JP2006038697A - Another vehicle detection device and inter-vehicle distance control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device capable of determining the vehicle kind of a preceding vehicle and the number of vehicles, and a device capable of changing control of the inter-vehicle distance corresponding to the car model of the preceding vehicle. <P>SOLUTION: A preceding vehicle inter-vehicle distance detection part 8 is equipped with a means for determining the vehicle kind, namely, whether another vehicle is a four-wheel car or a two wheeler, based on an intensity pattern carried by a reflecting wave. In this inter-vehicle distance control device 100, a preceding vehicle following mode of own vehicle or the inter-vehicle distance at which a warning is to be issued is changed corresponding to the kind of another vehicle detected by the preceding vehicle inter-vehicle distance detection part 8. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an other vehicle detection device that receives a reflected wave of an irradiation wave emitted from the own vehicle and detects another vehicle near the own vehicle, and an inter-vehicle distance control device using the other vehicle detection device.

This type of technology includes changes in inter-vehicle distance and reflected signal intensity obtained from this reflected signal by emitting micro light or laser light to the front of the own vehicle, and whether or not the own vehicle is traveling in a curve. By using the determination result and recognizing a change in the detected preceding vehicle, the determination result is used by determining that the detection target has shifted from the preceding lane preceding vehicle to another vehicle traveling in the adjacent lane. Thus, the mode of the following traveling or constant speed traveling is shifted to another new mode so that smooth traveling can be continued (for example, see Patent Document 1).
Japanese Patent No. 3125496

  However, in the prior art described in Patent Document 1, it is only necessary to change the control only when the reflection intensity of the radar suddenly changes, and whether the preceding vehicle is a four-wheeled vehicle or a two-wheeled vehicle. There is a problem that the number of vehicles such as the type and whether there are a plurality of preceding vehicles or a single preceding vehicle cannot be determined, and the inter-vehicle distance control according to the type of the preceding vehicle cannot be performed.

  The present invention has been made paying attention to the above-mentioned problem, and the object thereof is according to the other vehicle detection device capable of determining the type of the preceding vehicle and the number of the vehicles, and the type of the preceding vehicle. Another object of the present invention is to provide an inter-vehicle distance control device capable of changing the inter-vehicle distance control.

  In order to achieve the above object, according to the present invention, in another vehicle detection device for detecting another vehicle using a reflected wave of an irradiation wave emitted from the own vehicle, the other vehicle is a four-wheeled vehicle based on an intensity pattern of the reflected wave. Vehicle type determining means for determining whether the vehicle is a motorcycle or a motorcycle. In another aspect of the present invention, in the inter-vehicle distance control device, the preceding vehicle following mode or the inter-vehicle distance for issuing an alarm is changed according to the type of the other vehicle detected by the other vehicle detection device.

  In the present invention, it is possible to determine the type of vehicle such as whether the preceding vehicle is a four-wheeled vehicle or a two-wheeled vehicle, and the number of vehicles such as the number of the preceding vehicles. Accordingly, it is possible to use the control when the inter-vehicle distance is controlled, such as when following the preceding vehicle or issuing an alarm based on the inter-vehicle distance from the preceding vehicle.

  BEST MODE FOR CARRYING OUT THE INVENTION The best mode for carrying out another vehicle detection device and inter-vehicle distance control device of the present invention will be described below with reference to the drawings.

  First, the configuration will be described.

  FIG. 1 is a system block diagram showing the configuration of an inter-vehicle distance control device provided with another vehicle detection device of the present invention.

