Abstract: A signal processing device performs object detection processing in which peak signals each representing a differential frequency between a transmitted signal in which a frequency thereof changes in a predetermined cycle and a received signal are derived in a first period where the frequency of the transmitted signal rises and a second period where the frequency of the transmitted signal falls, and the peak signals in the first period are paired with the peak signals in the second period to detect object information related to the peak signals. A range setting unit sets a frequency range in each of the first period and the second period on the basis of a frequency of an integer multiple of the peak signal related to the object information which has been detected in previous object detection processing. A signal setting unit sets a peak signal as a specific peak signal in a case where the peak signal is within the frequency range in each of the first period and the second period.

Abstract: A signal processing device performs object detection processing in which peak signals each representing a differential frequency between a transmitted signal in which a frequency thereof changes in a predetermined cycle and a received signal are derived in a first period where the frequency of the transmitted signal rises and a second period where the frequency of the transmitted signal falls, and the peak signals in the first period are paired with the peak signals in the second period to detect object information related to the peak signals. A range setting unit sets a frequency range in each of the first period and the second period on the basis of a frequency of an integer multiple of the peak signal related to the object information which has been detected in previous object detection processing. A signal setting unit sets a peak signal as a specific peak signal in a case where the peak signal is within the frequency range in each of the first period and the second period.

Abstract: To provide a radar apparatus capable of rapidly detecting an object at the end of a detecting range. The present invention provides a radar apparatus comprising a radar sensor that transmits a transmitting wave to a predetermined angular range and receives a reflected wave reflected by an object and a processing unit that obtains a peak of strength from a distribution of strength for angle of the received reflected wave and determines the direction of the object based on the peak. The processing unit detects the reflected wave at the end of the angular range and, when the peak is not detected, determines whether the object exists in the direction of the end of the angular range, based on the distribution of strength of the detected reflected wave.

Abstract: A forward object sensor includes a plurality of stationary on-road object recognizing units. The stationary on-road object recognizing units recognize a forward object as a stationary on-road object when a preceding vehicle has passed over the forward object, when a preceding vehicle is located ahead of the forward object, when the vehicle is travelling at a speed higher than a predetermined speed and the forward object is located between two other objects, when it is not until the vehicle comes close to the forward object that the forward object is detected, and when the strength of a reflected wave from the forward object monotonically increases until the distance between the forward object and the vehicle reaches a predetermined value and monotonically decreases when the distance falls below the predetermined value, respectively.

Abstract: An on-vehicle radar and a method of determining an axial deviation of the radar using stationary objects free of erroneous determination are disclosed. The amount of axial deviation of the radar is determined from the calculated stationary object line based on the distribution of stationary objects. In the case where such a factor for determining the calculated stationary object line as to reduce the calculation accuracy of axial deviation is detected in the distribution of stationary objects, the calculation of the amount of the particular axial deviation is canceled.

Abstract: To provide a radar apparatus capable of rapidly detecting an object at the end of a detecting range. The present invention provides a radar apparatus comprising a radar sensor that transmits a transmitting wave to a predetermined angular range and receives a reflected wave reflected by an object and a processing unit that obtains a peak of strength from a distribution of strength for angle of the received reflected wave and determines the direction of the object based on the peak. The processing unit detects the reflected wave at the end of the angular range and, when the peak is not detected, determines whether the object exists in the direction of the end of the angular range, based on the distribution of strength of the detected reflected wave.

Abstract: The present invention relates to a radar unit and provides a radar angle correction method for correcting an error in a radar angle caused by the front cover of an antenna. The radar angle correction method comprises the steps of: measuring a peak power of a beam received from a reference target at each of a plurality of radar angles; plotting a theoretical quadratic curve whose beam width corresponds to a value specified for the radar and whose peak indicates an average of peak values; adopting a difference between a theoretical value indicated by the theoretical quadratic curve and a received beam power as a correction value with which the received beam is corrected; and subtracting the correction value from the received beam power.

Abstract: An on-vehicle radar and a method of determining an axial deviation of the radar using stationary objects free of erroneous determination are disclosed. The amount of axial deviation of the radar is determined from the calculated stationary object line based on the distribution of stationary objects. In the case where such a factor for determining the calculated stationary object line as to reduce the calculation accuracy of axial deviation is detected in the distribution of stationary objects, the calculation of the amount of the particular axial deviation is canceled.

