JP2001194452A - Radar system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a radar system, in which target detection performance judging as to whether a target moving in a two-dimensional range cell exists is improved. SOLUTION: A target-judging means of the radar system sets a gate in the two-dimensional range cell region outputted from a signal processing system 7, performs target signal detecting process a prescribed number of times N, obtains the number of times where at least one target signal component exists in the gate, performs M from among N detection processes, to compare the number of times with a prescribed value M, and judges whether a target exists.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a radar device provided with a target determination means, and more particularly to an improvement in target detection performance.

[0002]

2. Description of the Related Art FIG. 16 is a block diagram showing a configuration of a conventional radar apparatus having an M-in-N detection circuit. In the figure,
1 is a transmitting antenna, 2 is a transmitter for forming a transmitting beam,
3 is a receiving antenna, 4 is a receiver that performs band limitation, phase detection, and amplification, 5 is an A / D converter that converts an output signal of the receiver 4 into a digital signal, and 6 is an output signal of the A / D converter 5 Is distributed to received signals for each distance, 7 is a signal processing system for detecting a target from the received signals divided for each distance by the distance measuring circuit 6, and 21 is a signal indicating whether or not the target is present based on the output of the signal processing system 7. This is an M-in-N detection circuit for determination.

The distance measuring circuit 6 will be described with reference to FIG. In the figure, the transmission pulse width is pw [sec], the pulse repetition frequency (Pulse RepetitionFrequency is hereinafter referred to as P
Assuming that RF (referred to as RF) is T [seconds], the distance Npw / 2c (c:
The reflected signal from the target existing at (light speed) is received with a delay time of Npw. Therefore, in order to distribute the received signal for each distance, the signal sampled by the A / D converter 5 is shifted for each pw, and thereafter, sampling is performed at T intervals to rearrange the data into observation data for each distance. The observation data is transmitted to the signal processing system 7. Next, FIG.
3 is a block diagram showing the internal configuration of the signal processing system 7. FIG. In the figure, reference numeral 8 denotes a coherent integration circuit that improves the signal-to-noise power ratio of the output signal of the distance measurement circuit 6 and divides it into frequency components in units of cells, 9 denotes a detection circuit that detects the output signal of the coherent integration circuit 8, Reference numeral 10 denotes a coherent processing (Coherent Processing Interval) output from the detection circuit 9.
Is hereinafter referred to as CPI). A memory circuit that outputs a signal stored after repeating an operation of storing a signal processed in units of a predetermined number of N times. , An incoherent integration circuit that takes the sum of the Doppler cells and outputs the result, and 12 sets the signal output from the incoherent integration circuit 11 based on a false alarm probability that erroneously determines receiver noise as a target signal. The threshold circuit 13 compares only the signal component exceeding the threshold with the threshold, and the threshold circuit 13 outputs the result of the target signal detection processing (Signal Processing Interval, hereinafter abbreviated as SPI as appropriate) a predetermined number of times in the preceding time from the threshold circuit 12a. This is a memory circuit that is transmitted and stored. Reference numeral 21 denotes an N-M medium detection circuit that determines that there is a target signal when the number of times that the target is determined to be present during the predetermined number N of SPIs is equal to or greater than the predetermined number M for the same range cell. FIG.
olnic “Radar Handbook”, McGraw-Hill, P15-14 (1990)
FIG. 3 is a block diagram showing an internal configuration of an M-in-N detection circuit shown in FIG. In the figure, 12a is a threshold circuit, 22 is an addition circuit for counting the number of signals passing through the threshold circuit 12a, and 23 is a comparison circuit for determining whether there is a target when the number output from the addition circuit is a predetermined value or more. is there.

[0004]

The conventional radar apparatus is configured as described above, and the NSPI is used as the predetermined number N.
During this period, a target range is set on the premise that a target signal component exists in the same range cell, and M out of N detection is performed for the range cell. So over time 2
With respect to the target moving in the dimensional range cell, the target is detected only during the SPI existing in the target range cell, and the number of times the target is detected in the target range cell is reduced, and the target detection probability is degraded.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and has a target determining means for setting a gate, examining a target for moving a two-dimensional range cell over time, and judging the presence or absence of the target. An object of the present invention is to obtain a radar device with improved detection performance.

