Vehicle accurately detect an object in a lane of the radar equipped vehicle moving in a curve
First Claim
1. A scan-type radar apparatus provided on a vehicle, comprising:
- a scan-type radar for detecting objects existing in a detectable range;
object direction assuming means for assuming a center direction indicating a center of each of the objects detected by said scan-type radar with respect to said vehicle based on a distance between said vehicle and each of the objects and a radius of curvature of a curve where said vehicle is moving;
vehicle moving lane area setting means for setting a vehicle moving lane area corresponding to a vehicle moving lane in which said vehicle is moving, said vehicle moving lane area being set within said detectable range of said scan-type radar, said vehicle moving lane area extending on either side of said center direction with a predetermined angle range; and
vehicle moving lane area correcting means for correcting an extent of the vehicle moving lane area so that an inner area of said vehicle moving lane area is increased when said vehicle is moving along the curve, said inner area being a portion of said vehicle moving lane area located on an inner side of the curve with respect to said center direction.
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Accused Products
Abstract
A scan-type radar apparatus for a vehicle which determines with a high level of accuracy whether an object detected by the radar exists in the lane in which the radar equipped vehicle is moving while the radar equipped vehicle is moving in a curve. A scan-type radar detects objects existing in a detectable range. A center direction is assumed which indicates a center of each of the objects detected by the scan-type radar with respect to the vehicle based on a distance between the vehicle and each of the objects and a turning radius of the vehicle. A vehicle moving lane area is set within the detectable range. The vehicle moving lane area, which corresponds to a vehicle moving lane in which the vehicle is moving, extends on either side of the center direction with a predetermined angle range. An extent of the vehicle moving lane area is corrected so that an inner area of the vehicle moving lane area is increased when the vehicle is moving along a curve, the inner area being a portion of the vehicle moving lane area located on an inner side of the curve with respect to the center direction.
41 Citations
10 Claims
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1. A scan-type radar apparatus provided on a vehicle, comprising:
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a scan-type radar for detecting objects existing in a detectable range; object direction assuming means for assuming a center direction indicating a center of each of the objects detected by said scan-type radar with respect to said vehicle based on a distance between said vehicle and each of the objects and a radius of curvature of a curve where said vehicle is moving; vehicle moving lane area setting means for setting a vehicle moving lane area corresponding to a vehicle moving lane in which said vehicle is moving, said vehicle moving lane area being set within said detectable range of said scan-type radar, said vehicle moving lane area extending on either side of said center direction with a predetermined angle range; and vehicle moving lane area correcting means for correcting an extent of the vehicle moving lane area so that an inner area of said vehicle moving lane area is increased when said vehicle is moving along the curve, said inner area being a portion of said vehicle moving lane area located on an inner side of the curve with respect to said center direction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification