Abstract: An azimuth calculation device includes: an acquiring unit configured to acquire signals of plural receiving antennas of an antenna group in which the plural receiving antennas are arranged in each of a first axis direction and a second axis direction, based on reception signals received by the antenna group; a first azimuth calculation unit configured to perform a calculation of a direction of arrival of radio wave in the first axis direction based on the signals of the plural receiving antennas acquired; a vector decomposition unit configured to perform vector decomposition with respect to each of antenna arrangement positions in the second axis direction using a result of the calculation by the first azimuth calculation unit; and a second azimuth calculation unit configured to perform a calculation of a direction of arrival of radio wave in the second axis direction, using a result of the vector decomposition.

Abstract: A receiving circuit uses a weight set by calibration to weight signals incident to receiving elements. A storing unit stores a measured value of a mode vector reflecting characteristics of the receiving circuit in an error-free state of the weight for the receiving circuit characteristics and further correlates and stores an incident signal angle estimated by an estimating unit, and for the error-free state, a calculation result of an evaluation value by an evaluation function capable of calculating the evaluation value, which varies according to the incident signal angle and error. A detecting unit calculates the evaluation value based on the stored measured value of the mode vector and the evaluation function and detects an occurrence of the error based on comparison of the calculated evaluation value and the stored evaluation value, when the estimated incident signal angle corresponds to a value close to the stored incident signal angle.

Abstract: There is provided a radar device. A detection vehicle velocity acquiring unit is configured to acquire a detection vehicle velocity detected on the basis of rotation of a wheel. A relative velocity calculating unit is configured to calculate the relative velocity of a still object. A correction value calculating unit is configured to calculate a first correction value on the basis of the detection vehicle velocity and the relative velocity of the still object obtained in a CW mode and calculate a second correction value on the basis of the detection vehicle velocity and the relative velocity of the still object obtained in a FM-CW mode. A vehicle velocity correcting unit is configured to correct the detection vehicle velocity using at least one of the first correction value and the second correction value.

Abstract: An azimuth calculation device includes: an acquiring unit configured to acquire signals of plural receiving antennas of an antenna group in which the plural receiving antennas are arranged in each of a first axis direction and a second axis direction, based on reception signals received by the antenna group; a first azimuth calculation unit configured to perform a calculation of a direction of arrival of radio wave in the first axis direction based on the signals of the plural receiving antennas acquired; a vector decomposition unit configured to perform vector decomposition with respect to each of antenna arrangement positions in the second axis direction using a result of the calculation by the first azimuth calculation unit; and a second azimuth calculation unit configured to perform a calculation of a direction of arrival of radio wave in the second axis direction, using a result of the vector decomposition.

Abstract: There is provided a radar device. A transmission unit includes a transmission antenna for transmitting a signal of a first frequency and a signal of a second frequency. A reception unit includes a first receiving antenna and a second receiving antenna for receiving a first signal obtained by bouncing the signal of the first frequency off a target, and a second signal obtained by bouncing the signal of the second frequency off the target. A control unit determines folding of a first phase difference, based on the first phase difference between the first signal received by the first receiving antenna and the first signal received by the second receiving antenna, a second phase difference between the second signal received by the first receiving antenna and the second signal received by the second receiving antenna, and a difference between the first phase difference and the second phase difference.

Abstract: There is provided a radar device. A transmitting unit transmits a transmission signal in which an up period and a down period are repeated. A receiving unit receives reception signals from a target. A distance measuring unit computes the distance between the target and the radar device based on a reception signal corresponding to the up period, as an up-side distance, and computes the distance between the target and the radar device based on a reception signal corresponding to the down period, as a down-side distance. An aliasing determining unit determines whether velocity aliasing has occurred, based on the up-side distance and the down-side distance. A velocity measuring unit computes the relative velocity between the target and the radar device, based on the result of determination on velocity aliasing, and one of the reception signal of the up period and the reception signal of the down period.