[0006]

In order to achieve the above object, according to the present invention, the target determining means of the radar device according to the first aspect of the present invention is arranged so that a target of the two-dimensional range cell output from the preceding signal processing means is: A gate is set, a target signal detection process is performed a predetermined number of times N, the number of times at least one target signal component is present in the gate is obtained, and a medium M detection is performed to compare with a predetermined value M. It is characterized by determining.

The target determining means of the radar device according to the second aspect sets an initial gate in a two-dimensional range cell area output from the preceding signal processing means, and thereafter sets a gate based on the movement amount of the target. At this time, when a plurality of target signal components exist in the gate, the target signal component closest to the gate center is selected, and the gate center resetting process is performed. Finally, the number of times at least one target signal component is present in the gate is determined, and a medium M detection is performed to compare with a predetermined value M to determine the presence or absence of a target. Features.

The target determining means of the radar device according to the third aspect sets an initial gate in a two-dimensional range cell area output from the preceding signal processing means, and thereafter sets a gate based on the movement amount of the target. At this time, when a plurality of target signal components exist in the gate, the target signal component having the largest signal power value is selected, and the gate center resetting process is performed. Is performed, and a target signal detection process is performed a predetermined number of times N. Finally, the number of times at least one target signal component is present in the gate is obtained, and an N-in-M detection is performed to compare with a predetermined value M. It is characterized by determining the presence or absence.

The target determining means of the radar device according to the fourth aspect sets an initial gate in a two-dimensional range cell area output from the preceding signal processing means, and thereafter sets a gate based on the movement amount of the target. When the target signal component does not exist in the gate at this time, the reset processing of the gate center is not performed, and the gate radius is reset by a predetermined value larger than the initial value. A target signal detection process of the number N is performed, and finally, the number of times at least one target signal component exists in the gate is obtained, and a predetermined value M
M detection is performed to determine whether or not there is a target.

According to a fifth aspect of the present invention, in the radar apparatus according to the first aspect of the present invention, the initial gate setting in the target determination means of the radar apparatus determines the gate radius based on the first target signal component of the target signal detection processing. It is characterized in that it is performed based on the predicted movement distance of the target assuming the maximum speed and the maximum acceleration of the target.

Further, in the radar apparatus according to the present invention, the initial gate setting in the target determining means of the radar apparatus according to the second aspect is such that the gate center is set based on the first target signal component in the target signal detection processing. It is characterized in that it is performed based on the predicted movement distance of the target assuming the maximum speed and the maximum acceleration of the target.

The target determining means of the radar device according to claim 7 sets a gate in the area of the two-dimensional range cell output from the preceding signal processing means, and performs a target signal detection process N times. If the target signal component is not detected in the gate for a predetermined number of consecutive times, the gate is rejected, and the target signal component is at least one in the remaining gate.
It is characterized in that the number of occurrences is determined, M in N is detected to be compared with a predetermined value M, and the presence or absence of a target is determined.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a block diagram showing a configuration of Embodiment 1 of the present invention. In the figure, a transmission antenna 1, a transmitter 2, a reception antenna 3, a receiver 4, an A / D converter 5, a distance measurement circuit 6, and a signal processing system 7
Same as conventional. The target determination circuit 14 sets a gate in the area of the two-dimensional range cell output from the signal processing system 7 and performs a target signal detection process a predetermined number N, and at least one target signal component exists in the gate. The number of times of performing is determined, and M in N detection is compared with a predetermined value M to determine whether there is a target.

Next, the operation will be described. For a received signal obtained by receiving the radio wave reflected from the target, the operation up to the signal processing system for improving the signal-to-noise power ratio, passing the target signal, and improving the target detection probability is the same as in the related art.
The target consists of the distance and the direction of the receive beam over time.
In order to move the dimensional range cell area, target signal detection processing is performed in consideration of temporal movement. Specifically, a gate center is set in a two-dimensional range cell area based on a target signal component obtained in the first SPI of data for NSPI output from the memory circuit 13 of each signal processing system 7, and a gate radius is set. Is set with reference to the target assumed speed.
From the SPI to the NSPI, the number of occurrences of at least one target signal component in the set gate is checked to determine the target.

