JP3530081B2 - Multi-beam FM radar device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used as a distance / speed detecting device for a collision warning device mounted on a vehicle.
More particularly, the present invention relates to a multi-beam FM radar device of a type in which a plurality of beams are emitted in different directions while overlapping a part of adjacent beams.

[0002]

2. Description of the Related Art Conventionally, as a distance / speed detecting device for a vehicle-mounted collision warning device, "radar technology" (corporate corporation)
As described in the Institute of Electronics, Information and Communication Engineers), a millimeter-wave band FM radar device is known. In this FM radar device, a transmission signal whose frequency is increased / decreased in a triangular wave shape is transmitted toward the front of the vehicle and the like, and a reflection signal generated by reflection in the vehicle to be detected ahead is received,
This is mixed with a transmission signal to generate a beat signal, and the distance and speed from the frequency f (“beat frequency”) of the beat signal to another vehicle to be detected are detected.

As shown in FIG. 6 (A), in an FM radar in which the frequency is changed in a triangular wave shape on the time axis, the transmission F
During the period during which the frequency of the M signal is linearly increasing (rising period), the frequency of the received signal that appears with a delay becomes lower than this, and the period during which the frequency of the transmitted FM signal is linearly decreasing ( During the falling period), the frequency of the received signal that appears with a delay becomes higher than this. Generally, if the own vehicle equipped with such an FM radar device and another vehicle to be detected are not traveling at the same speed, that is, if the relative speeds of the two vehicles are not zero, it is shown in FIG. 6 (B). As described above, when the relative speed between the vehicles is assumed to be zero, the above-mentioned beat frequency f
During the Doppler shift amount f according to the relative speed of both vehicles
p is included.

The Doppler shift amount fp is
The beat frequency fu detected during the rising period of the frequency of the transmitted FM signal and the beat frequency f detected during the falling period of the frequency.
With respect to d, the increase and decrease have mutually opposite effects, and are given as follows. fu = f−fp (1) fd = f + fp (2) From the equations (1) and (2), the following equation is obtained. f = (fu + fd) / 2 (3) fp = (fu-fd) / 2 (4)

If the distance between the vehicles is R and the relative speed between the vehicles is u, then from the equations (3) and (4), R = cf / (4fm · Δf) (5) u = Cfp / 2fo (6) Here, c is the speed of light, Δf is the change width of the frequency of the FM signal, fm is the change cycle of the frequency, and fo is the center frequency of the FM signal.

The beat frequency is usually detected by performing a fast Fourier transform (FFT) on the beat signal.
The frequency spectrum of the beat signal obtained by this fast Fourier transform shows that the relative speed of the own vehicle and the other vehicle is, as illustrated in FIG. 6C, depending on whether it is in the rising period or the falling period. A pair of beat frequencies (fu, fd) shifted by the Doppler shift amount fp before and after the beat frequency f of zero is formed.

If the other vehicle to be detected is single, 1
The distance and the relative velocity can be detected from the pair of beat frequencies and the equations (3) to (6). However, when there are a plurality of other vehicles, a plurality of pairs of the beat frequencies are detected, and from these, There is a problem that it is difficult to create a correct pair (pairing). As a method for solving such a problem of pairing, as proposed in Japanese Patent Laid-Open No. 142342/1993, the frequency spectra in the rising period and the falling period are arranged in the order of high and low frequencies. A technique has been proposed in which, by performing pairing in the order of this arrangement, the vehicles are recognized as the same vehicle and their distance and relative speed are detected.

[0008] Further, although two beat frequencies generated in relation to different vehicles often overlap each other and sometimes appear to be one, it is difficult to confirm this and accurate pairing is difficult. There is also the problem of becoming. In order to deal with such a problem, as proposed in Japanese Patent Application Laid-Open No. 5-150035, a proposal has been proposed in which missing data is complemented by past data based on linear prediction assuming that the vehicle speed is constant. ing.

[0009]

However, in the method proposed in Japanese Patent Application Laid-Open No. 5-142337, when a plurality of vehicles are running adjacent to each other, the Doppler shift amount and the frequency spectrum Since the order of high and low frequencies of the spectrum obtained for each vehicle is switched due to the fluctuation, there is a problem that it is difficult to make a determination simply by arranging the spectra in the high and low order.