  The inter-vehicle distance control device 100 for a vehicle sets a setting unit 1 that inputs a set vehicle speed desired by the driver (upper limit vehicle speed in follow-up traveling) and a desired set inter-vehicle distance, and the inter-vehicle distance and relative speed between the host vehicle and the preceding vehicle. A preceding vehicle inter-vehicle detection unit 8 for detecting, a vehicle speed detecting unit 9 for detecting the vehicle speed of the own vehicle, and an inter-vehicle control unit 2 for calculating and determining the target vehicle speed from the inter-vehicle distance between the own vehicle and the preceding vehicle according to the vehicle speed of the own vehicle. And a vehicle speed command value selection unit 3 that selects a lower vehicle speed from the set vehicle speed of the driver and the target vehicle speed determined by the inter-vehicle distance control unit 2 and sets the speed command value, and the driving force of the engine or the like based on the speed command value And a vehicle speed control unit 4 for controlling the braking force of the brake.

  In the setting unit 1, the driver can set the set vehicle speed and the set inter-vehicle distance by operating a button switch or the like. The set vehicle speed can be input and set every 5 km / h with a button switch between 50 km / h and 100 km / h, for example. Further, the set inter-vehicle distance can be set, for example, every time the button switch is pressed, a three-step inter-vehicle distance such as “long”, “medium”, and “short”. The setting unit 1 outputs the set vehicle speed information and the set inter-vehicle distance information set here to the inter-vehicle control unit 2, the vehicle speed command value selection unit 3, and the vehicle speed control unit 4.

  The preceding vehicle headway detection unit 8 is provided on the front body of the vehicle, and transmits a transmitter that emits an irradiation wave or the like toward the traveling direction of the host vehicle, and a reflected wave reflected by an object in front of the host vehicle. A receiver for receiving. As the irradiation wave, a laser radar, a millimeter wave radar, an infrared radar, or the like is used. The preceding vehicle headway detection unit 8 determines whether or not there is another vehicle ahead of the host vehicle from the reflected wave, calculates the inter-vehicle distance and relative speed between the host vehicle and the preceding vehicle, and generates the vehicle generated here. Presence / absence determination information, inter-vehicle distance information Dps, and relative speed information are output to the inter-vehicle control unit 2 and the vehicle speed control unit 4. Further, it is determined whether or not an object in front of the host vehicle is a vehicle by the processing described later, and permission or prohibition of inter-vehicle distance control in the inter-vehicle distance control unit 2 or the vehicle speed control unit 4 is commanded according to the determination result.

  The vehicle speed detector 9 calculates the vehicle speed based on a signal from a vehicle speed sensor (not shown), and outputs the vehicle speed information VSP to the setting unit 1, the inter-vehicle distance controller 2, and the vehicle speed controller 4.

  The inter-vehicle distance control unit 2 receives inter-vehicle distance information Dps, relative speed information, vehicle speed information VSP, set inter-vehicle distance information, etc., sets the inter-vehicle distance according to the vehicle speed from these information, and calculates the target vehicle speed. .

  The vehicle speed command value selection unit 3 compares the set vehicle speed information with the target vehicle speed information, and outputs the vehicle speed command value to the vehicle speed control unit 4 as the vehicle speed command value.

  The vehicle speed control unit 4 receives the set vehicle speed information, the set inter-vehicle distance information, the preceding vehicle inter-vehicle distance information, the relative speed information, the vehicle speed information, and the like, and uses the engine torque command value Teng determined according to the inter-vehicle distance control as a driving force. The brake torque command value Tbk determined in accordance with the inter-vehicle distance control is output to the control unit 5 and to the hydraulic brake control unit 6.

  The driving force control unit 5 controls the accelerator opening AP using, for example, an electronically controlled throttle actuator in accordance with the engine torque command value Teng input from the vehicle speed control unit 4.

  In response to the brake torque command value Tbk input from the vehicle speed control unit 4, the hydraulic brake control unit 6 generates a brake hydraulic pressure Pbk0 that applies braking force to the wheels using, for example, an ABS actuator. ABS is an abbreviation for Anti-lock Brake System.

  The engine 7a and the brake 7b move the vehicle at a constant speed, accelerate or decelerate the vehicle according to the accelerator opening AP by the driving force control unit 5 and the brake hydraulic pressure Pbk0 by the hydraulic brake control unit 6. Is controlled to be the set inter-vehicle distance and the set vehicle speed.

