Abstract: A magnetic electrical latch assembly for sensing an electrical contact has a housing for supporting a magnetic electrical contact. The housing has an annular cavity and a cylinder disposed within the cavity. A magnetic electrical contact is attached at one end to the cylinder. The cylinder is movable axially within the cavity. The magnetic electrical contact has an electrical connection to a first conductive wire. The magnetic electrical contact is arranged to couple with an opposing contact pad to create an electrical connection between an external conductor path and the first conductive wire. Also, a magnetic electrical contact sensor system has a hollow enclosure with a detachable access panel. A meandering conductor path cover a portion of the access panel. The conductor path terminates on a contact pad. A magnetic electrical latch assembly has a housing for supporting the magnetic electrical contact within the enclosure.

Abstract: Methods and apparatus for canceling inductive coupling in a magnetic field sensing device having one or more Hall elements. A device can include a Hall element having a first pair of first and second voltage sensing terminals at diametrically opposed locations on the Hall element, and a second pair of third and fourth voltage sensing terminals diametrically opposed locations on the Hall element. A first mirror conductive path extends around a perimeter of the Hall element in a first direction a second mirror conductive path extends around the perimeter of the Hall element in a second direction so that the first and second mirror conductive paths are on opposite sides of the Hall element and are equal and opposite to cancel inductive coupling.

Abstract: A position sensor system comprises a magnetic strip extending in a readout direction and comprising magnetic poles alternating at a constant pitch along the readout direction. At least a first differential magnetoresistive sensor comprises magnetoresistive sensing elements spaced at the pitch. The magnetic poles of the magnetic strip and the first differential magnetoresistive sensor are movable with respect to each other in the readout direction.

Abstract: A magnetic resonance member 1 includes a diamond crystal including plural diamond nitrogen vacancy center, and a high-frequency magnetic field generator 2 applies magnetic field of microwave to the magnetic resonance member 1. The aforementioned plural diamond nitrogen vacancy centers include diamond nitrogen vacancy centers arranged in directions of predetermined plural axes among four axes that indicates four connection directions of carbon atoms in the diamond crystal; and the aforementioned magnetic resonance member 1 is arranged in a direction that provides a substantially largest sensitivity of the measurement target magnetic field in the diamond nitrogen vacancy centers arranged in the predetermined plural axes.

Abstract: A method is for measuring phase currents of a device under test, in particular of an inverter, in which a sensor arrangement, which has a component including a crystal lattice with a defect, is arranged in a region of the device under test. The method includes using the sensor arrangement to detect a magnetic field formed by a vector of magnetic fields, the magnetic fields each in turn being brought about by one of the phase currents of the device under test, and calculating a vector of the phase currents from the vector of the magnetic fields based on a coefficient matrix.

Abstract: The invention also refers to a flexible coil element for a flexible coil array, for a magnetic resonance imaging apparatus. The invention also refers to a flexible coil array, for a magnetic resonance imaging apparatus, for indicating a loading state of a flexible coil element being positioned on at least one inductive element. The invention also refers to a method for indicating a loading state of a flexible coil element being positioned on at least one inductive element. The flexible coil element is comprised by a flexible coil array, wherein the flexible coil array comprises at least one flexible coil element. Furthermore, the invention refers to a software package comprising instructions for carrying out the method steps.

Abstract: Shimming a magnetic field includes measuring the magnetic field and sampling it in a plurality of locations; defining a grid for positioning correction elements; calculating the position and magnitude parameters of one or more correction elements to obtain predetermined target values of the field characteristics, wherein an algorithm has been trained by a database of known cases in which each record links a certain initial magnetic field of a magnetic structure to the pattern of correction elements on a positioning grid for these correction elements in the magnet structure, thereby delivering as an output a pattern of correction elements on the positioning grid, which contributions to the magnetic field of the magnet structure generate a magnetic field which at least best approximates or meets the predetermined target values of the field characteristics.

Abstract: A system, method and computer program product for generating a data record of a training dataset set configured to train a neural network for determination of the concentration of a particular target molecule in an NMR sample. An NMR spectrum associated with a known concentration of the target molecule is obtained. The obtained NMR spectrum is adjusted by applying a random shift to generate an adjusted NMR spectrum. A background generator adds a background spectrum which reflects contributions of impurities in the NMR sample. The resulting NMR spectrum together with the information about the concentration of the target molecule is then stored as a new data record of the training dataset.