Further, in the method proposed in Japanese Patent Laid-Open No. 5-150035, when the speed of the vehicle suddenly changes, or when one of the pair of beat frequencies is not detected for a long period of time, the past The distance supplemented from the data of is very different from the actual one. There is also a problem that it becomes difficult to supplement other vehicles that have suddenly appeared in the field of view of the radar due to the change of the lane because there is no past data. Therefore, an object of the present invention is to accurately detect distances and speeds of each vehicle by performing pairing of beat frequencies and corresponding calculation while accurately discriminating a plurality of targets existing adjacent to each other. A beam FM radar device is provided.

[0011]

Multibeam F of the present invention
The M radar device transmits each beam in different directions while superimposing a part of adjacent beams of a plurality of FM signal beams, receives each reflected wave, and mixes with the transmission component to generate a beat signal. The transmission / reception module to be generated is paired with the beat frequency that appears in each of the rising and falling periods, and the distance or the relative distance to the object that has generated the reflected wave by adding and subtracting each created pair And a processing unit for detecting the velocity or both, which is detected by the adjacent beam.
Bee detected by each beam while taking into account the beat signal
Configured to create frequency pairs of the signal .

[0012]

According to an embodiment of the present invention, the processing unit performs pairing of beat frequencies in order from a beam including a small number of beat frequencies, and detection results of adjacent beams match each other. The beat frequency pairing is performed as described above, or the missing beat frequency is complemented so that the beat frequencies of adjacent beams match each other.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 4 shows a multi-beam system according to an embodiment of the present invention.
FIG. 3 is a block diagram showing a configuration of an FM radar device, 10 is an FM radar module, and 20 is a main body.

The FM radar module 10 comprises a dielectric substrate 11 and a plurality of transmission / reception channels A, B ... P formed on the dielectric substrate 11. The transmission / reception channels A to P are composed of transmission / reception shared antennas 12a to 12p formed correspondingly, and a transmission / reception unit.

Each transmitter / receiver has a circulator 14a-1.
4p, transmission selective amplifiers 15a to 15p, reception selective amplifiers 16a to 16p, and mixers 17a to 17p. Each of the transmission / reception channels A to P is connected from the FM signal generation circuit 23 in the main body 20 to the microstrip line M.
A millimeter wave band FM signal to be transmitted, which is supplied through S, is received.

The main body section 20 includes a CPU 21, a channel control circuit 22, an FM signal generation circuit 23, a sector 24, and an A / D.
Converter 25, fast Fourier transform circuit 26 and memory 27
Is equipped with.

The millimeter-wave band FM signal output from the FM signal generating circuit 23 of the main body 20 is transmitted through the microstrip line MS to each of the transmission selection amplifiers 15a to 15p in each of the transmission / reception channels A to P and reception selection. It is supplied to each of the amplification supplies 16a to 16p and is selectively amplified by the corresponding amplifier only within a predetermined period. Each of the transmission selection amplification supplies 15a to 15p sequentially performs the amplification operation of the FM signal only in a predetermined period in the order of arrangement according to the channel control signal supplied from the channel control circuit 22 of the main body unit 20.

The millimeter-wave band FM signals amplified by the transmission amplifiers 15a to 15p are circulators 14a.
Antenna for shared transmission and reception 1
It is supplied to the corresponding one of 2a to 12p and is radiated to the space outside the vehicle. Each of the transmission / reception shared antennas 12a to 12p includes a primary radiator formed of a planar array antenna formed on the dielectric substrate 11, a secondary radiator not shown, and the like. The directivity of each transmission / reception shared antenna 12a, 12b ... Is almost the same as shown by the intensity distribution of the beams Ba, Bb. It has been staggered.

Some of the millimeter-wave band FM signals radiated to the outside of the vehicle are reflected by an object such as a vehicle and follow the reverse path at the time of radiation, and the shared antennas 12a to 12a.
received by each of p. The reflected waves received by the respective transmitting and receiving antennas are the corresponding circulators 14a to 14p.
Separated from the transmission system by the mixer 1 in the transmission / reception section
Input to the reception signal input terminal which is one of the input terminals 7a to 17p. The local input terminals, which are the other input terminals of the mixers 17a to 17p, receive selective amplifiers 16a to 16a to intermittently perform an amplifying operation only in a predetermined period in the order of arrangement according to a channel control signal supplied from the channel control circuit 22.
FM signals are sequentially supplied through 16p.

