JP2019056588A - Radar device, and radar signal processing method - Google Patents

Abstract

To provide a radar device and radar signal processing method that can determine whether a received signal is a reflection wave due to a main lobe, or a reflection wave due to a grating lobe.SOLUTION: A radar device according to an embodiment has: an antenna device; a transmission control unit; a reception data generation unit; and a determination unit. The transmission control unit is configured to cause the antenna device to sequentially radiate a radiation wave of a different frequency toward a prescribed orientation direction. The reception data generation unit is configured to generate reception data having a value indicative of intensity of reflection wave associated with for each frequency on the basis of the reflection wave received by the antenna device. The determination unit is configured to add the reception data generated by the reception data generation unit as to the frequency, compares the added reception data with a threshold, and thereby selectively recognize an object existing in the prescribed orientation direction to determine the object as a target.SELECTED DRAWING: Figure 1

Description

  Embodiments described herein relate generally to a radar apparatus and a radar signal processing method.

  In a radar apparatus using a conventional broadband phased array antenna, a grating lobe that is an unnecessary radiation wave may occur. When a reflected wave from a target is received in a state where a grating lobe is generated, it is difficult to distinguish whether the received signal is a reflected wave due to a main lobe or a reflected wave due to a grating lobe. For this reason, it is necessary to determine whether the received signal is a reflected wave from the main lobe or a reflected wave from the grating lobe.

JP 2005-164370 A

  The problem to be solved by the present invention is to provide a radar apparatus and a radar signal processing method capable of determining whether a received signal is a reflected wave by a main lobe or a reflected wave by a grating lobe.

  The radar apparatus according to the embodiment includes an antenna device, a transmission control unit, a reception data generation unit, and a determination unit. The transmission control unit causes the antenna device to sequentially radiate radiated waves having different frequencies toward a predetermined directivity direction. The reception data generation unit generates reception data in which a value indicating the intensity of the reflected wave is associated with each frequency based on the reflected wave received by the antenna device. The determination unit adds the reception data generated by the reception data generation unit with respect to the frequency and compares it with a threshold value, thereby selectively recognizing an object existing in the predetermined directivity direction and determining it as a target.

1 is a block diagram illustrating a configuration example of a radar apparatus 1 according to an embodiment. The block diagram which shows the structural example of the reception data generation part 120 of embodiment. The figure for demonstrating the range-Doppler data and cell of embodiment. The 1st figure explaining the example of the characteristic of a reflected wave. FIG. 6 is a second diagram illustrating an example of reflected wave characteristics. FIG. 9 is a third diagram for explaining an example of the characteristic of a reflected wave. The conceptual diagram which arranged the range-Doppler data for every scanning angle about the predetermined | prescribed cell of embodiment. The conceptual diagram which added the signal amplitude value of FIG. 5 for every frequency. The flowchart which shows operation | movement of the radar apparatus 1 of embodiment.

  Hereinafter, a radar apparatus and a radar signal processing method according to embodiments will be described with reference to the drawings.

  FIG. 1 is a block diagram illustrating a configuration example of the radar apparatus 1. The radar device 1 includes, for example, an antenna device 10, a circulator 20, a transmission unit 30, a reception unit 40, a storage unit 60, an input unit 70, a display unit 80, and a control unit 100. The radar device 1 may be used while being mounted on a moving body or may be used in a stationary state.

  The radar apparatus 1 according to the embodiment sequentially emits radiated waves having different frequencies toward a predetermined directivity direction, and receives a reflected wave reflected from the target by the radiated wave (hereinafter also referred to as scanning). For example, the radar apparatus 1 scans a radiation wave having a frequency f1 within a range of −90 degrees to +90 degrees with respect to the search center. Next, the radar apparatus 1 scans the radiation wave having the frequency f2 in the range of −90 degrees to +90 degrees with respect to the search center. Further, the radar apparatus 1 scans the radiation wave having the frequency f3 within a range of −90 degrees to +90 degrees with respect to the search center. That is, the radar apparatus 1 scans a predetermined range a plurality of times using radiation waves having a plurality of different frequencies.

  The antenna device 10 is an arbitrary form of antenna having a certain degree of directivity. The antenna device 10 is, for example, a phased array antenna. The circulator 20 is a circulation circuit for separating transmission / reception signals. That is, the circulator 20 supplies the RF signal generated by the transmission unit 30 to the antenna device 10 and supplies the reflected echo received by the antenna device 10 to the reception unit 40 as a reception signal.