Abstract: The present invention relates to a radar unit and provides a radar angle correction method for correcting an error in a radar angle caused by the front cover of an antenna. The radar angle correction method comprises the steps of: measuring a peak power of a beam received from a reference target at each of a plurality of radar angles; plotting a theoretical quadratic curve whose beam width corresponds to a value specified for the radar and whose peak indicates an average of peak values; adopting a difference between a theoretical value indicated by the theoretical quadratic curve and a received beam power as a correction value with which the received beam is corrected; and subtracting the correction value from the received beam power.

Abstract: A scan type radar device capable of detecting a lateral position of a target even if a peak showing the lateral position of the target irregularly fluctuates in the lateral direction as well as reducing the mis-pairing. The former is achievable by changing a reference value of the lateral fluctuation of the target when all the past and present target data fluctuate to an extent exceeding the reference value. The latter is achievable by forecasting a representative peak position at this time in both of up-beat and down-beat from the peak position data at the preceding time and carrying out the past-correspondence grouping of the up-beat and the down-beat at this time in the vicinity of the position of the representative peak forecast this time; the pairing being carried out by using the representative peak calculated by the past-correspondence grouping.

Abstract: In a target merging process in a radar ranging device, determination of continuity is accurately performed and output processing of newly appearing targets is performed rapidly. The current target position (data prior to merging) is calculated (S1), and a predicted position is calculated (S2). The continuity of targets whose previous position and current position satisfy predetermined conditions (S3 to S5) is determined (S6 to S7). After the data prior to merging is stored in a buffer (S9), the merging process is performed. By storing the data prior to merging in the buffer, continuity is determined for each detected target and, therefore, even if the position of a target changes after merging, subsequent determination of continuity can be performed accurately.

Abstract: The invention detects a ghost occurring due to mispairing, reflections from a wall, or the like, and improves the ability of a radar to track targets when actual relative velocity changes by more than a certain value. If a stationary target is present within a prescribed region centered about a moving target, the stationary target is excluded from output data by determining it as being a target resulting from mispairing due to the detection of guardrail posts or similar structures. Further, a moving target that is expected to collide with an eligible target is also excluded from the output data by determining it as being a target resulting from mispairing due to the detection of a target having many reflecting points. For a moving target showing an unlikely relative velocity, pairing with some other peak is attempted by determining the moving target as being a target resulting from mispairing due to the detection of a plurality of moving targets moving in the same direction.

Abstract: The invention detects a ghost occurring due to mispairing, reflections from a wall, or the like, and improves the ability of a radar to track targets when actual relative velocity changes by more than a certain value. If a stationary target is present within a prescribed region centered about a moving target, the stationary target is excluded from output data by determining it as being a target resulting from mispairing due to the detection of guardrail posts or similar structures. Further, a moving target that is expected to collide with an eligible target is also excluded from the output data by determining it as being a target resulting from mispairing due to the detection of a target having many reflecting points. For a moving target showing an unlikely relative velocity, pairing with some other peak is attempted by determining the moving target as being a target resulting from mispairing due to the detection of a plurality of moving targets moving in the same direction.

Abstract: In a target merging process in a radar ranging device, determination of continuity is accurately performed and output processing of newly appearing targets is performed rapidly. The current target position (data prior to merging) is calculated (S1), and a predicted position is calculated (S2). The continuity of targets whose previous position and current position satisfy predetermined conditions (S3 to S5) is determined (S6 to S7). After the data prior to merging is stored in a buffer (S9), the merging process is performed. By storing the data prior to merging in the buffer, continuity is determined for each detected target and, therefore, even if the position of a target changes after merging, subsequent determination of continuity can be performed accurately.

Abstract: A scan type radar device capable of detecting a lateral position of a target even if a peak showing the lateral position of the target irregularly fluctuates in the lateral direction as well as reducing the mis-pairing. The former is achievable by changing a reference value of the lateral fluctuation of the target when all the past and present target data fluctuate to an extent exceeding the reference value. The latter is achievable by forecasting a representative peak position at this time in both of up-beat and down-beat from the peak position data at the preceding time and carrying out the past-correspondence grouping of the up-beat and the down-beat at this time in the vicinity of the position of the representative peak forecast this time; the pairing being carried out by using the representative peak calculated by the past-correspondence grouping.