RADAR APPARATUS AND RUNNING VEHICLE SENSING METHOD

摘要

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.

主权项

1. A radar apparatus comprising:
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.