  Next, the operation will be described.

[Constant speed running]
When the preceding vehicle distance detection unit 8 does not detect the preceding vehicle, the inter-vehicle distance control device controls the host vehicle that is the control target so as to maintain the set vehicle speed set by the driver in the setting unit 1. For example, if the driver sets the set vehicle speed to 100 km / h, the inter-vehicle distance control unit 2 does not output the target vehicle speed because no preceding vehicle is detected, and the vehicle speed command value selection unit 3 starts from the setting unit 1. 100 km / h of the input set vehicle speed information is selected, and 100 km / h is output to the vehicle speed control unit 4 as a vehicle speed command value. Thereafter, the vehicle speed control unit 4 controls the host vehicle via the driving force control unit 5 while monitoring vehicle speed information and the like so as to maintain the driver's set vehicle speed of 100 km / h.

[Deceleration]
When there is a preceding vehicle that is slower than the current vehicle speed of the host vehicle in the traveling direction of the host vehicle, the vehicle is decelerated so as to maintain the inter-vehicle distance. At this time, when a preceding vehicle (for example, 80 km / h) slower than the driver's set vehicle speed (for example, 100 km / h) is detected, the inter-vehicle control unit 2 determines the inter-vehicle distance according to the speed based on the driver's set inter-vehicle information, and the own vehicle And the target vehicle speed calculated from the relative speed with respect to the preceding vehicle is output to the vehicle speed command value selection unit 3. The vehicle speed command value selection unit 3 inputs the set vehicle speed information (here, 100 km / h) from the setting unit 1 and the target vehicle speed information (here, 80 km / h) from the inter-vehicle distance control unit 2, and the smaller vehicle speed Is output to the vehicle speed control unit 4 as a vehicle speed command value (80 km / h in this case). The vehicle speed control unit 4 controls the engine 7a and the brake 7b via the driving force control unit 5 and the hydraulic brake control unit 6 so as to achieve the vehicle speed command value and the set inter-vehicle distance.

[Following running]
The vehicle is controlled to travel following the preceding vehicle while maintaining the inter-vehicle distance calculated according to the speed based on the set inter-vehicle distance set by the driver. In the inter-vehicle control unit 2, vehicle speed information, inter-vehicle distance information, relative vehicle speed information, set inter-vehicle distance information, and the like are input, an inter-vehicle distance corresponding to the vehicle speed is set, and a target vehicle speed is calculated. The vehicle speed command value selection unit 3 selects a vehicle with a low vehicle speed from the set vehicle speed information of the driver and the target vehicle speed from the inter-vehicle distance control unit 2 and outputs it to the vehicle speed control unit 4 as a command vehicle speed value. The vehicle speed control unit 4 performs acceleration / deceleration control of the host vehicle via the driving force control unit 5 and the hydraulic brake control unit 6 according to a vehicle speed command value or the like.

  Note that the vehicle speed at this time is set to the upper limit of the set vehicle speed set by the driver, and when the vehicle speed exceeds the set vehicle speed, the follow-up running is stopped and constant speed running is performed.

[Acceleration running]
When the preceding vehicle in the traveling direction of the host vehicle stops moving in the traveling lane, the vehicle is accelerated if the vehicle speed is lower than the driver's set vehicle speed. At this time, since the target vehicle speed is not set in the inter-vehicle distance control unit 2 in the vehicle speed command value selection unit 3, the set vehicle speed of the driver is input to the vehicle speed control unit 4 as the vehicle speed command value. The vehicle speed control unit 4 accelerates the host vehicle to the vehicle speed command value via the driving force control unit 5.

[Vehicle type discrimination processing]
2 to 4 show a vehicle type discrimination processing method for detecting a preceding vehicle and determining whether the detected preceding vehicle is a four-wheeled vehicle or a two-wheeled vehicle.

