacle was caught by the pulse light emitted last time ( S30
6). That is, here, it is determined whether or not the reflection pulse 109 is received at the same angle in the previous scan. In step S306, when it is determined that the obstacle is not caught by the pulsed light emitted last time,
Returning to step S301, the same processing is repeatedly executed. On the contrary, when it is determined in step S306 that the obstacle was captured by the pulsed light emitted last time, angularly continuous data is acquired as one obstacle data (S307).

Next, the history data array is checked to determine whether there is history data to be compared with one obstacle (S308). At this time, when it is determined that there is no history data, it is determined that the obstacle has newly appeared (S
312). On the other hand, when it is determined that there is history data in step S308, the angle data of the history data is further compared with the angle data of one obstacle,
It is determined whether or not the value of Δθ (difference in angle data), which is data peculiar to the vehicle, is within a range of ± 15 mrad. That is, it is determined whether the angle data of the history data and the angle data of one obstacle are within ± 15 mrad (S).
309). Here, θ represents angle data, which is data in which the front of the vehicle is 0 ° (starting point) and the clockwise is a positive value when viewed from above the vehicle.

In step S309, the angle data of the history data and the angle data of one obstacle are ± 15 m.
If it is not within the range of rad, it is determined that the obstacle has newly appeared (S312). On the other hand, in step S309, when it is determined that the angle data is within the range of ± 15 mrad, the distance data of the history data is further compared with the distance data of one obstacle, and the vehicle-specific data ΔR (distance Value of data difference is ± 2m
It is determined whether or not it is within the range (S310). At this time, when it is determined that the distance data is not within the range of ± 2 m, it is determined that the obstacle has newly appeared (S31).
2). Here, R represents distance data, which is data in which the front end of the vehicle is 0 m (starting point) and the front of the vehicle is a positive value.

On the other hand, when it is determined in step S310 that the distance data is within ± 2 m, it is determined that the obstacles are the same (S311). Then,
The angle data of the obstacle and the distance data are stored in an array of history data (S314), and the above step S301 is performed.
Return to. In addition, after executing the process of step S312, the angle data and distance data of the obstacle newly detected and the obstacle detected in the previous measurement determined to be the same obstacle are not used. Store in array (S
313), and returns to step S301.

Therefore, by executing the above-mentioned processing, it is possible to judge whether the newly appearing obstacle is the same obstacle as in the previous scan. As a value considering the movement peculiar to the vehicle, for example, the time required for one scan is about 25 ms (transmission timing 8.3 [KH
z], 200 points), the following can be considered in the θ direction.

That is, firstly, in consideration of the movement of the vehicle, if the maximum of 30 deg / sec at the left and right of the intersection, the own vehicle is ± 13 mrad / 25 msec and the other vehicles are ± 30 mrad / 25 msec.
tan ^-1 (0.018 / R) / 25 msec, R = 10
The movement is ± 1.8 mrad in m.

Secondly, when considering the yaw of the own vehicle, it becomes ± 0.17 mrad / 25 msec on a straight road. Third,
Assuming that the measurement error of the measuring device is ± 1 mrad, the movement of ± 15 mrad in the θ direction is obtained from the three values.

When considering the movement peculiar to the vehicle in the R direction, firstly, when considering the relative speed of the vehicle, 144
When traveling at km / h, a stationary object is 1m / 25ms
A deviation of ec occurs. Second, the measurement error of the measuring device is ±
If it is set to 1 m, the movement will be ± 2 m in the R direction from the two values.

That is, the previous data and the current data are compared, and if there is data within a range of ± 15 mrad in the θ direction and ± 2 m in the R direction, it is determined that they are the same obstacle, and the other obstacles are new. It is judged that it is an obstacle that appeared in.

Next, another embodiment will be described. The structure of the vehicle radar device in this embodiment is the same as that of the above-mentioned embodiment (FIG. 1).
The comparison processing between the obstacles before one scan and the obstacles before two scans is executed. Hereinafter, a detailed description will be given based on the flowchart shown in FIG.

In the figure, when the processing of this system is started, first, the rotary base 104 is rotated by a fixed amount (scan).
Then, the laser light emitter 102 generates the pulsed light 108,
The distance information from the distance detector 106 and the angle information from the turntable 104 are fetched (S401). Next, the current angle information and the previous angle information are compared to determine whether the scan directions are the same (S402). This step S
When it is determined in 402 that the scanning directions are the same, it is further determined whether or not there is valid data in the distance information, that is, whether or not there is an obstacle (S40).
3). In this step S403, when it is determined that the distance information has valid data (a reception signal is detected), the detected obstacle angle and distance information are recorded, the rotary base 104 is rotated, and the pulsed light 108 is emitted. Is generated to read the next data (S404), and the above step S
Return to 401.