Abstract: The invention relates to a method of Dixon-type MR imaging of an object (10) placed in an examination volume of a MR device (1). It is an object of the invention to provide a method that enables an improved Dixon water/fat separation in combination with a dual-acquisition gradient-echo imaging sequence.

Abstract: A plurality of reception coils are used to acquire magnetic resonance signals using parallel imaging and a k-space acquisition scheme, in which alternatingly the central region and one of the peripheral k-space portions are imaged in acquisition steps of a pair, such that after a partition number of such pairs, the whole k-space to be acquired has been imaged and a sliding reconstruction window can be applied to reconstruct an additional magnetic resonance image after each acquisition of such a pair. A time series of magnetic resonance images forming the magnetic resonance data set is then reconstructed from the magnetic resonance signals and sensitivity information regarding the plurality of reception coils by using the sliding reconstruction window and a reconstruction technique for undersampled magnetic resonance data. The k-space trajectories for each acquisition step are chosen to allow controlled aliasing in all three spatial dimensions including the readout direction.

Abstract: A dynamic magnetic resonance angiography, MRA, method, comprising: acquiring, by an MR scanning device, a multi-contrast magnetic resonance, MR, sequence of a portion of a body; identifying, by a processing circuit, blood vessels of the portion by identifying blood of the portion based on predetermined characteristic of blood and the multi-contrast MR sequence; generating, by the processing circuit, a first MRA image frame and a second MRA image frame, based on the multi-contrast MR sequence, respectively visualising a first part and a second part of the identified blood vessels; generating, by the processing circuit, a dynamic MRA image for visualising a dynamic blood flow through a part of the portion, based on the first and second MRA image frame.

Abstract: Method for producing a light-curable resin composition capable of producing a magnetic resonance imaging-signal, in particular for the lithography-based additive production of magnetic resonance imaging phantoms, the method comprising at least the following steps: providing particles at least partially filled with a magnetic resonance imaging-signal producing liquid, and mixing the at least partially filled particles with a light-curable resin.

Abstract: Provided is method for determining free space surrounding a device, the method comprising: acquiring radar data regarding each of one or more radar antennas, the acquired radar data comprising range data and range rate data; extracting, from the acquired radar data, a specific set of radar data having values equal to or below a noise-based threshold; and determining a free space around the device based on the extracted specific set of radar data.

Abstract: A method of target feature extraction and multi-target tracking based on 4D millimeter wave radar includes acquiring the point cloud data output from the radar and preprocess the point cloud data to eliminate the outlier value; processing the points acquired after preprocessing by Density-Based Spatial Clustering of Applications with Noise (DBSCAN) clustering; processing each of the acquired clusters for target feature extraction; predicting the existing trajectory is predicted, and the prediction results are globally correlated with the clustering results; based on the correlation clustering results, the corresponding multi-target tracking motion state processing is executed to obtain the transverse pendulum angular velocity; and based on the target motion state, the target size information as well as the heading angle information are updated.

Abstract: An edge device includes an antenna array and a sensor that senses a surrounding area of the edge device. The edge device further includes control circuitry that detects a first user in the surrounding area of the edge device sensed by the sensor, tracks the detected first user in the surrounding area of the edge device based on the sensor, controls the first antenna array to direct a first beam of radio frequency (RF) signal in a first direction of the tracked first user, detects and tracks a second user concurrently with the first user in the surrounding area of the first edge device based on the sensor, and updates the control of the first antenna array to direct a second beam of RF signal in a second direction towards the second user concomitant to the directed first beam of RF signal in the first direction towards the first user.

Abstract: A detection system and a detection method are provided. The detection method includes configuring a processing circuit to perform an initialization phase, which includes: executing a detection process to respectively accumulate numbers of times that objects are detected to be present in sub-areas, so as to generate initial count values; and configuring the processing circuit to perform a normal operation phase, which includes: executing the detection process to respectively accumulate numbers of times that the objects are detected to be present in the sub-areas, so as to generate current count values corresponding to the sub-areas; and comparing the current count value with the initial count value in a current sub-area of the sub-areas. In response to the current count value being greater than the initial count value plus a first count threshold, a new stationary object is determined to be present in the current sub-area.