  First, in order to distinguish the type of the preceding vehicle, the characteristics of the intensity pattern in the reflected wave when the preceding vehicle is a four-wheeled vehicle will be described.

  FIG. 2 is a time chart showing the relationship between the preceding position and the reflected wave intensity pattern (detection signal waveform) when the four-wheeled vehicle 10 is ahead while increasing the distance from the host vehicle. In the upper part of the figure, the preceding position from the own vehicle of the four-wheeled vehicle 10 provided with two reflectors 11L and 11R on the left and right of the rear part of the vehicle body is shown. The intensity pattern of the reflected wave from the preceding vehicle that is received by radiating radio waves from 8 to the preceding vehicle is shown.

  In this case, the reflected wave from the four-wheeled vehicle 10 has a high reflection intensity from the reflectors 11L and 11R and has two peaks corresponding to the two reflectors 11L and 11R. As shown in FIGS. 4A to 4C, when the four-wheel vehicle 10 moves away from the host vehicle, the intensity pattern of the reflected wave decreases while the intensity of the reflected wave decreases, and the positions of the two peaks are mutually different. Come closer. When the four-wheeled vehicle 10 moves in the lateral direction with respect to the own vehicle, the reflected wave intensity pattern itself hardly changes in accordance with this movement, and the detection position is in the horizontal direction, that is, left and right in the figure. Shift. Focusing on this point, the other vehicle detection device of the present embodiment can detect a four-wheeled vehicle.

  FIG. 3 shows the two-wheeled vehicle 12a, 12b when the two-wheeled vehicle 12a, 12b are running side by side in front of the host vehicle and the intensity pattern of the reflected wave from the preceding vehicle is confused with one four-wheeled vehicle. It is a time chart which shows the relationship between the preceding position of 12b and the intensity pattern of those reflected waves. The upper part of the figure shows a case where two two-wheeled vehicles 12a and 12b each having one reflector 13a and 13b at the rear part of the vehicle body are running in parallel ahead of the host vehicle. FIG. 2 shows the intensity pattern of the reflected waves from the two preceding vehicles received by radiating radio waves to the two preceding vehicles from the preceding vehicle headway detection unit 8.

  Thus, when two two-wheeled vehicles 12a and 12b run in parallel, the reflected wave from these has two peaks like the case of a four-wheeled vehicle. However, as shown in FIGS. 3 (a) and 3 (b), the two motorcycles usually move differently with respect to the distance of the motorcycles 12a and 12b with respect to the vehicle and the lateral position between the motorcycles as time passes. To do. As an example, in FIG. 3A, when the left and right two-wheeled vehicles 12a and 12b are traveling at the same distance from the own vehicle, the right two-wheeled vehicle 12b is shown in FIG. In the case where the distance between the two-wheeled vehicle 12a is further advanced so as to increase the inter-vehicle distance, and in the same figure (c), the left-side two-wheeled vehicle 12a slightly precedes the right-sided two-wheeled vehicle 12b. The reflected wave intensity pattern is shown at the bottom of the figure.

  Thus, in the case of two two-wheeled vehicles 12a and 12b running in parallel, the received reflected wave has no regularity in changes in intensity and peak position, unlike in the case of one four-wheeled vehicle. By paying attention to this point, the other vehicle detection apparatus of the present embodiment can distinguish between two two-wheeled vehicles and one four-wheeled vehicle.

  On the other hand, FIG. 4 shows the preceding position of the preceding vehicle relative to the own vehicle and the reflection from the preceding vehicle when one motorcycle 12a and one four-wheel vehicle 10 are running in parallel prior to the own vehicle. It is a time chart which shows the relationship with the intensity pattern of a wave. In the upper part of the figure, a two-wheeled vehicle 12a provided with one reflector 13 at the rear part of the vehicle body and a four-wheeled vehicle 10 provided with two reflectors 11L and 11R are shown running in parallel. The lower part shows the intensity pattern of the reflected wave from the preceding vehicle that has been received from the preceding vehicle inter-vehicle detector 8 by irradiating the two preceding vehicles with radio waves.