  For example, the transmission unit 30 transmits an RF signal from the antenna device 10 to the space via the circulator 20 at a predetermined transmission period under the control of the transmission control unit 110. A part of the transmission wave transmitted by the antenna device 10 is reflected by an object and received by the antenna device 10 as a reflected echo. The transmission unit 30 includes, for example, a phase shifter (not shown), and changes the excitation phase of each antenna element in the phased array antenna using the phase shifter. Thus, the transmission unit 30 controls the radiation electric field of each antenna element so as to be in phase in a predetermined direction, thereby forming a transmission beam.

  The receiving unit 40 generates a radar reception signal based on a signal supplied from the antenna device 10 at a cycle based on a transmission cycle at which the transmission unit 30 generates an RF signal. The receiving unit 40 outputs the generated radar reception signal to the control unit 100.

  The storage unit 60 is realized by, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), an HDD (Hard Disk Drive), a flash memory, or the like. Various information referred to by the control unit 100 is stored in the storage unit 60. In addition, when the control unit 100 includes a processor such as a CPU (Central Processing Unit), the storage unit 60 may store a program executed by the processor.

  The input unit 70 receives an input operation by an operator of the radar apparatus 1. The input operation accepted by the input unit 70 is converted into a signal indicating the content of the input operation and supplied to the control unit 100. The display unit 80 is realized by an LCD (Liquid Crystal Display), an organic EL (Electroluminescence) display device, or the like. The display unit 80 displays the result processed by the control unit 100.

  The control unit 100 includes a transmission control unit 110, a reception data generation unit 120, and a determination unit 130. These functional units are realized, for example, when a processor such as a CPU executes a program (software). Some or all of these functional units may be realized by hardware such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or software. And hardware may cooperate.

  The transmission control unit 110 controls the transmission unit 30 to cause the antenna device 10 to sequentially radiate radiation waves having different frequencies toward a predetermined directivity direction. For example, the transmission control unit 110 generates an RF signal having a predetermined frequency, and outputs the generated RF signal to the transmission unit 30.

  The reception data generation unit 120 generates reception data in which a value indicating the intensity of the reflected wave is associated with each frequency based on the reflected wave received by the antenna device 10. The reception data generation unit 120 acquires the reflected wave from the reception unit 40 to generate reception data, and outputs the generated reception data to the determination unit 130.

  The determination unit 130 adds the reception data generated by the reception data generation unit 120 with respect to the frequency and compares it with a threshold value, thereby selectively recognizing an object existing in the predetermined directivity direction and determining it as a target. . When the value of the added reception data is equal to or greater than a predetermined threshold, the determination unit 130 selects an object that exists in the direction corresponding to the added reception data as a target.

  Further, the determination unit 130 calculates the distance to the target and the relative speed of the target with respect to the selected target. For example, the determination unit 130 calculates the distance to the target and the relative speed of the target based on the intensity of the reflected wave that determines the direction of the target with respect to the subject.

  FIG. 2 is a block diagram illustrating a configuration example of the reception data generation unit 120 according to the embodiment. The reception data generation unit 120 includes a range-Doppler data acquisition unit 122 and a correction unit 124, for example.

  The range-Doppler data acquisition unit 122 converts the time-series reception signal output from the reception unit 40 into a frequency domain signal, and acquires range-Doppler data based on the converted frequency domain signal. Here, the range in the range-Doppler data is a distance from the radar apparatus 1 to the target. The Doppler in the range-Doppler data is a Doppler frequency calculated based on the phase of the reflected wave received by the antenna device 10.

  The correction unit 124 corrects the Doppler frequency in the range-Doppler data acquired by the range-Doppler data acquisition unit 122 based on the wavelength of the radiation wave. The correction unit 124 corrects the Doppler frequency based on the relational expression between the Doppler frequency and the speed expressed by the following formula (1). Here, fd is the Doppler frequency, v is the velocity, and λ is the wavelength of the radiated wave. Note that the velocity v in the equation (1) is a relative velocity of the target with respect to the radiation direction of the radiation wave. The velocity v is positive when the target is approaching the radar apparatus 1.

  fd = 2 × v / λ (1)

  The correction unit 124 corrects the Doppler frequency fd in each of the range-Doppler data acquired based on the radiated waves having different frequencies (wavelengths) so that the velocity v becomes the same value. For example, when the Doppler frequency fd1 in the range-Doppler data acquired based on the radiation wave having the wavelength λ1 is used as a reference, the correction unit 124, for example, from Equation (1), the Doppler frequency fd is inversely proportional to the wavelength λ of the radiation wave. Based on this relationship, the Doppler frequency fd2 in the range-Doppler data acquired from the radiation wave having the wavelength λ2 is corrected to fd2 × λ1 / λ2.

