JPH0216484A - On-vehicle radar equipment - Google Patents

Abstract

PURPOSE:To limit a detection area of an obstacle to only on a running lane by detecting a road shape in the periphery of the present place, based on a calculated vehicle present place, and also, setting a detection area of an object in front of a running path, based on the road shape. CONSTITUTION:A vehicle present place is calculated by a present place arithmetic means (a), and road map information is stored in a map information storage means (b). In a road shape detecting means (c), a road shape in the periphery of the vehicle present place is detected from the road map information, based on the calculated vehicle present place. Based on this detected road shape, the detection area of an object in the front of the running path is set by a detection area setting means (d).

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a vehicle radar device suitable for detecting obstacles on a road.

(Prior Art) As a conventional vehicle radar device, the one shown in FIG. 8 is known (for example,
(See No. 11).

In the figure, 1 is a distance measuring radar, which receives reflected waves from an object in front by emitting microwaves, and uses this to measure the distance to the object, and a radio radar that emit a pulsed laser. It consists of a laser radar or the like that measures the distance to the object by receiving the reflected light from the object in front and detecting the delay time of the reflected light with respect to the transmitted light, and the measured distance information R is transmitted to the information processing circuit 2. It has been like entering.

On the other hand, this device is provided with a vehicle speed sensor 3 and a steering angle sensor 4 in order to detect the running condition of the vehicle which changes from time to time. The steering angle information θS is input to the information processing circuit 2 similarly to the distance information R described above.

In this device, when the distance R (m>) to the object in front satisfies the following formula (1), the object in front is determined to be an obstacle that will impede vehicle travel, and the information processing circuit 2 An alarm output AL is issued.

(However, Tα is the driver's response delay time (sec),
For example, Tα=I SeC is given. Also, ■ is the vehicle speed (m/s>, a is the deceleration of the vehicle, for example, a-0°4
(g) =3. 9 (m/sec 2) is given.

By the way, in this example, when driving on a curved road, in order to prevent roadside objects near the road or vehicles on adjacent lanes from being detected as obstacles, the distance R to the object in front is set to a predetermined distance. The alarm output AL is issued only when the value R is below.

FIG. 9 is an explanatory diagram showing an obstacle detection area when the vehicle travels on the curved road.

In the figure, a vehicle C moving in the direction of arrow A enters a curved road at a point P1 and is traveling on a curved road at a point P2.

In this case, at point P1 entering the curved road, the steering angle sensor 4
The steering angle information θS has not yet been generated, and according to equation (1) above, the object can be detected as an obstacle centered at point P1 (more precisely, the radar mounting position 0) which is the tip of the vehicle C. A sector S1 whose radius is the maximum value RIJIIX of the distance iR becomes the detection area.

On the other hand, when the vehicle C is traveling at point P2 on a curved road, the steering angle sensor 4 generates predetermined steering angle information θS, and a fan-shaped detection area S2 whose radius is the predetermined value Ro is obtained. (Hereinafter, R (l is referred to as the limit detection distance).

Here, the limit detection distance Ro is given as a function dependent on the vehicle speed V and steering angle information θS, such as RO=f(vθS), and the guardrail GR in front and the radar device installed on the guardrail GR are not required. In order to avoid erroneously detecting the reflective object F (pole or beam lifter) as an obstacle, a sector-shaped detection area S2 having a radius equal to the limit detection distance R9 is set so as to barely touch the left boundary line Lt of the driving lane L.

Note that on a curved road, if the radius of curvature of the curved road detected by the steering angle sensor 4 is r, then a curved road T' of r300 m becomes Ro=30 m.

(Problems to be Solved by the Invention) However, in the conventional device as described above, detection is only performed when the steering angle information θS is generated from the steering angle sensor 4, that is, only when the vehicle C is traveling on a curved road. Since the area is limited by the limit detection road 14Ro, as shown in Fig. 9, the detection area is not yet limited at point P1 at the entrance of the curved road where steering angle information θS does not occur, Radar unnecessary reflectors F,, F2
．． There was a problem in that the F3 etc. were erroneously detected as an obstacle.

