In-vehicle radar device

Abstract

An in-vehicle radar device has a transmission section for emitting an electromagnetic wave, a scanning section for horizontally scanning the electromagnetic wave emitted by the transmission section, and a reception section for receiving a reflected wave reflected by a target with respect to the electromagnetic wave emitted by the transmission section. The in-vehicle radar device detects, based on an elapsed time from when the transmission section emitted the electromagnetic wave until the reception section receives the reflected wave and the scanning direction of the electromagnetic wave by the scanning section, at least a position and a horizontal width of the target reflecting the electromagnetic wave. The in-vehicle radar device further has a storage section for storing intensity of a previous time or a few tines before of the reflected wave received by the reception section, a comparing section for comparing the intensity of the reflected wave of the previous time or the few times before stored in the storage section and intensity for this time, and a first judgment section for judging that the target detected this tine differs from a target continuously detected the from the previous time or the few times before when the intensity of the reflected wave for this tine suddenly decreased compared to the intensity of the previous time or the few tines before, and the horizontal width of the target becomes greater than a horizontal width of a general vehicle.