Object detection method
A dummy target is set in a direction which is the same direction as that of a detected target and at the position whose distance is double that of the detected target; a second-order wave target detection area is set in the predetermined area including the position of the dummy target; the target detected in the second-order wave target detection area is judged as being a second-order wave target; a interpolated target is set in the direction which is the same as that of the second-order wave target, and at the position whose distance is half that of the second-order wave target; a fundamental wave target detection region is set in the predetermined area including the position of the interpolated target; and the interpolated target is outputted as a fundamental wave target in the case where no fundamental wave target is detected in the fundamental wave target detection region. Even if the fundamental wave target to be detected is undetected within a close range, data on the fundamental wave target is estimated and outputted on the basis of the interpolated target calculated from the second-order wave target which continues being detected, as described above. This makes it possible to continue detecting the fundamental wave target without interruption. Accordingly, it is possible to provide an object detection method which enables an object in a close range to be detected securely by a radar device.
1. An object detection method in which an electromagnetic wave is transmitted from transmission/reception means (M) to a predetermined area set in a direction in which a subject vehicle (Va) is running; a reflected wave produced by reflection of the electromagnetic wave off a target (Vb) is received; and at least a direction and a distance of the target (Vb) are detected on the basis of the received reflected wave, characterized by comprising:
a first step of setting a dummy target in a direction which is the same direction as that of the detected target (Vb), and at a position whose distance is double that of the detected target (Vb);
a second step of setting a second-order wave target detection area in a predetermined area including the position of the dummy target;
a third step of judging the target (Vb), which is detected in the second-order wave target detection area, as being a second-order wave target;
a fourth step of setting an interpolated target in a direction which is the same as that of the second-order wave target, and at a position whose distance is half that of the second-order wave target;
a fifth step of setting a fundamental wave target detection region in a predetermined area including the position of the interpolated target; and
a sixth step of outputting the interpolated target as a fundamental wave target in a case where no fundamental wave target is detected in the fundamental wave target detection region.
2. The object detection method according to claim 1 , wherein
the target (Vb) detected in the first step is a target (Vb) whose distance is less than a predetermined distance.