  Thus, when the two-wheeled vehicle 12a and the four-wheeled vehicle 10 run in parallel, the reflected wave from these has three peaks. However, the two-wheeled vehicle 12a and the four-wheeled vehicle 10 normally change their relative positions during travel. In this case, the intensity of two peaks indicated by the reflected wave from the four-wheeled vehicle 10 out of the three peaks. The pattern changes in intensity while being similar, and shows regularity, whereas the remaining one peak is from the two-wheeled vehicle 12a, so the intensity and relative position changes different from those of the two peaks and there is no regularity. .

  That is, for example, from the state in which the four-wheel vehicle 10 and the two-wheeled vehicle 12a are running side by side as shown in FIG. 4A, the two-wheeled vehicle 12a is slightly closer to the own vehicle as shown in FIG. When the four-wheeled vehicle 10 is further advanced by extending the distance from the own vehicle and the two-wheeled vehicle 12a, the intensity pattern of the reflected wave from the two-wheeled vehicle 12a is that the two-wheeled vehicle 12a is close to the own vehicle. The peak 14a becomes larger than the state shown in FIG. 10A (this state is indicated by a dotted line in the center of the drawing), and the detected angle becomes large and shifts to the left position. On the other hand, the intensity pattern of the reflected wave of the four-wheeled vehicle 10 is such that the two peaks 15L and 15R become smaller than the state of FIG. , 15R is narrowed, but this intensity pattern is similar to that in the state of FIG.

  The two-wheeled vehicle 12a and the four-wheeled vehicle 10 precede the vehicle by extending the distance as shown in the state of FIG. 10C from the state of FIG. When the two-wheeled vehicle 12a moves slightly to the left in the lateral direction with respect to the four-wheeled vehicle 10 and the four-wheeled vehicle 10 comes further ahead of the two-wheeled vehicle 12a, three peaks obtained from the intensity pattern of the reflected wave from the preceding vehicle are obtained. It will be different as follows.

  That is, the intensity pattern of the reflected wave from the four-wheeled vehicle 10 is such that the four-wheeled vehicle 10 is further away from the host vehicle and is shifted to the right, so that the two peak intensities 17L and 17R are from the state shown in FIG. As the distance further decreases, the distance between the two peaks 17L and 17R becomes narrower, but the intensity pattern is similar to that in the states of FIGS.

  In contrast, the intensity pattern of the reflected wave from the two-wheeled vehicle 12a moves away from the host vehicle 12a and shifts to the left, so that the peak 16a is reduced and the position from the position (b) of FIG. It is not linked with regularity compared to the temporal change of the other two peaks 17L and 17R. Focusing on this point, in the other vehicle detection device of the present embodiment, the two-wheeled vehicle and the four-wheeled vehicle can be distinguished from each other even when they are running in parallel.

  In the inter-vehicle distance control device 100, when the preceding vehicle head-to-head detector 8 detects that two preceding vehicles are running side by side from the intensity pattern of the reflected wave from the preceding vehicle, the preceding vehicle closer to the own vehicle In this case, it is determined whether the preceding vehicle is a two-wheeled vehicle or a four-wheeled vehicle. If the preceding vehicle to follow is a two-wheeled vehicle, it is in a two-wheeled vehicle following mode. Follow-up control is performed in car follow-up mode. In these follow-up modes, for example, in the case of a two-wheeled vehicle, the set inter-vehicle distance is made longer than that in the case of a four-wheeled vehicle.

  FIG. 5 is a flowchart showing a processing flow of the inter-vehicle distance control device including the other vehicle detection device of the first embodiment.

  In step S1, it is determined whether or not a preceding vehicle has been detected based on the presence or absence of a reflected wave. If YES, the process proceeds to step S2 to perform follow-up control. If NO, the process proceeds to step S13, and the vehicle runs at a constant speed at the driver's set vehicle speed.