Abstract: Disclosed are a control device for a motor vehicle access or locating system and a method for operating a motor vehicle access or locating system, having the steps of: identifying a received signal that has travelled from a transmitter to a receiver of a control device along the strongest signal path, the peak path, as the peak path signal; determining the time of flight, ToF, of the peak path signal; determining a time interval, ?, of the time of flight of the peak path signal; determining a threshold value, T, for the reliability of a first path search depending on ?; carrying out the first path search at ? taking the threshold value into consideration.

Abstract: Systems and methods of measuring distance between two wireless devices by combining phase shift and time-of-flight measurements. A first wireless devices sends a first packet to the second wireless device. After receiving the first packet, the second wireless device sending to the first wireless device a second packet. After sending the second packet, the second wireless device sends a first continuous wave signal to the first wireless device. After receiving the first continuous wave signal, the first wireless device sends to the second wireless device a second continuous wave signal. The first wireless device then calculates a time-of-flight measurement based on a time between the first wireless device sending the first packet and receiving the second packet, and calculates a second measurement based on a phase shift of the first continuous wave signal and the second continuous wave signal, and combines the two measurements.

Abstract: This disclosure describes systems and methods for a ground-penetrating tailgate sensor system. An example method may include transmitting, using an ultra-wideband transceiver disposed of in a tailgate of a vehicle, a signal towards an underground location below the tailgate. The example method may also include receiving, based on the tailgate being in a closed position and using the ultra-wideband transceiver, a return signal from an object located above the vehicle.

Abstract: Disclosed are systems and techniques for detecting user presence, user motion, and for performing facial authentication. For instance, a wireless device can receive a waveform that is a reflection of a transmitted radio frequency (RF) waveform. Based on RF sensing data associated with the received waveform, the wireless device can determine a presence of a user. In response to determining the presence of the user, the wireless device can initiate facial authentication of the user.

Abstract: A radar module is provided for use in association with monitoring and predicting traffic conditions in the vicinity of a system vehicle having a stop indicator system. The radar module may include a data application module having logic circuitry for generating signals indicative of alert conditions associated with target vehicles traveling through a defined radar detection area near the system vehicle. The radar module may be programmed to execute various algorithms Which generate alert condition signals in response to determining and analyzing a current distance, a braking distance, and/or a velocity of target vehicles detected in the radar detection area.

Abstract: The techniques and systems herein enable ghost object detection. Specifically, a reflection line indicative of a potential reflection surface between first and second moving objects is determined. If enough stationary objects are within an area of the reflection line, it is determined whether one or more of the stationary objects within the area are within a distance of a reflection point. An expected velocity of the second object is then determined and checked against a velocity of the second object. If the expected velocity is near the velocity, it is determined that the second object is a ghost object. By doing so, the system can effectively identify ghost objects in a wide variety of environments, thereby allowing for downstream operations to function as designed.

Abstract: A radar apparatus includes a plurality of transmit antennas that transmits a plurality of transmission signals using a multiplexing transmission, and a transmission circuit that applies phase rotation amounts corresponding to combinations of Doppler shift amounts and code sequences to the plurality of transmission signals. Each of the plurality of transmission signals is assigned a different combination among the combinations. The combinations include at least two combinations of a same number of multiplexing by the code sequences.

Abstract: The present disclosure relates to an apparatus and method for removing noise for a weather radar and, more particularly, to an apparatus and method for removing noise for a weather radar, the apparatus and method being able to detecting a radio interference echo, which is noise due to radio interference that is generated by reception of other external radio waves to a weather radar except for a radio wave transmitted from the weather radar, separately from weather eco according to normal weather measurement, and being able to remove the radio interference echo.

Abstract: The subject matter of this specification can be embodied in, among other things, a position sensor system that includes a sensor housing defining a first cavity having a first face, a fluid effector including an actuator housing having an inner surface defining a second cavity, and a moveable body having a second face and configured for reciprocal movement within the second cavity, an acoustic transmitter system configured to emit a first emitted acoustic waveform toward the first face, and emit a second emitted acoustic waveform toward the second face, and an acoustic receiver system configured to detect a first reflected acoustic waveform based on a first reflection of the first emitted acoustic waveform based on the first face, and detect a second reflected acoustic waveform based on a second reflection of the second emitted acoustic waveform based on the second face.

