JP5034306B2 - Frequency modulation circuit, FM-CW radar apparatus, and communication integrated radar apparatus - Google Patents

Description

  The present invention relates to a frequency modulation circuit, an FM-CW radar apparatus, and a communication integrated radar apparatus, and more particularly, to reduce a relative distance and a relative speed error during a radar function by correcting temperature characteristics and frequency nonlinearity of a voltage controlled oscillator as needed. The present invention relates to a technique that is effective in reducing the adjustment man-hours and stabilizing the frequency accuracy during the wireless communication function.

  Conventionally, there is FM-CW (Frequency Modulated Continuous Wave) radar as one of means for detecting a relative distance and speed with respect to a target. The FM-CW radar performs triangular frequency modulation (FM modulation) on the transmission signal in the millimeter wave band, radiates the transmission signal to the target, mixes the reflected signal from the target and a part of the transmission wave. The beat signal frequency is detected to calculate the relative distance and relative speed to the target (see, for example, Non-Patent Document 1).

  FIG. 16 is a schematic configuration diagram of a conventional FM-CW radar. 161 is an FM modulation voltage generator that generates an FM modulation voltage that periodically changes in a triangular shape, and 162 is supplied from the FM modulation voltage generator 161. A voltage-controlled oscillator that outputs a triangular FM-CW wave by changing the oscillation frequency in accordance with the voltage, and a distribution 163 that distributes the triangular FM-CW wave to a transmission antenna 164 described later and a mixer 166 described later. Circuit 164 is a transmitting antenna that radiates the triangular FM-CW wave toward the target, 165 is a receiving antenna that receives the reflected signal reflected from the target, and 166 is a triangular shape with the received reflected signal. A mixer that mixes a part of the FM-CW wave and outputs a beat signal between the two signals. 167 detects the beat signal frequency and measures the distance to the target and the relative speed. A signal processing unit for. Here, since the beat signal frequency includes the signal component of the distance to the object and the relative speed, the distance is obtained by adding the up beat frequency and the down beat frequency, and the up beat frequency and the down beat frequency are obtained. The relative speed can be obtained by taking the difference in frequency.

Here, the voltage control oscillator 162 generally has a non-linear control voltage vs. oscillation frequency characteristic depending on the characteristics of the constituent elements. In addition, the control voltage vs. oscillation frequency characteristics change due to temperature fluctuations and aging. FIG. 17 shows the control voltage vs. oscillation frequency characteristics of the voltage controlled oscillator. The horizontal axis is the control voltage, and the vertical axis is the frequency. From FIG. 17, when the maximum oscillation frequency F _MAX is obtained, the control voltage of the voltage controlled oscillator 162 is V _MAX (M) at room temperature but V _MAX (H) at high temperature, and the minimum oscillation frequency F _MIN Is obtained at room temperature, V _MIN (M), but at high temperature, V _MIN (H).

  Further, since the characteristic curve itself of the control voltage vs. oscillation frequency fluctuates, the frequency linearity and frequency modulation of the FM-CW signal are caused by the nonlinearity of the control voltage vs. oscillation frequency characteristic of the voltage controlled oscillator 162 and the fluctuation due to temperature change. The width is not constant. As a result, an error occurs in the relative distance and relative speed to the target calculated by the signal processing unit 167, so that the target cannot be accurately detected. For this reason, the FM modulation voltage generator 161 needs a means for correcting the nonlinearity of the control voltage versus the oscillation frequency of the voltage controlled oscillator 162 and the fluctuation due to the temperature fluctuation and the secular change.

  As a method of correcting the non-linearity of the control voltage vs. frequency characteristic and the frequency variation due to temperature or the like in the voltage controlled oscillator 162 described above, a non-linearity stored in advance is provided with means for storing correction data and means for detecting temperature. There is a method for controlling the FM modulation voltage using the correction value and the temperature correction value (see, for example, Patent Document 1 and Patent Document 2).

Further, in order to suppress the detection error of the relative distance to the target and the relative speed, a method of stabilizing the IF band local oscillation source by using a phase locked loop (hereinafter referred to as PLL) to make a local signal of the received wave (for example, Patent Document 3). Furthermore, as a device having a radar function and a communication function, there is a communication device in which an FM-CW radar function is added to the self-excited communication device in a communication system including a self-excited communication device and a transponder (see, for example, Patent Document 4). .
“Basics and Applications of Millimeter-Wave Technology”, Part 2, Chapter 2, 4.5.2 FMCW System, Publisher Realize, 1998 pp. 233-234 JP-A-10-197625 (paragraphs 0013 to 0022, FIGS. 1 and 2) JP-A-8-146125 (paragraphs 0014 to 0019, FIGS. 2, 3, and 4) JP-A-8-338868 (paragraphs 0009 to 0014, FIG. 1) Japanese Patent Laying-Open No. 2005-109759 (paragraphs 0019 to 0026, FIG. 1)

  As described above, the conventional method for correcting the frequency linearity and the frequency modulation width of the FM-CW signal in the FM-CW radar apparatus, the frequency stabilization method provided for the radar apparatus, and the FM-CW radar have a wireless communication function. Although the above-described radar apparatus has been described, the above-described methods and apparatuses have the following problems.

  In the method of controlling the FM modulation voltage using the frequency nonlinearity correction value and the temperature correction value stored in advance based on the temperature information obtained by the temperature detection means of Patent Document 1 and Patent Document 2, an individual voltage-controlled oscillator is used. Since there is a difference, it is necessary to obtain the frequency nonlinearity correction data for every temperature in all apparatuses, which requires a large adjustment man-hour and is disadvantageous in terms of adjustment costs during manufacturing.

  Furthermore, since it is necessary to store the frequency nonlinearity correction data acquired for each temperature, the storage capacity becomes enormous and the circuit scale increases. The method of stabilizing the IF band local oscillation source by using the PLL of Patent Document 3 and making it a local signal of the received wave is effective for a pulse type radar apparatus, but is applied to an FM-CW type radar apparatus. No mention is made of a method for keeping the frequency linearity and frequency modulation width of the FM-CW signal constant. In addition, a frequency modulation input having a frequency width of about several tens to several hundreds of MHz in the millimeter wave band is required, resulting in an increase in circuit scale and cost.

  A communication apparatus in which an FM-CW radar function is added to the self-excited communication apparatus of Patent Document 4 refers to correction for fluctuations in frequency modulation width and frequency linearity due to temperature fluctuations and secular changes in FM-CW wave generation. Therefore, it is difficult to ensure radar performance such as relative distance and relative speed.

