| 摘要 |
PROBLEM TO BE SOLVED: To inhibit erroneous detection of a large target that has a plurality of reflection points at which a radar wave is intensely reflected.SOLUTION: For each pair of a peak frequency component indicating a reflection point at which a radar wave (FMCW wave) is reflected, reflection points are counted (S150), the reflection points being present within a target range set based on a focusing reflection point (a target reflection point) and being not greater than the identical speed determination threshold value set in advance in terms of the speed difference between the target reflection point and these reflection points. In a case where a parallel running pair, which is a target pair satisfying a parallel running condition, is present among the present cycle targets (reflection points) registered by performing a history tracking process and so on (S160 to S180), and if the reflection point count value of at least one of the two present cycle targets composing the parallel running pair is not smaller than the size determination threshold value, size information indicating is added (S190 to S210), the size information indicating both the two present cycle targets composing the parallel running pair are large targets (that another present cycle target resulting from the identical target is present). |
