On-board radar apparatus, notification system, and travelling vehicle detection method of on-board radar apparatus

摘要

A radar apparatus detects an observation point distance and an observation point azimuth. In addition, the radar apparatus calculates an observation point lateral position and an observation point vertical position based on the observation point distance and the observation point azimuth. Furthermore, the radar apparatus determines that a traveling vehicle is detected when a number of observation points included within a side determination range is equal to or greater than a predetermined traveling vehicle determination count, based on the observation point lateral position and the observation point vertical position. The side determination range is set so as to include a passing determination line so as to extend in a direction at 90 degrees relative to a front-rear direction of the vehicle to the side of the vehicle.