  The present invention has been made in view of such problems. First, a radar that transmits an FM-CW wave, receives a reflected signal from the target, and detects a relative distance and a relative speed from the target. In the apparatus, a frequency modulation circuit that generates an FM-CW wave in which a certain frequency modulation width and frequency linearity are secured without incurring an increase in circuit scale and cost including adjustment man-hours at the time of manufacturing the apparatus, and An object of the present invention is to provide an FM-CW radar device that uses the frequency modulation circuit and has high accuracy in detecting the relative distance and the relative velocity with respect to the target.

  Second, in a communication integrated radar device that integrates a radar function and a wireless communication function, detection of the relative distance and relative speed with respect to the target is minimized without increasing the circuit scale and increasing the price. An object of the present invention is to provide a communication integrated radar apparatus having a radar function with high accuracy and a wireless communication function capable of performing stable wireless communication with high frequency accuracy.

  In order to achieve the above object, the present invention generates and stores unmodulated wave control voltage data and control step values for frequency correction in a frequency measurement mode that operates at a fixed period, and stores the generated data in the radar mode or radar / communication mode An FM-CW wave or an unmodulated frequency is generated and output from the unmodulated wave control voltage data and the control step value.

According to a first aspect of the present invention, in the frequency modulation circuit of the FM-CW radar device or the communication integrated radar device, non-modulation obtained by generating a plurality of non-modulated frequencies having a constant frequency interval by PLL processing in the frequency measurement mode Wave control voltage data and control step value are stored. Based on the non-modulated wave control voltage data and control step value, the non-modulated control voltage vs. oscillation frequency characteristic of the voltage controlled oscillator is corrected in the FM-CW wave output slot. The FM-CW wave is output as an unmodulated frequency in the radio communication slot, and the frequency measurement mode is operated at a constant period, whereby the unmodulated wave control voltage data and the control step value are updated and stored, and the temperature in the voltage controlled oscillator It is characterized in that it is corrected at any time so as to suppress the frequency fluctuation due to the influence of fluctuation and aging.

According to a second aspect of the present invention, in the frequency modulation circuit of the FM-CW radar device or the communication integrated radar device, unmodulated wave control voltage data obtained sequentially for each unmodulated frequency to be measured in the first frequency measurement mode immediately after startup. In the subsequent frequency measurement mode, PLL processing is performed using the unmodulated wave control voltage data stored for each unmodulated frequency to be measured as the PLL initial setting voltage, and the unmodulated wave control voltage data after pulling in the PLL operation is stored. By updating and storing the PLL initial setting voltage of the next frame, the pull-in time of the PLL operation can be increased by correcting only the temperature fluctuation with respect to the unmodulated wave control voltage data stored in the immediately preceding frequency measurement mode. The frequency measurement mode is executed in a short time.

According to a third aspect of the present invention, in the frequency modulation circuit of the FM-CW radar device or the communication integrated radar device, the reference oscillation unit is realized by a numerically controlled oscillation unit, and the frequency division of the unmodulated frequency in the PLL processing is fixed. By setting the frequency to a frequency, it is possible to freely set the number of divisions of the frequency modulation width of the FM-CW wave by changing the reference frequency and performing PLL processing, and by setting the comparison frequency at a high speed. The frequency measurement mode is executed in a short time by increasing the PLL pull-in time.

According to a fourth aspect of the present invention, in an FM-CW radar apparatus that transmits an FM-CW wave and receives an FM-CW reflected wave, the frequency measurement mode is operated at a constant period with respect to the radar mode, thereby generating a voltage. An FM-CW wave that secures a constant frequency modulation width and frequency linearity while suppressing the influence of temperature fluctuation or the like in the controlled oscillator is output, and the detection error of the relative distance and relative speed of the target is suppressed.

According to a fifth aspect of the present invention, there is provided a communication integrated radar device that transmits an FM-CW wave and a radio communication transmission wave in a time division manner, and receives an FM-CW reflected wave and a transmission wave of a slave station radio communication device. / FM-CW wave with high frequency accuracy and frequency measurement mode that operates at a fixed period and suppresses the influence of temperature fluctuations in the voltage controlled oscillator to ensure a constant frequency modulation width and frequency linearity Outputs transmission wave for communication, and radar / communication mode operates FM-CW wave output slot and wireless communication slot alternately to extract highly accurate ranging data in radar function and stable wireless communication in communication function It is characterized by being performed in time division.

According to a sixth aspect of the present invention, there is provided a communication integrated radar device that transmits FM-CW waves and data communication transmission waves in a time division manner and receives FM-CW reflected waves and transmission waves of a slave station wireless communication device. An FM-CW wave and a radio communication with high frequency accuracy in which the frequency measurement mode is operated at a constant period with respect to the communication mode to suppress the influence of temperature fluctuation or the like in the voltage controlled oscillator and ensure a constant frequency modulation width and frequency linearity. The transmission / reception wave is output, and the radar / communication mode is determined by the radar priority mode, the FM-CW wave output slot, and the radio including a plurality of FM-CW wave output slots and one radio communication slot depending on the presence / absence of a slave station radio communication device. Switches between communication priority modes in which communication slots are output alternately. When there is no slave station wireless communication device, the radar priority mode operates mainly on the radar function, If the wireless communication device is present, characterized in that alternately operated the communication function with the radar function in communication priority mode.

According to the first aspect , in the frequency measurement mode, by storing the frequency control data obtained by the PLL processing, the frequency modulation width of the FM-CW wave output in the FM-CW wave output slot is kept constant, and The frequency linearity can be ensured, and the frequency accuracy of the non-modulated frequency output in the wireless communication slot can be improved. Further, by repeating the frequency measurement mode at a constant cycle, it is possible to update the frequency control data at any time and eliminate the frequency fluctuation due to the temperature fluctuation of the voltage controlled oscillator.

According to the second aspect , in the frequency measurement mode PLL processing, the frequency control data stored in the immediately preceding frame is used to shorten the frequency measurement mode execution time by speeding up the PLL processing. The operation time ratio of the radar mode or the radar / communication mode within the frame period can be increased.

According to the third aspect , in the frequency measurement mode PLL processing, the frequency measurement mode execution time is shortened by speeding up the PLL processing by setting the comparison frequency at a high speed by making the frequency division number variable. As a result, the operation time ratio of the radar mode or the radar / communication mode within one frame period can be increased. In addition, since the number of divisions of the frequency modulation width can be set freely, finer frequency nonlinearity correction can be performed.

According to the fourth aspect , the frequency modulation width is kept constant and the frequency linearity is ensured by using the frequency modulation circuit according to any of the first to third aspects in the FM-CW radar device. Since the FM-CW wave thus output can be output, the measurement accuracy of the distance measurement data is high, and the accurate relative velocity and relative distance of the target can be obtained.