  Here, range-Doppler data and cells will be described with reference to FIG. FIG. 3 is a diagram for explaining range-Doppler data and cells according to the embodiment.

  First, the range-Doppler data will be described. The range-Doppler data is data expressed in a coordinate system composed of each of a range axis, a Doppler axis, and a signal amplitude axis. Here, the range axis indicates the distance (range) from the radar apparatus 1 to the target. The range is calculated based on, for example, the time from when the radiated wave is emitted until the reflected wave is received, and the speed of the radiated wave (the speed of light). The Doppler axis indicates the Doppler frequency in the reflected wave. The Doppler frequency is calculated, for example, by frequency-converting a time-series reflected wave (for example, DFT (Discrete Fourier Transform)).

  Next, the cell will be described. The cell is an area surrounded by a predetermined range in the range axis direction and a predetermined range in the Doppler data axis direction. The width in the range axis direction and the width in the Doppler axis direction corresponding to one cell may be arbitrarily determined.

  In the example of FIG. 3, the Doppler frequency characteristic H at the range axis coordinate A indicates that the signal amplitude is maximum (peak) at the Doppler axis coordinate B. This indicates that there may be a target moving at a relative speed corresponding to the Doppler axis coordinate B at a distance corresponding to the range axis coordinate A, for example. However, in the configuration of the embodiment, it is difficult to determine whether the characteristic H is a characteristic based on the reflected wave with respect to the main lobe or a characteristic based on the reflected wave with respect to the grating lobe.

  Here, the reflected waves of the main lobe and the grating lobe will be described. The reflected wave by the main lobe is reflected by an object in the same direction (front) as the radiation direction of the radiated wave. On the other hand, the reflected wave from the grating lobe is a reflection of the grating lobe radiated in a direction different from the radiation direction of the radiated wave from the object. In other words, since the grating lobe is also emitted when the main lobe is emitted, an object that is not in front is erroneously detected as if it is an object in front. In order to avoid such erroneous detection, it is necessary to selectively extract the reflected wave for the main lobe from a state in which the reflected waves from the main lobe and the grating lobe are mixed. Hereinafter, a method for selectively extracting the reflected wave with respect to the main lobe will be described.

  First, the characteristics of the reflected wave will be described with reference to FIGS. FIG. 4 is a first diagram for explaining the characteristics of the reflected wave. A graph G1 in FIG. 4 is a diagram illustrating a state in which a radiated wave is emitted in the direction of the scanning angle θ1 when the object T exists in the Y-axis direction in the XY coordinate space. Each of the graphs G2 to G4 is range-Doppler data acquired based on each reflected wave when the radiated wave has frequencies f1 to f3, respectively. In addition, the gray part shown to each of the graphs G2-G4 has shown the area | region of the same cell.

  When the object T is in the Y-axis direction and the radiated wave is radiated in the direction of the scanning angle θ1 different from the Y-axis direction, the radiated wave travels straight without being reflected by the object, and is acquired based on the reflected wave. -It is considered that the peak of the signal amplitude value does not appear in the Doppler data.

  However, as shown in the graph G2, the peak of the signal amplitude value appears in a certain cell even though there is no object in the direction of the scanning angle θ1 with respect to the radiation wave having the frequency f1. This is because the grating lobe is radiated in a direction different from the direction of the main lobe (the direction of the scanning angle θ1), and the direction in which the grating lobe happens to be overlapped with the direction where the object T is (Y-axis direction). It is considered that the reflected wave reflected by the object T has been received. In this case, since there is a possibility that an object is present in the direction of the scanning angle θ1 due to the peak of the cell, it is necessary to exclude the reflected wave with respect to the grating lobe from the reflected wave.

  On the other hand, as shown in the graph G3, the peak of the signal amplitude value does not appear in the cell with respect to the radiation wave having the frequency f2. This is because the main lobe and the grating lobe of the radiated wave are not directed in the direction in which the object T is present (Y-axis direction), and the radiated wave is not reflected on the object T.

