JP2009216444A - Onboard radar device and onboard radar device control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an onboard radar device can reduce electromagnetic wave irradiation to human body when a vehicle drives in a place where it is highly possible that an electromagnetic wave is irradiated to human body and of avoiding the vehicle to collide with an object in the circumference of the vehicle. <P>SOLUTION: The onboard radar device includes an electromagnetic wave irradiation section for irradiating an electromagnetic wave to the circumference of a vehicle, an electromagnetic wave receiving section for receiving a reflective wave reflected from an object in the circumference of the vehicle by irradiating an electromagnetic wave, an object detecting section for detecting an object in the circumference of the vehicle based on the reflective wave received by the electromagnetic wave receiving section, a driving status determining section for determining whether the vehicle drives in a predetermined place or in a predetermined status, and an electromagnetic wave irradiation controlling section for terminating an irradiation or reducing an irradiation intensity of the electromagnetic wave from the electromagnetic wave irradiation section, if the object detecting section does not detect any object in the circumference of the vehicle, when the driving status determining section determines that the vehicle drives in the predetermined place or in the predetermined status. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an on-vehicle radar device and an on-vehicle radar control method, and more specifically, when a vehicle is traveling in a place where there is a high possibility of irradiating an electromagnetic wave to the human body, the electromagnetic wave irradiation to the human body is performed. The present invention relates to a vehicle-mounted radar device and a vehicle-mounted radar control method that can reduce and avoid collision of a vehicle with an object around the vehicle.

  2. Description of the Related Art Conventionally, there is an in-vehicle radar device that irradiates an electromagnetic wave such as a light wave or a millimeter wave in front of a vehicle and detects an object in front of the vehicle based on the reflected wave. This type of on-vehicle radar device is, for example, a device that generates an alarm by detecting that the distance from a preceding vehicle or the like has become short, or controls the vehicle speed so as to maintain a predetermined distance from the preceding vehicle. It is applied as a device to do.

Among them, in consideration of the adverse effects of electromagnetic radiation on the human body, in order to reduce electromagnetic radiation to the human body, places where there is a high possibility of irradiating the human body with electromagnetic waves, such as downtowns, residential areas, service areas, parking lots An on-vehicle radar device that stops electromagnetic wave irradiation when it is determined from the navigation information whether the vehicle is traveling, and when it is determined that the vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves It has been proposed (see Patent Document 1).
Japanese Patent Laid-Open No. 10-325865

  However, in the conventional on-vehicle radar device described above, when the vehicle is traveling in a place where there is a high possibility of radiating electromagnetic waves to the human body, the electromagnetic wave irradiation is unconditionally stopped, so at that place no longer It becomes impossible to detect objects around the vehicle.

  For this reason, even if it is possible to reduce the irradiation of electromagnetic waves to the human body, it becomes impossible to avoid that the vehicle collides with an object around the vehicle, and the original function of the in-vehicle radar device cannot be performed.

  Therefore, the present invention has been made in view of the above problems. That is, when the vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves, it is possible to reduce the electromagnetic wave irradiation to the human body and avoid the vehicle from colliding with objects around the vehicle. An object is to provide an in-vehicle radar device and an in-vehicle radar control method.

  The first aspect of the present invention is directed to an in-vehicle radar device. The present invention includes an electromagnetic wave irradiation unit that irradiates an electromagnetic wave around the vehicle, a reflected wave reception unit that receives a reflected wave reflected from an object around the vehicle when the electromagnetic wave irradiation unit radiates the electromagnetic wave, and a reflected wave reception An object detection unit that detects an object around the vehicle based on the reflected wave received by the unit, a traveling state determination unit that determines whether the vehicle is traveling in a predetermined location or in a predetermined state, and If the object detection unit does not detect an object around the vehicle when the traveling state determination unit determines that the vehicle is traveling in a predetermined place or in a predetermined state, the electromagnetic wave irradiation unit An electromagnetic wave irradiation control unit that stops the irradiation of electromagnetic waves or weakens the irradiation intensity.

  As a result, when the vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves, it is possible to reduce the electromagnetic wave irradiation to the human body and avoid the vehicle from colliding with objects around the vehicle. An in-vehicle radar device that can be provided can be provided.

