Object detecting apparatus
A ghost target candidate judging device judges that one target of two targets is a candidate for a ghost target where the distances of the two targets from a subject vehicle are equal to each other and where the difference between receiving levels of the two targets is not less than a predetermined value. A running-abreast target judging device judges that one target is the target running abreast of the other target based on changes in an angle difference and in a left-right positional difference between the two targets in accordance with the change in the distances of the two targets from the subject vehicle. The ghost target judging device judges, as the ghost target, a target obtained by removing the running-abreast target data from the candidates for the ghost target. The running-abreast target is prevented from being erroneously recognized as the ghost target while judging which target is the ghost target. Also, a target indicating a lower receiving level is prevented from erroneously being judged as a ghost target when two targets indicating their respective different receiving levels are running side by side.
1. An object detecting apparatus configured to detect a target by transmitting an electromagnetic wave, and by receiving a reflected wave resulting from reflection of the electromagnetic wave by the target, the apparatus comprising:
ghost target candidate judging means (M 5 ) configured to judge that a first target of two targets is a candidate for a ghost target of a second target of the two targets in a situation where distances of the two targets from a subject vehicle are equal to each other and where a difference between receiving levels of the two targets is equal to or larger than a predetermined value;
running-abreast target judging means (M 6 ) configured to judge that the first target is a target running abreast of the second target based on changes in an angle difference and in a left-right positional difference between the two targets in accordance with a change in the distances of the two targets from the subject vehicle; and
ghost target judging means (M 7 ) configured to judge, as a ghost target, a target obtained by removing the running-abreast target judged by the running-abreast target judging means (M 6 ) from the candidates for the ghost target judged by the ghost target candidate judging means (M 5 ).
2. The object detecting apparatus according to claim 1 , wherein the running-abreast target judging means (M 6 ) judges that the first target is the target running abreast of the second target in a situation where a change in the distances of the two targets from the subject vehicle is accompanied by a change in the angle difference between the two targets and free of a change in the left-right positional difference between the two targets.
3. The object detecting apparatus according to claim 1 , wherein the running-abreast target judging means (M 6 ) judges that the first target is not the target running abreast of the second target in a situation where a change in the distances of the two targets from the subject vehicle is free of a change in the angle difference between the two targets and is accompanied by a change in the left-right positional difference between the two targets.
4. An object detecting method configured to detect a target by transmitting an electromagnetic wave, and by receiving a reflected wave resulting from reflection of the electromagnetic wave by the target, the method comprising steps of:
judging that a first target of two targets is a candidate for a ghost target of a second target of the two targets in a situation where distances of the two targets from a subject vehicle are equal to each other and where a difference between receiving levels of the two targets is equal to or larger than a predetermined value;
judging that the first target is a target running abreast of the second target based on changes in an angle difference and in a left-right positional difference between the two targets in accordance with a change in the distances of the two targets from the subject vehicle; and
judging, as a ghost target, a target obtained by removing the running-abreast target from the candidates for the ghost target.
5. The object detecting method according to claim 4 , wherein the method judges that the first target is the target running abreast of the second target in a situation where a change in the distances of the two targets from the subject vehicle is accompanied by a change in the angle difference between the two targets and free of a change in the left-right positional difference between the two targets.
6. The object detecting method according to claim 4 , wherein the method judges that the first target is not the target running abreast of the second target in a situation where a change in the distances of the two targets from the subject vehicle is free of a change in the angle difference between the two targets and is accompanied by a change in the left-right positional difference between the two targets.