FIG. 3 is a flowchart for explaining the operation of the target determination circuit 14 of FIG. In FIG. 3, (f1-
In step 2), the number N of SPIs to be referred to and the number of target detections M as a reference for target determination are set. (F1-3 to f1-4
), Of the NSPI data output from each signal processing system 7, the gate radius is obtained by referring to the gate center and the assumed target speed based on the target signal component obtained in the first SPI, and the data is stored in the two-dimensional range cell area. Set the gate (Fig. 2
) And number the gates. (Gate number j =
1, 2,..., L) (from f1-5 to f1-11), the number of times when at least one target signal component exists in the gate during NSPI is checked for each gate number. The number of times is nj (j: gate number). (F1-12
), If nj ≧ M, it is determined that the gate number j has a target.

As described above, according to the first embodiment, the target determination circuit sets the gate in the area of the two-dimensional range cell output from the signal processing system, and sets the target signal component existing in the gate. , N in the N detection process, it is possible to detect a target moving a range cell.

Embodiment 2 FIG. 4 is a configuration block diagram showing Embodiment 2 of the present invention. In the figure, a transmitting antenna 1, a transmitter 2, a receiving antenna 3, a receiver 4, A
The / D converter 5, the distance measuring circuit 6, and the signal processing system 7 are the same as those in the related art. The target determination circuit 15 sets an initial gate in the area of the two-dimensional range cell output from the signal processing system 7 at the previous stage, and thereafter performs reset processing of the gate center based on the movement amount of the target. When there are a plurality of target signal components in the gate, the target signal component closest to the gate center is selected, the gate center is reset, the target signal detection process is performed a predetermined number of times N, and finally, The number of times at least one target signal component is present in the gate is determined, and M out of N is compared with a predetermined value M to determine the presence or absence of a target.

Next, the operation will be described. For a received signal obtained by receiving the radio wave reflected from the target, the operation up to the signal processing system for improving the signal-to-noise power ratio, passing the target signal, and improving the target detection probability is the same as in the related art.
The target determination circuit 15 performs a target signal detection process based on the result transmitted from the signal processing system 7 corresponding to each distance. Since the target moves on the two-dimensional range cell in the distance and the receiving beam direction with time, a target signal detection process is performed using a gate in consideration of the target speed.

FIG. 5 is a flowchart for explaining the operation of the target determination circuit 15 of FIG. In the figure, (f2-2)
), The number N of SPIs to be referred to, and the number of target detections M as a reference for target determination are set. (F2-3 to f2-4
), An initial gate is set in the two-dimensional range cell area output from the signal processing system 7. The gate center is set based on the target signal component of the first SPI, and the gate radius is set based on the target assumed speed. Number each gate. (Gate numbers = 1, 2,..., L). (From f2-5 to f2-11),
The number of times when there is at least one target signal component transmitted from each signal processing system 7 during NSPI in the gate is examined. At this time, (at f2-7), j in iSPI
When a signal component exists in the j-th gate, the center of the j-th gate is reset. Specifically, when a signal component transmitted from each signal processing system 7 exists in the gate, the signal component zm closest to the gate center is selected and selected as the target signal component corresponding to the target at the gate center. The reset processing of the gate center is performed by the following equation.

[0020]

(Equation 1)

The reset gate is set as the center of the j-th gate in the next SPI, ie, (i + 1 SPI). (At f2-12), it is determined that there is a target for the gate numbers satisfying nj ≧ M.

As described above, according to the second embodiment, the target determination circuit resets the gate center in consideration of the target movement amount, performs the target signal detection processing, and finally performs the processing in each gate. By performing the M-in-N detection process on the existing target signal component, the probability that the moving target signal component exists in the gate increases, and the performance of separating the target signal component from other target signal components increases. Thus, the target detection performance can be improved.

Third Embodiment FIG. 6 is a block diagram showing the configuration of a third embodiment of the present invention. In the figure, a transmitting antenna 1, a transmitter 2, a receiving antenna 3, a receiver 4, A
The / D converter 5, the distance measuring circuit 6, and the signal processing system 7 are the same as those in the related art. The target determination circuit 16 sets an initial gate in the area of the two-dimensional range cell output from the signal processing system 7 at the preceding stage, and thereafter performs reset processing of the gate center based on the movement amount of the target. When there are a plurality of target signal components in the gate, a target signal component having the largest signal power value is selected from the target signal components, and the gate center resetting process is performed. Do
Finally, if the target signal component has at least one
The number of occurrences is determined, and M in N is compared with a predetermined value M to determine whether there is a target.

Next, the operation will be described. For a received signal obtained by receiving the radio wave reflected from the target, the operation up to the signal processing system for improving the signal-to-noise power ratio, passing the target signal, and improving the target detection probability is the same as in the related art.

