Patent ID: 7598848

Claim:
A pedestrian recognition apparatus comprising: a radar unit for emitting a radar beam therefrom and receiving a reflected beam that is reflectively redirected by a reflective object when scanning of a detection area by the radar beam is performed in plural scan lines at a predetermined detection interval; a reflective object detection unit for detecting a position of the reflective object as two-dimensional coordinates in a predetermined coordinate system based on a result of emission of the radar beam and reception of the reflected beam by the radar unit; an object determination unit for determining whether the reflective object is a stopping object or a moving object based on a positional change of the reflective object represented by the two-dimensional coordinates in the predetermined coordinate system derived from plural times of position detection of the reflective object at the predetermined detection interval; and a pedestrian recognition unit for recognizing a pedestrian, wherein pedestrian recognition is performed as formation of the object group of close-by reflective objects for forming an object group of the reflective objects in the two-dimensional coordinates in the predetermined coordinate system out of the reflective objects determined as the moving object based on a determination result by the object determination unit, the formation of the object group succeeded by determination of a group size of the object group based on a predetermined criterion of the group size for associating the object group with the pedestrian.