Abstract: A translucent cover forms a part of an outer surface of the vehicle and covers a light emitting element and a light receiving element. A processor calculates a distance to an object that generated reflected light based on a time period from time when detecting light is emitted from the light emitting element to time when the reflected light is incident on the light receiving element, at least after it is elapsed a time period from the time when the detecting light is emitted to time when reflected light generated by an inner surface of the translucent cover is incident on the light receiving element.

Abstract: A scanning imaging sensor is configured to sense an environment through which a vehicle is moving. A method for determining one or velocities associated with objects in the environment includes generating features from the first set of scan lines and the second set of scan lines, the two sets corresponding to two instances in time. The method further includes generating a collection of candidate velocities based on feature locations and time differences, the features selected pairwise with one from the first set and another from the second set. Furthermore, the method includes analyzing the distribution of candidate velocities, for example, by identifying one or more modes from the collection of the candidate velocities.

Abstract: Doppler LIDARs, such as those used in ADAS (advanced driver assistance system) and autonomous vehicles, may need to sense objects at many directions. Some of the Doppler LIDAR devices use mechanically moving parts to scan over a range of directions and the various directions are not sensed simultaneously but sensed in turns over time. Mechanical moving parts generally have higher costs, lower reliability and shorter Mean Time To Failure (MTTF). The LIDAR sensor on chip with Doppler-sensing pixels disclosed herein uses a Doppler sensing-chip that enables Doppler LIDAR devices to sense many directions simultaneously in parallel without having to use mechanical scan and mechanical moving parts, even without having to use electronic scan. Lower costs, higher reliability, and faster detection time as well as higher direction sensing accuracy are objectives of this invention.

Abstract: A frequency shift light modulator includes a resonator and a diffraction grating including a plurality of grooves arranged in parallel in a displacement direction of the resonator, and the diffraction grating is provided on the resonator. By providing the diffraction grating on the resonator, it is easy to realize miniaturization and increase in accuracy of the frequency shift light modulator. Further, it is easy to realize application to a high frequency region in a MHz band, that is, high frequency modulation. It is possible to efficiently obtain an effect based on a combination of the resonator and the diffraction grating.

Abstract: A tracking device including an image sensor, a light source and a processor is provided. The image sensor senses reflected light or scattered light formed by the light source illuminating a work surface. The processor calculates a trace of the tracking device according to one of the reflected light and the scattered light that generates more apparent image features so as to increase the adaptable work surfaces.

Abstract: Methods, systems, devices, and tangible non-transitory computer readable media for generating a route through a geographic area are provided. The disclosed technology can generate an unoccupied cell map. The unoccupied cell map can include cells that are associated with unoccupied portions of a geographic area that are not associated with light detection and ranging (LiDAR) returns. Further, route request data that is associated with a request for a route from a starting location to one or more destination locations within the geographic area can be received. Based on the route request data, the unoccupied cell map can be accessed. A route, based on the unoccupied cell map, can then be generated. Furthermore, the route can include the unoccupied cells between a starting location and one or more destination locations within the geographic area. Indications associated with the route can then be generated.

Abstract: The present disclosure is directed to imaging LiDARs with optical antennas fed by optical waveguides. The optical antennas can be activated through an optical switch network that connects the optical antennas to a laser source to a receiver. A microlens array is positioned between a lens of the LiDAR system and the optical antennas, the microlens array being positioned so as to transform an emission angle from a corresponding optical antenna to match a chief ray angle of the lens. Methods of use and fabrication are also provided.

Abstract: A distance image sensor includes a light source that generates pulsed light, a light source controller that controls the light source, a pixel circuit including a photoelectric conversion region, charge readout regions, and control electrodes, a charge transfer controller that sequentially applies control pulses to the control electrodes, a signal readout circuit that reads out detection signals of an amount of charge transferred to the charge readout regions and a distance calculator that repeatedly calculates a distance from a difference value between two amounts of charge on the basis of the signals, the light source controller changes generation timing of the pulsed light according to a pseudo random number, and the charge transfer controller changes timings of the application of two control pulses for transferring charge corresponding to the two amounts of charge according to the pseudo random number so that the timings are replaced with each other.