According to the fifth aspect , by using the frequency modulation circuit according to any one of the first to third aspects in the communication integrated radar apparatus, the frequency modulation width is kept constant in the radar / communication mode, and By alternately performing time-division between an FM-CW wave output slot that outputs an FM-CW wave in which frequency linearity is ensured and a radio communication slot that outputs a transmission wave with high frequency accuracy, a slave station radio communication device It is possible to extract accurate distance measurement data of a target equipped with a slave station wireless communication device that changes every moment while performing stable wireless communication. In addition, since the extracted distance measurement data and the reception data from the slave station wireless communication device can be processed in association with each other, it can be applied to various applications.

According to the sixth aspect, in the radar / communication mode communication integrated radar system, radar priority mode having an increased proportion of FM-CW wave output slot depending on the presence or absence of a target equipped with a slave station communication devices and FM -By switching the communication priority mode in which the CW wave output slot and the radio communication slot are alternately switched in a time-sharing manner, the circuits and processes used for the radio communication are stopped at a fixed rate when there is no slave station radio communication device. Therefore, power consumption of the circuit can be suppressed.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
(First embodiment)
FIG. 1 is a configuration diagram of a first frequency modulation circuit according to the present invention. In the figure, 1 is a voltage controlled oscillator, 2 is a distribution circuit, 3 is a PLL processing unit, 31 and 32 are frequency dividers, 33 is a phase comparison circuit, 34 is a lock detection circuit, 35 is a filter circuit, and 4 is a reference oscillation circuit 5 is an A / D converter, 6 is a control voltage data generation unit, 61 is a control step value generation circuit, 62 is a storage circuit, 63 is an integration circuit, 64 is an addition circuit, 7 is a D / A converter, and 8 is a low pass filter (LPF), 9 is a switch (SW) circuit, 10 a frequency modulation processing control unit, F _OUT oscillation frequency of the voltage controlled oscillator 1, F _R is the reference oscillation output, M _K is set to the frequency divider 31 variable frequency division number corresponding to that frequency number K (Comparative divisor), R ₁ fixed frequency division number is set to the frequency divider 32 (reference divisor), LD is the phase synchronization state of the PLL processing unit 3 Is the lock detection signal V _K (J) representing the PLL processing unit 3 Continuous wave control voltage of the frequency number K in the J-th frame to be al output, VD _K (J) are unmodulated wave control by converting continuous wave control voltage V _K at the J-th frame (J) into a digital value The voltage data (ΔVD _K (J) / Q) indicates the control step value in the section of frequency numbers (K−1) to K in the J-th frame.

FIG. 2 is a diagram showing an example of frequency division of the control voltage versus oscillation frequency characteristic of the voltage controlled oscillator according to the present invention. FIG. 3 is an operation flowchart of the frequency modulation circuit. FIG. 4 is a flowchart of a first frequency measurement mode showing a procedure for generating an unmodulated wave frequency and holding unmodulated wave control voltage data. FIG. 5 is a flowchart of FM-CW wave output slot processing in the radar mode or the radar / communication mode showing the procedure for generating and outputting triangular wave modulation waveform data. FIG. 6 is an example of a frequency output timing chart of the first frequency modulation circuit according to the present invention, and shows a case where a radar mode composed of only a frequency measurement mode and an FM-CW wave output slot is executed. In the timing chart example of FIG. 6, T _PK is the PLL pull-in time of the unmodulated frequency of frequency number K in the first frequency measurement mode, TM is the first frequency measurement mode time, and T _TR1 is the FM-CW wave output slot time. , TR is the radar mode time.

The operation of the frequency modulation circuit according to the first embodiment will be described below.
The first frequency modulation circuit shown in FIG. 1 operates according to the flowchart shown in FIG. 3 and first executes the frequency measurement mode 301. Next, the counter initialization process 302 initializes the output slot number counter CNT. When the frequency modulation circuit operates in the frequency measurement mode and the radar mode, the output slot determination process 303 is controlled so that only the FM-CW wave output slot process 304 is selected, and the FM-CW wave output slot process 304 is performed. Each time it is executed, the counter addition process 306 adds 1 to the output slot number counter CNT, and the FM-CW wave output slot process 304 is repeated until the slot execution count S set in the counter value determination process 307 is reached.

  Further, when operating in the frequency measurement mode and the radar / communication mode, the FM-CW wave output slot process 304 or the radio communication slot process 305 is selected and controlled in the output slot determination process 303, and the FM-CW wave output slot process 304 or Each time the wireless communication slot process 305 is executed, the counter addition process 306 adds 1 to the output slot number counter CNT, and the FM-CW wave output slot process until the slot execution count S set in the counter value determination process 307 is reached. 304 or wireless communication slot processing 305 is executed.

  This frequency modulation circuit operates with the above series of processes as one frame period, and when the slot execution count S is reached in the counter value determination process 307, returns to the frequency measurement mode 301 and starts the next frame operation.

In the first frequency measurement mode, as shown in FIG. 2, the frequency width from the minimum oscillation frequency F _MIN to the maximum oscillation frequency F _MAX is equally divided into N (N = 2 ⁿ ) F ₀ (= F _MIN ) ˜ (N + 1) non-modulated frequencies F _K (K = 0 to N) up to F _N (= F _MAX ) are sequentially and repeatedly generated (N + 1) times from frequency number K = 0 to N as shown in FIG. obtaining a control voltage V _K of the unmodulated frequency F _K and.

The control voltage V _K is converted into a digital value and held as unmodulated wave control voltage data VD _K. Further, (ΔVD _K / Q) obtained by dividing the difference ΔVD _K between the unmodulated wave control voltage data VD _K and VD _K−1 by the control step value integration number Q (Q = 2 ^q ) is held as a control step value. Thereafter, the mode changes to the radar mode or the radar / communication mode, and in the FM-CW wave output slot processing, the control step value (ΔVD _K / Q) stored in the first frequency measurement mode, the unmodulated wave control voltage data VD Triangular wave modulation waveform data is generated based on _K.

The triangular wave modulation waveform data is converted into a triangular wave modulation control voltage, the voltage controlled oscillator 1 is controlled by the triangular wave modulation control voltage, and the oscillation frequency F _OUT becomes a triangular FM-CW wave. In the wireless communication slot process, the unmodulated wave control voltage data VD _K stored in the first frequency measurement mode is converted into an unmodulated wave control voltage, and the oscillation frequency F _OUT becomes the unmodulated frequency F _K.

