JP6753674B2 - In-vehicle radar device - Google Patents

Description

The present invention relates to an in-vehicle radar device that radiates an electromagnetic wave (that is, radio wave or light) in front of a vehicle and receives the reflected wave to detect a target existing in front of the vehicle.

In this type of in-vehicle radar device, when the preceding vehicle captured as a target existing in front starts climbing a steep uphill, the captured target rubs from the preceding vehicle onto the uphill road surface. It is known that a changing phenomenon occurs.

That is, as illustrated in FIG. 7A, when the preceding vehicle b is on a flat road in front of the vehicle a equipped with the vehicle-mounted radar device, the preceding vehicle b is preceded by an electromagnetic wave radiated from the vehicle-mounted radar device mounted on the vehicle a. It is assumed that the vehicle b is continuously captured. The state of continuously capturing the same target is called "tracking". From this situation, as illustrated in FIG. 7B, when the preceding vehicle b first shifts to the uphill, the electromagnetic wave applied to the preceding vehicle b deviates from the preceding vehicle b and is irradiated on the uphill road surface. ..

At this time, it should be judged that the detection for the preceding vehicle b disappears and the tracking is interrupted. However, the tracking is performed by the in-vehicle radar device receiving the electromagnetic wave reflected by the uphill road surface. It may continue. This is a phenomenon in which a target tracked by an in-vehicle radar device is replaced by another object. Hereinafter, such a phenomenon is referred to as "transfer". When the detection result of the in-vehicle radar device is used, for example, in a system that recognizes the preceding vehicle and controls the vehicle, there is a risk of erroneously recognizing that the preceding vehicle b has stopped on the road surface of the slope due to the occurrence of transfer. There is.

In response to such a problem, Patent Document 1 states that a transfer occurred on the condition that the width of the target detected by the in-vehicle radar device was expanded from the width corresponding to the vehicle to the width corresponding to the road surface. The technique for determining is disclosed.

JP-A-2009-115628

The prior art described in Patent Document 1 is premised on being able to scan a wide range in the horizontal direction so that the width of the vehicle to be detected and the width of the road surface can be distinguished. However, not all radar devices mounted on vehicles have such a wide detection range.

The present invention has been made to solve these problems. An object of the present invention is to provide a technique for accurately determining that a transfer has occurred in a detected target even if the in-vehicle radar device does not necessarily have a wide detection range in the horizontal direction.

The vehicle-mounted radar device according to one embodiment of the present disclosure includes a transmitting means (10), a receiving means (11), a detecting means (13), a first storage means (15), a first comparison means (16), and a speed calculation. A means (14), a second storage means (15), a second comparison means (16), and a determination means (17) are provided. In addition, the reference numerals in parentheses described in this column and the scope of claims indicate the correspondence with the specific means described in the embodiment described later as one embodiment, and the technical scope of the present invention is defined. It is not limited.

The transmitting means is configured to transmit electromagnetic waves to a predetermined range in front of the own vehicle, which is a vehicle on which an in-vehicle radar device is mounted. The receiving means is configured to receive the reflected wave in which the electromagnetic wave transmitted by the transmitting means is reflected by the target and returned. The detection means is configured to detect the distance to the target and the reception intensity of the reflected wave based on the reflected wave received by the receiving means. The first storage means is configured to store a plurality of reception intensities detected by the detection means. The first comparison means is configured to compare the past reception strength with the current reception strength with respect to the reception strength stored in the first storage means.

The speed calculation means is configured to calculate the speed of the target based on the temporal transition of the distance to the target detected by the detection means. The second storage means is configured to store the speeds for a plurality of times calculated by the speed calculation means. The second comparison means is configured to compare the past speed with the current speed with respect to the speed stored in the second storage means.

When the comparison result by the first and second comparison means corresponds to the different detection judgment condition, the judgment means is different from the target that has been continuously detected from the past. It is configured to determine that. The different detection determination condition is a condition for determining that the target detected this time is different from the target that has been continuously detected from the past. This different detection determination condition is that in the comparison result by the first comparison means, the reception intensity of this time is lowered from the past reception intensity by exceeding a predetermined intensity threshold value, and in the comparison result by the second comparison means. , Including the condition that the current speed is lower than the past speed.

