To recognize a curve of road transition before an object existing at an inlet of the curve becomes important for ACC control.
In this method for detecting an object to be moved and/or fixed in course transition of a vehicle 1 having a radar sensor 6 in which a mixed signal of a transmission signal and a receiving signal of a frequency f modulated into a ramp shape by a multiramp method is analyzed into spectrum to obtain a distance and a speed of objects to be reflected 8 to 15 and at least one ramp having a different gradient for the other ramp, distance, speed, and angle of objects 10 to 15 corresponded to a distance region of the object to be reflected existing in a distance region corresponding to a ramp having relatively large gradient are determined using relatively high spectrum component of signals f3, f4 of one or two or more ramps having relatively small gradient.
MARCHTHALER REINER
UMMER BERND