  The traveling state determination unit determines that the vehicle is traveling in a predetermined place or in a predetermined state when the vehicle is traveling at a speed slower than a predetermined speed. Is preferred.

  This makes it possible to determine whether or not the vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves. It is possible to provide an in-vehicle radar device capable of reducing electromagnetic wave irradiation on the vehicle and preventing the vehicle from colliding with an object around the vehicle.

  Moreover, it is preferable that a driving | running | working state determination part determines with the state which the own vehicle is drive | working in the predetermined place or the predetermined state, when it is the state which the own vehicle is decelerating and driving | running | working.

  This makes it possible to determine whether or not the vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves. It is possible to provide an in-vehicle radar device capable of reducing electromagnetic wave irradiation on the vehicle and preventing the vehicle from colliding with an object around the vehicle.

  In addition, it is preferable that the traveling state determination unit determines that the vehicle is traveling in a predetermined place or in a predetermined state when the vehicle is traveling without accelerating.

  This makes it possible to determine whether or not the vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves. It is possible to provide an in-vehicle radar device capable of reducing electromagnetic wave irradiation on the vehicle and preventing the vehicle from colliding with an object around the vehicle.

  Moreover, it is preferable that a driving | running | working state determination part determines whether it is the state which the own vehicle is drive | working in a predetermined place or a predetermined state based on navigation information.

  This makes it possible to determine based on the navigation information whether or not the vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves, so that the vehicle travels in a place where the human body is likely to radiate electromagnetic waves. In this case, it is possible to provide an in-vehicle radar device capable of reducing electromagnetic wave irradiation to a human body and avoiding a vehicle from colliding with an object around the vehicle.

  Moreover, it is preferable that the predetermined place is in a downtown area, a residential area, a service area, or a parking lot.

  Thereby, when the vehicle is traveling in a place where there is a high possibility of radiating electromagnetic waves to the human body, i.e., in a downtown area, a residential area, a service area, or a parking lot, the electromagnetic wave irradiation to the human body is reduced, It is possible to provide an in-vehicle radar device that can avoid collision of a vehicle with an object around the vehicle.

  Moreover, it is preferable that the electromagnetic wave which an electromagnetic wave irradiation part irradiates is a millimeter wave.

  As a result, when the vehicle is traveling in a place where there is a high possibility of irradiating the human body with millimeter waves, the millimeter wave irradiation to the human body is reduced and the vehicle is prevented from colliding with objects around the vehicle. It is possible to provide an on-vehicle radar device that can be used.

  The second aspect of the present invention is directed to an in-vehicle radar control method. The present invention includes an electromagnetic wave irradiation step for irradiating an electromagnetic wave around the vehicle, a reflected wave receiving step for receiving a reflected wave reflected from an object around the vehicle by irradiating the electromagnetic wave in the electromagnetic wave irradiation step, and a reflected wave reception Based on the reflected wave received in the step, the object detection step for detecting an object around the own vehicle, the traveling state acquisition step for acquiring the traveling state of the own vehicle, and the own vehicle travels in a predetermined place or in a predetermined state. The vehicle detection state in the object detection step when it is determined that the vehicle is traveling in a predetermined location or in a predetermined state in the traveling state determination step An electromagnetic wave irradiation control step of stopping irradiation of electromagnetic waves or weakening irradiation intensity when surrounding objects are not detected.

  As a result, when the vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves, it is possible to reduce the electromagnetic wave irradiation to the human body and avoid the vehicle from colliding with objects around the vehicle. A vehicle-mounted radar control method that can be provided can be provided.

  Further, in the traveling state determination step, when the host vehicle is traveling at a speed slower than a predetermined speed, it is determined that the host vehicle is traveling in a predetermined place or in a predetermined state. Is preferred.

  This makes it possible to determine whether or not the vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves. It is possible to provide an in-vehicle radar control method capable of reducing electromagnetic wave irradiation on the vehicle and preventing the vehicle from colliding with an object around the vehicle.

  In the traveling state determination step, when the host vehicle is traveling at a reduced speed, it is preferable to determine that the host vehicle is traveling at a predetermined location or in a predetermined state.

