Radar apparatus and running vehicle sensing method
First Claim
1. A radar apparatus comprising:
- a Doppler frequency acquirer which, in operation, acquires a Doppler frequency for each of plural range bins from an echo signal, received via at least one antenna, which is a radar signal reflected by an object, each of the plural range bins being a unit of processing for a search target distance;
a direction correlation power value calculator which, in operation, calculates, for each of plural combinations of the plural range bins and the Doppler frequencies, a direction correlation power value indicating strength of the echo signal for each of plural directions of arrival of the echo signal;
a normalized direction correlation value calculator which, in operation, calculates, for each of the plural combinations of the plural range bins and the Doppler frequencies, a normalized direction correlation value indicating likelihood of a direction of arrival of the echo signal for each of the plural directions; and
a running vehicle detector which, in operation, determines, on a basis of the direction correlation power value and the normalized direction correlation value, whether the object is a running vehicle.
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Accused Products
Abstract
A radar receiver of a radar apparatus includes a Doppler frequency acquirer which, in operation, acquires a Doppler frequency for each of range bins from an echo signal, received via at least one antenna, which is a radar signal reflected by an object, a direction correlation power value calculator which, in operation, calculates, for each of combinations of the range bins and the Doppler frequencies, a direction correlation power value indicating strength of the echo signal for each of directions, a normalized direction correlation value calculator which, in operation, calculates, for each of the combinations of the range bins and the Doppler frequencies, a normalized direction correlation value indicating likelihood of a direction of arrival of the echo signal for each of the directions, and a running vehicle detector which, in operation, determines, on a basis of the direction correlation power value and the normalized direction correlation value, whether the object is a running vehicle.
17 Citations
11 Claims
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1. A radar apparatus comprising:
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a Doppler frequency acquirer which, in operation, acquires a Doppler frequency for each of plural range bins from an echo signal, received via at least one antenna, which is a radar signal reflected by an object, each of the plural range bins being a unit of processing for a search target distance; a direction correlation power value calculator which, in operation, calculates, for each of plural combinations of the plural range bins and the Doppler frequencies, a direction correlation power value indicating strength of the echo signal for each of plural directions of arrival of the echo signal; a normalized direction correlation value calculator which, in operation, calculates, for each of the plural combinations of the plural range bins and the Doppler frequencies, a normalized direction correlation value indicating likelihood of a direction of arrival of the echo signal for each of the plural directions; and a running vehicle detector which, in operation, determines, on a basis of the direction correlation power value and the normalized direction correlation value, whether the object is a running vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A running vehicle sensing method comprising:
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acquiring a Doppler frequency for each of plural range bins from an echo signal, received via at least one antenna, which is a radar signal reflected by an object, each of the plural range bins being a unit of processing for a search target distance; calculating, for each of plural combinations of the range bins and the Doppler frequencies, a direction correlation power value indicating strength of the echo signal for each of plural directions of arrival of the echo signal; calculating, for each of the plural combinations of the plural range bins and the Doppler frequencies, a normalized direction correlation value indicating likelihood of a direction of arrival of the echo signal for each of the plural directions; and determining, on a basis of the direction correlation power value and the normalized direction correlation value, whether the object is a running vehicle.
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10. A direction-of-arrival estimation apparatus comprising:
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a Doppler frequency acquirer which, in operation, acquires a Doppler frequency for each of plural range bins from an echo signal, received via at least one antenna, which is a radar signal reflected by an object, each of the plural range bins being a unit of processing for a search target distance; a direction correlation power value calculator which, in operation, calculates, for each of plural combinations of the plural range bins and the Doppler frequencies, a direction correlation power value indicating strength of the echo signal for each of plural directions of arrival of the echo signal; a normalized direction correlation value calculator which, in operation, calculates, for each of the plural combinations of the plural range bins and the Doppler frequencies, a normalized direction correlation value indicating likelihood of a direction of arrival of the echo signal for each of the plural directions; and an outputter which, in operation, outputs the direction correlation power value and the normalized direction correlation value to a running vehicle detector which determines whether the object is a running vehicle.
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11. A direction-of-arrival estimation method comprising:
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acquiring a Doppler frequency for each of plural range bins from an echo signal, received via at least one antenna, which is a radar signal reflected by an object, each of the plural range bins being a unit of processing for a search target distance; calculating, for each of plural combinations of the plural range bins and the Doppler frequencies, a direction correlation power value indicating strength of the echo signal for each of plural directions of arrival of the echo signal; calculating, for each of the plural combinations of the plural range bins and the Doppler frequencies, a normalized direction correlation value indicating likelihood of a direction of arrival of the echo signal for each of the plural directions; and outputting the direction correlation power value and the normalized direction correlation value to a running vehicle detection apparatus which determines whether the object is a running vehicle.
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Specification