On the other hand, when the vehicle is traveling on a curved road, the detection area is limited by the short limit detection distance RO, which causes a problem in that the detection of obstacles ahead is delayed, reducing the margin for warning.

(Object of the Invention) In view of the above-mentioned problems, the present invention is a vehicle radar device that can limit the detection area of obstacles only to the driving lane and can detect distant obstacles early even when driving on a curved road. The purpose is to provide

(Means for Solving the Problems) In order to solve the above problems, the present invention is constructed as shown in FIG.

In this vehicle radar device, objects in front of the vehicle are detected by the radar device mounted on the vehicle.

Then, the current location calculation means a calculates the current location of the vehicle.

The map information storage means stores road map information.

The road shape detection means C detects the road shape around the vehicle's current location from the road map information based on the calculated vehicle's current location.

The detection area setting means d sets a detection area for objects ahead of the vehicle based on the detected road shape.

(Explanation of Examples) The present invention will be explained below based on the drawings.

FIG. 2 is a block diagram showing the electrical hardware configuration of an embodiment device to which a vehicle radar device according to the present invention is applied.

In the same figure, the GPS receiver or GEO8TARS
The radio navigation device 11 consisting of a YSTEM transmitter/receiver, etc.
The absolute position of the vehicle is detected with high precision based on the radio waves transmitted and received by the vehicle, and in places with good radio reception with clear visibility of the surrounding area, the radio wave measurement position information RL is output with an accuracy of within 5 meters. However, the reference position of the vehicle's current location can be detected.

Further, 12 is a gyro sensor consisting of an optical fiber gyro or a mechanical gyro that outputs angular velocity information Ω associated with the movement of the vehicle, and 13 is a vehicle speed sensor that outputs vehicle speed information V. The gyro sensor 12 outputs angular velocity information Ω and vehicle speed. The vehicle speed information (2) output from the sensor 13 is configured to be input to the dead reckoning calculation processing circuit 14.

In this dead reckoning calculation processing circuit 14, in preparation for the case where the vehicle is driving in an urban area with a forest of buildings and the frequency of good radio wave reception is significantly reduced (about several times per minute), the dead navigation calculation processing circuit 14 The vehicle's current location is sequentially estimated based on the travel distance and travel direction, and high-precision travel distance information IT is output using integral navigation.

The radio wave measurement position information RL outputted from the radio navigation device 11 and the movement amount information IT outputted from the dead reckoning calculation processing circuit 14 are processed by the composite positioning information processing circuit that detects the vehicle current location by the composite positioning of the Ryokawa force. Based on the high-precision position information RL that is inputted to 15 and obtained intermittently, it is further supplemented with the high-precision travel distance information IT obtained by integral navigation, so that constant high-precision absolute position information L is obtained.
h (within an error of 10 m) is output to an information processing device 16, which will be described later.

Below, the gyro sensor 12. A system composed of a vehicle speed sensor 13 and a dead reckoning calculation processing circuit 14 is a dead reckoning navigation device 30. A system composed of this dead reckoning navigation device 3°, a radio navigation device 11, and a composite positioning information processing circuit 15 is referred to as a composite positioning device 4o.

On the other hand, 50 is a distance measuring radar consisting of a laser radar, and has a high-power laser pulse (output 10W, pulse width 30ns).
is emitted as a laser beam LB that spreads in a fan shape in a vertical plane, and furthermore, the beam LB is moved horizontally by ±θ° (θ' = 100 mr
It is designed to sweep at high speed (sweep period T is within 50 m5) within a range of about ad) (see Fig. 7), and the distance information R to the object in front and the mf direction with respect to the sweep center line M of the laser beam LB, which will be described later. Body azimuth information (θ, φ, ω
) is input to an information processing device 16 mainly composed of a 16-bit microcomputer.