Therefore, according to the in-vehicle radar device of the present disclosure, a transfer occurs in the detected target based on the decrease in the reception intensity of the reflected wave and the decrease in the speed of the target detected based on the reflected wave. You can judge that accurately. In other words, when the preceding vehicle is captured by electromagnetic waves, the reflected wave is received by the part with high reflection efficiency of the vehicle body, but when the capture target is replaced by the road surface such as a slope, the reflection by the road surface with low reflection efficiency is received. Will be received. As a result, a decrease in the reception intensity of the reflected wave is observed. Further, when the target to be captured is switched from the preceding vehicle running in front of the own vehicle to the stationary road surface, a decrease in the speed of the target is observed.

By doing so, even if the width of the vehicle and the width of the road surface are not necessarily wide enough to be distinguished, it is possible to accurately detect that a transfer has occurred at the captured target.

A block diagram showing the configuration of an in-vehicle radar device. The flowchart which shows the procedure of the determination process in 1st Embodiment. An explanatory diagram schematically showing the situation at the time of transfer determination. Explanatory drawing which shows the exploration range of a target in 2nd Embodiment. The flowchart which shows the procedure of the determination process in 2nd Embodiment. A flowchart showing the procedure of the release determination process. An explanatory diagram schematically showing a situation in which the tracked target is replaced.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The present invention is not limited to the following embodiments, and can be implemented in various embodiments.
[Explanation of the configuration of the in-vehicle radar device]
The configuration of the vehicle-mounted radar device 1 of the embodiment will be described with reference to FIG. The in-vehicle radar device 1 is installed at the front end of the vehicle, irradiates an electromagnetic wave composed of laser light to the front of the vehicle (that is, in the traveling direction) as a radar wave, detects a target by receiving the reflected wave, and detects the target. It calculates information such as the distance to the target and the direction. Hereinafter, the vehicle on which the in-vehicle radar device 1 is mounted is referred to as a own vehicle.

As illustrated in FIG. 1, the vehicle-mounted radar device 1 includes a transmission unit 10, a reception unit 11, and a control device 12. The transmission unit 10 is configured to irradiate the search range in front of the own vehicle with a radar wave composed of pulsed laser light. The transmission unit 10 includes a light emitting element that generates laser light and a drive circuit that causes the light emitting element to emit light according to a control signal input from the control device 12.

The receiving unit 11 receives the reflected wave that the radar wave transmitted from the transmitting unit 10 hits the target and is reflected in a predetermined angle range in the horizontal direction and the vertical direction, and receives a reception signal according to the reception intensity thereof. It is configured to output to 12. The receiving unit 11 has a condensing lens that condenses the reflected wave coming from the exploration range in front of the own vehicle, and a voltage value corresponding to the reception intensity (that is, the reflection intensity) of the reflected wave incident through the condensing lens. It is provided with a light receiving circuit for generating the received signal of.

In the first embodiment described later, the receiving unit 11 is configured to receive the reflected wave arriving from the front of the own vehicle without distinguishing the direction and collectively output the received signal. On the other hand, in the second embodiment described later, the receiving unit 11 receives the reflected wave for each of a plurality of divided regions in which the exploration range in front of the own vehicle is divided by a predetermined angle on the horizontal plane. It is assumed that a plurality of light receiving elements arranged at intervals in the vehicle width direction of the vehicle are provided. In the case of the second embodiment, the receiving unit 11 outputs the received signal of the reflected wave received for each of the plurality of divided regions.

The control device 12 is an information processing device mainly composed of a CPU, a RAM, a ROM, a semiconductor memory such as a flash memory, an input / output interface, and the like (not shown). The control device 12 is embodied by, for example, a microcontroller in which functions as a computer system are integrated. The function of the control device 12 is realized by the CPU executing a program stored in a non-transitional substantive storage medium such as a ROM or a semiconductor memory. The number of microcontrollers constituting the control device 12 may be one or a plurality.