Abstract: There is provided a radar device. A detection vehicle velocity acquiring unit is configured to acquire a detection vehicle velocity detected on the basis of rotation of a wheel. A relative velocity calculating unit is configured to calculate the relative velocity of a still object. A correction value calculating unit is configured to calculate a first correction value on the basis of the detection vehicle velocity and the relative velocity of the still object obtained in a CW mode and calculate a second correction value on the basis of the detection vehicle velocity and the relative velocity of the still object obtained in a FM-CW mode. A vehicle velocity correcting unit is configured to correct the detection vehicle velocity using at least one of the first correction value and the second correction value.

Abstract: There is provided a radar device. A transmitting unit transmits chirp waves based on a transmission signal whose frequency continuously increases or decreases. A receiving unit outputs reception signals based on reflected waves of the chirp waves from a target. A transmission control unit controls the transmitting unit to transmit a predetermined number of the chirp waves in a first transmission period, and then transmit the chirp waves more than the predetermined number in a second transmission period. A generating unit generates beat signals from the transmission signal and the reception signals. A signal processing unit derives a distance to the target based on the beat signals generated in the first transmission period, determine a distance range limited based on the derived distance, and derive the distance and a relative velocity to the target based on the beat signals generated in the second transmission period within the distance range.

Abstract: There is provided a radar device. A transmission unit includes a transmission antenna for transmitting a signal of a first frequency and a signal of a second frequency. A reception unit includes a first receiving antenna and a second receiving antenna for receiving a first signal obtained by bouncing the signal of the first frequency off a target, and a second signal obtained by bouncing the signal of the second frequency off the target. A control unit determines folding of a first phase difference, based on the first phase difference between the first signal received by the first receiving antenna and the first signal received by the second receiving antenna, a second phase difference between the second signal received by the first receiving antenna and the second signal received by the second receiving antenna, and a difference between the first phase difference and the second phase difference.

Abstract: A radar device generates pair data items by associating angle peaks of an up section and angle peaks of a down section. Thereafter, on the basis of a plurality of specific pair data items whose positions are close to each other in an angle direction and which are substantially the same in the position in a distance direction intersecting with the angle direction and are substantially the same in relative speed, the radar device derives one representative pair data item. The derivation of one representative pair data item is performed before continuity determination of a continuity determining unit at the same process timing is performed.

Abstract: There is provided a radar device. A transmitting unit transmits a transmission signal in which an up period and a down period are repeated. A receiving unit receives reception signals from a target. A distance measuring unit computes the distance between the target and the radar device based on a reception signal corresponding to the up period, as an up-side distance, and computes the distance between the target and the radar device based on a reception signal corresponding to the down period, as a down-side distance. An aliasing determining unit determines whether velocity aliasing has occurred, based on the up-side distance and the down-side distance. A velocity measuring unit computes the relative velocity between the target and the radar device, based on the result of determination on velocity aliasing, and one of the reception signal of the up period and the reception signal of the down period.

Abstract: In an in-vehicle radar device, as a vertical azimuth which is an azimuth of a target in a direction perpendicular to a ground surface, a real image vertical azimuth which is an azimuth of a real image existing above ground is calculated from a reflected wave generated when a transmission signal transmitted from a transmission antenna is reflected from the target, and a virtual image vertical azimuth which is an azimuth of a virtual image existing underground is calculated from a reflected wave generated when the transmission signal transmitted from the transmission antenna is reflected from the target and reflected again from the ground surface. Next, in the in-vehicle radar device, an angle difference between the real image vertical azimuth and the virtual image vertical azimuth is calculated, and a height of the target from the ground surface is calculated using the calculated angle difference.

Abstract: A radar device according to an embodiment includes a transmission unit, a reception unit, and a processing unit. The transmission unit emits a transmission wave relating to a frequency-modulated transmission signal. The reception unit receives a reflected wave acquired by reflecting the transmission wave on an object as a reception signal. The processing unit detects object data corresponding to the object from the reception signal, outputs the object data to the vehicle control device that controls the vehicle, and removes object data satisfying the removal condition that is a condition used for determining whether or not object data is to be removed from an output target for the vehicle control device and includes at least the distance and the relative speed of the object data with respect to the speed of the vehicle as conditions from output targets for the vehicle control device.