In addition, the specific details of the above-mentioned distance measuring radar 50 are as follows:
“Obstacle detection device” described in No. 3928, patent application No. 1983
Since the structure is similar to that of the "vehicle optical radar device" described in Japanese Patent Application No. 79141 and the "radar device with lane identification ability" described in Japanese Patent Application No. 60-3209, detailed explanation thereof will be omitted.

Additionally, the steering angle sensor 1 detects the constantly changing running state of the vehicle, such as whether the vehicle is running on a straight road or a curved road.
The steering angle information θS detected by the steering angle sensor 17 is input to the information processing device 16.

Furthermore, when driving on a curved road, the radius (radius of curvature) r differs depending on the lane in which the vehicle is traveling; If the road has lanes, the left lane is the middle lane or the right lane)
is detected by pressing the driving lane selection switch 18, and the detected information is input to the information processing device 16 as lane information Lr.

One is a CD-ROM that stores detailed road condition data of major roads nationwide, and the current position road information Dr corresponding to the high-precision position information Lh output from the composite positioning information processing circuit 15 is constantly transmitted to the information processing device. 16.

The road information Dr includes the width of the driving lane, the radius of the curved road on which the vehicle is traveling or the curved road that the vehicle is about to enter, the distance from the current position while traveling on the curved road to the entrance and exit of the curved road, and the like.

The device of this embodiment is configured as described above, and the following are the following driving conditions: (a) when traveling on a straight road, (b) when traveling at the entrance of a curved road, and (c) when traveling on a curved road. The operation will be explained in three cases: when the car is running; and when the car is running.

(a) When the vehicle is traveling on a straight road In FIG. 3, the case where the vehicle C is traveling on a straight road in the driving lane L at point R3 will be described.

The distance measuring radar 50 is located on the center line Y of the vehicle C and located on the center line Y of the vehicle C.
The radar 50 emits a fan-shaped laser beam LB in the vertical direction while scanning the center line M of the sweep.
(aligned with the center line Y of the vehicle) in the horizontal direction ±θ
It is designed to sweep over a range of 30° and detect whether there is an object ahead of your troops.

Now, assuming that the sweep angle of the laser beam LB with respect to the sweep center line M is θ, the limit detection distance R8 of the radar 50 with respect to the sweep angle θ is calculated as follows.

Let V be the point where the laser beam LB emitted from the radar 50 intersects the left boundary line Lt of the driving lane, and OV≦Rm
(Rx is the maximum detection distance of Radar 50, which is approximately 100m)
, 0V=R, , ΔYOVθ, the following equation holds true.

Therefore, the sweep width of the laser beam LB emitted from the radar 50 is Y
±θ centered on . , θ. =100mrad(Olrad)
Then, since θ≦θo=0.1 and θ(1), the S group θ half θ is obtained, and the following equation is obtained from the above equation (2).

(However, W is the width of the driving lane, and θ is -oo≦θ≦θ0) That is, the limit detection distance R8 is given as a value that satisfies R8:W-, 2θ and R9≦R)<.

Therefore, if the sweep angle of the laser beam LB is θ and the limit detection distance R8 of the radar 50 satisfies the above equation (3) and is within R, then the object detectable area of the radar 50 (hereinafter referred to as the detection area) is An optimal detection area S3 that is limited to the driving lane L and reaches as far as possible can be obtained.

If an object is detected within this detection area S3,
The information processing device 16 determines whether the distance R to the object satisfies the above formula (1), and if the distance R satisfies the above formula (1), an alarm output AL for collision prevention is generated. It turns out.

(b) When the vehicle is traveling at the entrance to a curved road In FIG. 3, the case where the vehicle C is traveling at the 24 points that are the entrances to the curve of the travel lane L will be explained.