The control device 12 detects a target by controlling the transmission and reception of radar waves by the transmitting unit 10 and the receiving unit 11, and transmits information about the detected target to another vehicle-mounted system via the vehicle-mounted network. Take on the function of The other in-vehicle system referred to here is a system that performs driving support (for example, preceding vehicle follow-up control, automatic stop control, etc.) by using the information of the target detected by the in-vehicle radar device 1. The control device 12 also executes a determination process, which is a main process related to the present invention. A detailed description of this determination process will be described later.

The control device 12 includes a detection unit 13, a speed calculation unit 14, a storage unit 15, a comparison unit 16, and a determination unit 17 as main components related to the present invention. The method for realizing these elements constituting the control device 12 is not limited to software, and some or all of the elements may be realized by using hardware in which a logic circuit, an analog circuit, or the like is combined. ..

The detection unit 13 outputs a light emission control signal to the transmission unit 10 at each preset detection cycle to emit a pulsed laser beam from the transmission unit 10, and then input from the reception unit 11. A target existing in front of the vehicle is detected based on the received signal.

Specifically, the detection unit 13 measures the time from the output of the light emission control signal to the input of the light reception signal from the reception unit 11, and calculates the distance to the target based on the measured time. To do. The detection unit 13 outputs information indicating the distance to the target in each detection cycle to the speed calculation unit 14, and outputs information indicating the reception intensity based on the reception signal input from the reception unit 11 to the storage unit 15. ..

The speed calculation unit 14 calculates the speed of the target based on the information of the distance from the detection unit 13 to the target, and outputs the information representing the calculated speed to the storage unit 15. Specifically, the speed calculation unit 14 sets a target for the own vehicle based on the amount of change in the distance based on the latest distance information and the distance information at a certain point in the past and the time difference between the two points in time. Calculate the relative velocity. Then, the speed of the target is calculated based on the difference between the current speed of the own vehicle and the relative speed of the target based on the value detected by the vehicle speed sensor equipped on the own vehicle.

The storage unit 15 is configured to store the reception intensity information supplied from the detection unit 13 and the speed information supplied from the speed calculation unit 14 for a plurality of times. Specifically, for each detection cycle in which the target is detected, information on the reception intensity and the speed is recorded in the storage unit 15 at any time, so that a plurality of times detected in the period from a certain point in the past to the present Information on the reception intensity and the speed of the target is stored in the storage unit 15. Hereinafter, regarding the reception strength and speed information stored in the storage unit 15, the most recently detected reception strength and speed are referred to as the current strength and the current speed, respectively, and the reception strength detected in the past one before that is referred to as the current strength and the current speed, respectively. And speed will be referred to as the previous strength and the previous speed, respectively.

The comparison unit 16 is configured to compare the current speed and the previous speed stored in the storage unit 15 and output the comparison result to the determination unit 17. Further, the comparison unit 16 is configured to compare the current strength with the previous strength and output the comparison result to the determination unit 17.

Based on the determination result in the comparison unit 16, the determination unit 17 determines whether or not a transfer has occurred in the currently detected target, and transmits the determination result to another in-vehicle system via the in-vehicle network. Execute the judgment process. Hereinafter, the determination process executed by the determination unit 17 will be described with reference to the first embodiment and the second embodiment, which are two different embodiments.

[First Embodiment]
A first embodiment of the determination process executed by the determination unit 17 of the control device 12 will be described with reference to the flowchart of FIG. This process is repeatedly executed at predetermined control cycles when the target is detected by the detection unit 13. Hereinafter, this detected target will be referred to as an object target.