Next, the operation of the first frequency measurement mode and the FM-CW wave output slot process will be described in detail with reference to FIGS.
In FIG. 4, when the first frequency measurement mode is started, first, in the initial setting process 401, the input of the SW circuit 9 is connected to the filter circuit 35 side so that the voltage controlled oscillator 1 can control the unmodulated wave control voltage of the PLL processing unit 3. Is set according to the mode switching signal set from the frequency modulation processing control unit 10 so as to be controlled by the frequency modulation processing control unit 10, and the reference frequency division number R that is a fixed value is set from the frequency modulation processing control unit 10 to the frequency dividing circuit 32. An initial value 0 is set to the frequency number K. Here, the maximum value of the frequency K is N.

Next, in the comparative frequency division number setting process 402, the frequency modulation processing control unit 10 sets the comparative frequency division number M ₀ corresponding to the frequency number K = 0 in the frequency divider circuit 31. In the PLL processing 403, the PLL processing unit 3 is operated to obtain the unmodulated frequency F _0, and the comparison frequency (F _OUT / M ₀ obtained by _dividing the output F _OUT of the voltage controlled oscillator 1 by the frequency dividing circuit 31 is obtained. ) and the reference oscillation output F divided by _R frequency divider 32 to the obtained reference frequency (F _R / R ₁₎ and are input to the phase comparator 33, a phase difference signal is extracted.

The phase difference signal is smoothed by the filter circuit 35, input to the voltage controlled oscillator 1 through the SW circuit 9, and the oscillation frequency F _OUT is controlled. The above operation is a closed loop control process. Finally, F _OUT = F _{0 and the} lock detection circuit 34 changes the lock detection signal LD from “0” to “1” (“0” is an unlocked state, “1”). Is locked). After the frequency modulation processing control unit 10 determines that the PLL processing unit 3 is in the locked state based on the state of the lock detection signal LD, the control voltage data generation unit 6 in the A / D data capture processing 404 determines that the non-modulated frequency F _0. The unmodulated wave control voltage data VD ₀ (1) obtained by converting the unmodulated wave control voltage V ₀ (1) into a digital value by the A / D converter 5 is captured, Unmodulated wave control voltage data VD ₀ (1) is stored in the memory circuit 62.

In the frequency number minimum value determination process 406, it is determined whether or not the frequency number K is the minimum value 0. If K = 0, the process proceeds to the frequency number maximum value determination process 408. When K ≠ 0, in the control step value calculation / storage process 407, the control step value generation circuit 61 causes the difference ΔVD _K between the unmodulated wave control voltage data VD _K (1) and VD _K-1 (1). (1) is calculated and (ΔVD _K (1) / Q) divided by the control step value integration number Q (Q = 2 ^q ) is stored in the storage circuit 62 as the control step value, and the frequency number maximum value determination processing 408 is performed. Transition to.

In the frequency number maximum value determination processing 408, it is determined whether or not the frequency number K is the maximum value N. If the frequency number K has not reached the maximum value N, the frequency number setting processing 409 adds 1 to the value of the frequency number K and updates it. The process returns to the comparison frequency division number setting process 402. Thereafter, repeated comparison frequency division number setting process 402 to frequency number maximum value determination process 408, unmodulated frequency _{F 1, F 2, ... F} N are sequentially generated by continuous wave control voltage corresponding to the unmodulated frequency F _K Data ΔVD _K (1) and control step value (ΔVD _K (1) / Q) are stored, and when frequency number K reaches N in frequency number maximum value determination processing 408, that is, unmodulated wave control voltage data VD _N After storing (1) and the control step value (ΔVD _N (1) / Q), the first frequency measurement mode is terminated.

By the above processing, the unmodulated wave control voltage data VD ₀ (1) to VD _N (1) and the control step value (ΔVD ₁ (1) /) corresponding to the unmodulated frequencies F _{0 to} F _N in the first frequency measurement mode. Q) to (ΔVD _N (1) / Q) are sequentially stored in the memory circuit 62. When the first frequency measurement mode is completed, the mode shifts to the radar mode or the radar / communication mode. In the radar mode, only the FM-CW wave output slot is used. In the radar / communication mode, the FM-CW wave output slot or the radio communication slot is used. Execute.

In the FM-CW wave output slot process of FIG. 5, in the initial setting process 501, the input of the SW circuit 9 is connected to the LPF 8 side so that the voltage controlled oscillator 1 is controlled by the control voltage output from the control voltage data generation unit 6. The initial value 0 is set to the control step value integration counter L (the maximum value of L is Q-1 and Q = 2 ^q ), and the initial value 1 is set to the frequency number K. Further, unmodulated wave control voltage data VD ₀ (1) is set as control voltage offset data at one input of the adder circuit 64, and triangular wave modulated waveform data VD _TR1 (1) is held with VD ₀ (1) as an initial value. And output from the control voltage data generation unit 8.

The triangular wave modulation waveform data VD _TR1 is converted into an analog value by the D / A converter 7 by the D / A output processing 502 and output. Thereafter, in the upward triangular wave modulation waveform data generation processing 503, the control step value (ΔVD ₁ (1) / Q) is set in the integration circuit 63, the control step integration value is generated, and the control voltage offset data VD ₀ (1) is generated. The triangular wave modulation waveform data VD _TR1 is updated by adding, held, and output.

The triangular wave modulation waveform data VD _TR1 (1) to which the control step integrated value is added is converted to an analog value in the D / A converter 7 by the D / A output processing 504. In the cumulative number determination process 505, it is determined whether the cumulative number L is the maximum value Q−1. If the cumulative number L has not reached the maximum value Q−1, the cumulative number addition process 506 adds 1 to the value of the cumulative number L. Are added, the upward triangular wave modulation waveform data generation processing 503 and the D / A output processing 504 are executed again to generate, update and output the triangular wave modulation waveform data VD _TR1 (1).

When the integration number L reaches the maximum value Q−1, the control voltage data generation unit 8 outputs the triangular wave modulation waveform data VD _TR1 (1) in the section from frequency number 0 to frequency number 1. Thereafter, an initial value 0 is set to the integration number L in the integration number initialization process 507, and it is determined whether or not the frequency number K is the maximum value N in the frequency number determination process 508, and the frequency number K does not reach the maximum value N. By adding 1 to the value of the frequency number K in the frequency number setting process 509 and updating it, and by executing a series of processes from the upward triangular wave modulation waveform data generation process 503 until the frequency number K reaches the maximum value N, the integrating circuit 63 Are sequentially set with control step values (ΔVD ₂ (1) / Q) to (ΔVD _N (1) / Q) corresponding to the value of the frequency number K, and the unmodulated wave control voltage data VD _{0 is set.} Control voltage data is generated in the upward triangular wave modulation waveform data generation section in which (1) → VD ₁ (1) → VD ₁ (2) →... → VD _N (1).

