| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide an on-vehicle radar device capable of reliably capturing a preceding vehicle to be followed even on a road having continuous corners curving in different directions. SOLUTION: A corner radius estimation part 5 estimates a running locus radius of a vehicle with the device at predetermined intervals based on, for example the running speed of the vehicle obtained from a speed sensor 11 and information concerning yaw rate of the vehicle obtained by a yaw rate sensor 12. The radiuses estimated during a past given period is held in a corner information storage part 6. A corner passing area determination part 7 determines which portion of a corner the vehicle is running in based on changes in history of estimated running locus radium held in the corner information storage part 6. In contrast, based on the result of corner running determination by the corner passing area determination part 7 and information concerning the distance from the preceding vehicle to be followed, a detection area modification part 8 determines the size of an object detection area. When there exists an object moving within the size-determined object detection area, a distance measurement part 4 continuously recognizes the object as a preceding vehicle to be followed.</p> |
