IN-VEHICLE RADAR DEVICE AND SLOPE DETERMINATION METHOD USED IN SAME DEVICE

摘要

An in-vehicle radar device is provided. This device recognizes a pre-target (Pn) with a tracking process. A pre-target is a target before the same is passed to an application. A pre-target that has a position in front of the vehicle within a prescribed slope determination range is extracted from among the pre-targets (Pn) (S230), and determination of slope is performed for each extracted pre-target (S240). The slope determination is performed using a map using parameters based on reception strength of reflected waves from the pre-target and pulse widths for which the reflected waves are no less than a prescribed strength.