In this case, similarly to the case (a) when the vehicle is running on a straight road, the radar 50 sweeps the laser beam LB in the horizontal direction within a range of ±θ0 with the center line Y of the vehicle C as the center line M subtracted by tqt.

If the sweep angle with respect to the life center line M is φ, the limit detection distance Rφ of the radar 50 with respect to φ is as follows.

Let the center line Y of the driving lane L be the Y axis, the perpendicular line to the straight road at the entrance of the curved road be the Y axis, and the intersection of the Y axes and the Y axes, that is, the origin, be the Q.

On this X, Y coordinate, if the center point of the circle drawn by the curved road of the driving lane L is P(r, o), then the left boundary line L of the driving lane L! The circle drawn by LJ2. The equation for is given by the following equation.

The point where the laser beam LB intersects this circle is defined as U(-x, y
), and let H be the leg of the perpendicular drawn from point U to the Y axis.

Point U (-x, y) is circle L! Since it is above d is the distance from the radar mounting position O to the Y axis) is given by the following equation.

x=Rφ・sinφ, y=Rφ・COSφ−d Substituting equations (6) and (7) into equation (5), (Rφ= s
inφ+r) 2 rearranging, R2 hole (sin 2φ+CO32φ) 2Rφ(dcO3φ−r Sinφ)+S +d2 Therefore, the following formula is obtained.

R2 hole-2 (dcO3φ-rS!nφ) Rφ above (8)
Solving the equation for Rφ, Rφ=(dcOsφ−r Sinφ) ±((dcO3φ−r Sinφ)2 However, since Rφ〉d〉0, =dCO3φ−rslnφ + l, (r2−d”) Si 2 φHere,
φ≦θ. =0. 1 (rad), the following approximate expression holds true.

Slnφ㉟φ cosφ=(1-sin2φ)shaki(1-φ2)shaki1
-Upperφ2 sin 2φki2φ (1
0) Substitute the approximate expression shown in equation (10) into equation (9), and get +
) (However, -θ0≦φ≦θ.) Therefore, if the sweep angle of the laser beam LB is φ, and the limit detection pressure MRφ of the radar 50 satisfies the above equation (11) and is within Rm, the radar 50 The detection area is limited to the driving lane L, and an optimal detection area S4 that reaches as far as possible on the driving lane can be obtained.

In this case, the detection area S4 can only be limited to within the left boundary line of the driving lane L based on the vehicle current position P4.
is detected with high precision by the composite positioning device 40, and a road map around the vehicle's current location including this detected position is read out from one CD-ROM, thereby creating a detection area that matches the shape of the surrounding road. This is because it has been set as such.

In other words, in places with a clear view of the surrounding area and good radio wave transmission/reception conditions, the radio navigation device 11 calculates the vehicle's current location with high accuracy. dead reckoning device 3
High-precision movement information IT based on integral navigation output from 0
This is because the current position of the vehicle can be calculated with high precision by the composite positioning device 40 at all times.

When an object is detected within this detection area S4, the information processing device 16 determines whether the distance R to the object satisfies the above equation (1), and the distance R satisfies the above equation (1). In this case, an alarm output AL is generated to prevent a collision.

By the way, when examining the validity of the above equation (11), when r - All you have to do is check whether the formula holds true or not.

W=Rφ・sinθkiφ・Rφ First, the following equation is obtained from the condition r-l-(1).

1-f2ki1 r2-d2 mr2 rW+W2 half rW Therefore, the limit detection distance 1ffRφ can be expressed as follows from the above equation (11).

Rφ*d−rφ+ [r2φ2−2drφ+rW]+ However, since :d−rφ+rφ, an equation equivalent to the case in W 2φ is obtained, thus proving the validity of the above equation (11). Become.

(C) When the vehicle C is traveling on a curved road Next, the case where the vehicle C is traveling on a curved road will be explained.

