Motor-vehicle-mounted radar apparatus

摘要

A target 22 is explored by transmitting an exploration signal 40 at a certain angle while scanning an antenna 23. In the go and return exploration the angle for transmitting the exploration signal is shifted. It is possible to detect the direction of the target 22 with the same accuracy as that in exploration with a more minute angle difference, by combining the exploration results with the angle shifted in a plurality of scans. Relative travel of the target 22 that accompany a plurality of scans is considered as a Doppler shift and a combination of data is used considering the frequency shift. Data that cannot be combined is treated as an unwanted reflective object and the position where unwanted reflecting objects assemble is obtained and the position is determined as a shoulder. The height of a stationary target is determined from the variation in the reflected signal level in an approach to the stationary target.