On the other hand, if it is determined in the above step S402 that the scanning directions are not the same, it is determined that one scan has been completed, and the array information of the history data 1 is transferred to the history data 2 (S405). Then, the arrangement information of the history data 1 is organized (S406). That is, as a result of comparing the angle and distance information of the obstacle obtained by one scan with the angle and distance information of the previous scan in consideration of the movement peculiar to the vehicle, data of the same object and data other than new data are compared. Is deleted.

On the other hand, when it is determined in step S403 that there is no valid data in the distance information (the received signal is not detected), it is further determined whether or not the obstacle was caught by the pulse light emitted last time ( S40
7). That is, here, it is determined whether or not the reflection pulse 109 is received at the same angle in the previous scan. Therefore, in this step S407, when it is determined that the obstacle is not caught by the pulsed light emitted last time, the process returns to the step S401 and the same processing is repeatedly executed. On the contrary, if it is determined in step S407 that the obstacle was captured by the pulse light emitted last time, angularly continuous data is acquired as one obstacle data (S408).

Next, the history data array is checked to determine whether there is history data 1 to be compared with one obstacle (S409). At this time, when it is determined that the history data 1 does not exist, the array of the history data 2 is further checked to determine whether there is data (S410). On the other hand, when it is determined that there is history data 1 in step S409, the angle data of history data 1 is further compared with the angle data of one obstacle, and Δθ (difference in angle data) that is data unique to the vehicle. It is determined whether or not the value of) is within the range of ± 15 mrad. That is, the angle data of the history data 1 and the angle data of one obstacle are ± 15 mrad.
It is determined whether or not it is within the range (S414).

In step S414, the angle data of the history data 1 and the angle data of one obstacle are ± 15.
If it is not within the range of mrad, the above step S4
Go to 10. On the other hand, when it is determined in step S414 that the angle data is within the range of ± 15 mrad, the distance data of the history data 1 is further compared with the distance data of one obstacle, and ΔR (data unique to the vehicle is It is determined whether or not the value of (difference in distance data) is within a range of ± 2 m (S415). At this time, if it is determined that the distance data is not within the range of ± 2 m, the process proceeds to step S410.

On the other hand, when it is determined in step S415 that the distance data is within the range of ± 2 m, it is determined that the obstacles are the same (S416). Then,
The angle data of the obstacle and the distance data are stored in the array of history data 1 (S419), and the above step S40 is performed.
Return to 1.

If it is determined in step S410 that there is no array data of the history data 2, it is determined that the obstacle has newly appeared (S417). And
The angle and distance data of the determined obstacle are stored in the array of history data 1 not used (S421), and the process returns to step S401. On the other hand, when it is determined in step S410 that the history data 2 is present, the angle data of the history data 2 is further compared with the angle data of one obstacle, and whether the value of Δθ is within the range of ± 30 mrad. It is determined whether or not (S411).

When it is determined in step S411 that the value of Δθ is not within the range of ± 30 mrad,
It is determined that the obstacle has newly appeared (S417), and the angle and distance data of the determined obstacle are stored in the array of the history data 1 that is not used (S42).
1), return to step S401. On the other hand, when it is determined in step S411 that the value of Δθ is within the range of ± 30 mrad, the distance data of the history data 2 is further compared with the distance data of one obstacle, and ΔR
It is determined whether or not the value of is within ± 4 m (S41).
2).

If it is determined in step S412 that the value of R is not within the range of ± 4 m, it is determined that the obstacle has newly appeared (S417), and the angle and distance of the determined obstacle are determined. The data is stored in the array of history data 1 that is not used (S421), and the process returns to step S401. On the other hand, when it is determined in step S412 that the value of ΔR is within the range of ± 4 m, it is determined that the obstacle is the same as the data of the previous two times, that is, the data of two scans before (S41).
3).

After the judgment processing of step S413, the array data of the judged history data 2 is deleted (S41
8) Store the angle data of the newly appearing obstacle and the obstacle judged to be the same obstacle in the array of history data 1 that is not used (S420), return to step S401, and repeat the same processing. To do.

Therefore, by executing the above processing, for example, an obstacle which is continuously judged to be the same object is
2 and 3 when hidden behind an object in one scan
In the processing of, it is judged that it is a newly appeared obstacle,
In the above processing, since the history data of the scans before the previous scan is stored, the same obstacle can be determined even in the second scan.

Further, the comparison data (θ,
R) requires twice as long as one scan, so Δθ ×
The comparison is performed with the values of 2 (= ± 30 mrad) and ΔR × 2 (= ± 4 m). Similarly, by recording and comparing the history data of each scan, it is possible to easily determine that the obstacles are the same obstacle based on the number of history data to some extent, such as when the reflectors of the preceding vehicle overlap. .

Since the movement of the obstacle can always be detected in this manner, for example, it is judged whether or not the own vehicle may come into contact with the obstacle, and as a result, there is a possibility of contact. In addition, it can be used for an obstacle detection device that issues a warning to the driver. Further, it can also be used as a follow-up traveling device that constantly detects the movement of the forward vehicle and causes the subject vehicle to follow the forward vehicle.