  Similarly, as shown in the graph G4, the peak of the signal amplitude value does not appear in the cell with respect to the radiation wave having the frequency f3. This is because the main lobe and the grating lobe of the radiated wave are not directed in the direction in which the object T is present (Y-axis direction), and the radiated wave is not reflected on the object T.

  FIG. 5 is a second diagram for explaining the characteristics of the reflected wave. A graph G5 in FIG. 5 is a diagram illustrating a state in which a radiated wave is emitted in the direction of the scanning angle θ2 when the object T exists in the Y-axis direction in the XY coordinate space. Each of the graphs G6 to G8 is range-Doppler data when the radiated waves have frequencies f1 to f3, respectively. In addition, the gray part shown in each of graph G6-G8 has shown the area | region of the same cell.

  As shown in the graph G6, since the main lobe and the grating lobe of the radiated wave are not directed in a certain direction (Y-axis direction) with respect to the radiated wave of the frequency f1, the signal amplitude value of a certain cell is No peak appears.

  As shown in the graph G7, since the grating lobe is directed in the direction in which the object T is located (Y-axis direction) with respect to the radiation wave having the frequency f2, a peak of the signal amplitude value appears in the cell.

  As shown in the graph G8, since the main lobe and the grating lobe of the radiated wave are not directed in the direction in which the object T is present (Y-axis direction) with respect to the radiated wave of the frequency f3, the signal amplitude value of the cell is No peak appears.

  FIG. 6 is a third diagram for explaining the characteristics of the reflected wave. A graph G9 in FIG. 6 is a diagram illustrating a state in which a radiated wave is emitted in the direction of the scanning angle θ3 (= Y axis direction) when the object T exists in the Y axis direction in the XY coordinate space. . Each of the graphs G10 to G12 is range-Doppler data when the radiated waves have frequencies f1 to f3, respectively. In addition, the gray part shown to each of the graphs G10-G12 has shown the area | region of the same cell.

  As shown in the graph G10, since the main lobe is directed in a certain direction (Y-axis direction) with respect to the radiation wave having the frequency f1, a signal amplitude value peak appears in a certain cell.

  As shown in the graph G11, since the main lobe is directed in the direction in which the object T is located (Y-axis direction) with respect to the radiation wave having the frequency f2, the peak of the signal amplitude value appears in the cell.

  As shown in the graph G12, since the main lobe is directed in the direction in which the object T is located (Y-axis direction) with respect to the radiation wave having the frequency f3, a peak of the signal amplitude value appears in the cell.

  From the results of FIGS. 4 to 6, when paying attention to a certain scanning angle, the sum of signal amplitude values in a predetermined cell when the radiated wave is radiated while changing the frequency, there is an object in the direction of the grating lobe, There is a significant difference in the total value when there is an object in the direction of the main lobe. By using this, the radar apparatus 1 of the present embodiment determines whether or not the object is detected by the main lobe by comparing the total value obtained by adding the signal amplitude values for each predetermined cell with a predetermined threshold. The object detected by the main lobe is selectively extracted by excluding the object detected by the grating lobe from the detection result.

  Next, a method of extracting the reflected wave with respect to the main lobe will be described with reference to FIGS. FIG. 7 is a diagram illustrating a conceptual diagram in which range-Doppler data of a predetermined cell according to the embodiment is arranged in a scanning angle direction of a transmission beam. The upper part of FIG. 7 is data when scanned with a radiation wave of frequency f1, the middle part of FIG. 7 is data when scanned with a radiation wave of frequency f2, the lower part of FIG. 7 is data when scanned with a radiation wave of frequency f3, Respectively. Further, the horizontal axis in each of the upper, middle, and lower stages in FIG. 7 indicates the direction of the scanning angle of the transmission beam (described as Sinθ (scanning angle) in FIG. 7), and the vertical axis indicates the signal amplitude.

  As shown in the upper part of FIG. 7, when a predetermined scanning angle range is sequentially scanned with the radiation wave with the frequency f1, the peak P1 to P7 of the signal amplitude value is shown in each of the scanning angles D1 to D7. Some of these peaks are peaks detected from the main lobe, and the rest are peaks detected from the grating lobe.

  As described with reference to FIGS. 4 to 6, the scanning angle of the peak detected from the main lobe coincides with the direction in which the object exists, but the scanning angle of the peak detected from the grating lobe does not necessarily match the direction in which the object exists. It does not match. That is, for the peaks P1 to P7 shown in the upper part of FIG. 7 that indicate the peak detected from the grating lobe, no object exists in the direction corresponding to the peak.

