In an object-detecting system using an FM-CW wave, points f1 to f4
corresponding
to detection peaks of a reflected wave from a road-side object such as guardrail
and points m1 and m2 corresponding to detection peaks of a reflected
wave from a moving object such as a reflector of a preceding vehicle are indicated
on two-dimensional coordinates along with the shape of a road ahead of a subject
vehicle. Among the points f1 to f4, m1 and m2, the
points f1 to f4 are determined as being provided by the reflected
wave from the road-side object, and a distance from the subject vehicle to the
object and a speed of the subject vehicle relative the object are calculated using
the remaining points m1 and m2 excluding the points f1 to
f4. Thus, only the moving object except the road-side object can be detected.
