Driving assist apparatus

A driving assist apparatus mounted to an own vehicle, comprising:

• a transmitter configured to successively transmit a transmission wave having a constant frequency to a surrounding of the own vehicle;
• a receiver configured to successively receive a reflected wave of the transmission wave;
• an obstacle presence determination section configured to determine a presence and an absence of an obstacle in the surrounding of the own vehicle based on the reflected wave received by the receiver;
• a measurement section configured to
• compare phase of the reflected wave, which is received by the receiver, with phase of a reference signal, which has a frequency synchronized with the frequency of the transmission wave, and
• thereby measure a frequency of delay and a frequency of advance of the phase of the reflected wave with respect to the phase of the reference signal;
• and
• a detection section configured to detect the obstacle having a specific relation with the own vehicle, based on
• the presence of the obstacle determined by the obstacle presence determination section and
• the frequency of delay and the frequency of advance measured by the measurement section.