  As shown in FIG. 7, for the scanning angle D1 corresponding to the peak P1 at the frequency f1, there is no peak at the frequency f2 and no peak at the frequency f3. Similarly, for the scan angle D2 corresponding to the peak P2 at the frequency f1, there is no peak at the frequency f2 and no peak at the frequency f3. Further, for each of the scanning angles D5 to D7 corresponding to each of the peaks P5 to P7 at the frequency f1, there is no peak at the frequency f2 and no peak at the frequency f3. For this reason, it is considered that the peak detected for each of the scanning angles D5 to D7 is detected from the grating lobe.

  On the other hand, for the scanning angle D3 corresponding to the peak P3 at the frequency f1, there are a peak P10 at the frequency f2 and a peak P17 at the frequency f3. Similarly, for the scanning angle D4 corresponding to the peak P4 at the frequency f1, there are a peak P11 at the frequency f2 and a peak P18 at the frequency f3. For this reason, the peaks detected for each of the scanning angles D5 and D6 are considered to be detected from the main lobe.

  FIG. 8 is a conceptual diagram in which the signal amplitude values of FIG. 7 are summed for each frequency for a predetermined scanning angle. Further, the horizontal axis in FIG. 8 indicates the direction of the scanning angle of the transmission beam (described as Sinθ (scanning angle) in FIG. 8), and the vertical axis indicates the signal amplitude. Further, Th on the vertical axis in FIG. 8 represents a predetermined threshold value.

  In the example of FIG. 8, the signal amplitude values of the scanning angles D3 (D10, D17) and D4 (D11, D18) show prominent peak values, but the other scanning angles (D1, D2, D5 to D7, For D8, D9, D12 to D14, D15, D16, D19 to D21), the signal amplitude value is smaller than any of the scanning angles D3 (D10, D17) and D4 (D11, D18).

  The determination unit 130 adds the range-Doppler data of the frequencies f1 to f3 for a predetermined scanning angle (θ1, θ2,...), And the peak of the combined signal amplitude value is equal to or greater than a predetermined threshold Th. If it is, it is determined that it is detected from the main lobe. Here, the predetermined threshold Th is, for example, the signal amplitude value of each of the scanning angle D3 and D4, whichever is smaller, and each of the other scanning angles (D1, D2, D5 to D7). It is set between the ones with the largest value. As described above, the determination unit 130 compares the peak of the summed signal amplitude value with the predetermined threshold Th, and selectively selects the reflected wave for the main lobe from the signal in which the reflected waves from the main lobe and the grating lobe are mixed. To extract.

  Here, the operation of the radar apparatus 1 will be described with reference to FIG. FIG. 9 is a flowchart illustrating the operation of the radar apparatus 1 according to the embodiment. As a premise of this flowchart, the maximum number of scans to be repeatedly executed (maximum scan number Nmax) is determined in advance, and the frequency of the radiated wave corresponding to each scan number N (1 ≦ N ≦ Nmax) is determined in advance. It shall be.

  First, the radar apparatus 1 initializes a variable indicating the number of scans N (step S1). The variable indicating the scan number N is, for example, a variable stored in the storage unit 60. Next, the radar apparatus 1 determines whether or not the scan number N is equal to or greater than a predetermined maximum scan number Nmax (step S2).

  In step S2, when the scan number N is less than the predetermined maximum scan number Nmax, the radar apparatus 1 executes a scan. For example, the radar apparatus 1 radiates a radiated wave from the antenna apparatus 10 at a predetermined frequency f corresponding to the number of scans N and executes a scan (step S3). Next, the range-Doppler data acquisition unit 122 of the radar apparatus 1 acquires range-Doppler data based on the reflected wave received by scanning (step S4). Next, the correction unit 124 of the radar apparatus 1 corrects the Doppler frequency of the range-Doppler data (Step S5). Next, the radar apparatus 1 arranges the range-Doppler data in the scanning angle direction for each cell of the corrected range-Doppler data (step S6). The radar apparatus 1 then increments a variable indicating the number of scans N, and performs the process shown in step S2.

  On the other hand, when the scan number N is equal to or greater than the predetermined maximum scan number Nmax in step S2, the determination unit 130 of the radar apparatus 1 adds the range-Doppler data acquired for each scan (step S8). Next, the determination unit 130 determines the presence or absence of a target by comparing the signal amplitude value with a predetermined threshold value from the added data (step S9). Then, the determination unit 130 calculates the distance to the target from the range value corresponding to the cell determined to have a target, and calculates the target relative speed from the Doppler value corresponding to the cell (step S10).

