US 12,468,031 B2
Radar device for vehicle
Yasunori Nishioka, Kariya (JP)
Assigned to DENSO CORPORATION, Aichi-pref. (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Feb. 28, 2024, as Appl. No. 18/590,676.
Application 18/590,676 is a continuation of application No. PCT/JP2022/032857, filed on Aug. 31, 2022.
Claims priority of application No. 2021-141577 (JP), filed on Aug. 31, 2021.
Prior Publication US 2024/0248201 A1, Jul. 25, 2024
Int. Cl. G01S 13/931 (2020.01); G01S 13/08 (2006.01); G01S 13/58 (2006.01)
CPC G01S 13/931 (2013.01) [G01S 13/08 (2013.01); G01S 13/58 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A radar device for a vehicle, configured to detect targets around the vehicle, comprising:
a target detection unit configured to detect a position and a speed of a target by transmitting radar waves to surroundings of the vehicle, receiving reflected waves of the radar waves, and performing frequency analysis of transmission and reception signals;
a multipath ghost determination unit configured to extract, from a plurality of targets detected by the target detection unit, a moving object that relays the radar waves between the target detection unit and another target as a relay reflective target, and determine a target detected erroneously as a moving object by the target detection unit due to a stationary object from or to which the radar waves are relayed by the relay reflective target, as being a multipath ghost;
a monorail environment determination unit configured to determine whether an environment in which the vehicle is traveling is a monorail environment where a monorail is present above a road on which the vehicle is traveling; and
a monorail vehicle determination unit configured to, in response to the monorail environment determination unit determining that the environment in which the vehicle is traveling is the monorail environment, count, for each relay reflective target, a number of targets each determined to be a multipath ghost by the multipath ghost determination unit, and determine that the relay reflective target for which a first determination value set according to the counted number of targets is greater than or equal to a first threshold value is a monorail vehicle.