On-board radar apparatus and notification system

A notification system comprising:

• an on-board radar apparatus that is attached to a vehicle such that a direction at 90 degrees relative to a front-rear direction of the vehicle is included in a detection range, and transmits and receives radar waves, the on-board radar apparatus comprising:
• an observation point detecting means that detects an observation point relative speed that is a relative speed in relation to an observation point that has reflected the radar wave within the detection range and an observation point azimuth that is an azimuth at which the observation point is present;
• and
• a moving object detecting means that determines that a moving object is detected based on an expression (1) being satisfied,
• the expression (1) being expressed by
• V<Vs·sin (θ-φ) (1)
• where φ is an attachment angle that is an angle at which a center axis of a reception antenna receiving the radar wave is angled in relation to a width direction of the vehicle, V is the observation point relative speed, θ is the observation point azimuth, and Vs is a traveling speed of the vehicle;
• and
• a notification apparatus that, in response to the moving object detecting means determines that the moving object being detected, notifies an occupant of the vehicle of the determination.

A moving object detection method of an on-board radar apparatus that is attached to a vehicle such that a direction at 90 degrees relative to a front-rear direction of the vehicle is included in a detection range, and transmits and receives radar waves, the moving object detection method of an on-board radar apparatus characterized by:

• detecting, by an observation point detecting means of the on-board radar apparatus, an observation point relative speed that is a relative speed in relation to an observation point that has reflected the radar wave within the detection range and an observation point azimuth that is an azimuth at which the observation point is present;
• and
• determining, by a moving object detecting means of the on-board radar apparatus, that a moving object is detected based on an expression (1) being satisfied,
• the expression (1) being expressed by
• V<Vs·sin (θ-φ) (1)
• where φ is an attachment angle that is an angle at which a center axis of a reception antenna receiving the radar wave is angled in relation to a width direction of the vehicle, V is the observation point relative speed, θ is the observation point azimuth, and Vs is a traveling speed of the vehicle.