  This makes it possible to determine whether or not the vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves. It is possible to provide an in-vehicle radar control method capable of reducing electromagnetic wave irradiation on the vehicle and preventing the vehicle from colliding with an object around the vehicle.

  In the traveling state determination step, it is preferable to determine that the vehicle is traveling in a predetermined place or in a predetermined state when the vehicle is traveling without accelerating.

  This makes it possible to determine whether or not the vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves. It is possible to provide an in-vehicle radar control method capable of reducing electromagnetic wave irradiation on the vehicle and preventing the vehicle from colliding with an object around the vehicle.

  Further, in the traveling state determination step, it is preferable to determine whether or not the vehicle is traveling in a predetermined place or in a predetermined state based on the navigation information.

  This makes it possible to determine based on the navigation information whether or not the vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves, so that the vehicle travels in a place where the human body is likely to radiate electromagnetic waves. In this case, it is possible to provide an in-vehicle radar control method capable of reducing electromagnetic wave irradiation to a human body and avoiding a vehicle from colliding with an object around the vehicle.

  Moreover, it is preferable that the predetermined place is in a downtown area, a residential area, a service area, or a parking lot.

  Thereby, when the vehicle is traveling in a place where there is a high possibility of radiating electromagnetic waves to the human body, i.e., in a downtown area, a residential area, a service area, or a parking lot, the electromagnetic wave irradiation to the human body is reduced, It is possible to provide an in-vehicle radar control method capable of avoiding a vehicle from colliding with an object around the vehicle.

  Moreover, it is preferable that the electromagnetic wave irradiated at an electromagnetic wave irradiation step is a millimeter wave.

  As a result, when the vehicle is traveling in a place where there is a high possibility of irradiating the human body with millimeter waves, the millimeter wave irradiation to the human body is reduced and the vehicle is prevented from colliding with objects around the vehicle. A vehicle-mounted radar control method that can be provided can be provided.

  As described above, according to the present invention, when a vehicle is traveling in a place where there is a high possibility that the human body is irradiated with electromagnetic waves, the irradiation of electromagnetic waves to the human body is reduced and the vehicle is an object around the vehicle. It is possible to provide a vehicle-mounted radar device and a vehicle-mounted radar control method that can avoid collision with the vehicle.

(First embodiment)
Hereinafter, an in-vehicle radar device according to a first embodiment of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing an overall configuration of an in-vehicle radar device 100 according to an embodiment of the present invention. In FIG. 1, the on-vehicle radar device 100 includes an electromagnetic wave irradiation unit 110, a reflected wave reception unit 120, an object detection unit 130, a speed detection unit 140, a traveling state determination unit 150, and an electromagnetic wave irradiation control unit 160.

  The electromagnetic wave irradiation unit 110 is, for example, an array antenna in which a plurality of element antennas are arranged at predetermined intervals. The electromagnetic wave irradiation unit 110 includes a transmission element antenna that is located at one end of the array arrangement and transmits radio waves to a space. Irradiate around the vehicle.

  The reflected wave receiving unit 120 includes a receiving element antenna that receives radio waves. The reflected wave receiving unit 120 receives a reflected wave reflected from an object around the own vehicle when the electromagnetic wave irradiation unit 110 emits millimeter waves.

  The electromagnetic wave object detection unit 130 detects an object around the host vehicle based on the reflected wave received by the reflected wave receiving unit 120.

  The speed detector 140 is, for example, a vehicle speed sensor that measures the speed of the host vehicle. When the traveling state determination unit 150 determines that the vehicle speed measured by the speed detection unit 140 is equal to or lower than the predetermined speed, the driving state determination unit 150 is a predetermined place, that is, a place where the human body is highly likely to radiate electromagnetic waves, It is determined that the vehicle is traveling in a residential area, a service area, or a parking lot.

  When the traveling state determination unit 150 determines that the vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves, the object detection unit 130 detects objects around the vehicle. If not, the electromagnetic wave irradiation by the electromagnetic wave irradiation unit 110 is stopped or the irradiation intensity is weakened.

  As shown in FIG. 2, the on-vehicle radar device 100 configured as described above includes an FR radar that detects an object in front of the host vehicle, a side radar that detects an object on the side of the host vehicle, and an object behind the host vehicle. It consists of RR radar to detect.

  Hereinafter, the operation of the on-vehicle radar device 100 according to the first embodiment of the present invention will be described with reference to the flowchart of FIG.

  First, the electromagnetic wave irradiation unit 110 starts irradiation of millimeter waves around the own vehicle (step S301).

  Next, the traveling state determination unit 150 determines whether or not the vehicle speed detected by the speed detection unit 140 is equal to or lower than a predetermined speed, so that the host vehicle travels in a place where there is a high possibility that the human body is irradiated with electromagnetic waves. It is determined whether or not (step S302). This makes it possible to determine whether or not the vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves.

  If it is determined in step S302 that the speed is not lower than the predetermined speed, that is, if it is determined that the vehicle is not traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves, the electromagnetic wave irradiation control unit 160 performs electromagnetic wave irradiation. The millimeter wave irradiation by the unit 110 is continued.

  On the other hand, if it is determined in step S302 that the speed is equal to or lower than the predetermined speed, that is, if it is determined that the vehicle is traveling in a place where there is a high possibility that the human body is irradiated with electromagnetic waves, the electromagnetic wave irradiation control unit 160 is Then, it is determined whether or not the object detection unit 130 has detected an object around the own vehicle (step S303).

  If it is determined in step S303 that an object around the host vehicle has not been detected, the electromagnetic wave irradiation control unit 160 continues the irradiation of millimeter waves by the electromagnetic wave irradiation unit 110.

  On the other hand, when it is determined in step S303 that an object around the host vehicle has been detected, the electromagnetic wave irradiation control unit 160 stops the electromagnetic wave irradiation by the electromagnetic wave irradiation unit 110 or weakens the irradiation intensity (step S304).

  Thus, according to the present invention, when a vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves, the electromagnetic wave irradiation to the human body is reduced and the vehicle collides with objects around the vehicle. It is possible to provide an in-vehicle radar device and an in-vehicle radar control method that can avoid this.

(Second Embodiment)
Hereinafter, an in-vehicle radar device 100 according to a second embodiment of the present invention will be described in detail with reference to the drawings. The description of the same configuration as that of the first embodiment is omitted.

  FIG. 4 is a block diagram showing the overall configuration of the in-vehicle radar device 100 according to the second embodiment of the present invention. In FIG. 4, the on-vehicle radar device 100 further includes an acceleration detection unit 170.

  The acceleration detection unit 170 is, for example, an acceleration sensor that measures the acceleration of the host vehicle. When the traveling state determination unit 150 determines that the host vehicle is traveling without deceleration or acceleration based on the acceleration measured by the acceleration detection unit 170, the traveling state determination unit 150 irradiates the human body with electromagnetic waves. It is determined that the vehicle is traveling in a busy area, a residential area, a service area, or a parking lot, which is a highly likely place.

  Hereinafter, the operation of the in-vehicle radar device 100 according to the second embodiment of the present invention will be described with reference to the flowchart of FIG.

  First, the electromagnetic wave irradiation unit 110 starts irradiation of millimeter waves around the own vehicle (step S501).

  Next, the traveling state determination unit 150 irradiates the human body with electromagnetic waves by determining whether the host vehicle is traveling without decelerating or accelerating based on the acceleration detected by the acceleration detecting unit 170. It is determined whether or not the vehicle is traveling in a highly likely place (step S502). This makes it possible to determine whether or not the vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves.

  If it is determined in step S502 that the vehicle is not traveling without decelerating or accelerating, that is, if it is determined that the vehicle is not traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves. The electromagnetic wave irradiation control unit 160 continues the irradiation of millimeter waves by the electromagnetic wave irradiation unit 110.

  On the other hand, if it is determined in step S502 that the host vehicle is traveling without being decelerated or accelerated, that is, it is determined that the host vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves. In this case, the electromagnetic wave irradiation control unit 160 determines whether or not the object detection unit 130 has detected an object around the own vehicle (step S503).

  If it is determined in step S503 that an object around the host vehicle has not been detected, the electromagnetic wave irradiation control unit 160 continues the millimeter wave irradiation by the electromagnetic wave irradiation unit 110.