FIG. 7 is a flowchart for explaining the operation of the target determination circuit 16 of FIG. In the figure, (f2-2)
), The number of SPIs to be referred to, and the target number of detections M, which is a reference when performing the target determination, are set. (From f2-3 to f
In 2-4), an initial gate is set in the two-dimensional range cell area output from the signal processing system 7. The gate center is 1SP
The gate radius is set based on the assumed speed of the target based on the I-th target signal component. Number each gate. (Gate numbers = 1, 2,..., L). (F2-5 to f2-11
), The number of times when at least one target signal component transmitted from each signal processing system 7 during NSPI exists in each gate. At this time (at f2-7a), iSPI
When there is a signal component in the j-th gate in, the center of the gate is updated. Specifically, when a signal component transmitted from each signal processing system 7 exists in the gate, the signal component having the maximum signal power value is selected. A gate-centered update process is performed by equation (1).

As described above, according to the third embodiment, the target determination circuit resets the gate center in consideration of the target movement amount and performs the target signal detection processing. When there are a plurality of signal components, the target signal component having the largest power value is selected, the gate center is reset, and a target signal detection process is performed a predetermined number N times. By performing the M-in-N detection process on the existing target signal component, the probability that the moving target signal component exists in the gate increases, and the performance of separating the target signal component from other target signal components increases. Thus, the target detection performance can be improved.

Embodiment 4 FIG. 8 is a configuration block diagram showing a fourth embodiment of the present invention. In the figure, a transmitting antenna 1, a transmitter 2, a receiving antenna 3, a receiver 4, A
The / D converter 5, the distance measuring circuit 6, and the signal processing system 7 are the same as those in the related art. The target determination circuit 17 sets an initial gate in the area of the two-dimensional range cell output from the signal processing system 7, and thereafter performs reset processing of the gate center based on the movement amount of the target. When the target signal component does not exist, the reset processing of the gate center is not performed, and the gate radius is reset by a predetermined value larger than the initial value,
A predetermined number N of target signal detection processes is performed, and finally, the number of times at least one target signal component is present in the gate is obtained, and a comparison is made with a predetermined value M to perform an M-in-N detection to determine the presence or absence of a target. I do. In the target determination circuit 15, when no signal component exists in the gate and the center of the gate is not updated,
Although the gate radius is fixed, in this case, in the target determination circuit 15 of the present embodiment, the gate radius is increased.

Next, the operation will be described. For a received signal obtained by receiving the radio wave reflected from the target, the operation up to the signal processing system for improving the signal-to-noise power ratio, passing the target signal, and improving the target detection probability is the same as in the related art.

FIG. 9 is a flowchart for explaining the operation of the target determination circuit 17 of FIG. Like the target determination circuit 15, the target determination circuit 17 includes (f2-1 to f2-
At 6) operates similarly, detecting the signal component present in the gate. If the target signal component does not exist in the gate, the gate radius is updated by the following equation.

[0030]

(Equation 2)

The operation thereafter is the same as in the second embodiment. Since the target is moving on a two-dimensional range cell in the direction of the distance and the direction of the received beam, when a signal component is not detected in the gate in one SPI, the gate radius increases with time in the next SPI. .

As described above, according to the fourth embodiment, the target determination circuit resets the gate radius to a predetermined large value when the target signal component does not exist in the gate and loss detection occurs. By performing the target signal detection processing and performing the M-in-N detection processing on the target signal component present in each gate, it is possible to cope with a situation where the target signal component is off the gate. Can be improved.

Embodiment 5 FIG. FIG. 10 is a configuration block diagram showing a fifth embodiment of the present invention. In the figure, a transmitting antenna 1, a transmitter 2, a receiving antenna 3, a receiver 4,
The A / D converter 5, the distance measuring circuit 6, and the signal processing system 7 are the same as those in the related art. The target determination circuit 18 sets the initial gate based on the target signal component for the first time in the target signal detection processing for the gate center and the gate radius based on the target maximum moving speed assuming the maximum target speed and the maximum acceleration. It is.

Next, the operation will be described. For a received signal obtained by receiving the radio wave reflected from the target, the operation up to the signal processing system for improving the signal-to-noise power ratio, passing the target signal, and improving the target detection probability is the same as in the related art.

FIG. 11 is a flowchart for explaining the operation of the target determination circuit 18 of FIG. The target determination circuit 18 determines the gate radius in the initial gate setting by the following equation.

