Abstract: There is provided a radar apparatus. An extracting unit extracts a peak signal obtained from a difference frequency between a transmitting signal and a receiving signal during a first period in which the frequency of the transmitting signal ascends and a second period in which the frequency descends. A pairing unit pairs the peak signals of the first and second periods based on a predetermined condition. A deriving unit derives target information including a position of a target based on paired data obtained by pairing the peak signals. The pairing unit selects normal-paired data which is paired in a correct combination, from among the plurality of paired data, based on a plurality of parameter values of the peak signals of the first and second periods which are to be paired, and a discrimination function for discriminating true or false of the pairing.

Abstract: There is provided a radar apparatus. A derivation unit derives target information which is information relating to a target detected on the basis of a transmission signal of which a frequency changes with a predetermined cycle and a reception signal corresponding to a reflected wave coming from an object at which a transmission wave corresponding to the transmission signal is reflected. A determination unit determines reliability of the target information. A decision unit decides whether the detected target is true or false, based on the target information. The decision unit changes a method of deciding whether the target is true or false in accordance with a determination result of the reliability by the determination unit.

Abstract: There is provided a radar apparatus. A derivation unit derives this time-decided transverse distance of the target of this time processing, by filtering, with a predetermined filter constant, this time transverse distance of paired data of this time processing, and a predicted transverse distance. A change unit changes, when the transverse distance of an object moving target moving in a traveling direction of a vehicle mounted with the radar apparatus and the transverse distance of a specific target satisfy a predetermined relation, the filter constant for filtering this time transverse distance and the predicted transverse distance of the object moving target so that a reflection amount of this time transverse distance is reduced in comparison to before the change.

Abstract: There is provided a radar apparatus. A setting unit is configured to set a first range including at least a reference target. A deriving unit is configured to derive a representative position of targets included in the first range on the basis of position information of the targets included in the first range. An acquiring unit is configured to acquire vehicle information indicating that the vehicle is running in a curve-shaped lane or a road shape in front of the vehicle is a curve shape. When the acquiring unit acquires the vehicle information, the setting unit sets a second range wider than the first range and the deriving unit derives a representative position of targets included in the second range on the basis of position information of the targets included in the second range.

Abstract: There is provided a signal processing device. Data indicative of a past sensing point, and a counter value indicative of existence possibility of the past sensing point are stored in a storage. Whether the past sensing point has continuity to a recent sensing point is determined. The counter value associated with the past sensing point determined as having no continuity to the recent sensing point is decreased. The data is deleted from the storage means when the counter value becomes less than a first threshold value. The sensing point possibly detected by pairing peak signals obtained in first and second periods in a wrong manner is identified as a specific sensing point. A first value is decreased from the counter value associated with the past sensing point, and a second value different from the first value is decreased from the counter value associated with the specific sensing point.

Abstract: A signal processor is configured to: derive, using a first process, at least one of a distance and a relative speed included in the object data set; and derive, using a second process different from the first process, at least one of the distance and the relative speed included in the object data set when the distance included in the object data set is below a predetermined distance.

Abstract: There is provided a radar apparatus. A first determining section is configured to determine whether there exists a continuing stationary target at a side of a lane in which a vehicle is traveling. A second determining section is configured to determine whether there exists a moving target in a specific range which is in front of the vehicle and on an opposite side of the stationary target with respect to a position of the vehicle. A changing section is configured to change position information of the moving target to a position obtained by folding back a specific position which is the position of the moving target in the specific range with the stationary target therebetween in a case where the stationary target exists and the moving target exists in the specific range. The changed position is used for deriving the position information of the target.

Abstract: A radar device including a frequency peak detection unit for receiving reflected waves from objects, a first combination group determination unit for combining up frequency peaks with down frequency peaks, a first pairing candidate group determination unit for calculating a Mahalanobis distance for each combination, a second combination group determination unit for combining down frequency peaks with up frequency peaks, a second pairing candidate group determination unit for calculating a Mahalanobis distance, a pairing candidate group extraction unit for removing the pairs having larger Mahalanobis distances, a current pairing candidate group determination unit for removing the pairs having a Mahalanobis distance larger than or equal to a threshold value, and a current data calculation unit for calculating current data values that include a distance, relative velocity and angle of the objects. The characteristic values include angles, power and spectrum intensity.

Abstract: There is provided a radar apparatus. A derivation unit derives this time-decided transverse distance of the target of this time processing, by filtering, with a predetermined filter constant, this time transverse distance of paired data of this time processing, and a predicted transverse distance. A change unit changes, when the transverse distance of an object moving target moving in a traveling direction of a vehicle mounted with the radar apparatus and the transverse distance of a specific target satisfy a predetermined relation, the filter constant for filtering this time transverse distance and the predicted transverse distance of the object moving target so that a reflection amount of this time transverse distance is reduced in comparison to before the change.

Abstract: There is provided a radar apparatus. A derivation unit derives target information which is information relating to a target detected on the basis of a transmission signal of which a frequency changes with a predetermined cycle and a reception signal corresponding to a reflected wave coming from an object at which a transmission wave corresponding to the transmission signal is reflected. A determination unit determines reliability of the target information. A decision unit decides whether the detected target is true or false, based on the target information. The decision unit changes a method of deciding whether the target is true or false in accordance with a determination result of the reliability by the determination unit.