The beat signals output from the output terminals of the mixers 17a to 17p are supplied to the A / D converter 25 of the main body 20 via a line such as a coaxial cable and converted into corresponding digital signals. The beat signal converted into the digital signal is supplied to the fast Fourier transform circuit 26, where it is converted into a frequency spectrum and supplied to the CPU 21.

The CPU 21 has a fast Fourier transform circuit 26.
By analyzing the frequency spectrum of the received reflected signal received from the transmitter, the distance and the relative distance to the vehicle that generated the reflected wave are calculated for each of the transmission / reception channels A to P, and thus for each direction of the beams Ba to Bp. Velocity is calculated and a two-dimensional map of distance and direction is created for the spatial distribution of such vehicles. That is, the CPU 21 performs pairing with respect to the frequencies of the beat signals that appear in each of the rising and falling periods, and adds and subtracts each of the created pairs to determine the relative distance to the object that has generated the reflected wave. Detect speed. At this time, the CPU 21 executes the pairing while reflecting the detection result of each beam on the detection result of the adjacent beam.

That is, as illustrated in FIG.
A plurality of FM signal beams are converted into three adjacent beams Ba and B.
It is represented by only b and Bc, a plurality of other vehicles running adjacently are represented by only three other vehicles V1, V2, and V3, and the respective positional relationships are as illustrated. In this example,
Only one other vehicle V1 can be detected by the beam Ba, all three other vehicles V1, V2 and V3 can be detected by the beam Bb, and one by the beam Bc.
Only the other vehicle V2 on the stand is in a detectable state. Three
When the relative velocities of the other vehicles V1, V2, V3 and the own vehicle are not zero, the beams Ba, Bb, Bc are illustrated in FIG. A frequency spectrum of such a beat signal is obtained.

The CPU 21 inspects the frequency spectra of the beat signals obtained for the beams Ba to Bc, and performs pairing of beat frequencies and calculation of distance and relative velocity while giving priority to a beam containing a small number of beat frequencies. To do. That is, in the example of FIG. 1, the CPU 21 performs processing for the beams Ba and Bc including two beat frequencies among the three beams Ba to Bc on the processing for the beam Bb including six beat frequencies. Execute with priority.

Since only a pair of frequencies (f1, f2) appears with respect to the beam Ba, the CPU 21 makes this a pair of beat frequencies (fu, f, generated by one vehicle (vehicle V1 in this example). fd), which is given a predetermined accuracy γ which is given when only one pair of beat frequencies appears in one beam, and (3)-
According to the equation (6), the distance and the relative velocity are calculated from this beat frequency pair. The CPU 21 determines whether or not the distance and the relative speed calculated in this way are rational values in light of the detection capability of the FM radar device and the traveling capability of the vehicle. It is judged whether or not the vehicle is present at a long distance beyond the detection capability of the radar device, or the relative speed is too high to be impossible. An accuracy β higher than the above accuracy γ is given.

Similarly, since only a pair of frequencies (f3, f4) appear for the beam Bc, the CPU 21 controls this to a certain vehicle (vehicle V2 in this example).
It is estimated that the pair is a beat frequency pair (fu, fd), and a predetermined accuracy γ is given when only one pair appears.
And the distance and the relative velocity are calculated from the pair of beat frequencies according to the equations (3) to (6). CP
In U21, the distance and relative velocity calculated in this way are
It is judged whether or not the rational value is a rational value in view of the detection capability of the FM radar device and the traveling capability of the vehicle. Give accuracy β.

The CPU 21 has the above-mentioned beams Ba and Bc.
When the beat frequency processing for
Start the beat frequency processing for b. CPU2
1 indicates that the beat frequencies f1 and f2 for the beam Bb are the same as the beat frequencies f1 and f2 for the beam Ba, and these are detected for the beam Ba when detecting that the accuracy β has already been given to the beam Ba. With respect to the result regarding the pair of beat frequencies (f1, f2) of (1), an accuracy α higher than that of β up to now is given, and this pair of beat frequencies is excluded from the processing target in the beam Bb.

[0027] Similarly, CPU 21 has the beat frequency f3, f4 of the beam Bb are the same as the beat frequency f3, f4 relates beam Bc, they beam B
When it is confirmed that the accuracy β is already assigned to c , the accuracy α higher than β is applied to the result of the detected beat frequency pair (f3, f4) for the beam Bc. Beam of Bb
Is excluded from the processing target.

