Scan-type radar apparatus for a vehicle to accurately detect an object in a lane of the radar equipped vehicle
First Claim
1. A scan-type radar apparatus provided on a vehicle, the apparatus comprising:
- a scan-type radar for detecting objects existing in a detectable range, said scan-type radar assuming a vehicle moving lane area corresponding to a vehicle moving lane in which said vehicle is moving based on an operating condition of said vehicle, said vehicle moving lane area being assumed within said detectable range;
object direction detecting means for detecting an actual direction of said each of the objects detected by said scan-type radar with respect to said vehicle;
delay direction calculating means for calculating a delay direction when the actual direction detected by said object direction detecting means is changed with respect to time, the delay direction indicating a direction of a virtual position of each of the objects with respect to said vehicle by being provided with a predetermined time delay with respect to change in the actual direction; and
existence determining means for determining whether said each object exists within said vehicle moving lane by comparing the calculated delay direction of each object with the vehicle moving lane area;
wherein said delay direction calculating means comprises a blunted value calculating means for calculating a blunted value of the actual direction as the delay direction.
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Accused Products
Abstract
A scan-type radar apparatus for a vehicle which determines whether an object detected by the radar exists in the lane in which the radar equipped vehicle is moving with a high accuracy while restricting an increase of the manufacturing cost of the radar apparatus. A scan-type radar detects objects existing in a detectable range, the scan-type radar apparatus assuming a vehicle moving lane area corresponding to a vehicle moving lane in which the vehicle is moving based on an operating condition of the vehicle, the vehicle moving lane area being assumed within the detectable range. An actual direction of each of the objects is detected by the scan-type radar with respect to the radar equipped vehicle. A delay direction is calculated when the actual direction detected by an object direction detecting arrangement is changed with respect to time, the delay direction indicating a direction of a virtual position of each object with respect to the vehicle by being provided with a predetermined time delay with respect to a change in the actual direction. It is determined whether each object exists within the vehicle moving lane based on the delay direction.
75 Citations
8 Claims
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1. A scan-type radar apparatus provided on a vehicle, the apparatus comprising:
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a scan-type radar for detecting objects existing in a detectable range, said scan-type radar assuming a vehicle moving lane area corresponding to a vehicle moving lane in which said vehicle is moving based on an operating condition of said vehicle, said vehicle moving lane area being assumed within said detectable range; object direction detecting means for detecting an actual direction of said each of the objects detected by said scan-type radar with respect to said vehicle; delay direction calculating means for calculating a delay direction when the actual direction detected by said object direction detecting means is changed with respect to time, the delay direction indicating a direction of a virtual position of each of the objects with respect to said vehicle by being provided with a predetermined time delay with respect to change in the actual direction; and existence determining means for determining whether said each object exists within said vehicle moving lane by comparing the calculated delay direction of each object with the vehicle moving lane area; wherein said delay direction calculating means comprises a blunted value calculating means for calculating a blunted value of the actual direction as the delay direction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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Specification