SCAN TYPE RADAR APPARATUS FOR VEHICLE TO ACCURATELY DETECT AN OBJECT IN A LANE OF THE RADAR EQUIPPED VEHICLE MOVING IN A CURVE

摘要

According to the present invention, the vehicle 52 which determines with high accuracy whether or not an object detected by the radar exists in the lane in which the radar-mounted vehicle 52 is traveling while the radar-mounted vehicle 52 is traveling on a curve. It relates to a scanning radar device for. The scanning radar detects objects 52 present in the detectable range. Based on the distance between the vehicle and each object and the turning radius of the vehicle, a center direction indicating the center of each of the objects 54 detected by the scanning radar relative to the vehicle 52 is estimated. The vehicle traveling lane area is set within a detectable range. The vehicle driving lane region corresponding to the vehicle driving lane region in which the vehicle 52 is traveling extends to both sides of the center direction in a predetermined angle range. The area of the vehicle driving lane area is modified so that the interior area of the vehicle driving lane area is increased when the vehicle 52 is traveling along the curve, and the interior area is a vehicle driving lane area located inside the curve with respect to the center direction. It is part of.