Radar device

摘要

A radar device capable of reducing load of a clustering process and improving the tracking performance is provided.;A tracking calculation unit 116 of a radar device 100 performs a clustering process, in which an input detected data set is grouped into clusters, and a tracking process, in which an averaged value and a prediction value are calculated for each of the clusters. In the radar device 100, the shape of cluster areas for grouping the detected data is defined to be a fan shape. The clustering process and tracking process using fan-shaped cluster areas can reduce the load of the clustering process and improve the tracking performance.

主权项

1. A radar device that radiates a transmission signal from a predetermined measure point, receives reflected waves that have been reflected by targets to be measured to obtain detected data including at least position information, and detect the targets by processing the detected data, the radar device comprising:
a tracking processing unit configured to:
group the detected data into one or more cluster areas using at least the position information, that defines each of the cluster areas as one of clusters,perform a clustering process, in which a central value of each of the clusters is calculated, and based on the position information of the detected data, determine whether a detected datum is within a predetermined distance from an area of an already formed one of the clusters, and when the detected datum is within the predetermined distance from the area of the already formed one of the clusters, update at least one of a gravity center, a width, and a height of the already formed one of the clusters, andperform a tracking process, in which each of the targets is defined as one item, a distance between a position of each of the items that have been detected and the central value of each of the clusters is calculated, when the distance for any of the items is determined to have a predetermined value or less, a cluster is determined to correspond to an item, and when the distances from all of the items that have been detected are more than the predetermined value, the cluster is determined as a new item, an averaged position that is the position which has been averaged is calculated using the central value of the cluster for each of the items, wherein each of the cluster areas is a fan-shaped cluster area that has a center at the measure point and that is surrounded by:
two arcs having identical center angles and different radii; andtwo line segments on the different radii.