Abstract: A radar apparatus includes: transmission antennas including a first transmission antenna forming a first beam and a second transmission antenna forming a second beam different from the first beam; and transmission circuitry, which, in operation, performs multiplexing transmission of a transmission signal, to which a phase rotation corresponding to a combination of a Doppler shift amount and a code sequence has been applied, from the transmission antennas. In the apparatus, to each of the plurality of transmission antennas, the combination in which at least one of the Doppler shift amount or the code sequence is different is associated, and a first pattern of the Doppler shift amount and the code sequence that are assigned to the first transmission antenna is different from a second pattern of the Doppler shift amount and the code sequence that are assigned to the second transmission antenna.

Abstract: A transmitting array antenna includes a second antenna group placed in a position inside a first antenna group in a first direction and a position different from the first antenna group in a second direction. A receiving array antenna includes a fourth antenna placed in a position outside a third antenna group arranged in the first direction and a position different from the third antenna group in the second direction. An interelement spacing between a receiving antenna of the third antenna group located at an end on a second side is identical to an interelement spacing in the first direction between a transmitting antenna of the first antenna group on the first side and each of the second antenna group. In a case where the first antenna group and the third antenna group are identical in position in the second direction, positions of antennas are different.

Abstract: A radar apparatus includes: first radar circuitry that includes a plurality of first transmission antennas and a plurality of first reception antennas; and second radar circuitry that includes a plurality of second transmission antennas and a plurality of second reception antennas, in which the plurality of first transmission antennas transmit a first transmission signal having a predetermined center frequency, the plurality of second transmission antennas transmit a second transmission signal having the predetermined center frequency, the plurality of first reception antennas receive at least one of a first reflected wave signal corresponding to the first transmission signal and a second reflected wave signal corresponding to the second transmission signal, the plurality of second reception antennas receive at least one of the first reflected wave signal and the second reflected wave signal, and in a first direction, a minimum spacing between the plurality of first transmission antennas and a minimum spacing

Abstract: A radar transmitter transmits a radar signal through a transmitting array antenna at a predetermined transmission period, and a radar receiver receives a reflected wave signal which is the radar signal reflected by a target through a receiving array antenna. A transmitting array antenna and a receiving array antenna each include multiple subarray elements, the subarray elements in the transmitting array antenna and the receiving array antenna are linearly arranged in a first direction, each subarray element includes multiple antenna elements, the subarray element has a dimension larger than a predetermined antenna element spacing in the first direction, and an absolute value of a difference between a subarray element spacing of the transmitting array antenna and a subarray element spacing of the receiving array antenna is equal to the predetermined antenna element spacing.

Abstract: A radar apparatus includes: a plurality of transmission antennas including a first transmission antenna that radiates a first polarized wave and a second transmission antenna that radiates a second polarized wave different from the first polarized wave; and transmission circuitry, which, in operation, performs multiplexing transmission of a transmission signal to which a phase rotation corresponding to a Doppler shift amount assigned to each of the plurality of transmission antennas is applied, from the plurality of transmission antennas, in which a Doppler multiplexing interval by the plurality of transmission antennas is an uneven interval on a Doppler frequency axis, and a first pattern of the Doppler shift amount assigned to the first transmission antenna and a second pattern of the Doppler shift amount assigned to the second transmission antenna are different from each other.

Abstract: Provided is a radar device, wherein a transmission array antenna includes a plurality of transmission antennas that are linearly disposed in a first direction, the intervals between respective adjacent transmission antennas of the plurality of transmission antennas increase from one side toward the other side in the first direction, a reception array antenna includes a plurality of reception antennas that are linearly disposed in the first direction, and the intervals between respective adjacent transmission antennas of the plurality of reception antennas decrease from one side toward the other side.

Abstract: A radar apparatus includes: first radar circuitry, which, in operation, transmits a first transmission signal; and second radar circuitry, which, in operation, transmits a second transmission signal; in which a plurality of transmission periods in which the first transmission signal and the second transmission signal are transmitted include a first transmission period in which frequency-division multiplexing transmission of the first transmission signal and the second transmission signal is performed, and a second transmission period in which the first transmission signal and the second transmission signal are transmitted at a same frequency.

Abstract: A transmitting array antenna includes a second antenna group placed in a position inside a first antenna group in a first direction and a position different from the first antenna group in a second direction. A receiving array antenna includes a fourth antenna placed in a position outside a third antenna group arranged in the first direction and a position different from the third antenna group in the second direction. An interelement spacing between a receiving antenna of the third antenna group located at an end on a second side is identical to an interelement spacing in the first direction between a transmitting antenna of the first antenna group on the first side and each of the second antenna group. In a case where the first antenna group and the third antenna group are identical in position in the second direction, positions of antennas are different.

Abstract: A radar transmitter transmits a radar signal through a transmitting array antenna at a predetermined transmission period, and a radar receiver receives a reflected wave signal which is the radar signal reflected by a target through a receiving array antenna. A transmitting array antenna and a receiving array antenna each include multiple subarray elements, the subarray elements in the transmitting array antenna and the receiving array antenna are linearly arranged in a first direction, each subarray element includes multiple antenna elements, the subarray element has a dimension larger than a predetermined antenna element spacing in the first direction, and an absolute value of a difference between a subarray element spacing of the transmitting array antenna and a subarray element spacing of the receiving array antenna is equal to the predetermined antenna element spacing.