The CPU 21 uses the beat frequency of the beam Bb to calculate f1, f according to the above algorithm.
As a result of excluding 2, f3 and f4, a pair of frequencies f5 and f
When it is detected that only 6 appears, it is estimated as a beat frequency pair (fu, fd) generated by a certain vehicle (vehicle V3 in this example), and only one pair appears. The predetermined accuracy γ given in this case is given, and the distance and the relative velocity are calculated from this frequency pair according to the equations (3) to (6). The CPU 21 determines whether or not the distance and the relative speed calculated in this way are rational values, and if they are rational values, the distance and the relative speed have been given so far. An accuracy β higher than the accuracy γ is given.

The CPU 21 processes the frequency spectrum of the beat signal obtained for the beams Ba, Bb, Bc in accordance with the above-mentioned algorithm, whereby the vehicle V1 is processed.
For each of V2 and V2, the distance and relative speed data with accuracy α are obtained, and for the vehicle V3, the distance and relative speed data with accuracy β are obtained. When the processing of the beat frequency for each beam is completed as described above, the CPU 21 leaves only the data to which the accuracy of a predetermined value or more, for example, the accuracy of β or more is left, and erases other data.

Another example of beat frequency processing performed by the CPU 21 will be described with reference to FIG. In this example, the other vehicles V1 and V2 can be detected by the beam Ba,
The other vehicles V2 and V3 can be detected by the beam Bb, and the other vehicles V3 and V4 can be detected by the beam Bc. 4 other vehicles V1, V2, V3, V
4 and the relative speed of the host vehicle are not zero,
For each of the beams Ba, Bb, and Bc, the frequency spectrum of the beat signal as illustrated in FIG. 2B is obtained over the rising and falling periods of the frequency.

The CPU 21 compares the frequency spectrum of the beat signal obtained for the beam Ba with the frequency spectrum of the beat signal obtained for the beam Bb. When the CPU 21 identifies that the pair of beat frequencies (f1, f2) match in the beams Ba and Bb, the CPU 21 recognizes that the pair of beat frequencies (fu, f2 in the illustrated example) (fu, V2) generated by a certain vehicle (vehicle V2 in the illustrated example). fd), and gives a predetermined accuracy γ given when such a pair of frequencies is detected in both adjacent beams, and (3) to
The distance and the relative velocity are calculated from the pair of beat frequencies according to the equation (6).

The CPU 21 determines whether or not the distance and the relative speed calculated in this way are rational values in view of the detection capability of the FM radar device and the traveling capability of the vehicle. If it is a value, the accuracy β higher than the accuracy γ so far is given to this. CPU21
Is a pair of beat frequencies (f1, f
2) is excluded from the frequency spectra of the beat signals of both the beams Ba and Bb.

Similarly, the CPU 21 compares the frequency spectrum of the beat signal obtained for the beam Bb with the frequency spectrum of the beat signal obtained for the beam Bc. The CPU 21 uses the beat frequency pair (f
5, f6) is identified in both beams Bb and Bc as a match, it is identified as a pair of beat frequencies (fu, f, produced by one vehicle (vehicle V3 in the example shown)).
fd), and a predetermined accuracy γ given when such a pair of beat frequencies is detected in both adjacent beams.
And the distance and the relative velocity are calculated from the pair of beat frequencies according to the equations (3) to (6).

The CPU 21 determines whether or not the distance and the relative velocity calculated in this way are rational values in view of the detection capability of the FM radar device and the traveling capability of the vehicle. If it is a value, the accuracy β higher than the accuracy γ so far is given to this. CPU21
Is a pair of beat frequencies (f5, f
6) is excluded from the frequency spectra of the beat signals of both the beams Bb and Bc.

Since the beat frequency pair (f1, f2) has been excluded, the beat frequency pair (f3, f) is included in the frequency spectrum of the beat signal for the beam Ba.
Only 4) remains. The CPU 21 uses this pair of beat frequencies (f3, f4) for one vehicle (vehicle V in this example).
It is estimated as a pair of beat frequencies (fu, fd) generated by 1), a predetermined accuracy γ is given when only one pair appears in the frequency spectrum of the beat signal, and (3) to (3 According to the equation 6), the distance and the relative velocity are calculated from the pair of beat frequencies. The CPU 21 determines whether or not the distance and the relative speed calculated in this way are rational values, and if they are rational values, the accuracy is further higher than the accuracy γ so far. Add β.