Abstract: There is provided a radar apparatus. An extracting unit extracts a peak signal obtained from a difference frequency between a transmitting signal and a receiving signal during a first period in which the frequency of the transmitting signal ascends and a second period in which the frequency descends. A pairing unit pairs the peak signals of the first and second periods based on a predetermined condition. A deriving unit derives target information including a position of a target based on paired data obtained by pairing the peak signals. The pairing unit selects normal-paired data which is paired in a correct combination, from among the plurality of paired data, based on a plurality of parameter values of the peak signals of the first and second periods which are to be paired, and a discrimination function for discriminating true or false of the pairing.

Abstract: There is provided a radar apparatus. A setting unit is configured to set a first range including at least a reference target. A deriving unit is configured to derive a representative position of targets included in the first range on the basis of position information of the targets included in the first range. An acquiring unit is configured to acquire vehicle information indicating that the vehicle is running in a curve-shaped lane or a road shape in front of the vehicle is a curve shape. When the acquiring unit acquires the vehicle information, the setting unit sets a second range wider than the first range and the deriving unit derives a representative position of targets included in the second range on the basis of position information of the targets included in the second range.

Abstract: There is provided a radar apparatus. A first determining section is configured to determine whether there exists a continuing stationary target at a side of a lane in which a vehicle is traveling. A second determining section is configured to determine whether there exists a moving target in a specific range which is in front of the vehicle and on an opposite side of the stationary target with respect to a position of the vehicle. A changing section is configured to change position information of the moving target to a position obtained by folding back a specific position which is the position of the moving target in the specific range with the stationary target therebetween in a case where the stationary target exists and the moving target exists in the specific range. The changed position is used for deriving the position information of the target.

Abstract: There is provided a signal processing device. Data indicative of a past sensing point, and a counter value indicative of existence possibility of the past sensing point are stored in a storage. Whether the past sensing point has continuity to a recent sensing point is determined. The counter value associated with the past sensing point determined as having no continuity to the recent sensing point is decreased. The data is deleted from the storage means when the counter value becomes less than a first threshold value. The sensing point possibly detected by pairing peak signals obtained in first and second periods in a wrong manner is identified as a specific sensing point. A first value is decreased from the counter value associated with the past sensing point, and a second value different from the first value is decreased from the counter value associated with the specific sensing point.

Abstract: A body detection apparatus includes: movement direction calculation portion that calculates a movement direction of each of acquisition points by using signals that show the acquisition points and that are obtained through detection of a body present around the vehicle; and determination portion that pre-sets a frame commensurate with a shape of a body as a detection object, and for pre-setting for the frame a reference traveling direction as an assumed traveling direction of the body, and for determining, among the acquisition points, acquisition points present within the frame whose reference traveling direction is aligned with the movement direction as being acquisition points of a single body.

Abstract: A signal processing apparatus for a radar transceiver, which receives a reflected signal generated by a target object in response to a frequency modulated transmission signal, and generates a beat signal having a frequency difference between the transmission signal and a reception signal, includes: an azimuth angle detection unit that detects an azimuth angle of the target object on the basis of a peak signal in a frequency spectrum of the beat signal; a peak signal extraction unit that prioritizes extraction of a peak signal corresponding to a predetermined azimuth angle range and a predetermined relative distance range of the target object; and a target object detection unit that detects the target object from the extracted peak signal.

Abstract: A radar device transmits an electric wave and receives waves reflected by a plurality of objects to generate a received signal, so as to detect a plurality of up frequency peaks and a plurality of down frequency peaks from the received signal and measure characteristic values with regard to the objects at the up frequency peaks and the down frequency peaks. The radar device pairs each of the plurality of up frequency peaks with the down frequency peaks one by one and, with respect to each pair, based on the measured characteristic values, calculates a Mahalanobis distance to determine the pairs whose Mahalanobis distance is smaller than or equal to a predetermined threshold as pairing candidates. The up and down frequency peaks of the determined pairing candidates are used to calculate current data values that include at least one of a distance, relative velocity and angle of the objects.

Abstract: In order to prevent delays in output of detection results, even when a plurality of frequency modulation methods with different frequency change rates are used, an FM-CW radar device employing frequency modulation with two different frequency change rates, has distance/velocity detection unit for detecting the relative distance or relative velocity of a target object based on beat signals of transmission signals with the same frequency change rate and for detecting the relative distance or relative velocity using beat signals when the frequency change rates are different, and distance/velocity confirmation unit for adding evaluation values for relative distances or relative velocities detected in the detection processing, and for confirming the relative distance or relative velocity based on the evaluation value which has reached a criterion value. As a result, more data can be obtained in one detection cycle, and the same advantageous results as when executing a plurality of detection cycles can be obtained.

Abstract: A signal processing apparatus of a radar transceiver is provided. The radar transceiver transmits a frequency-modulated transmission signal and generates beat signals having a frequency difference between transmitted/received signals for respective receiving antennas. A distance detection section detects relative distances of objects based on frequencies of the beat signals. A phase detection section detects phases of the beat signals. A level storage section stores a first level of the beat signals that corresponds to the first object and a second level of the beat signals that corresponds to the second object when the beat signals are generated corresponding to the plurality of objects, respectively.

Abstract: A body detection apparatus includes: movement direction calculation portion that calculates a movement direction of each of acquisition points by using signals that show the acquisition points and that are obtained through detection of a body present around the vehicle; and determination portion that pre-sets a frame commensurate with a shape of a body as a detection object, and for pre-setting for the frame a reference traveling direction as an assumed traveling direction of the body, and for determining, among the acquisition points, acquisition points present within the frame whose reference traveling direction is aligned with the movement direction as being acquisition points of a single body.