In S100, the determination unit 17 determines whether or not the strength of the comparison of the reception strength by the comparison unit 16 has decreased from the previous strength by exceeding a predetermined threshold of the reception strength. That is, it is determined whether or not the previous intensity was equal to or higher than the threshold value and the current intensity was lower than the threshold value. The threshold value used here is, for example, the lower limit value of the reception intensity assuming a situation in which the radar wave emitted from the transmission unit 10 is reflected by a reflector (that is, a reflector) provided in the lighting device at the rear of the vehicle. Is conceivable. In addition, this threshold value is set to a value larger than the lower limit value of the reception intensity detected as a target.

If the strength does not decrease beyond the threshold value from the previous strength this time (S100: NO), the determination unit 17 ends this process. On the other hand, when the intensity this time is lower than the previous intensity by more than the threshold value (S100: YES), the determination unit 17 proceeds to S102.

In S102, the determination unit 17 determines whether or not the current speed is lower than the previous speed with respect to the speed comparison result by the comparison unit 16. If the speed is not lower than the previous speed (S102: NO) this time, the determination unit 17 ends this process. This time, the speed is lower than the previous speed (S102: YES), and the determination unit 17 proceeds to S104. In S104, the determination unit 17 transmits a command for turning on the "transfer flag" indicating that a transfer has occurred at the currently detected target to another system, and ends this process.

A situation in which it is determined that a transfer has occurred in the determination process of the first embodiment described above will be described with reference to FIG. As illustrated in FIG. 3A, at a certain time t1, when the preceding vehicle b is on a flat road in front of the own vehicle a on which the in-vehicle radar device 1 is mounted, the radar wave emitted from the in-vehicle radar device 1 causes the preceding vehicle b. It is assumed that the preceding vehicle b has been detected. At this time, the in-vehicle radar device 1 obtains a reception intensity equal to or higher than a threshold value (for example, the reflection intensity by the reflector) by receiving the reflected wave reflected by the reflector of the lighting device provided at the rear of the preceding vehicle b. become.

Next, as illustrated in FIG. 3B, when the preceding vehicle b first shifts to the uphill at time t2 after the time t1, the radar wave applied to the preceding vehicle b deviates from the preceding vehicle b. It is reflected on the road surface c of the slope, and the reflected wave is received by the receiving unit 11. As a result, the road surface c of the slope is detected as a target. At this time, the in-vehicle radar device 1 obtains a reception intensity less than the threshold value by receiving the reflected wave reflected by the road surface c, which is inferior in reflectivity to the reflector.

As described above, when shifting from the situation of FIG. 3A to the situation of FIG. 3B, a phenomenon that the reception intensity exceeds the threshold value and decreases is observed in the in-vehicle radar device 1. In addition, when the detected target is replaced from the traveling vehicle b to the stationary road surface c, a phenomenon is observed in which the speed of the target decreases in the in-vehicle radar device 1. Therefore, it can be determined that the transfer has occurred on the condition that these two phenomena are observed together.

[Second Embodiment]
A second embodiment of the determination process executed by the determination unit 17 of the control device 12 will be described with reference to the flowchart of FIG. This process is repeatedly executed at predetermined control cycles when the target is detected by the detection unit 13. Hereinafter, this detected target will be referred to as an object target.

In the second embodiment, it is premised that the receiving unit 11 is configured to be able to receive reflected waves in each of a plurality of directions. Specifically, as illustrated in FIG. 4, the receiving unit 11 divides the exploration range SF into n (n is an arbitrary design number) divided regions A1 to An on the horizontal plane at predetermined angles. It is configured to receive reflected light for each. Further, the transmission unit 10 is configured to collectively irradiate the entire region of the exploration range SF illustrated in FIG. 4 with the laser beam.

That is, the in-vehicle radar device 1 in the second embodiment is configured to irradiate the radar wave collectively over the entire exploration range SF, but receive the reflected wave for each of the divided regions A1 to An. .. In this case, the detection unit 13 calculates the distance to the target for each received signal received for each of the divided areas A1 to An and outputs the distance to the target, and outputs the received signal to the speed calculation unit 14 and also receives the received signal for each of the divided areas A1 to An. Information indicating the reception strength based on the above is output to the storage unit 15.