[0036]

(Equation 3)

The operation thereafter is the same as in the first embodiment.

As described above, according to the fifth embodiment, in the initial gate setting of the target determination circuit of the radar device, the gate radius is set to the target predicted moving distance in a predetermined time by assuming the target maximum speed and maximum acceleration. By doing so, the probability that the moving target signal component exists in the gate increases, and the performance of separating the moving target signal component from other target signal components increases.

Embodiment 6 FIG. FIG. 12 is a configuration block diagram showing a sixth embodiment of the present invention. In the figure, a transmitting antenna 1, a transmitter 2, a receiving antenna 3, a receiver 4,
The A / D converter 5, the distance measuring circuit 6, and the signal processing system 7 are the same as those in the related art. The target determination circuit 19 determines the initial gate setting in the signal processing system 7 according to the second embodiment by setting the gate radius to the target maximum speed and the maximum acceleration based on the target signal component for the first time in the target signal detection processing. This is performed based on the assumed predicted movement distance in a predetermined period of time.

Next, the operation will be described. For a received signal obtained by receiving the radio wave reflected from the target, the operation up to the signal processing system for improving the signal-to-noise power ratio, passing the target signal, and improving the target detection probability is the same as in the related art.

FIG. 13 is a flowchart for explaining the operation of the target judgment circuit 19 in FIG. The target determination circuit 19 determines the gate radius in the initial gate setting by the following equation.

[0042]

(Equation 4)

The operation thereafter is the same as in the second embodiment.

As described above, according to the sixth embodiment, in the initial gate setting of the target determination circuit of the radar device, the gate radius is set to the target predicted moving distance in a predetermined time by assuming the target maximum speed and maximum acceleration. By doing so, the probability that a moving target signal component is present in the gate with respect to resetting of the gate center increases, and the performance of separating target signal components from other target signal components increases.

Embodiment 7 FIG. 14 is a configuration block diagram showing a seventh embodiment of the present invention. In FIG. 14, a transmitting antenna 1, a transmitter 2, a receiving antenna 3, a receiver 4, an A / D converter 5, a distance measuring circuit 6, and a signal processing system 7 are the same as those in the related art. The target determination circuit 20 sets a gate in the area of the two-dimensional range cell output from the signal processing system 7, performs a target signal detection process a predetermined number of times N, and continuously executes a target signal component in the gate a predetermined number of times. Is not detected, the gate is rejected, the number of times at least one target signal component is present in the remaining gate is obtained, and M out of N is compared with a predetermined value M to determine whether there is a target. .

Next, the operation will be described. For a received signal obtained by receiving the radio wave reflected from the target, the operation up to the signal processing system for improving the signal-to-noise power ratio, passing the target signal, and improving the target detection probability is the same as in the related art.

FIG. 15 is a flowchart for explaining the operation of the target determination circuit 20 in FIG. The target determination circuit 20 performs the operations from f1-1 to f1-6 similarly to the target determination circuit 14. The target determination circuit 20 checks the number of times that the target signal component was not detected continuously in addition to the number of times nj that the signal component was present at f1-7, and failed to obtain the target signal component a predetermined number of times in succession. If so, reject the gate. Thereafter, the gate number is not selected, and the operation is the same as that of the target determination circuit 14 of the first embodiment.

As described above, according to the seventh embodiment, when the target signal component does not exist continuously for a predetermined time in the gate of the target determination circuit of the radar device, the gate is rejected, and the target is determined by the remaining gate. A signal detection process is performed, and a target signal component existing in the gate is subjected to the M-in-N detection process, so that the gate having a high probability set based on the noise component is rejected, and the target signal detection process is efficiently performed. be able to.

[0049]

As described above, according to the first aspect of the present invention, the target judging means outputs the second signal outputted from the signal processing means.
A gate is set in the area of the dimension range cell, and a predetermined number of times N
Target signal detection processing, the number of times at least one target signal component is present in the gate is determined, and a comparison with a predetermined value M is performed. And a radar device with improved target detection performance can be obtained.

According to the second aspect of the present invention, the target determining means sets an initial gate in the area of the two-dimensional range cell output from each signal processing system, and thereafter sets the gate center in consideration of the target speed. Is reset, and a target signal detection process is performed. For the target signal component existing in the gate, N
By performing the medium-M detection process, the probability that a moving target signal component exists in the gate increases, and the separation performance from other target signal components increases. Therefore, a radar with improved target detection performance A device can be obtained.

