| 摘要 |
This target detecting apparatus has a reflection point detecting means (26: S110-S140), a reflection point setting means (26: S140, S150), a rear end position information generating means (26: S150), and a target detecting means (26: S160). The reflection point detecting means (26: S110-S140) transmits/receives a radar wave for each measurement cycle and detects the position and speed of a reflection point at which the radar wave is reflected. The reflection point setting means (26: S140, S150) sets, from among detected reflection points, a reflection point at which the reflection intensity is equal to or greater than a first detection threshold value as a high-level reflection point, and a reflection point at which the reflection intensity is equal to or greater than a second detection threshold value and smaller than the first detection threshold value as a low-level reflection point. The rear end position information generating means (26: S150) checks a rear end point probing range set on the basis of a high-level reflection point for each high-level reflecting point, and when there is a low-level reflection point that satisfies an identical target condition within the rear end point probing range, takes position information for the low-level reflection point as rear end position information to relate the rear end position information to a high-level reflection point, which becomes a reference for the rear end point probing range. The target detecting means (26: S160) detects the target present around a vehicle by using information for the high-level reflecting point. |