In Figure 4, when vehicle C is traveling on a curved road at point P5, vehicle C is traveling along the center line (driving lane L).
The angle α between the center line Z of the vehicle C and the tangent Y is as follows.

In FIG. 5, vehicle C is at the center line Ct of driving lane L.
Assume that the vehicle is traveling on a circle with a radius r shown by the vehicle at a vehicle speed ■ (the propulsion speed of the rear wheels, which are the driving wheels) while drawing an equidistant motion with a speed V-.

Then, the mounting position O of the radar 50 is located at the center of the front end of the vehicle C.
is moving on the center line Ct, and the point O and the circle Ct
The straight line connecting the center P of is the X-axis, and the tangent at point O to the three circles Ct is the Y-axis.

Now, during time Δt, when point O moves to point Q on circle Ct, the movement amount OQ half OA (Δθ (because it is 1), and during the next Δt, from point Q to point R. amount of movement Q
R:QB is given by the following equation, assuming that the straight line Y- is a tangent to the circle Ct at the point Q.

Δθ・r=OQ=QRki0A=QB (12>
Further, if the angular velocity of point O on circle Ct is Ω, Δθ is given by the following equation.

80=Ω·Δt (13) Furthermore, the theoretical movement 3i 0 C of a vehicle with a vehicle speed v (m/sec >) between Δ is given by the following equation.

If the angle is α, the following equation is obtained.

0C=v・Δt (14) If the actual moving speed of the vehicle on the circle Ct is v-(m/sec), then
The following equation is obtained.

0Q=QR=v−Δt (15) Here, point O, which is the mounting position of the radar 50 of the vehicle C in FIG.
Looking at the relationship between the theoretical movement vector OC and the actual movement vector OA, the following equation holds true as the movement vector CA is a movement loss vector due to the steering angle, slip, etc. of the vehicle.

OC+CA=QA (16) Center line Z of the vehicle at point O (theoretical direction of movement according to vehicle speed V),
with the actual direction of movement Y. ccosα=OA
(17) Now, by substituting the above equations (12) to (15) into the above equation (17), the following equation is obtained: ∆t·COSα×V−Δt=r·Ω·Δt.

v −CO3akiv−=r°Ω (18) Above (1
In equation 8), since the actual moving speed V- on the circle Ct cannot be directly flanked by the vehicle C, the angular velocity Ω is investigated.

In other words, the actual movement vector of vehicle C is O at point O.
Since A and Δ become QB at the later point Q, it can be observed that they have changed to the axis).

When this change in 0A-QB is measured with the gyro sensor 12, the amount of change per unit time in the actual heading of the vehicle can be detected as the rotational angular velocity (rad/sec), so (18) ), the angle α and the actual moving speed ■− can be determined as shown in the following equation.

That is, COSα half an animal (19) v = rΩ (20) Here, in the case of α(1, CO3a= (1-3in 2α) 'z * (1-
a2) 'rmu1-jLα' (
21), the following equation is obtained.

α2ki2(1-2) That is, αkiJ7==qY(22) ■ As mentioned above, while driving on a curved road, as is clear from equation (19) above, the angle α, that is, α=cos −'−
It is running outward from the tangent Y at the angle given by .

Therefore, as in finding the detection area in (a) or (a) above, the traveling direction Z of the vehicle C is determined by the laser beam LB.
If the center line M of the sweep is taken as the center line M of the sweep, only a limited detection area can be detected as shown by the diagonal line So in FIG.

Therefore, in the device of this embodiment, as shown in FIG. 4, the center line of the sweep is moved from the traveling direction Z of the vehicle C to the
In the diagram, is the right side limit line A of the sweep the adjacent lane L? Which boundary line L
Make it tangent to R.

Thereby, the detection area of the radar 50 can be extended to the maximum distance.

The method for calculating ΔZOM=δ will be explained below.

First, it is assumed that the mounting position O of the radar 50 in the vehicle C is on the center line Ct of the driving lane L.