After the frequency number K = N, in the downward triangular wave modulation waveform data generation processing 510, the control step value (ΔVD _N (1) / Q) is set in the integration circuit 63 to generate the control step value integration value. triangular wave modulation waveform data VD _TR1 is held a control step integrated value at the end of the uplink triangular wave modulation waveform data generation section (1), that is subtracted from VD _N (1), updates the triangular wave modulation waveform data VD _TR1 (1) And output. The triangular wave modulation waveform data VD _TR1 updated in the D / A output processing 511 is converted into an analog value by the D / A converter 7 and output.

In the integration number determination process 512, it is determined whether or not the integration number L is the maximum value Q-1. If the maximum value Q-1 is not reached, the integration number addition process 513 adds 1 to the value of the integration number L and updates it. Downward triangular wave modulation waveform data generation processing 510 and D / A output processing 511 are executed again to generate, update, and output triangular wave modulation waveform data VD _TR1 (1).

When the integration number L reaches the maximum value Q-1, the control voltage data generation unit 8 has output the triangular wave modulation waveform data VD _TR1 (1) in the section from the frequency number N to (N-1). Thereafter, an initial value 0 is set to the integration number L in the integration number initialization process 514, and it is determined whether or not the frequency number K is the minimum value 1 in the frequency number determination process 515. When the frequency number K does not reach the minimum value 1, the frequency number subtraction process 516 updates the value of the frequency number K by subtracting 1 from the value of the frequency number K until the frequency number K reaches the minimum value 1. By executing a series of processes from 510, control step values (ΔVD _N-1 (1) / Q), (ΔVD _N-2 (1) / Q) corresponding to the value of the frequency number K are stored in the integrating circuit 63. ..., (ΔVD ₁ (1) / Q) is sequentially set and integration processing is performed, and non-modulated wave control voltage data VD _N (1) → VD _N-1 (1) → ... → VD ₀ (1) A control voltage is generated in the transitional section of the falling triangular wave modulation waveform data that is transitioned.

Through the above series of processing, triangular wave modulation waveform data VD _TR1 (1) for one cycle of the FM-CW wave output slot is output. The triangular wave modulation waveform data VD _TR1 (1) is sequentially converted to an analog value by the D / A converter 7 at a constant timing, and the harmonic component including the sampling clock of the D / A converter 7 is removed by the LPF 8 to switch SW. The voltage controlled oscillator 1 is supplied to the voltage controlled oscillator 1 via the circuit 9 so that the frequency modulation width becomes constant and the nonlinearity in the control voltage versus oscillation frequency characteristic of the voltage controlled oscillator 1 is corrected. The FM-CW wave according to the triangular wave modulation waveform data VD _TR1 (1) is output.

When the first frequency modulation circuit operates in the radar mode, as described in the explanation of the operation flowchart of the frequency modulation circuit shown in FIG. 3, the first frequency measurement mode shown in FIG. The FM-CW wave output slot process is executed for S slots to make one frame period. Here, the number of executions S of the FM-CW wave output slot process may be set so that the temperature variation due to the time change of the oscillation frequency F _OUT of the voltage controlled oscillator 1 is sufficiently within the allowable deviation.

After the operation of the first frame is completed, transition to the second frame is performed, and the first frequency measurement mode is executed to correct the temperature variation of the oscillation frequency F _OUT of the voltage controlled oscillator 1 due to the time change. VD _K (2) and a control step value (ΔVD _K (2) / Q) are generated to update the storage circuit 62, and the control step value (ΔVD _K (2) / The FM-CW wave according to the triangular wave modulation waveform data VD _TR1 (2) generated by Q) is output. Thereafter, the control mode value (ΔVD _K (J) / Q) is generated and updated by repeating the first frequency measurement mode and the radar mode composed of the FM-CW wave output slot executed S times, and the triangular wave modulation is performed. An FM-CW wave according to the waveform data VD _TR1 (J) is output, and the temperature variation of the oscillation frequency F _OUT of the voltage controlled oscillator 1 is corrected as needed.

  FIG. 6 is an example of a frequency output timing chart when the first frequency modulation circuit executes the frequency measurement mode and the radar mode. The first frequency measurement mode time TM and the radar mode time TR are shown in FIG. The relationship is described.

  The first frequency measurement mode time TM, the radar mode time TR, and the frame period time TF are obtained by equations (1), (2), and (3) as shown in FIG.

TR = T _TR1 × S (seconds) (2)
TF = TM + TR
= T _PK × (N + 1) + T _TR1 × S (seconds) (3)
Further, the frequency measurement mode execution ratio ΔTM in one frame cycle time can be obtained by equation (4).

ΔTM = (TM / TF) × 100 (%) (4)
Here, the PLL pull-in time T _PK of the unmodulated frequency of frequency number K in the first frequency measurement mode is the frequency division number N, the maximum oscillation frequency F _MAX , the minimum oscillation frequency F _MIN , the reference oscillation output F _R, and the reference component. Although it depends on the filter circuit 35 designed with the frequency R as a parameter, it can be realized in about 1 millisecond. When N = 8, TM is about 10 milliseconds or less. In general, the temperature rise inside the device over time is dominated by self-heat dissipation immediately after the device power is turned on, and the airtightness is high, and a general cooling device (such as a heat dissipation fan) is not installed. As a result of experimentally measuring the temperature rise inside the device with only the heat radiating fins of the device case, it takes about 100 seconds to rise by 1 ° C.

When FM-CW wave output slot time T _TR1 = 1 millisecond and the first frequency measurement mode is executed for every fluctuation within 1 ° C., frame period time TF = 50 seconds including a sufficient margin In this case, ΔTM = 0.02 (%), and the number of distance measurement data extraction is not greatly affected.

  The operation of the first frequency modulation circuit that executes the frequency measurement mode and the radar mode has been described above in detail. Next, the case where the first frequency modulation circuit executes the frequency measurement mode and the radar / communication mode will be described. When the radar / communication mode is executed, the FM-CW wave output slot process 304 or the radio communication slot process 305 is selectively executed in the output slot determination process 303 in the operation flowchart of the frequency modulation circuit shown in FIG.

In the wireless communication slot processing 305, continuous wave control data VD _K unmodulated frequency F _K from the storage circuit 62 in FIG. 1 is set to the adding circuit 64 is read, the addition circuit 64 is continuous wave by slot switching signal only the control voltage data VD _K is controlled to be output. The non-modulated wave control voltage data VD _K is converted to the non-modulated wave control voltage V _K by the D / A converter 7 and input to the voltage controlled oscillator 1 through the LPF 8 and the SW circuit 9 and is first in the wireless communication slot section. The frequency modulation circuit outputs an unmodulated frequency F _K. Here, by making the wireless communication slot time and the FM-CW wave output slot time the same, the counter addition process 306 and the counter value determination process 307 remain the same, and the operation can be performed with the same frame cycle time as in the radar mode execution. It is.

