Patent ID: 7417585

Claim:
A scanning method of an in-vehicle scanning-type radar for emitting beams subsequently to execute scanning and for detecting an object, the method comprising: determining whether or not the object is in an approaching state; when it is determined that the object is not in the approaching state, executing a first scanning for scanning within a first angle range; and when it is determined that the object is in the approaching state, executing a second scanning for scanning within a second angle range that is narrower than the first angle, range, wherein: a period during which the radar scans the second angle range once in the second scanning is shorter than that during which the radar scans the first angle range once in the first scanning, the first scanning is executed by emitting a first plurality of beams from the radar at an interval of a predetermined angle, and the second scanning is executed by emitting a second plurality of beams which is fewer than the first plurality of beams from the radar at an interval of the predetermined angle.