Radar device and peak processing method

Patent metadata

Field	Value
Publication number	US-10698105-B2
Application number	US-201715608132-A
Country	US
Kind code	B2
Filing date	May 30, 2017
Priority date	Jun 17, 2016
Publication date	Jun 30, 2020
Grant date	Jun 30, 2020

Abstract

There is provided a radar device. A signal processing unit is configured to: acquire first and second estimate peaks estimated as a first peak in a rising section and a second peak in a falling section; extract first and second history peaks existing in a predetermined range from the first and second estimate peaks. A determining unit is configured to determine that the signal processing unit has erroneously extracted the first peak corresponding to a still object as the first peak corresponding to a moving object, if an accuracy of pairing of the first history peak and a second object peak existing in a predetermined range apart from the first history peak by a predetermined distance is larger than an accuracy of pairing of the first and second history peaks in a situation where a distance between the radar device and the moving object decreases.

First claim

What is claimed is:

1. A radar device configured to:
transmit a transmission signal in which a transmission frequency varies in a predetermined cycle;
receive the transmission signal reflected from an object, as a reception signal;
acquire peaks of frequency spectra of signals representing frequency differences between the transmission frequency and a reception frequency of the reception signal, in a rising section of the transmission frequency and a falling section of the transmission frequency; and
output target information regarding the object on the basis of a first peak which is a peak of the rising section and a second peak which is a peak of the falling section, the radar device comprising:
at least one hardware processor programmed to:
acquire a first estimate peak which is a peak estimated as the first peak in the rising section;
acquire a second estimate peak which is a peak estimated as the second peak in the falling section;
extract a peak existing in a predetermined range relative to the first estimate peak in the rising section, as a first history peak;
extract a peak existing in a predetermined range relative to the second estimate peak in the falling section, as a second history peak; and
the first peak corresponding to a still object has been erroneously extracted as the first peak corresponding to a moving object, in response to determining that an accuracy of pairing of the first history peak and a second object peak which is the second peak existing in a predetermined range apart from the first history peak by a predetermined distance is larger than an accuracy of pairing of the first history peak and the second history peak in a situation where a distance between the radar device and the moving object decreases.

2. The radar device according to claim 1 , wherein the at least one hardware processor is programmed to:
count the number of times of erroneous extraction which is the number of times the erroneous extraction has occurred; and
remove the target information for which the number of times of the erroneous extraction is equal to or larger than a predetermined value and for which a moving velocity of the object corresponding to a pair of the first history peak and the second history peak is smaller than a threshold corresponding to the still object.

3. The radar device according to claim 2 , wherein the at least one hardware processor is programmed to
in a case where the second object peak moves on a frequency axis and passes the second history peak, reset the counter.

4. The radar device according to claim 2 , wherein the at least one hardware processor is programmed to:
estimate a first position which is a frequency position of the second object peak of a current determination, from the second object peak specified in a previous determination; and
if the estimated first position is different from a second position which is a frequency position of the second object peak actually specified in the current determination, reset the counter.

5. The radar device according to claim 2 , wherein the at least one hardware processor is programmed to
in a case where the second object peak does not exist for a predetermined time, reset the counter.

6. A peak processing method in a radar device configured to:
transmit a transmission signal in which a transmission frequency varies in a predetermined cycle;
receive the transmission signal reflected from an object, as a reception signal;
acquire peaks of frequency spectra of signals representing frequency differences between the transmission frequency and a reception frequency of the reception signal, in a rising section of the transmission frequency and a falling section of the transmission frequency; and
output target information regarding the object on the basis of a first peak which is a peak of the rising section and a second peak which is a peak of the falling section, the peak processing method comprising:
acquiring a first estimate peak which is a peak estimated as the first peak in the rising section;
acquiring a second estimate peak which is a peak estimated as the second peak in the falling section;
extracting a peak existing in a predetermined range relative to the first estimate peak in the rising section, as a first history pea; and
extracting a peak existing in a predetermined range relative to the second estimate peak in the falling section, as a second history peak; and
determining that the first peak corresponding to a still object has been erroneously extracted as the first peak corresponding to a moving object, in response to determining that an accuracy of pairing of the first history peak and a second object peak which is the second peak existing in a predetermined range apart from the first history peak by a predetermined distance is larger than an accuracy of pairing of the first history peak and the second history peak, in a situation where a distance between the radar device and the moving object decreases.

Assignees

• Fujitsu Ten Ltd

Inventors

• Aoki Shinya

Classifications

• G01S13/931 Primary

  of land vehicles · CPC title

• G01S7/35

  Details of non-pulse systems · CPC title

• G01S7/354

  Extracting wanted echo-signals (Doppler systems G01S13/50) · CPC title

• G01S13/42

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S13/46) · CPC title

• G01S13/34

  using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal · CPC title