As described above, according to the first embodiment, in the frequency modulation circuit of the FM-CW radar device or the communication integrated radar device, the PLL processing is performed in the first frequency measurement mode that operates at a fixed frame period. The control step value (ΔVD _K / Q) calculated from the unmodulated wave control voltage data VD _K and the unmodulated wave control voltage data VD _K that are sequentially generated is stored, and the control step value (ΔVD _K / Q) is stored in the FM-CW wave output slot ( By generating and outputting an FM-CW wave from the triangular wave modulation waveform data VD _TR1 generated from ΔVD _K / Q) and an unmodulated frequency F _K from the unmodulated wave control voltage data frequency VD _K , the temperature of the voltage controlled oscillator 1 is output. Since frequency output fluctuations due to fluctuations and secular changes can be corrected at any time, the frequency change of FM-CW waves can be corrected without acquiring and storing correction data in the adjustment process during device manufacturing. The adjustment width can be kept constant, frequency linearity can be secured, and a non-modulated frequency for wireless communication can be output with high accuracy. Further, in the frequency modulation circuit, the control voltage data generation unit and the frequency modulation processing unit can be digital signal processing.
(Second Embodiment)
FIG. 7 is a configuration diagram of a second frequency modulation circuit according to the present invention. The second frequency modulation circuit of FIG. 7 is obtained by adding an adder circuit 36 to the configuration of the first frequency modulation circuit shown in FIG. Other configurations are the same as those in FIG. FIG. 8 is a flowchart of the second frequency measurement mode. In the flowchart shown in FIG. 8, the initial setting process 401 in the flowchart shown in FIG. 4 is replaced with an initial setting process 801, and the unmodulated wave setting process 802 is replaced with a frequency number setting process immediately before the comparative frequency division number setting process 402. A control voltage data output setting process 803 is added to one branch destination of 409.

FIG. 9 is an example of a frequency output timing chart of the second frequency modulation circuit according to the present invention, and shows a case where a radar mode composed of a frequency measurement mode and an FM-CW wave output slot is executed. In the timing chart example shown in FIG. 9, TM (J) is the time required for the second frequency measurement mode in the J-th frame, and T _PK (J) is the PLL of the unmodulated frequency of frequency number K in the J-th frame. Pull-in time.

  The second frequency modulation circuit shown in FIG. 7 operates according to the flowchart shown in FIG. 3 in the same manner as the first frequency modulation circuit in the first embodiment, but the frequency measurement mode 301 is the second frequency. It is executed in measurement mode. The operation in the second frequency measurement mode will be described below with reference to FIGS.

  In the flowchart of the second frequency measurement mode shown in FIG. 8, when the operation of the first frame is started, in the initial setting process 801, the input of the SW circuit 9 is connected to the filter circuit 34 side, and the voltage controlled oscillator 1 is connected to the PLL. The control unit 3 is set to be controlled by the non-modulated wave control voltage, the fixed frequency division number R is set for the frequency dividing circuit 32, and the initial value 0 is set for the frequency number K. According to the mode switching signal, only the output from the memory circuit 62 which is one input of the adder circuit 64 is set to be output.

Next, in the non-modulated wave setting processing 802, the non-modulated wave control voltage data VD ₀ (0) is read from the storage circuit 62 and converted into an analog value via the adder circuit 64, the D / A converter 7 and the LPF 8. The unmodulated wave control voltage V ₀ (0) is input to the voltage controlled oscillator 1. Here, since VD _K (0) of the storage circuit 62 stores “0” (initial value at power-on) at the start time of the first frame in the second frequency measurement mode, V ₀ (0). = 0 [V]. In the comparative frequency dividing number setting process 402, the frequency dividing number M ₀ is set in the frequency dividing circuit 31, and in the PLL process 403, the operation of the PLL processing unit 3 is started and the unmodulated wave control voltage V ₀ that is the output of the LPF 8 is set. The output V ₀ (1) of the addition circuit 36 obtained by adding (0) and the phase difference voltage ΔVφ (1) that is the output of the filter circuit 35 is input as the control voltage of the voltage controlled oscillator 1 via the SW circuit 9. Then, the non-modulation frequency F ₀ is oscillated by the closed loop control.

Here, since V ₀ (0) = 0 [V], only V ₀ (1) = ΔVφ (1) is provided to the voltage controlled oscillator 1, so the second frequency measurement mode shown in FIG. The PLL pull-in time T _P0 (1) of the non-modulated frequency F ₀ in the first frame at is substantially the same as the PLL pull-in time T _{P0 in} the first frequency measurement mode, and T _P0 (1) ≈T _P0 . Thereafter, in the frequency number determination process 409, until the frequency number K is determined to be the maximum value N, in the non-modulated wave setting process 802, the non-modulated wave control voltage data VD _K (0) is sequentially set and the PLL process 403 and subsequent steps are performed. The processing is the same as in the first frequency measurement mode, and the unmodulated wave control voltage data VD ₀ (1), VD ₁ (1), VD ₂ (1),..., VD _N (1) and the control step value (ΔV ₁ (1) / Q), (ΔVD ₂ (1) / Q),..., (ΔVD _N (1) / Q) are sequentially stored in the storage circuit 62.

After K = N in the frequency number determination process 409, in the control voltage data output setting process 803, the addition circuit 64 is set so that the output of the storage circuit 62 and the output of the integration circuit 63 can be added and calculated. Exit the frequency measurement mode. When the second frequency measurement mode of the first frame is completed, the mode shifts to the radar mode or the radar / communication mode. In the radar mode, only the FM-CW wave output slot is used. In the radar / communication mode, the FM-CW wave output slot is used. The communication slot is executed to perform the operation described in the first embodiment, and the voltage controlled oscillator 1 performs FM-CW wave or unmodulated wave control voltage data VD _K (in accordance with the triangular wave modulated waveform data VD _TR1 (1). The unmodulated frequency F _{K according} to 1) is output.

Thereafter, as in the first embodiment, the frame operation configured by the second frequency measurement mode and the radar mode or the radar / communication mode is executed. Since the modulation wave setting processing 802 stores the non-modulation wave control voltage data VD _K (1) stored in the first frame in the storage circuit 62, the addition circuit 64 outputs 1 corresponding to the non-modulation frequency F _K. When the unmodulated wave control voltage data VD _K (1) of the frame is output and the PLL processing 403 generates the unmodulated frequency F ₀ , the output V ₀ (2) of the adder circuit 36 is the unmodulated wave control voltage V ₀ (1) and the phase difference voltage ΔVφ (2), and the PLL processing unit 3 takes only the temperature fluctuation of the voltage controlled oscillator 1 generated over time with the unmodulated wave control voltage V ₀ (1) as an initial value. Phase difference Since it may generate a pressure ΔVφ (2), PLL lead-in time T _P0 (2) is shortened remarkably as compared with the first frame of the PLL pull-in time _{T P0 (1), T P0} (2) << T _P0 (1).