The speed calculation unit 14 calculates the speed of the target for each of the divided areas A1 to An based on the distance to the target calculated for each of the divided areas A1 to An, and provides information representing the calculated speed and distance. Output to the storage unit 15. The storage unit 15 is configured to store information on reception intensity, speed, and distance for each of the divided areas A1 to An a plurality of times.

The description of the flowchart of FIG. 5 will be started. In S200, the determination unit 17 sets the reception intensity of each of the most recently detected divided regions to be equal to or greater than a predetermined reception intensity threshold value, and the distance from which the reception intensity is obtained is the shortest distance recorded in the past. If it is shorter than, the distance is recorded in the storage unit 15 as the shortest distance. The threshold value of the reception intensity used here is, for example, a lower limit value of the reception intensity assuming a situation in which the radar wave emitted from the transmission unit 10 is reflected by the reflector provided in the lighting device at the rear of the vehicle. Can be considered. In addition, this threshold value is set to a value larger than the lower limit value of the reception intensity detected as a target.

In S202, the determination unit 17 compares the current intensity and the previous intensity with each of the divided regions in which the target object is detected with respect to the reception intensity stored in the storage unit 15, and the present intensity is the previous intensity. It is determined from the intensity whether or not the reception intensity is lowered beyond the threshold value. As a result of the determination, with respect to the divided region in which the reception intensity exceeds the threshold value, the distance other than the outermost divided region and in which the decrease in the reception intensity is observed in the divided region is stored in the storage unit 15. If it is equal to or longer than the shortest distance, the determination unit 17 proceeds to S204. If not, the determination process regarding the current detection result is terminated. The outermost divided region referred to here corresponds to the divided region of A1 or An in the example of FIG.

In the outermost divided region, there is a possibility that a decrease in reception intensity may be observed when the own vehicle or the preceding vehicle detected as a target swings in the left-right direction. Therefore, in the second embodiment, the outermost divided region is excluded from the conditions for determining the reception strength in the transfer determination.

Further, the shortest distance set in the storage unit 15 represents the lower limit of the distance at which the reflector of the preceding vehicle can be supplemented by the radar wave, and at a distance shorter than this, the reflector of the preceding vehicle enters the blind spot of the radar wave. It cannot be denied that it may not be detected. Therefore, even if a decrease in reception intensity is observed at a position less than the shortest distance, there is no guarantee that it is a transfer due to a slope, so it is excluded from the conditions for determining the reception intensity in the transfer determination.

In S204, the determination unit 17 determines whether or not the difference in distance (hereinafter referred to as depth) calculated for each divided region in which the target target is detected is equal to or less than a predetermined depth threshold value. .. When the depth of the target object is equal to or less than the threshold value, the determination unit 17 proceeds to S206. On the other hand, when the depth of the target object exceeds the threshold value, the determination unit 17 restarts the process from S204 using the information of the detection result acquired in the next detection cycle.

In S206, the determination unit 17 compares the current speed and the previous speed in the comparison unit 16 for each divided region in which the target target is detected with respect to the speed stored in the storage unit 15, and the current speed is the previous speed. Determine if it is lower. As a result of the determination, if the speed is lower than the previous speed this time, the determination unit 17 proceeds to S208. On the other hand, if the speed is not lower than the previous speed this time, the determination unit 17 restarts the process from S204 using the information of the detection result acquired in the next detection cycle.

In S208, the determination unit 17 measures the distance from the own vehicle with respect to the target object, and determines whether or not the measured distance is within a predetermined distance range. When the distance to the target object is within the distance range, the determination unit 17 proceeds to S210. On the other hand, if the distance to the target object is not within the distance range, the determination unit 17 cancels the determination process. The distance range applied here may be, for example, from the upper limit value to the lower limit value of the distance at which the slope can be detected by the radar wave. For example, if the distance from the own vehicle is too close, the road surface on the slope cannot be detected by entering the blind spot of the radar wave. In addition, if the distance from the own vehicle is too far, the reflected wave from the road surface on the slope becomes weak and cannot be detected. Therefore, in the second embodiment, if the distance to the target object is not within the predetermined distance range, the transfer determination is excluded.