Abstract: A radar apparatus includes: a plurality of transmission antennas which transmit a plurality of transmission signals at every transmission period using a multiplexing transmission; and a transmission circuit which applies frequency offsets and phase rotations to the transmission signals for each transmission period during which the transmission signals are transmitted. A combination of the phase rotations varies for each transmission period and is repeatedly applied for a first number of transmission periods, and is different for each of the transmission antennas in each transmission period. The first number is larger than a number of the transmission antennas, and the frequency offsets are same for the transmission signals in each transmission period.

Abstract: A radar apparatus includes: a first module; a second module; and a cable that connects the first module to the second module, in which the first module includes: a signal processing circuit that outputs a plurality of beat signals respectively for a plurality of reception antennas, and a control circuit that starts the signal processing circuit in accordance with a start command received from the second module via the cable, and the second module includes: a detection circuit that detects an object based on the plurality of beat signals received from the first module via the cable, and a command circuit that transmits the start command to the first module.

Abstract: A radar apparatus includes: a plurality of transmission antennas including a first transmission antenna for emitting a first linearly polarized wave and a second transmission antenna adjacent to the first transmission antenna and for emitting a second linearly polarized wave different from the first linearly polarized wave; and transmission circuitry, which, in operation, performs multiplexing transmission of a transmission signal to which a phase rotation amount with a phase different by ? or ?? between the first transmission antenna and the second transmission antenna in each transmission period is applied, from the plurality of transmission antennas.

Abstract: This receiving array antenna includes multiple receiving antenna rows, and each of the receiving antenna rows contains a first number of antennas; of the first number of antennas contained in the receiving antenna rows, mutually adjacent antennas are arranged separated by a first interval in a first axis direction and by a second interval in a second axis direction. The transmitting array antenna includes multiple transmitting antenna rows arranged in the second axis direction at an interval that is the first number times the second interval, each of the transmitting antenna rows contains multiple antennas, and the multiple antennas contained in the transmitting antenna rows are arranged in the same position in the second axis direction and in different positions in the first axis direction. The antennas contained in the transmitting antenna rows adjacent in the second axis direction are arranged in different positions in the first axis direction.

Abstract: Each of the plurality of transmission antenna groups includes a plurality of transmission antennas that are disposed at second intervals in a first direction, and are disposed at fourth intervals each of which is an interval of an integral multiple of a third interval in a second direction. Each of the plurality of reception antenna groups includes a plurality of reception antennas that are disposed at fifth intervals in the first direction, and are disposed at sixth intervals each of which is an interval of an integral multiple of the third interval in the second direction. The difference between the second interval and the fifth interval is the first interval, and the difference between the fourth interval and the sixth interval is the third interval.

Abstract: A radar apparatus includes a plurality of transmit antennas that transmits a plurality of transmission signals using a multiplexing transmission, and a transmission circuit that applies phase rotation amounts corresponding to combinations of Doppler shift amounts and code sequences to the plurality of transmission signals. Each of the plurality of transmission signals is assigned a different combination among the combinations. The combinations include at least two combinations of a same number of multiplexing by the code sequences.

Abstract: Provided is a radar apparatus that includes: a plurality of transmission antennas including a first transmission antenna, which is connected to a first feeding line, and a second transmission antenna, which is connected to a second feeding line different from the first feeding line; and transmission circuitry, which, in operation, performs multiplexing transmission of a transmission signal, to which a phase rotation amount corresponding to a Doppler shift amount is applied, from the plurality of transmission antennas. A phase deviation due to a line length difference between the first feeding line and the second feeding line is an odd multiple of ?/2.

Abstract: Reception antennas include first antennas at positions different in a first direction, second antennas at positions different in a second direction perpendicular to the first direction, and a third antenna different from the first or second antenna. The first and second antennas include one overlapping antenna. The third antenna is arranged at a position different in the second direction from a position of the first antennas. The third antenna is arranged at a position a prescribed spacing apart in the first direction from a position of the second antennas. At least one spacing of the first antennas is the prescribed spacing. Transmission antennas include fourth antennas arranged in the first direction and fifth antennas arranged in the second direction. The fourth antennas and the fifth antennas include one overlapping antenna. A spacing of the fourth antennas is wider in the first direction than an aperture length of the first antennas.

Abstract: Each of the plurality of transmission antenna groups includes a plurality of transmission antennas that are disposed at second intervals in a first direction, and are disposed at fourth intervals each of which is an interval of an integral multiple of a third interval in a second direction. Each of the plurality of reception antenna groups includes a plurality of reception antennas that are disposed at fifth intervals in the first direction, and are disposed at sixth intervals each of which is an interval of an integral multiple of the third interval in the second direction. The difference between the second interval and the fifth interval is the first interval, and the difference between the fourth interval and the sixth interval is the third interval.

Abstract: A radar apparatus includes signal processing circuitry, which, in operation, generates point cloud data for each frame based on a reflection wave signal resulting from a radar signal reflected by an object; extracting circuitry, which, in operation, extracts a first point cloud corresponding to a stationary object from the point cloud data; and superimposing circuitry, which, in operation, superimposes the point cloud data of a current frame and the first point cloud of a past frame.

Abstract: A radar transmitter includes: a plurality of transmission antennas that transmit a transmission signal; and a transmission circuit that applies a phase rotation amount corresponding to a Doppler shift amount and a code sequence to the transmission signal to perform multiplexing transmission of the transmission signal from the plurality of transmission antennas. Each of the plurality of transmission antennas is associated with each of a plurality of combinations of the Doppler shift amount and the code sequence. Each of the plurality of combination is different at least one of the Doppler shift amount and the code sequence, and the Doppler shift amounts of those of the plurality of combinations which are associated respectively with at least two transmission antennas of the plurality of transmission antennas are the same Doppler shift amount, the at least two transmission antennas being a first sub-array antenna.