Abstract: A processing apparatus includes a control unit that performs a control of performing an imaging operation by an imaging unit that images an imaging region, and a distance measurement operation in which a distance measurement unit performs distance measurement by emitting light to the imaging region and receiving reflected light of the light from the imaging region, an acquisition unit that acquires reflectivity information for specifying a reflectivity in the imaging region, and a change unit that changes irradiation energy of the light according to the reflectivity information acquired by the acquisition unit in a state in which the imaging operation and the distance measurement operation are performed.

Abstract: An apparatus comprising a housing, a mount configured to be coupled to a motor to horizontally move the apparatus, a wide-angle lens coupled to the housing, the wide-angle lens being positioned above the mount thereby being along an axis of rotation, the axis of rotation being the axis along which the apparatus rotates, an image capture device within the housing, the image capture device configured to receive two-dimensional images through the wide-angle lens of environment, and a LiDAR device within the housing, the LiDAR device configured to generate depth data based on the environment.

Abstract: An apparatus comprising a housing, a mount configured to be coupled to a motor to horizontally move the apparatus, a wide-angle lens coupled to the housing, the wide-angle lens being positioned above the mount thereby being along an axis of rotation, the axis of rotation being the axis along which the apparatus rotates, an image capture device within the housing, the image capture device configured to receive two-dimensional images through the wide-angle lens of environment, and a LiDAR device within the housing, the LiDAR device configured to generate depth data based on the environment.

Abstract: A navigation system includes: a communication circuit configured to: receive a base station data including an actual location and a satellite provided reference location from a base station, and transfer the base station data to an artificial intelligence (AI) correction calculator, already trained to negate a multipath interference of a position satellite; a control circuit, coupled to the communication circuit, configured to: calculate a real-time kinematics (RTK) correction, by the AI correction calculator, based on the satellite provided reference location and the actual location; and enable the communication circuit to transmit the RTK correction by an over the air (OTA) communication to the base station including the base station transferring the RTK correction to a device for correcting the satellite provided reference location to a real-world location and displaying on the device.

Abstract: A positioning processing method is provided. In the method, a positioning request is received. The positioning request includes identification information of a device. Rough location information of the device is acquired from a core network according to the identification information of the device. Differential assistance information is generated according to the rough location information of the device. The differential assistance information is transmitted to the device. A positioning location of the device is determined based on the differential assistance information.

Abstract: A system and method for positioning based on navigation systems. The method includes receiving a list of Street Level Stations (SLSs), conducting ranging measurements with each SLS identified within the received list, receiving a global position of the each SLS identified within the received list, and computing a position of a user device based on the ranging measurements and a position of the each SLS identified within the received list.

Abstract: In one example method, a signal transmitted from an endpoint device is received at a first satellite and at one or more second satellites. The first satellite determines a first estimated position of the endpoint, an estimated position of the first satellite, and estimated frequencies and phases of one or more symbols transmitted in the signal. The first satellite then transmits this information to the one or more second satellites. The one or more second satellites use the information received from the first satellite to determine one or more estimated time differences of arrival between the signal arriving at the first satellite and the signal arriving at the one or more second satellites. The one or more second satellites then determine a second estimated position of the endpoint using the one or more estimated time differences of arrival.

Abstract: An information processing device includes a first processor. The first processor obtains a first positioning result and a second positioning result higher in positioning accuracy than the first positioning result. In response to obtaining the first positioning result, the first processor generates, based on the first positioning result, first information having a content corresponding to the positioning accuracy of the first positioning result as information. In response to obtaining the second positioning result, the first processor generates, based on the second positioning result, second information having a content corresponding to the positioning accuracy of the second positioning result as the information. The second information is different from the first information. The first processor outputs the generated information.

Abstract: Examples for determining velocity using a reflected positioning signal are presented herein. An example may involve a receiver receiving signals from satellites and identifying a particular signal that reflected off a reflecting plane prior to reaching the receiver. The receiver may then determine a reflected satellite position for a satellite that transmitted the particular signal. The reflected satellite position may be determined by reflecting a position of the satellite about the reflecting plane. The receiver may then determine a direction vector to the reflected satellite position for the satellite and determine its velocity using the determined direction vector.

Abstract: Acoustic signals from an acoustic event are captured via sensing nodes of sensor group(s) that comprise a group of sensing nodes at a location comprising spatial boundaries. Each of the sensing nodes comprise a sensor area. Each of the sensor group(s) is based on: range limits of each of the sensing nodes; shared sensing areas of the sensing nodes; and intersections between the sensor area for each of the sensing nodes and the spatial boundaries. Solutions(s) are generated by processing the acoustic signals. The solution(s) indicate the location of the acoustic event. A strength of solution compliance value for at least one of the solution(s) is determined. A refined solution is generated employing: sensor contributions of sensing nodes; and the strength of solution compliance value with the spatial boundaries and at least one of the solution(s). A report is created comprising the location of the acoustic event.