According to the third aspect of the present invention, the target determining means sets an initial gate in the area of the two-dimensional range cell output from each signal processing system, and thereafter sets a plurality of target signal components in the gate. Is present, the target signal component having the largest power value is selected, the gate center is reset, the target signal detection process is performed, and the target signal component present in the gate is subjected to the M-in-N detection process. By doing
The probability that a correct target signal component is selected increases, and a radar device with improved target detection performance can be obtained.

According to the present invention, the target determining means sets an initial gate in the area of the two-dimensional range cell output from each signal processing system, and thereafter, the target signal component exists in the gate. In the case where the loss detection has occurred, the gate radius is reset to a predetermined large value, a target signal detection process is performed, and a target signal component existing in the gate is subjected to the N-in-M detection process. Therefore, a situation where the target signal component deviates from the gate can be prevented, and as a result, a radar device with improved target detection performance can be obtained.

According to the fifth aspect of the present invention, in the initial gate setting of the target determination means of the radar device, the gate radius is determined based on the estimated maximum travel distance of the target in a predetermined time by assuming the maximum speed and the maximum acceleration of the target. By doing so, the probability that the moving target signal component exists in the gate increases, and the separation performance from other target signal components increases, so that a radar device with improved target detection performance can be obtained. .

According to the sixth aspect of the present invention, in the initial gate setting of the target determining means of the radar device, the gate radius is determined based on the predicted maximum moving distance of the target in a predetermined time by assuming the maximum speed and the maximum acceleration of the target. By doing so, the probability that the moving target signal component exists in the gate increases with respect to resetting of the gate center, and the separation performance from other target signal components increases. An improved radar device can be obtained.

According to the seventh aspect of the present invention, the target determining means sets a gate in the area of the two-dimensional range cell output from the signal processing system, and thereafter continuously sets the target signal in the gate for a predetermined time. If the component does not exist, the gate is rejected, the target signal detection processing is performed in the remaining gates, and the target signal component existing in each gate is subjected to the M-in-N detection processing to set based on the noise component. Since the gate having a high probability of being rejected is rejected, a radar device that performs the target signal detection processing efficiently can be obtained.

[Brief description of the drawings]

FIG. 1 is a configuration block diagram showing a first embodiment of the present invention.

FIG. 2 is a diagram illustrating gate setting according to the first embodiment of the present invention.

FIG. 3 is a flowchart illustrating an operation of a target determination circuit 14 in FIG. 1;

FIG. 4 is a configuration block diagram showing a second embodiment of the present invention.

FIG. 5 is a flowchart illustrating an operation of the target determination circuit 15 of FIG. 4;

FIG. 6 is a configuration block diagram showing a third embodiment of the present invention.

FIG. 7 is a flowchart illustrating an operation of the target determination circuit 16 of FIG. 6;

FIG. 8 is a configuration block diagram showing a fourth embodiment of the present invention.

9 is a flowchart illustrating the operation of the target determination circuit 17 of FIG.

FIG. 10 is a configuration block diagram showing a fifth embodiment of the present invention.

11 is a flowchart illustrating an operation of the target determination circuit 18 of FIG.

FIG. 12 is a configuration block diagram showing a sixth embodiment of the present invention.

13 is a flowchart illustrating an operation of the target determination circuit 19 in FIG.

FIG. 14 is a configuration block diagram showing a seventh embodiment of the present invention.

15 is a flowchart illustrating an operation of the target determination circuit 20 of FIG.

FIG. 16 is a configuration block diagram showing a conventional radar device.

FIG. 17 is a diagram illustrating the operation of the distance measuring circuit 6 of FIG.

FIG. 18 is a block diagram showing the internal configuration of the signal processing system 7 of FIG.

