Patent ID: 9372261
Filing Date: 2016-06-21
CPC Classification: G01S

Claim Text:
1. A radar device comprising: a transmission unit that emits a transmission wave relating to a frequency-modulated transmission signal; a reception unit that receives a reflected wave acquired by reflecting the transmission wave on an object as a reception signal; and a processing unit that detects object data corresponding to the object from the reception signal, outputs the object data that is not removed from an output target for a vehicle control device to the vehicle control device that controls the vehicle, and removes the object data satisfying a removal condition that is a condition used for determining whether or not the object data is to be removed from the output target for the vehicle control device and includes at least a distance and a relative speed of the object data with respect to a speed of the vehicle as conditions from the output target for the vehicle control device, wherein the processing unit derives an angle of the object based on a peak signal whose signal level exceeds a predetermined threshold in each one of an UP zone, in which a frequency of the transmission signal increases, and a Down zone, in which the frequency of the transmission signal decreases, and the processing unit, (i) in a case where the object data is present within a traveling lane of the vehicle, determines whether or not the speed of the vehicle exceeds a predetermined speed, as the determination result, (ii) in a case where the speed of the vehicle exceeds the predetermined speed, derives the removal condition based on a reference distance that is a distance of the object data corresponding to ghost data out of a plurality of pieces of object data and a reference relative speed that is a relative speed of the object data corresponding to ghost data out of a plurality of pieces of object data with respect to the speed of the vehicle, as the determination result, (iii) in a case where the speed of the vehicle is below the predetermined speed, ends the removing process, and (iv) in a case where the object data is not present within the traveling lane of the vehicle, ends the removing process.