Since the pair of beat frequencies (f5, f6) is excluded, the pair of beat frequencies (f7, f) is included in the frequency spectrum of the beat signal for the beam Bc.
Only 8) remains. The CPU 21 uses this pair of beat frequencies (f7, f8) for one vehicle (vehicle V in this example).
It is estimated as the pair of beat frequencies (fu, fd) generated by 4), and a predetermined accuracy γ that is given when only one pair of beat frequencies appears in the frequency spectrum of the beat signal is given, and (3) According to the equation (6), the distance and the relative velocity are calculated from the pair of beat frequencies.

The CPU 21 determines whether the distance and the relative speed calculated in this way are rational values,
If it is a reasonable value, the accuracy β higher than the accuracy γ so far is given to this. Regarding the beam Bb, the processing target disappears as the pair of beat frequencies (f1, f2) and the pair of beat frequencies (f5, f6) are excluded.

Another example of the beat frequency processing performed by the CPU 21 will be described with reference to FIG. In this example, the other vehicle V1 can be detected by the beams Ba and Bb, and the other vehicle V2 can be detected by the beams Bb and Bc. When the relative speeds of the own vehicle and the other vehicle V are not zero, as shown in FIG. 3B for each of the beams Ba, Bb, and Bc over the rising period and the falling period of the frequency of the FM signal. The frequency spectrum of the beat signal is obtained. Here, the dotted line shows that the beat frequency that should be obtained is not actually obtained due to the influence of noise or the like.

That is, in this example, the beat frequencies f2 and f3 are missing from the frequency spectrum of the beat signal of the beam Bb. The CPU 21 first sets the beam Ba
And the pair of beat frequencies (f1, f2) and (f
3, f4) is detected with the accuracy γ, and if the distance and the relative speed calculated from this are valid, the accuracy β is further increased.

For the beam Bb, the CPU 21 performs pairing of the beat frequencies f1 and f4 and calculates the relative speed from the Doppler frequency, and the value becomes abnormally large. Therefore, this pairing is judged to be invalid. To do.
As another possibility, a vehicle having a relative speed of zero may be present at a position at a distance obtained from the beat frequencies f1 and f4. In addition to this possibility, the CPU 21 performs an appropriate final process in consideration of the possibility that the beat frequencies f2 and f3 are missing.

As an example of this case, the beat of the beam Ba
From the frequency f1 and the beat frequency f1 of the beam Bb,
For example, ε = k · ABS
(f1 _Bb-F1_Ba), Where ABS (X) is the absolute value of X,
And the calculated accuracy ε is greater than the accuracy β above.
If it is large, the vehicle is judged to have zero relative speed and the distance
Is calculated. On the other hand, the accuracy ε is greater than the accuracy β
If it is small, the beat frequency per beam Bb (in this case,
f2) is determined to be missing, and beat from beam Ba
A pair of beat frequencies f1 and f2 that complements the frequency f2
Calculate relative velocity and distance from the ring. Accuracy above ε
Is the case where the beat frequency f1 is present independently in the adjacent beam.
If, for example, only the beat frequency f1 is applied to the adjacent beam Bc,
If present, it will be higher.

Although only the part related to the pairing process for calculating the distance and the relative velocity has been described above, another suitable process for obtaining the two-dimensional position is as follows.
It is also possible to adopt a configuration in which the processes disclosed in Japanese Patent Application Laid-Open No. 7-318635 relating to the applicant's prior application are combined and executed.

The process of complementing the missing frequencies so that the beat frequencies of adjacent beams match each other at the time of pairing the beat frequencies has been described above. However,
Two beam frequencies are obtained by complementing the beat frequencies that have the same value by overlapping the beat frequencies that appear as one in the frequency spectrum of the beat signal of either beam so that the beat frequencies of adjacent beams match each other. Processing can also be performed.

As described in detail above, the multi-beam FM radar device of the present invention takes advantage of the fact that there are a plurality of beams, and beat frequency pairing is performed so that the detection results for each beam match each other. Or
Since the detection results of each beam are reflected in the detection results of adjacent beams, such as by performing beat frequency pairing in order from the beam that contains a small number of beat frequencies, it is possible to accurately distinguish between multiple adjacent targets. By doing so, it is possible to detect the distance and speed of each vehicle with high accuracy.