  As described above, the radar apparatus 1 according to the embodiment includes the antenna apparatus 10, the transmission control unit 110 that causes the antenna apparatus 10 to sequentially radiate radiated waves having different frequencies toward a predetermined directivity direction, and the antenna apparatus. 10, a reception data generation unit 120 that generates reception data in which a value indicating the intensity of the reflection wave is associated with each frequency based on the reflection wave received by 10, and the reception data generated by the reception data generation unit 120 And a determination unit 130 that selectively recognizes an object that exists in the predetermined directivity direction and determines that the object is a target object.

  Thereby, the radar apparatus 1 of the embodiment can determine whether the received signal is a reflected wave due to the main lobe or a reflected wave due to the grating lobe. This is because the determination unit 130 adds the reception data generated by the reception data generation unit 120 with respect to the frequency so that the reflected wave by the main lobe can be emphasized more than the reflected wave by the grating lobe.

  In the radar apparatus 1 according to the embodiment, the reception data generation unit 120 acquires range-Doppler data based on a signal obtained by converting each reflected wave from a time-series signal to a frequency domain signal. Unit 122 and a correction unit 124 that corrects the Doppler frequency in each of the range-Doppler data based on the frequency of the radiated wave, and the determination unit 130 determines the Doppler frequency and the predetermined cell determined to have a target. Based on the range, at least one of the distance to the target and the relative speed of the target is calculated.

  Thereby, the radar apparatus 1 according to the embodiment can calculate not only the presence / absence of the target but also the distance to the target and the relative speed of the target in addition to the effects described above. This is because the range axis in the range-Doppler data includes information corresponding to the distance to the target, and the Doppler axis includes information corresponding to the relative speed of the target.

  According to at least one embodiment described above, the radar apparatus 1 according to the embodiment sequentially transmits radiation waves having different frequencies toward the antenna apparatus 10 and a predetermined directivity direction. Unit 110, reception data generation unit 120 that generates reception data in which a value indicating the intensity of the reflection wave is associated with each frequency based on the reflection wave received by antenna device 10, and reception data generation unit 120 A determination unit 130 that selectively recognizes an object existing in the predetermined directivity direction and determines it as a target by adding the received data generated in accordance with the frequency and comparing it with a threshold value, Whether the received signal is a reflected wave from the main lobe or a grating lobe can be determined. This is because the determination unit 130 adds the reception data generated by the reception data generation unit 120 with respect to the frequency so that the reflected wave by the main lobe can be emphasized more than the reflected wave by the grating lobe.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1 ... Radar apparatus, 10 ... Antenna apparatus, 30 ... Transmission part, 40 ... Reception part, 100 ... Control part, 110 ... Transmission control part, 120 ... Reception data generation part, 130 ... Determination part, 122 ... Range-Doppler data acquisition Part, 124...

Claims (3)

An antenna device;
A transmission control unit for causing the antenna device to sequentially radiate radiation waves having different frequencies toward a predetermined directivity direction;
A reception data generation unit that generates reception data in which a value indicating the intensity of the reflected wave is associated with each frequency based on the reflected wave received by the antenna device;
A determination unit for selectively recognizing an object existing in the predetermined directivity direction by adding the reception data generated by the reception data generation unit with respect to a frequency and comparing the frequency with a threshold value; Radar device. The received data generation unit
A range-Doppler data acquisition unit that acquires range-Doppler data based on a signal obtained by converting each of the reflected waves from a time-series signal to a frequency domain signal;
A correction unit that corrects the Doppler frequency in each of the range-Doppler data based on the frequency of the radiation wave, and
The radar apparatus according to claim 1, wherein the determination unit calculates at least one of a distance to the target and a relative speed of the target with respect to the selected target. A computer that controls a radar apparatus including an antenna apparatus and a transmission control unit that sequentially radiates radiated waves having different frequencies toward the antenna apparatus in a predetermined directivity direction,
Based on the reflected wave received by the antenna device, generates reception data in which a value indicating the intensity of the reflected wave is associated with each frequency,
A radar signal processing method, wherein the generated reception data is added with respect to frequency and compared with a threshold value to selectively recognize an object existing in the predetermined directivity direction and determine a target.

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