  In step S3, the peak of the reflected wave from the preceding vehicle is detected, and the process proceeds to step S4.

  In step S4, it is determined whether there are a plurality of peaks. If YES, the process proceeds to step S5 to determine the vehicle type of the preceding vehicle. If NO, the process proceeds to step S14, and the preceding vehicle is a two-wheeled vehicle with one reflector. The motorcycle follow-up mode is executed.

  In step S5, it is determined whether the distance between the host vehicle and the preceding vehicle when the reflected wave from the preceding vehicle is captured in step S3 has changed by a predetermined distance or more. If YES, the process proceeds to step S6 and again. The peak of the reflected wave is detected. If NO, the process proceeds to step S8.

  In step S7, the peak of the reflected wave detected in step S3 is compared with the peak of the reflected wave detected in step S6, the peak intensity change and the lateral movement amount are detected, and the process proceeds to step S11.

  In step S8, it is determined whether or not a predetermined time has elapsed since the reflected wave from the preceding vehicle was captured in step S3. If YES, the process proceeds to step S9 to detect the peak of the reflected wave again. If so, the process proceeds to step S10.

  In step S10, the peak of the reflected wave detected in step S3 is compared with the peak of the reflected wave detected in step S9, the amount of lateral movement of the peak is detected, and the process proceeds to step S11.

  In step S11, it is determined whether the preceding vehicle is a two-wheeled vehicle or a four-wheeled vehicle by the vehicle type determining process described above.

  Steps S3 to S11 constitute vehicle type determination means of the present invention.

  In step S12, the two-wheel vehicle follow-up mode or the four-wheel vehicle follow-up mode is selected based on the determination of the vehicle type in step S11, and the follow-up traveling to the preceding vehicle is executed.

  Next, effects of the other vehicle detection device and the inter-vehicle distance control device of the first embodiment will be described.

  (1) In addition to confirming the presence of a preceding vehicle, it is possible to determine the vehicle type, whether it is a four-wheeled vehicle or a two-wheeled vehicle, from the peak of the reflected wave, thereby enabling more precise preceding detection.

  (2) In determining the vehicle type, it is possible to detect a preceding vehicle more precisely while suppressing costs without substantially requiring a new device.

  (3) When the number of peaks of the reflected wave waveform is one, it is determined that the vehicle is a two-wheeled vehicle. Therefore, the processing to be performed when there are a plurality of peaks can be omitted, and the processing can be speeded up.

  (4) It is possible to determine whether the vehicle is a four-wheeled vehicle or a two-wheeled vehicle, change the follow-up mode to the preceding vehicle based on the determination result, and issue an alarm based on the inter-vehicle distance from the preceding vehicle. Accordingly, safer follow-up driving can be performed.

  As mentioned above, although the other vehicle detection apparatus and inter-vehicle distance control apparatus of this invention were demonstrated based on Example 1, it is not restricted to these Examples about a concrete structure, Each claim of a claim Changes and additions in the design are allowed without departing from the gist of the invention according to the section.

  For example, in this embodiment, whether the preceding vehicle is a two-wheeled vehicle or a four-wheeled vehicle is determined by the intensity change of the peak of the reflected wave from the preceding vehicle and the regularity of movement in the lateral direction. Two-wheeled vehicles have larger temporal changes in their movements than four-wheeled vehicles, so the intensity of reflected waves per unit time and temporal changes in lateral movement (fluctuations) are detected. You may make it judge that it is a reflected wave from a two-wheeled vehicle.