  On the other hand, when it is determined in step S503 that an object around the host vehicle has been detected, the electromagnetic wave irradiation control unit 160 stops the electromagnetic wave irradiation by the electromagnetic wave irradiation unit 110 or weakens the irradiation intensity (step S504).

  Thus, according to the present invention, when a vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves, the electromagnetic wave irradiation to the human body is reduced and the vehicle collides with objects around the vehicle. It is possible to provide an in-vehicle radar device and an in-vehicle radar control method that can avoid this.

(Third embodiment)
Hereinafter, an in-vehicle radar device 100 according to a third embodiment of the present invention will be described in detail with reference to the drawings. The description of the same configuration as that of the first and second embodiments is omitted.

  FIG. 6 is a block diagram showing the overall configuration of the in-vehicle radar device 100 according to the third embodiment of the present invention. In FIG. 6, the on-vehicle radar device 100 further includes a navigation unit 180.

  The navigation unit 180 measures the current position of the host vehicle and guides the host vehicle to the destination. When the traveling state determination unit 150 determines that the current position measured by the navigation unit 180 is a predetermined position, the traveling state determination unit 150 is a predetermined place, that is, a place where the human body is highly likely to radiate electromagnetic waves. It is determined that the vehicle is traveling in a city, a residential area, a service area, or a parking lot.

  Hereinafter, the operation of the on-vehicle radar device 100 according to the third embodiment of the present invention will be described with reference to the flowchart of FIG.

  First, the electromagnetic wave irradiation unit 110 starts irradiation of millimeter waves around the own vehicle (step S701).

  Next, based on the current position measured by the navigation unit 180, the traveling state determination unit 150 determines whether or not the vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves (step S702). . Thereby, it can be determined based on the navigation information whether the vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves.

  In step S702, when it is determined that the vehicle is not traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves, the electromagnetic wave irradiation control unit 160 continues the irradiation of millimeter waves by the electromagnetic wave irradiation unit 110.

  On the other hand, when it is determined in step S702 that the subject vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves, the electromagnetic wave irradiation control unit 160 detects the object around the own vehicle. It is determined whether or not (step S703).

  If it is determined in step S703 that an object around the host vehicle has not been detected, the electromagnetic wave irradiation control unit 160 continues the millimeter wave irradiation by the electromagnetic wave irradiation unit 110.

  On the other hand, if it is determined in step S703 that an object around the host vehicle has been detected, the electromagnetic wave irradiation control unit 160 stops the electromagnetic wave irradiation by the electromagnetic wave irradiation unit 110 or weakens the irradiation intensity (step S704).

  Thus, according to the present invention, when a vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves, the electromagnetic wave irradiation to the human body is reduced and the vehicle collides with objects around the vehicle. It is possible to provide an in-vehicle radar device and an in-vehicle radar control method that can avoid this.

  The configuration described in the above embodiment is merely a specific example and does not limit the technical scope of the present invention. Any configuration can be employed within the scope of the effects of the present application.

  When the vehicle is traveling in a place where there is a high possibility of irradiating the human body with electromagnetic waves, electromagnetic radiation to the human body can be reduced and the vehicle can avoid colliding with objects around the vehicle. It is useful as a radar device, a vehicle-mounted radar control method, and the like.

The block diagram which shows the whole structure of the vehicle-mounted radar apparatus which concerns on the 1st Embodiment of this invention Schematic diagram showing the detection area of an on-vehicle radar device The flowchart which shows operation | movement of the vehicle-mounted radar apparatus which concerns on the 1st Embodiment of this invention The block diagram which shows the whole structure of the vehicle-mounted radar apparatus which concerns on the 2nd Embodiment of this invention. The flowchart which shows operation | movement of the vehicle-mounted radar apparatus which concerns on the 2nd Embodiment of this invention. The block diagram which shows the whole structure of the vehicle-mounted radar apparatus which concerns on the 3rd Embodiment of this invention. The flowchart which shows operation | movement of the vehicle-mounted radar apparatus which concerns on the 3rd Embodiment of this invention.