Abstract: A radar device generates pair data items by associating angle peaks of an up section and angle peaks of a down section. Thereafter, on the basis of a plurality of specific pair data items whose positions are close to each other in an angle direction and which are substantially the same in the position in a distance direction intersecting with the angle direction and are substantially the same in relative speed, the radar device derives one representative pair data item. The derivation of one representative pair data item is performed before continuity determination of a continuity determining unit at the same process timing is performed.

Abstract: A receiving circuit uses a weight set by calibration to weight signals incident to receiving elements. A storing unit stores a measured value of a mode vector reflecting characteristics of the receiving circuit in an error-free state of the weight for the receiving circuit characteristics and further correlates and stores an incident signal angle estimated by an estimating unit, and for the error-free state, a calculation result of an evaluation value by an evaluation function capable of calculating the evaluation value, which varies according to the incident signal angle and error. A detecting unit calculates the evaluation value based on the stored measured value of the mode vector and the evaluation function and detects an occurrence of the error based on comparison of the calculated evaluation value and the stored evaluation value, when the estimated incident signal angle corresponds to a value close to the stored incident signal angle.

Abstract: There is provided a radar apparatus of an electronic scan type configured to transmit an electric wave and calculate an angle of a target based on a phase difference of respective reception signals, thereby detecting a target position. An antenna unit transmits and receives the electric wave and provided with two transmission antennae. A transmission unit alternately transmits an electric wave having a first beam pattern and an electric wave having a second beam pattern from the two transmission antennae. First and second reception units calculate arrival angles and reception levels of reflected waves calculated from respective reception signals which are obtained by receiving the reflected waves by the first and second beam patterns. A comparison unit compares the reception levels by combining the arrival angles of the reflected waves. A determination unit determines whether a target actually exists at the arrival angles in accordance a comparison result.

Abstract: A radar apparatus pairs an angle peak of an up section in which a frequency of a transmission signal increases and an angle peak of a down section in which the frequency of the transmission signal decreases based on a reliability of a pair. The radar apparatus derives a first index that shows a highest level of the reliability of a pair in a plurality of pairs of the angle peaks and a second index that shows another level of the reliability of another pair, the second index being lower than the first index in the reliability but being higher than other indexes excluding the first index, and also determines a validity of the pair having the highest level of the reliability based on a comparison result between the first index and the second index.

Abstract: A detection and ranging system includes: M transmitting sensor elements configured to transmit a probe signal; N receiving sensor elements configured to receive an echo signal generated upon reflection of the probe signal from a target; a matrix generator configured to generate a third matrix by multiplying a first matrix by a second matrix, the first matrix including as diagonal components L received signals obtained from an effective receiving sensor array formed by synthesizing the M transmitting sensor elements and the N receiving sensor elements, the second matrix being formed of P L-dimensional vectors that are linearly independent of each other; and an estimator configured to estimate a direction of arrival of the echo signal from the target according to a pseudo covariance matrix generated by multiplying the third matrix by Hermitian conjugate transposition of the third matrix.

Abstract: There is provided a calculation device for a radar apparatus which is configured to specify a direction of a target based on respective reception signals of a plurality of antennae. A calculation unit is configured to use a predetermined estimation algorithm of estimating angles of targets corresponding to a preset separable-number from the respective reception signals, set an arbitrary separable-number to generate a mode vector from the estimated angles of the targets, obtained by the predetermined estimation algorithm, and determine whether the set separable-number is proper or not based on a magnitude of an orthogonal component calculated from the mode vector and an input vector of the respective reception signals.

Abstract: A radar apparatus includes a retrieval unit, an estimation unit, a calculation unit, and a determination unit. The retrieval unit retrieves a strong reflection object based on a signal strength which a frequency spectrum of a beat signal generated by mixing a transmission signal which is frequency-modulated and emitted and a reception signal which is formed in the transmission signal is reflected on a target indicates. The estimation unit estimates an estimation orientation which is an orientation of a target assumed to be present around the strong reflection object, based on a relative distance to the strong reflection object. The calculation unit calculates power which is the signal strength for the estimation orientation by generating an orientation spectrum in the estimation orientation based on a frequency component corresponding to the relative distance. The determination unit determines whether there is the target in the estimation orientation based on the power.