[0041]

As described above, according to the vehicular radar system (Claim 1) of the present invention, the radar device based on the sending angle of the sending wave by the scanning means and the distance detected by the distance detecting means are used. Calculate the distance and direction between the vehicle and the obstacle,
Next, based on the distance and direction between the vehicle and the obstacle,
Among obstacles corresponding to a plurality of data whose distances are close to each other and whose azimuths are adjacent and continuous and which are determined to be the same obstacle, among the obstacles corresponding to the plurality of data which are determined to be the same obstacle One of the distance data and the bearing data is acquired as a representative value. Then, the representative value obtained by the current scanning is compared with the representative value obtained by the previous scanning, and the movement amount of the representative value obtained by the current scanning is determined in consideration of the traveling state of the own vehicle. If the obstacle corresponding to the representative value obtained by the current scanning and the obstacle corresponding to the representative value obtained by the previous scanning are judged to be the same object when it is within the threshold value of It is possible to accurately identify a plurality of obstacles and recognize the same obstacle. Further, even if the environment is constantly changing, it is possible to judge whether the obstacle is a newly appearing obstacle or the same obstacle as the previous one. Furthermore, it is possible to judge the obstacle moving together and to calculate the relative speed from the previous data, and to judge the movement of the vehicle of the same obstacle.

Further, according to the vehicle radar device (Claim 2) of the present invention, when the representative value is not obtained by the previous scanning, the representative value obtained by the current scanning and the scanning before the previous scanning are performed. The representative value obtained by the current scan is compared with the representative value obtained by the above, and the movement amount of the representative value obtained by the current scan is within a predetermined threshold considering the running state of the own vehicle. In order to judge that the obstacle corresponding to the object and the obstacle corresponding to the representative value obtained in the scan two times before are the same object, a plurality of obstacles in front of the vehicle are accurately detected and Even if the environment is changed, such as when hidden, it is possible to determine that they are the same obstacle and its movement.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a vehicle radar device according to an embodiment.

FIG. 2 is an explanatory diagram showing a schematic operation of the vehicle radar device according to the present embodiment.

FIG. 3 is a flowchart showing an operation process of the vehicle radar device according to the present embodiment.

FIG. 4 is a flowchart showing an operation process of a vehicle radar device according to another embodiment.

FIG. 5 is an explanatory diagram showing a detection example of a conventional vehicle radar device (multi-beam method).

FIG. 6 is an explanatory diagram showing a detection example of a conventional vehicle radar device (multi-beam method).

FIG. 7 is an explanatory diagram showing a detection example of a conventional vehicle radar device (scanning method).

FIG. 8 is an explanatory diagram showing a detection example of a conventional vehicle radar device (scanning method).

[Explanation of symbols]

 Reference Signs List 101 radar head 102 laser light emitter 103 reflecting mirror 104 rotating table 105 reflection pulse detector 106 distance detector 107 control circuit 110 external calculator

Claims (2)

[Claims] 1. Light, radio wave, sound wave or the like is transmitted as a transmitted wave, and the reflected wave reflected by an obstacle is incident on the transmitted wave, and the time difference between the transmitted time of the transmitted wave and the incident time of the reflected wave is calculated. Based on the distance detection means for detecting the distance between the own vehicle and the obstacle, and a scanning means for controlling the sending angle of the outgoing wave sent by the distance detecting means to scan the front of the own vehicle with the outgoing wave. Calculating means for calculating the distance and azimuth between the own vehicle and the obstacle based on the sending angle data of the sending wave by the scanning means and the distance data detected by the distance detecting means, and the own vehicle obtained by the calculating means. Based on the distance and the direction between the obstacle and the obstacle, the obstacles that are similar in distance and that correspond to a plurality of data whose directions are adjacent to each other are determined to be the same obstacle, and the same obstacle is determined. Obstacles corresponding to multiple data The same obstacle acquisition means for acquiring one of the distance data and direction data as a representative value is compared with the representative value obtained by this scanning and the representative value obtained by the previous scanning, When the movement amount of the obtained representative value is within a predetermined threshold considering the running state of the own vehicle, the obstacle corresponding to the representative value obtained by this scanning and the representative value obtained by the previous scanning A vehicle radar device, comprising: a determination unit that determines that the obstacle corresponding to is the same object. 2. The determination means, when a representative value has not been obtained by the previous scanning, compares the representative value obtained by the current scanning with the representative value obtained by the scanning two times before, and When the amount of movement of the representative value obtained by scanning is within a predetermined threshold considering the running state of the host vehicle, the obstacles corresponding to the representative value obtained by the current scanning and the previous two scannings are obtained. The vehicle radar device according to claim 1, wherein the obstacle corresponding to the representative value is determined to be the same object.