Patent attributes
In a radar apparatus, a determining unit compares a ratio (−Vr/Vn) of a relative velocity (Vr) to a radar-apparatus-installed vehicle velocity (Vn) with a determination value (α) that is a cosine (cos θc) of the detection limit angle (±θc) or the cosine (cos θc) plus a correction value including a measurement error. When a determination is made that the ratio (−Vr/Vn) exceeds the determination value (α), a target is determined to be a real target of a crossing object, such as a crossing pedestrian, or a stationary object, whereas when a determination is made that the target is not a real target, the target is determined to be a ghost of a crossing object or a stationary object. Thus, a real target of a crossing object or a stationary object can be distinguished from a ghost of the object, and hence a ghost is not falsely determined to be a real target, preventing inappropriate brake control.