In S210, the determination unit 17 transmits a command for turning on the "transfer flag" indicating that a transfer has occurred at the currently detected target to another system, and ends this process. To do.

[Explanation of release judgment process]
The release determination process executed by the determination unit 17 of the control device 12 will be described with reference to the flowchart of FIG. This release determination process is repeatedly executed at predetermined control cycles under the condition that the transfer flag is turned on in the determination processes of the first embodiment and the second embodiment described above.

In S300, the determination unit 17 determines whether or not the detection unit 13 has detected a target indicating a reception intensity exceeding a predetermined threshold value. It is considered that the threshold value used here is, for example, the lower limit value of the reception intensity assuming the situation where the radar wave emitted from the transmission unit 10 is reflected by the reflector provided in the lighting device at the rear of the vehicle. Be done. In addition, this threshold value is set to a value larger than the lower limit value of the reception intensity detected as a target.

When a target indicating the reception intensity exceeding the threshold value is not detected (S300: NO), the determination unit 17 ends this process. In this case, the transfer flag is kept on. On the other hand, when a target indicating the reception intensity exceeding the threshold value is detected (S300: YES), the determination unit 17 proceeds to S302. In S302, the determination unit 17 transmits a command to turn off the transfer flag to another system, and ends this process.

[effect]
According to the vehicle-mounted radar device 1 of the embodiment, the following effects are obtained.
Based on the decrease in the reception intensity of the reflected wave and the decrease in the speed of the target detected based on the reflected wave, it can be determined that the transfer has occurred in the detected target. Therefore, as in the case where the determination process of the first embodiment is applied, even if the detection range is not wide enough to distinguish the width of the vehicle and the width of the road surface, the transfer can be performed on the captured target. It is possible to accurately detect what has occurred.

Further, in the determination process of the second embodiment, it is possible to exclude a situation inappropriate for determining that a transfer has occurred by using the reception intensity and the distance to the target detected in each of a plurality of directions. As a result, the transfer can be detected with high accuracy.

[Correspondence with the configuration described in the claims]
The correspondence between each configuration of the embodiment and the configuration described in the claims is as follows.
The transmission unit 10 corresponds to the transmission means. The receiving unit 11 corresponds to the receiving means. The detection unit 13 corresponds to the detection means. The speed calculation unit 14 corresponds to the speed calculation means. The storage unit 15 corresponds to a first storage means, a second storage means, and a third storage means. The comparison unit 16 corresponds to the first comparison means and the second comparison means. The determination unit 17 corresponds to the determination means and the release means.

[Modification example]
In the above-described embodiment, an example in which a laser beam is used as a radar wave for detecting a target has been described. Not limited to this, for example, other electromagnetic waves such as millimeter waves (that is, light or radio waves) may be used. When the millimeter wave is used as a radar wave, the millimeter wave is transmitted in a pulse shape (in other words, it is transmitted periodically), and the target is detected by receiving the reflected wave. The present invention may be applied to a pulse type millimeter wave radar device.

In this case, for example, if the transmitting unit 10 is configured as a transmitting unit that transmits millimeter waves in front of the own vehicle and the receiving unit 11 is configured as a receiving unit that receives millimeter waves arriving from the front of the own vehicle, the detection unit 13 reflects. It becomes possible to detect the reception intensity and the distance of. Therefore, in this way, it is possible to realize a millimeter-wave radar device having the same function as that of the above embodiment.

Further, in the second embodiment, the case where the radar wave is collectively irradiated to the exploration range SF and the reflected wave is received for each of the plurality of divided regions A1 to An has been described. Not limited to this, the radar wave may be irradiated for each of a plurality of divided regions, and the reflected wave may be received collectively. Alternatively, both the irradiation of the radar wave and the reception of the reflected wave may be configured to be performed for each of the plurality of divided regions.