Since the same applies to the generation of the unmodulated frequencies F _{2 to} F _N , it is clear that T _PK (2) << T _PK (1). By executing the second frequency measurement mode also in subsequent frames, the second frequency measurement mode, which is the sum of the PLL pull-in times T _PK (J), can be set in a short time in the J-th frame except the first frame. realizable.

As described above, according to the second embodiment, in the frequency modulation circuit of the FM-CW radar device or the communication integrated radar device, the voltage-controlled oscillator is executed by executing the second frequency measurement mode in the frame period. The frequency output fluctuation due to temperature fluctuation and secular change of the FM-CW wave can be corrected at any time, the frequency fluctuation width of the FM-CW wave can be kept constant, the frequency linearity can be secured, and the frequency accuracy of the unmodulated frequency can be stabilized. The second frequency measurement is performed by shortening the PLL pull-in time by performing the PLL operation using the unmodulated wave control voltage data stored in the immediately preceding frequency measurement mode as the initial value in the second frequency measurement mode after the second frame. The time required for the mode is shortened to reduce the frequency measurement mode execution ratio ΔTM, that is, the operation in the radar mode or the radar / communication mode. It is possible to increase the time ratio. In the frequency modulation circuit, the control voltage data generation unit and the frequency modulation processing unit can be digital signal processing.
(Third embodiment)
FIG. 10 is a configuration diagram of a third frequency modulation circuit according to the present invention. The third frequency modulation circuit in FIG. 10 is obtained by replacing the reference oscillation circuit 4 in the first frequency modulation circuit shown in FIG. 1 with an integration circuit 41, a sine wave table ROM 42, a D / A converter 43, and an LPF 44. is there. F _RK is a reference oscillation output at frequency number K, M is a fixed frequency division number set in frequency _dividing circuit 31, R ₂ is a fixed frequency division number set in frequency dividing circuit 32, and ΔP _K corresponds to frequency number K. The phase data, F _D , set in the integrating circuit 41 to indicate the integrating clock of the integrating circuit 41.

  FIG. 11 is a flowchart of the third frequency measurement mode. The flowchart shown in FIG. 11 is obtained by replacing the initial setting process 401 of the flowchart shown in FIG. 4 with an initial setting process 1101 and the comparative frequency division number setting process 402 with a reference oscillation output setting process 1102.

  The third frequency modulation circuit shown in FIG. 10 operates according to the flowchart shown in FIG. 3 in the same manner as the first frequency modulation circuit in the first embodiment, but the frequency measurement mode 301 is the third frequency measurement. Run in mode. Hereinafter, the operation in the third frequency measurement mode will be described with reference to FIGS. 10 and 11.

In FIG. 10, when the third frequency measurement mode is started, first, in the initial setting process 1101, the input of the SW circuit 9 is connected to the filter circuit 34 side so that the voltage-controlled oscillator 1 controls the unmodulated wave control voltage of the PLL processing unit 3. The fixed frequency division number M is set for the frequency divider circuit 31, and the fixed frequency division number R is set for the frequency divider circuit 32. Also, an initial value 0 is set for the frequency number K. Next, in the reference oscillation output setting process 1002, the phase data ΔP ₀ for the frequency number K = 0 is set in the integrating circuit 41 in accordance with the value of the frequency number K, and the phase data integrated value Σ (ΔP ₀ ) is generated and output. Phase data integrated value Σ (Δ from sine wave table ROM 42
P ₀ ) is read out, the sine wave data is converted into an analog value by the D / A converter 43, the harmonic component is removed by the LPF 44, and the reference oscillation output F _R0 is output. .

Thereafter, the operation of the PLL processing unit 3 is started in the PLL processing 403, and the comparison frequency (F _OUT / M) obtained by _dividing the output F _OUT of the voltage controlled oscillator 1 by the frequency dividing circuit 31 and the reference oscillation output F _R0. And the reference frequency (F _R0 / R ₂ ) obtained by frequency division by the frequency dividing circuit 32 is input to the phase comparison circuit 33, and a phase difference signal is extracted. The phase difference signal is smoothed by the filter circuit 35 and input to the voltage controlled oscillator 1 through the SW circuit 9 to control the oscillation frequency of the voltage controlled oscillator 1.

The above operation is a closed loop control process, and finally F _OUT = F ₀ , and the lock detection circuit 34 changes the lock detection signal LD from “0” to “1” (“0” is an unlocked state, “1” "" Is locked) and output. Thereafter, until the frequency number K is determined to be the maximum value N in the frequency number determination processing 409, the phase data ΔP _K is sequentially set in the reference oscillation output setting processing 1102, and the processing after the PLL processing 403 is performed in the first frequency measurement mode. , VD ₀ (1), VD ₁ (1), VD ₂ (1),..., VD _N (1) and control step value (ΔVD ₁ (1) / Q ), (ΔVD ₂ (1) / Q),..., (ΔVD _N (1) / Q) are sequentially stored in the storage circuit 62. After K = N in the frequency number determination process 409, the third frequency measurement mode is terminated.

Here, the relationship between the reference oscillation output F _RK and the non-modulation frequency F _K will be described.
Reference oscillation output F _RK in integration circuit 41, when the number of bits of phase data [Delta] P _K and U, are represented by the following expressions using the integrated clock F _D and phase data [Delta] P _K.

F _RK = ΔP _K × F _D / 2 ^U (MHz) (5)
Further, unmodulated frequency F _K of the frequency number K is expressed by the following equation using the comparative frequency division number M, the reference divisor R ₂ and the reference oscillation output F _RK.

F _K = F _RK × M / R ₂ (MHz) (6)
From the equations (5) and (6), the unmodulated frequency F _K of the frequency number _K is expressed by the following equation.
F _K = F _D × (ΔP _K / 2 ^U ) × (M / R ₂ ) (MHz) (7)
From the equation (6), it can be seen that the comparison frequency (F _K / M) depends on the reference oscillation output F _RK . Further, it can be seen from the equation (5) that the resolution of the reference oscillation output F _RK can be increased by increasing the number of bits U of the phase data ΔP _K. Therefore, the value of the number of bits U of the phase data ΔP _K is set to a high comparison frequency (F _K / M) as compared with the case where the comparative frequency division number is variably set while suppressing the generation error of the non-modulation frequency F _K. be able to.