  The present invention can be used not only for follow-up control by detecting another vehicle and determining the type of the vehicle, but also for other control of the inter-vehicle distance from the preceding vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS It is a whole system figure which shows the inter-vehicle distance control apparatus of the vehicle provided with the other vehicle detection apparatus of this invention based on Example 1. FIG. It is a figure explaining the detection method of a four-wheeled vehicle based on Example 1. FIG. It is a figure explaining the detection method of two two-wheeled vehicles based on Example 1. FIG. It is a figure explaining the detection method of the two-wheeled vehicle and four-wheeled vehicle based on Example 1. FIG. 3 is a flowchart illustrating a flow of processing executed by the inter-vehicle distance control apparatus for a vehicle according to the first embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Setting part 2 Inter-vehicle control part 3 Vehicle speed command value selection part 4 Vehicle speed control part 5 Driving force control part 6 Hydraulic brake control part 7a Engine 7b Brake 8 Leading vehicle inter-vehicle distance detection part 9 Vehicle speed detection part 100 Inter-vehicle distance control device

Claims (12)

In the other vehicle detection device that detects the other vehicle using the reflected wave of the irradiation wave emitted from the own vehicle,
An other vehicle detection device comprising vehicle type determination means for determining whether the other vehicle is a four-wheeled vehicle or a two-wheeled vehicle based on an intensity pattern of the reflected wave. The other vehicle detection device according to claim 1,
The other vehicle detection device, wherein the vehicle type determination means determines the vehicle type based on a temporal change in the intensity pattern of the reflected wave. In the other vehicle detection apparatus according to claim 1 or 2,
The vehicle type determination unit detects another peak in the intensity pattern of the reflected wave, and determines the vehicle type based on the number of detected peaks. The other vehicle detection device according to claim 3,
The other vehicle detection device, wherein the vehicle type determination means determines the vehicle type based on a time change of a movement amount of the peak detection position. In the other vehicle detection device according to claim 3 or 4,
The vehicle type determination means determines that the reflected wave is from a two-wheeled vehicle when the number of peaks is one. In the other vehicle detection device according to claim 3 or 4,
When the vehicle type determination means has a plurality of peaks, the intensity of two of these peaks does not substantially change with time, and the amount of movement of the detection positions of the two peaks is equal in the same direction When the vehicle changes with time, it is determined that the reflected wave including the two peaks is from a four-wheeled vehicle. In the other vehicle detection device according to claim 3 or 4,
The vehicle type determination means, when there are a plurality of peaks, the intensity of two of the peaks changes over time, and the movement direction of the detection positions of the two peaks changes over time by an equal amount. In this case, it is determined that the reflected wave including the two peaks is from a four-wheeled vehicle. In the other vehicle detection device according to claim 3 or 4,
When the vehicle type determination means has a plurality of peaks, and the intensity of two of these peaks changes with time at an equal rate, the reflected wave including the two peaks is from a four-wheeled vehicle. It is judged that it is other vehicle detection apparatus characterized by the above-mentioned. In the other vehicle detection device according to any one of claims 3, 4, 6 to 8,
When the vehicle type determination means has a plurality of the peaks, if the time change of the movement amount of the detection position of one of the peaks is different from the time change of the movement amount of the detection position of the other peak, The other vehicle detection device, wherein the reflected wave including the one peak is determined to be from a two-wheeled vehicle. In the other vehicle detection device according to any one of claims 3, 4, and 6 to 9,
In the case where there are a plurality of the peaks, the vehicle type determination means determines that the one peak is different if the rate of time change of the intensity of one of the peaks is different from the rate of change of the intensity of the other peak. It is determined that the reflected wave including is from a two-wheeled vehicle. The other vehicle detection device according to any one of claims 3 to 10,
The vehicle type determining means determines that the peak is a reflected wave from a two-wheeled vehicle when the temporal change in the reflection intensity or movement amount of the peak is equal to or greater than a predetermined amount within a predetermined time. Vehicle detection device. In the other vehicle detection device according to any one of claims 1 to 11,
An inter-vehicle distance control device that changes the preceding vehicle follow-up mode of the own vehicle or the inter-vehicle distance that issues an alarm according to the type of the detected other vehicle.

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