[Brief description of drawings]

FIG. 1A is a diagram illustrating a positional relationship between each beam and a plurality of vehicles for explaining processing executed by a multi-beam FM radar device according to an embodiment of the present invention, and a basis of this positional relationship. FIG. 3B is a diagram illustrating a spectrum of a beat frequency obtained for each beam in FIG.

FIG. 2A is a diagram illustrating a positional relationship between each beam and a plurality of vehicles for explaining another processing executed by the multi-beam FM radar device according to the above-described embodiment of the present invention, and FIG. It is a figure (B) which illustrates the spectrum of the beat frequency obtained about each beam originally.

FIG. 3 is a diagram (A) illustrating a positional relationship between each beam and a plurality of vehicles for explaining still another processing executed by the multi-beam FM radar device according to the above-described embodiment of the present invention, and this positional relationship. It is a figure (B) which illustrates the spectrum of the beat frequency obtained about each beam under.

FIG. 4 is a block diagram showing a configuration of a multi-beam FM radar device of the above embodiment.

FIG. 5 is a conceptual diagram illustrating an arrangement of multi-beams emitted from the multi-beam FM radar device according to the above-described embodiment.

FIG. 6 is a conceptual diagram for explaining an example of the operation principle of the FM radar device and a method of detecting a Doppler frequency.

[Explanation of symbols]

10 FM radar module A to P transmission / reception channels 17a to 17p mixer 12a to 12p shared transmission / reception antenna 20 main body 21 CPU for executing distance and relative speed detection from beat frequency 23 FM signal generation circuit 24 time division of beat signal of each channel Selector 25 A / D conversion circuit 26 Fast Fourier transform circuit (FFT)

─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-5-240947 (JP, A) JP-A-5-142337 (JP, A) JP-A-7-49377 (JP, A) JP-A-6- 207979 (JP, A) JP 9-145827 (JP, A) JP 6-242230 (JP, A) JP 7-5252 (JP, A) JP 7-318635 (JP, A) JP-A-5-150035 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G01S ⁷ /00-7/42 G01S 13/00-13/95

Claims (6)

(57) [Claims] 1. A beam is transmitted in different directions while overlapping some adjacent ones of a plurality of beams of an FM signal having a rising period and a falling period of the frequency by linearly increasing and decreasing the frequency. A pair of the transmitting and receiving module that receives each reflected wave and mixes it with the transmitting component to generate a beat signal, and the frequency of the beat signal that appears in each of the rising and falling periods, and creates each pair. In a multi-beam FM radar device including a processing unit that detects a distance to an object that has generated a reflected wave or a relative velocity or both by calculating the following, the operation of transmitting each beam in different directions is The processing is performed by electronic scanning of the beam, and the processing unit considers the beat signal detected in the adjacent beam.
Considering the frequency of the beat signal detected in each beam
A multi-beam FM radar device characterized by creating a pair . 2. A beam is transmitted in different directions while overlapping some adjacent beams of FM signals having a rising period and a falling period of the frequency by increasing and decreasing the frequency linearly. Creates a pair of a transceiver module that receives the reflected wave of the received signal, mixes it with the transmitted component, and generates a beat signal, and the frequency of the beat signal that appears in each of the rising and falling periods, and computes each created pair. In the multi-beam FM radar device including a processing unit that detects a distance to an object that has caused a reflected wave or a relative speed or both by the processing, the processing unit includes a distance to the detected object or a phase.
Validity that the velocity or both are within a reasonable range
And considering the beat signal detected in the adjacent direction
Create frequency pairs of beat signals detected in each beam
FM radar system, characterized in that that. 3. The claim 1 or 2, wherein the processing unit, the adjacent beams or the adjacent direction of the overlapping portion detection results for pairs of said frequency to coincide with each other in these adjacent beams or adjacent directions An FM radar device characterized by performing a process of creating 4. Oite to any one of claims 1 to 3, wherein the processing unit that performs processing for slide into creating pairs of said frequency from a few including beam or direction the frequency of the beat signal in order An FM radar device characterized by: 5. The one of claims 1 to 4, wherein the processing unit excludes almost definite pair of frequencies a few including beam or direction the frequency of the beat signal from the adjacent beams or adjacent directions F characterized by performing processing
M radar device. 6. The one of claims 1 to 5, wherein the processing unit, of whether they said adjacent beam or a detection result of the overlapping portions of adjacent directions coincide with each other in these adjacent beams or adjacent directions An FM radar device characterized in that a predetermined accuracy that is changed stepwise is given to each detection result based on the detection result.