Abstract: The embodiments relate to an apparatus and a method, where the apparatus includes circuitry configured for listening and receiving a positioning measurement request from a location server at a first point of time; circuitry configured for determining whether a set of positioning metrics need to be measured, wherein the determining is based on an output from a machine learning classifier to which channel metrics between two points of time is given as input; whether the output indicates a new measurement, circuitry configured for performing the measurement of positioning metrics from all transmission points; or if not, circuitry configured for determining which subset of transmission points needs to be measured and circuitry configured for performing the measurement of such subset of transmission points; and circuitry configured for reporting the measured positioning metrics to the location server.

Abstract: Disclosed are techniques for positioning. In an aspect, a network entity receives, from at least one network node, a measurement report including one or more radio frequency fingerprint (RFFP) measurements, wherein the one or more RFFP measurements include at least one RFFP measurement of at least one sidelink channel between a first user equipment (UE) and a second UE, determines one or more locations of a target UE based on the one or more RFFP measurements and a machine learning module, wherein the machine learning module is trained based on previously collected RFFP measurements of one or more downlink channels, RFFP measurements of one or more uplink channels, RFFP measurements of one or more sidelink channels, locations of one or more sidelink anchor UEs, locations of one or more base stations, or any combination thereof.

Abstract: Various embodiments relate to the generation and/or use of a positioning map comprising instances of neighbor-cell information that each comprising, are associated with, and/or indexed by a respective globally unique identifier. In an example embodiment, a processor determines a locally unique identifier and an estimated location of an observed neighbor cell. The processor defines a globally unique identifier for the neighbor cell comprising the locally unique identifier and an indication of the estimated location of the neighbor cell. The processor generates a positioning map to include an instance of neighbor-cell information corresponding to the neighbor cell. The instance of neighbor-cell information comprises, is associated with, and/or is indexed by the defined globally unique identifier.

Abstract: An antenna device includes a transmitting antenna including a transmission channel, a transmitting antenna including a transmission channel, a transmitting antenna including a transmission channel, a transmitting antenna including a transmission channel, and a receiving antenna including reception channels. An interval between the transmitting antenna and the transmitting antenna is wider than an overall width of the receiving antenna. An interval between the transmitting antenna and the transmitting antenna is narrower than an interval between adjacent channels among the reception channels.

Abstract: A device may include a receive antenna input to couple a receive antenna to a receive chain of the device. The device may include a test signal generator to generate a test signal. The device may include a signal coupler between the receive antenna input and the receive chain. The signal coupler may include a first port to inject the first test signal into the receive antenna via the receive antenna input. The device may include a control circuit to monitor an impedance matching of the receive antenna based on one or more characteristics of a reflected signal resulting from the first test signal being injected into the receive antenna. The one or more characteristics of the reflected signal may be dependent on the impedance matching of the receive antenna.

Abstract: A method of identifying target-type vehicle through radar based blind spot warning (BSW) system of a host vehicle, comprising: detecting a first radar reflection point reflected by an object, said first radar reflection point being outside the BSW zone of the BSW system; setting an object area based on the distribution of groups of the first radar reflection point; assuming the object to be other vehicle based on the positional relationship between the object area and the BSW zone; detecting a second radar reflection point inside the BSW zone; and determining the other vehicle to be the target-type vehicle based on the detected second radar reflection point. The target-type vehicle is trailer or coach.

Abstract: The embodiments of the present disclosure relate to a radar control device and method. Specifically, a radar control device according to the present disclosure may include an antenna unit including one or more transmission antennas and one or more receiving antennas, a transmitter for transmitting a radar signal toward an object using the transmission antenna, a receiver for receiving a reception signal reflected from the object using the receiving antenna, and an object detector configured to determine a track for an detected object based on the reception signal, detect an object around a host vehicle based on the determined track, and, if a traveling speed of the host vehicle is less than or equal to a predetermined speed and the detected object is plural, classify a preceding vehicle and a clutter based on the reception signal.