| 摘要 |
This target detection device for generating information pertaining to a target and mounted in a vehicle is equipped with: a target detection unit (26: S110-S170) for detecting the target on the basis of the speed and position of a reflection point detected by a radar sensor; a depth-determination-value calculation unit (26: S240) for obtaining a depth determination value for the target detected by the target detection unit; a drive-over determination unit (26: S250) for determining whether or not the target is one which can be driven over by the vehicle; a warning-information setting unit (26: S310) for setting warning information indicating that the target is one requiring a warning when determined that driving over is not possible; a tracking unit (26: S150) for setting a new target as a current-cycle target and a target detected last time as a former-cycle target, determining whether a connection exists between the current-cycle target and the former-cycle target, and executing tracking processing for passing on the information about the former-cycle target to the current-cycle target determined to have a connection with the former-cycle target; a transfer-determination-value calculation unit (26: S260, S290) for obtaining, for each target, a transfer determination value indicating the size of the determination subject measured after final determination by the drive-over determination unit that driving over is impossible; and a warning-information removal unit (26: S280, S300) for removing the warning-information setting for the target to which former-cycle-target information set as warning information has been passed on, when the transfer determination value calculated by the transfer-determination-value calculation means is above a pre-set transfer threshold. |
