| 摘要 |
To provide a preceding-vehicle detecting apparatus, own-vehicle controlling apparatus and preceding-vehicle detecting method capable of detecting a preceding vehicle in a more reliable manner, a preceding-vehicle detecting apparatus ( 1 ) comprises: a millimeter wave radar ( 11 ); a measuring-target-point-group generating part ( 131 ) setting measuring-target points based on reflected waves, and single-connecting those measuring-target points having the same relative velocities to thereby generate measuring-target point groups, respectively; a group-relative-velocity determining part ( 132 ) extracting those measuring-target point groups which meets conditions for preceding vehicle, respectively; and a temporal continuity judging part ( 133 ) regarding those measuring-target point groups as preceding vehicles, each of which has a number of detected times equal to or larger than a prescribed value (N 1 ).
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