Then, set orthogonal coordinates (X, Y) where the X axis is the straight line connecting the center point P of the circle given by the center line Ct of the driving lane L and point 0, and the Y axis is the tangent Y at point O of the circle Ct. do.

Here, the sweep range of the fan-shaped laser beam LB is
Set between OA and straight line 08, LAOU3=200 (θ
o "0, 1 (rad)), and the angle LZOM between the center line OM of the LAOB and the center line Z of the vehicle is LZOM=δ.

That is, while traveling on a curved road, the sweep center line M of the laser beam LB emitted from the radar 50 is tilted by an angle δ toward the curve side with respect to the vehicle center line Z.

In this case, by tilting the optical axis center of the radar 50 to the right (curving side) by an angle δ, or by tilting the deflection center of the optical deflector, for example, the angle of a reflecting mirror by an angle δ,
The sweep centerline can be tilted.

In FIG. 4, the straight line AO, which is the right end of the sweep range of the laser beam LB, touches the circle LR, which is the boundary line with the adjacent lane L2, at a point S.

Now, if the angle formed by the tangent Y (Y axis) at point 0 of the circle Ct and the tangent OA at point S of the circle LR is γ, then γ+LPO8=90°=, asPO+LPO3, so Δ5po−γ.

In △spo, if point P is (r, O), then P S
= r −W PO=r, so when we find the approximate expression of −r−“2゛−W CO3γ−−1−7dγ, sin r= (L −cos ” γ) 'rr';
Since it is 6300m and W% is 54m, it becomes W2-)□4r, and γ is given by the following formula.

On the other hand, since there is a relationship of δ+θ0=γ+α, δ is given by the following equation.

δ=γ+α−θ. (26)
Therefore, the angle δ between the center line Z of the vehicle and the center line OM of the sweep width of the laser beam B is calculated by the above equation (21).
From equations (23) and (25), it is given as follows.

When the sweep center line M of the laser beam LB is obtained as described above, next, the sweep angle with respect to this sweep center line M is set as ω, and the limit detection distance Rω of the radar 50 with respect to the sweep angle ω is
The calculation method will be explained.

Now, let the intersection point between the laser beam LB and the circle Lt indicated by the left boundary line of the driving lane L be Q(x, y), and the radar 5
Let Rω be the distance from the mounting position 0 of 0 to the point Q.

Now, the point Q (x, y) is located in the rice field given by the following equation (28), so by substituting the value of the point Q (x, y), the following equation (28)
9) is obtained.

(Rωsin ω--r) 2+R2ωcos 2ω
Here, if the foot of the perpendicular line drawn from point Q (x, y) to the Y axis is H, then at △QHO, △Q OH=ω ゛
=ω+β
(30) However, β is the angle △ between the Y axis and the sweep center line OM
In YOM, β+θ. =γ (31) Therefore, the following equation is obtained from equations (30) and (31).

ω−=(γ−θ0)×ω (32) Also, in ΔQH○, the following equation (33) is obtained.

QH=x; x=Rω・sin ωOH=y;
y=Rω·CO3ω Therefore, by substituting equation (33) into equation (29), the following equation is obtained.

= r 2+ r w+=” Therefore, R2ω-2rRω-Sin ω Here, r2300 (m> 1w54 (m>, then rW>>r, so the above equation (34) can be approximated as the following equation (35) can.

-Sin ω--rW-i-0 of R2(1)-2rR
(35) Solving the above equation (35) for Rω, we get R
ω−i−rSin ω−±(r”Sin ”ω−+
rW) 'rHere, since Rω〉0, Rω:rsin ω-+r (Sin 2ω-+")
'r (36) Therefore, the above equation (32) and (3
From equation 6), the following equation is obtained.