FIG. 19 is a block diagram showing the internal configuration of an M-in-N detection circuit 21 of FIG. 11;

[Explanation of symbols]

1 transmitting antenna, 2 transmitter, 3 receiving antenna, 4
Receiver, 5 A / D converter, 6 ranging circuit, 7 signal processing system, 8 coherent integration circuit, 9 detection circuit,
10 memory circuits, 11 incoherent integration circuits,
12, 12a threshold circuit, 13 memory circuit, 14 target determination circuit 15 target determination circuit, 16 target determination circuit, 17 target determination circuit, 18 target determination circuit, 19 target determination circuit, 20 target determination circuit, 21
N medium detection circuit, 22 addition circuit, 23 comparison circuit,

Continued on the front page (72) Inventor Yoshio Kosuge 2-3-2 Marunouchi, Chiyoda-ku, Tokyo Mitsubishi Electric Corporation F-term (reference) 5J070 AB01 AC02 AD02 AH31 AK22

Claims (7)

[Claims] 1. A signal processing means for improving a signal-to-noise power ratio, passing a target signal, and improving a target detection probability for a reception signal obtained by receiving a radio wave reflected from a target, and the signal processing means And a target determining means for determining the presence or absence of a target based on an output from the radar apparatus, wherein the target determining means is output from the signal processing means.
A gate is set in the area of the two-dimensional range cell, a predetermined number N of target signal detection processes are performed, the number of times at least one target signal component is present in the gate is obtained, and a comparison with a predetermined value M is performed. A radar apparatus for determining whether or not there is a target. 2. A signal processing means for improving a signal-to-noise power ratio, passing a target signal, and improving a target detection probability for a received signal obtained by receiving a radio wave reflected from a target, and the signal processing means. And a target determining means for determining the presence or absence of a target based on an output from the radar apparatus, wherein the target determining means is output from the signal processing means.
An initial gate is set in the area of the two-dimensional range cell, and after that, reset processing of the gate center is performed based on the target movement amount,
At this time, when there are a plurality of target signal components in the gate, the target signal component closest to the gate center is selected, the gate center is reset, and the target signal detection process is performed a predetermined number N, Finally, the number of times at least one target signal component exists in the gate is determined, and a predetermined value M
A radar apparatus for detecting whether or not there is a target by performing M-in-N detection to compare with the radar. 3. A signal processing means for improving a signal-to-noise power ratio, passing a target signal, and improving a target detection probability for a reception signal obtained by receiving a radio wave reflected from a target, and the signal processing means. And a target determining means for determining the presence or absence of a target based on an output from the radar apparatus, wherein the target determining means is output from the signal processing means.
An initial gate is set in the area of the two-dimensional range cell, and after that, reset processing of the gate center is performed based on the target movement amount,
At this time, when there are a plurality of target signal components in the gate, the target signal component having the largest signal power value is selected from the target signal components, and the gate center resetting process is performed. After performing signal detection processing,
A radar apparatus comprising: determining the number of times at least one target signal component exists in the gate; performing M / N detection to compare with a predetermined value M; 4. A signal processing means for improving a signal-to-noise power ratio, passing a target signal, and improving a target detection probability for a reception signal obtained by receiving a radio wave reflected from a target, and the signal processing means. A target determining means for determining the presence or absence of a target based on the output from the radar device,
The target determination means is output from the signal processing means.
An initial gate is set in the area of the two-dimensional range cell, and after that, reset processing of the gate center is performed based on the target movement amount,
At this time, when the target signal component does not exist in the gate, the reset processing of the gate center is not performed, the gate radius is reset by a predetermined value from the initial value, and the target signal detection processing of the predetermined number N is performed. Finally, the number of times at least one target signal component exists in the gate is obtained,
A radar apparatus for performing M detection in N to be compared with a predetermined value M to determine the presence or absence of a target. 5. The target determining means sets an initial gate by setting a gate radius to a target maximum speed and a target predicted moving distance assuming a maximum acceleration based on a gate center based on a first target signal component of a target signal detection process. The radar apparatus according to claim 1, wherein the radar is performed based on: 6. The target determining means sets an initial gate by setting a gate radius to a target maximum speed and a target predicted moving distance assuming a maximum acceleration based on a gate center based on a first target signal component of a target signal detection process. 3. The radar device according to claim 2, wherein the radar is performed based on: 7. A signal processing means for improving a signal-to-noise power ratio, passing a target signal, and improving a target detection probability for a reception signal obtained by receiving a radio wave reflected from a target, and said signal processing means. And a target determining means for determining the presence or absence of a target based on an output from the radar apparatus, wherein the target determining means is output from the signal processing means.
A gate is set in the area of the two-dimensional range cell, a target signal detection process is performed a predetermined number of times N, and if the target signal component is not detected continuously for a predetermined number of times in the gate, the gate is rejected and the target The number of times that at least one signal component exists in the remaining gate is obtained, and is compared with a predetermined value M.
A radar apparatus that performs medium-M detection to determine the presence or absence of a target.