The functions of one component in the above embodiment may be dispersed as a plurality of components, or the functions of the plurality of components may be integrated into one component. In addition, a part of the configuration of the above embodiment may be omitted as long as the problem can be solved. Further, at least a part of the configuration of the above-described embodiment may be added to or replaced with the configuration of the other above-described embodiment. It should be noted that all aspects included in the technical idea specified from the wording described in the claims are embodiments of the present invention.

1 ... In-vehicle radar device, 10 ... Transmission unit, 11 ... Reception unit, 12 ... Control device, 13 ... Detection unit, 14 ... Speed calculation unit, 15 ... Storage unit, 16 ... Comparison unit, 17 ... Judgment unit.

Claims (6)

A transmission means (10) configured to transmit electromagnetic waves to a predetermined range in front of the own vehicle, and
The receiving means (11) that receives the reflected wave in which the electromagnetic wave transmitted by the transmitting means is reflected by the target and returns,
A detection means (13) configured to detect the distance to the target and the reception intensity of the reflected wave based on the reflected wave received by the receiving means.
A first storage means (15) configured to store a plurality of reception intensities detected by the detection means, and a first storage means (15).
With respect to the reception strength stored in the first storage means, the first comparison means (16) configured to compare the past reception strength with the current reception strength, and
A speed calculation means (14) configured to calculate the speed of the target based on the temporal transition of the distance to the target detected by the detection means.
A second storage means (15) configured to store a plurality of speeds calculated by the speed calculation means, and
With respect to the speed stored in the second storage means, the second comparison means (16) configured to compare the past speed and the current speed, and
The first transfer determination condition is a condition for determining that a transfer has occurred, which is a phenomenon in which the target detected this time is replaced with an object different from the target that has been continuously detected from the past. in comparison result of the comparing means, the reception intensity of the past is a predetermined intensity threshold or more, the current reception strength is below the intensity threshold, and, in the result of comparison by the second comparison means, the current A determination means (17) configured to determine that the transfer has occurred, provided that the speed has decreased from the past speed.
In-vehicle radar device equipped with. In the in-vehicle radar device according to claim 1,
The receiving means is configured to be able to receive the reflected wave in each of a plurality of directions in which a region in front of the own vehicle is divided by a predetermined angle.
The detection means is configured to detect the distance to the target in each of the plurality of directions based on the reflected waves received in each of the plurality of directions.
The second comparison means compares the past speed with the current speed on condition that the deviation of the distance to the target in the plurality of directions is equal to or less than a predetermined threshold value. An in-vehicle radar device configured. In the in-vehicle radar device according to claim 1 or 2.
The receiving means is configured to be able to receive the reflected wave in each of a plurality of directions in which a region in front of the own vehicle is divided by a predetermined angle.
The detection means is configured to detect the reception intensity of each reflected wave in each of the plurality of directions based on the reflected wave received in each of the plurality of directions.
The determination means, it further in either direction, except for the outermost bearing of said plurality of orientations, the reception intensity of the past is not less the intensity threshold or more, the current reception strength is lower than the intensity threshold Is included in the transfer determination condition, and the vehicle-mounted radar device is configured to determine the transfer. In the in-vehicle radar device according to any one of claims 1 to 3.
Further, a third storage means (15) configured to store the minimum value of the distance to the target when the reception intensity equal to or higher than the intensity threshold value is observed in the detection means is further provided.
The determining means further receiving intensity in the past is not less the intensity threshold or more, a phenomenon in which the current reception strength is less than the intensity threshold, than the minimum value of the distances stored in said third memory means An in-vehicle radar device configured to determine the transfer by including the fact that the phenomenon occurs at a distant position in the transfer determination condition. In the in-vehicle radar device according to any one of claims 1 to 4.
The determination means is further configured to determine the transfer by including in the transfer determination condition that the target detected by the detection means exists within a predetermined distance range. apparatus. In the in-vehicle radar device according to any one of claims 1 to 5.
A canceling means (17) for canceling the determination of the different detection is further provided on the condition that the receiving intensity equal to or higher than the intensity threshold is observed again by the detecting means after the determination of the different detection is made. , In-vehicle radar device.

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