Rω-1-r-3i ro (γ-θO+) W ・ 10r (sin ” (y-θo+ω)+-) ding (3γ
)1 (rad) Therefore, if the sweep angle of the laser beam LB is ω, and the detection limit R4 of the radar 50 satisfies the above equation (37) and is within Rw, the detection area of the radar 50 will be on the driving lane L. This results in an optimal detection area S5 that is limited and reaches as far as possible.

When an object is detected within this detection area S5, the information processing device 16 determines whether or not the distance R to the object satisfies the above equation (1). If the conditions are satisfied, an alarm output AL for collision prevention will be generated.

In this case, it is only possible to drive in the front detection area S5 and limit it to the left side boundary line Lt of 1 inch L when the vehicle current position P5 is set, as in the case where the detection area S4 is set in (b) above.
is detected with high precision by the composite positioning device 40, and a road map around the vehicle's current location that includes this detected position is read out from the CD-ROM 19, thereby appropriately setting a detection area that matches the shape of the surrounding road. This is because it has been done.

As mentioned above, while driving on a curved road, the detection area is expanded by precise radar function control and information processing.Incidentally, the limit detection path rlIRo in the conventional method is 30m on a curved road with a radius of 300m. On the other hand, in the device of this embodiment, in the above equation (37), ω=θ0. When r=300m and W=4m, the limit detection path 111Rω is 83m, which means that the detection area can be expanded about three times.

As described above, the vehicle radar device according to the present embodiment combines radio navigation and dead reckoning navigation to detect the absolute position of the vehicle with high precision, and based on this positional information, the road condition at the vehicle position is stored in the memory. Discover detailed data. Then, by using this data, a radar that sweeps a laser beam is controlled, and a detection area is set using distance information for the object detected by the radar and the detailed data. Therefore, the object detection area of the radar can be limited to only the driving lane, and the area can be expanded to the maximum distance.

In addition, since the detection area can be limited only to the driving lane, road surveying objects (such as guardrails and
It is possible to prevent erroneous detection of various signs) or vehicles on adjacent lanes.

(Effects of the Invention) The vehicle radar device according to the present invention calculates the current vehicle location as described above, and based on the calculated current vehicle location,
The configuration detects the shape of the road around the current location and also sets the detection area for objects in front of the driving lane based on the detected road shape, so it is possible to limit the detection area of obstacles only to the driving lane, and Even when driving on the road, it has the advantage of being able to quickly detect obstacles in the distance.

[Brief explanation of the drawing]

Fig. 1 is a diagram corresponding to claims of the present invention, Fig. 2 is a block diagram showing the electrical hardware configuration of an embodiment device to which the present invention is applied, and Fig. 3 is a detection area calculation at the entrance of a straight road and a curved road. Fig. 4 is an explanatory diagram of the detection area calculation effect on a curved road. Figs. 5 and 6 are detailed explanatory diagrams of the detection area calculation effect on a curved road. Fig. 7 is a sweep state of the laser beam emitted from the radar. FIG. 8 is a block diagram showing the electrical hardware configuration of a vehicle radar device in a conventional example, and FIG. 9 is an explanatory diagram of a detection area calculation operation for detecting an obstacle in a conventional example. 11...Radio navigation device 12...Gyroscope sensor 13...Vehicle speed sensor 14...Dead reckoning navigation calculation processing circuit 15...Combined positioning information processing circuit 16...Information processing device 17...Rudder angle Sensor 18... Driving lane selection switch 19... CD-ROM 50... Distance radar patent applicant Nissan Motor Co., Ltd.

Claims (1)

[Scope of Claims] 1. In a vehicle radar device that detects objects in front of the road using a radar device mounted on a vehicle, the vehicle includes: a current location calculation means for calculating the current location of the vehicle; and map information for storing road map information. a storage means; a road shape detection means for detecting a road shape around the current vehicle location from the road map information based on the calculated vehicle current location; and a detection area of an object in front of the driving route based on the detected road shape. 1. A vehicle radar device comprising: detection area setting means for setting the detection area setting means.