Abstract: There is provided a radar device. The radar device is configured to derive information on a target existing in a surrounding area of a vehicle which is equipped with the radar device on the basis of a reception signal obtained by receiving a reflected wave which is obtained by reflection of a transmission wave transmitted to the surrounding area, from the target. A determining unit is configured to determine whether the target is related to an upper object, on the basis of an integrated value of a reception level of the reception signal related to the target, and an integrated value of ground velocity related to the target.

Abstract: A radar apparatus derives (i) first target information of a first target existing in the transmission range of the transmission wave, the first target being a rear end portion of a vehicle and (ii) second target information of a second target existing in the transmission range of the transmission wave, the second target being a portion of the vehicle other than the rear end portion of the vehicle. The radar apparatus calculates a distance difference between the first target and the second target, and predicts, in a case where the first target information of the first target derived in a previous target information derivation process is not derived in a latest target information derivation process, a position of the first target, using the distance difference and the second target information of the second target derived in the latest target information derivation process.

Abstract: There is provided a radar device. The radar device is configured to derive information on a target existing in a surrounding area of a vehicle which is equipped with the radar device on the basis of a reception signal obtained by receiving a reflected wave which is obtained by reflection of a transmission wave transmitted to the surrounding area, from the target. A determining unit is configured to determine whether the target is related to an upper object, on the basis of an integrated value of a reception level of the reception signal related to the target, and an integrated value of ground velocity related to the target.

Abstract: A radar device generates pair data items by associating angle peaks of an up section and angle peaks of a down section. Thereafter, on the basis of a plurality of specific pair data items whose positions are close to each other in an angle direction and which are substantially the same in the position in a distance direction intersecting with the angle direction and are substantially the same in relative speed, the radar device derives one representative pair data item. The derivation of one representative pair data item is performed before continuity determination of a continuity determining unit at the same process timing is performed.

Abstract: There is provided an antenna. A third transmission antenna is provided at a position shifted in a short direction of a first transmission antenna. A second transmission antenna is provided at a position between the first and third transmission antennas so that a portion of the second transmission antenna in a longitudinal direction is overlapped with a portion of the first and third transmission antennas in the longitudinal direction. A fourth transmission antenna is provided at a position point-symmetrical with respect to the position of the second transmission antenna, about the position of the third transmission antenna. A plurality of reception antennas are provided so that a portion of each of the reception antennas in the longitudinal direction is overlapped with a portion of the second transmission antenna in the longitudinal direction.

Abstract: A radar device generates pair data items by associating angle peaks of an up section and angle peaks of a down section. Thereafter, on the basis of a plurality of specific pair data items whose positions are close to each other in an angle direction and which are substantially the same in the position in a distance direction intersecting with the angle direction and are substantially the same in relative speed, the radar device derives one representative pair data item. The derivation of one representative pair data item is performed before continuity determination of a continuity determining unit at the same process timing is performed.

Abstract: There is provided a radar apparatus. A derivation unit derives this time-decided transverse distance of the target of this time processing, by filtering, with a predetermined filter constant, this time transverse distance of paired data of this time processing, and a predicted transverse distance. A change unit changes, when the transverse distance of an object moving target moving in a traveling direction of a vehicle mounted with the radar apparatus and the transverse distance of a specific target satisfy a predetermined relation, the filter constant for filtering this time transverse distance and the predicted transverse distance of the object moving target so that a reflection amount of this time transverse distance is reduced in comparison to before the change.

Abstract: There is provided a radar apparatus. A first determining section is configured to determine whether there exists a continuing stationary target at a side of a lane in which a vehicle is traveling. A second determining section is configured to determine whether there exists a moving target in a specific range which is in front of the vehicle and on an opposite side of the stationary target with respect to a position of the vehicle. A changing section is configured to change position information of the moving target to a position obtained by folding back a specific position which is the position of the moving target in the specific range with the stationary target therebetween in a case where the stationary target exists and the moving target exists in the specific range. The changed position is used for deriving the position information of the target.

Abstract: There is provided an antenna. A third transmission antenna is provided at a position shifted in a short direction of a first transmission antenna. A second transmission antenna is provided at a position between the first and third transmission antennas so that a portion of the second transmission antenna in a longitudinal direction is overlapped with a portion of the first and third transmission antennas in the longitudinal direction. A fourth transmission antenna is provided at a position point-symmetrical with respect to the position of the second transmission antenna, about the position of the third transmission antenna. A plurality of reception antennas are provided so that a portion of each of the reception antennas in the longitudinal direction is overlapped with a portion of the second transmission antenna in the longitudinal direction.

Abstract: There is provided a radar apparatus. A derivation unit derives this time-decided transverse distance of the target of this time processing, by filtering, with a predetermined filter constant, this time transverse distance of paired data of this time processing, and a predicted transverse distance. A change unit changes, when the transverse distance of an object moving target moving in a traveling direction of a vehicle mounted with the radar apparatus and the transverse distance of a specific target satisfy a predetermined relation, the filter constant for filtering this time transverse distance and the predicted transverse distance of the object moving target so that a reflection amount of this time transverse distance is reduced in comparison to before the change.

Abstract: There is provided a radar apparatus. A first determining section is configured to determine whether there exists a continuing stationary target at a side of a lane in which a vehicle is traveling. A second determining section is configured to determine whether there exists a moving target in a specific range which is in front of the vehicle and on an opposite side of the stationary target with respect to a position of the vehicle. A changing section is configured to change position information of the moving target to a position obtained by folding back a specific position which is the position of the moving target in the specific range with the stationary target therebetween in a case where the stationary target exists and the moving target exists in the specific range. The changed position is used for deriving the position information of the target.

Abstract: A target position is estimated in such a manner to maintain target position continuity, with high accuracy, even when the X coordinate displacement of the target is large. On a scan in which the target position is not detected, when a trajectory of the target in the past is within a predetermined region in the vicinity of the Y-axis, a position for estimate is a position having an X coordinate resulting from shifting, by a first displacement, the X coordinate estimated according to the trajectory, on a basis of the X coordinate of a previous position, while when the trajectory is not within the predetermined region, the position for estimate is a position having an X coordinate resulting from shifting, by a second displacement that is larger than the first displacement, the X coordinate estimated according to the trajectory, on a basis of the X coordinate of a previous position.

Abstract: A target position is estimated in such a manner to maintain target position continuity, with high accuracy, even when the X coordinate displacement of the target is large. On a scan in which the target position is not detected, when a trajectory of the target in the past is within a predetermined region in the vicinity of the Y-axis, a position for estimate is a position having an X coordinate resulting from shifting, by a first displacement, the X coordinate estimated according to the trajectory, on a basis of the X coordinate of a previous position, while when the trajectory is not within the predetermined region, the position for estimate is a position having an X coordinate resulting from shifting, by a second displacement that is larger than the first displacement, the X coordinate estimated according to the trajectory, on a basis of the X coordinate of a previous position.