Explanation of symbols

100 on-vehicle radar device 110 electromagnetic wave irradiation unit 120 reflected wave reception unit 130 object detection unit 140 speed detection unit 150 traveling state determination unit 160 electromagnetic wave irradiation control unit 170 acceleration detection unit 180 navigation unit

Claims (14)

An on-vehicle radar device,
An electromagnetic wave irradiation unit for irradiating an electromagnetic wave around the own vehicle;
A reflected wave receiving unit that receives a reflected wave reflected from an object around the vehicle by irradiating the electromagnetic wave with the electromagnetic wave irradiating unit;
Based on the reflected wave received by the reflected wave receiving unit, an object detection unit that detects an object around the vehicle,
A traveling state determination unit that determines whether the vehicle is traveling in a predetermined place or in a predetermined state;
When the traveling state determination unit determines that the vehicle is traveling in a predetermined place or in a predetermined state, the electromagnetic wave irradiation is performed when the object detection unit does not detect an object around the vehicle. An on-vehicle radar device comprising: an electromagnetic wave irradiation control unit that stops the irradiation of electromagnetic waves by the unit or weakens the irradiation intensity.   The traveling state determination unit determines that the vehicle is traveling in a predetermined place or in a predetermined state when the vehicle is traveling at a speed slower than a predetermined speed. The on-vehicle radar device according to claim 1, wherein the on-vehicle radar device is characterized.   The travel state determination unit determines that the vehicle is traveling in a predetermined place or in a predetermined state when the host vehicle is traveling at a reduced speed, The in-vehicle radar device according to claim 1.   The traveling state determination unit determines that the vehicle is traveling in a predetermined place or in a predetermined state when the vehicle is traveling without accelerating. The on-vehicle radar device according to claim 1.   The in-vehicle radar device according to claim 1, wherein the traveling state determination unit determines whether or not the vehicle is traveling in a predetermined place or in a predetermined state based on navigation information. .   The on-vehicle radar device according to claim 1, wherein the predetermined place is a downtown area, a residential area, a service area, or a parking lot.   The on-vehicle radar device according to claim 1, wherein the electromagnetic wave irradiated by the electromagnetic wave irradiation unit is a millimeter wave. A vehicle-mounted radar control method comprising:
An electromagnetic wave irradiation step for irradiating an electromagnetic wave around the vehicle;
A reflected wave receiving step of receiving a reflected wave reflected from an object around the vehicle by irradiating the electromagnetic wave in the electromagnetic wave irradiating step;
Based on the reflected wave received in the reflected wave receiving step, an object detection step for detecting an object around the vehicle,
A driving state acquisition step of acquiring the driving state of the own vehicle;
A traveling state determination step for determining whether or not the vehicle is traveling in a predetermined place or in a predetermined state;
When it is determined in the traveling state determination step that the vehicle is traveling in a predetermined place or in a predetermined state, irradiation of electromagnetic waves is performed when an object around the vehicle is not detected in the object detection step. An on-vehicle radar control method, comprising: an electromagnetic wave irradiation control step for stopping or weakening irradiation intensity.   In the traveling state determination step, when the host vehicle is traveling at a speed slower than a predetermined speed, it is determined that the host vehicle is traveling in a predetermined place or in a predetermined state. The in-vehicle radar control method according to claim 8, characterized in that it is characteristic.   In the traveling state determination step, when the host vehicle is traveling in a decelerated state, it is determined that the host vehicle is traveling in a predetermined place or in a predetermined state. The on-vehicle radar control method according to claim 8.   In the traveling state determination step, when the host vehicle is traveling without accelerating, it is determined that the host vehicle is traveling in a predetermined place or in a predetermined state. The on-vehicle radar control method according to claim 8.   The in-vehicle radar control according to claim 8, wherein in the traveling state determination step, it is determined whether or not the vehicle is traveling in a predetermined place or in a predetermined state based on navigation information. Method.   The in-vehicle radar control method according to any one of claims 8 to 12, wherein the predetermined place is a downtown area, a residential area, a service area, or a parking lot.   The on-vehicle radar control method according to claim 8, wherein the electromagnetic wave irradiated in the electromagnetic wave irradiation step is a millimeter wave.

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