Further, the division number N of the frequency modulation width is represented by the following expression when expressed by the maximum oscillation frequency F _MAX , the minimum oscillation frequency F _MIN, and the non-modulation frequencies F _K and F _K−1 .
N = (F _MAX -F _MIN ) / (F _K -F _K-1 ) (8)
Since the unmodulated frequency F _K depends on the phase data ΔP _{K according} to the equation (7), it can be seen from the equation (8) that the division number N also depends on the phase data ΔP _K. Therefore, the division number N can be freely set by the value of the number of bits U of the phase data ΔP _K as compared with the case where the comparative frequency division number is variably set.

When the third frequency measurement mode is completed, the mode shifts to the radar mode or the radar / communication mode. In the radar mode, only the FM-CW wave output slot is used. In the radar / communication mode, the FM-CW wave output slot or the radio communication slot is used. The voltage control oscillator 1 performs the operation described in the first embodiment by executing the FM-CW wave or the unmodulated wave control voltage data VD _K (1) according to the triangular wave modulation waveform data VD _TR1 (1). The unmodulated frequency F _K is output.

After the end of the radar mode or radar / communication mode of the first frame, the frame composed of the third frequency measurement mode and the radar mode or radar / communication mode is repeated, and the unmodulated wave control voltage data in the third frequency measurement mode. By updating and storing VD _K (J) and the control step value (ΔVD _K (J) / Q), the temperature variation of the oscillation frequency F _OUT of the voltage controlled oscillator 1 is corrected as needed.

As described above in detail, according to the third embodiment, in the frequency modulation circuit of the FM-CW radar device or the communication integrated radar device, the voltage is obtained by executing the third frequency measurement mode in the frame period. The frequency output fluctuation due to temperature fluctuation and secular change of the controlled oscillator can be corrected at any time, the frequency modulation width of the FM-CW wave can be kept constant, the frequency linearity can be secured, and the frequency accuracy of the unmodulated frequency can be stabilized. In addition, since the division number N of the frequency modulation width of the FM-CW wave can be freely set by avoiding the constraint condition of the frequency division number of the unmodulated frequency and the comparison frequency in the PLL processing unit 3, a more detailed frequency nonlinearity Correction is possible, and the comparison frequency can be set at a high speed, so that the PLL pull-in time can be shortened and the time required for the third frequency measurement mode can be shortened. Reduce the frequency measurement mode execution ratio ΔTM to, that is, increase the operating time ratio of the radar mode or radar / communication mode. In the frequency modulation circuit, the control voltage data generation unit and the frequency modulation processing unit can be digital signal processing.
(Fourth embodiment)
FIG. 12 is a configuration diagram of an FM-CW radar apparatus according to the present invention. In FIG. 12, 121 is a control unit, 122 is a frequency modulation circuit, 123 is a multiplication circuit, 124 is a distribution circuit, 125 is a transmission amplifier circuit, 126 is a transmission antenna, 127 is a reception antenna, 128 is a reception amplification circuit, and 129 is a frequency. A conversion circuit, 130 is a ranging data extraction unit, 1301 is an LPF, 1302 is an A / D converter, and 1303 is an FFT processing unit.

Hereinafter, the operation of the FM-CW radar apparatus according to the present embodiment will be described.
The frequency modulation circuit 122 shown in FIG. 12 operates in the frequency measurement mode and the radar mode. As described in detail in the first to third embodiments, the frequency modulation circuit 122 generates and outputs an unmodulated frequency F _K in the frequency measurement mode, and in the radar mode, the temperature variation and aging of the voltage controlled oscillator occur. The frequency output fluctuation due to the change is corrected at any time in the frame period to output an FM-CW wave in which the frequency modulation width is kept constant and the frequency linearity is ensured.

The output of the frequency modulation circuit 122 is input to the multiplication circuit 123 and converted into a millimeter-wave band frequency, and is output to the transmission amplifier circuit 125 and the frequency conversion circuit 129 by the distribution circuit 124. Since the unmodulated frequency F _K in the frequency measurement mode is not necessary as the transmission output of the FM-CW radar apparatus, the transmission amplification circuit 125 operates only in the radar mode, and the control unit 121 is configured to amplify the FM-CW wave. It is controlled by the mode switching signal.

  The FM-CW wave amplified by the transmission amplifier circuit 125 is irradiated onto the target by the transmission antenna 126, and the FM-CW reflected wave is received by the reception antenna 127. The FM-CW reflected wave is amplified by the reception amplification circuit 128 and input to the frequency conversion circuit 129, and is mixed with the FM-CW wave that is the output of the distribution circuit 124 to obtain a beat signal. The beat signal is input to the LPF 1301 of the distance measurement data extraction unit 130 to remove unnecessary harmonic components, and is converted into a digital value by the A / D converter 1302. The beat signal converted into the digital value is input to the control unit 121 as distance measurement data through the calculation of the FFT processing unit 1303, and the relative distance and the relative speed with the target are calculated.

As described above in detail, according to the fourth embodiment, in the FM-CW radar apparatus, the FM-CW wave in the radar mode has a frequency output fluctuation due to a temperature fluctuation or a secular change of the voltage controlled oscillator. In the measurement mode, the frequency modulation width is kept constant and the frequency linearity is ensured by correcting the frame period as needed, so the measurement accuracy of the distance measurement data is high, and the relative speed of the target is always accurate. A relative distance can be obtained.
(Fifth embodiment)
FIG. 13 is a configuration diagram of a communication integrated radar apparatus according to the present invention. The communication integrated radar apparatus of FIG. 13 is obtained by adding a transmission data processing circuit 131, a modulation circuit 132, and a reception demodulation circuit 133 to the configuration of the FM-CW radar apparatus shown in FIG. FIG. 14 is a diagram illustrating a first operation frame configuration example of the communication integrated radar apparatus according to the present invention.

  A first operation of the communication integrated radar apparatus according to the present embodiment will be described. The frequency modulation circuit 122 shown in FIG. 13 operates in the radar / communication mode in which the frequency measurement mode and the FM-CW output slot and the radio communication slot are alternately repeated as in the operation frame configuration example shown in FIG.

As described in detail in the first to third embodiments, the frequency modulation circuit 122 generates and outputs the non-modulated frequency F _K in the frequency measurement mode, and performs frequency output fluctuation due to temperature fluctuation and aging of the voltage controlled oscillator. The FM-CW wave, which is corrected at any time in the frame period and the frequency modulation width is kept constant in the FM-CW wave output slot and the frequency linearity is ensured in the radar / communication mode, is highly accurate in the wireless communication slot. Outputs unmodulated frequency F _K for communication.

The output of the frequency modulation circuit 122 is input to the multiplication circuit 123, converted into a millimeter-wave band frequency, and output to the modulation circuit 132 by the distribution circuit 124. The modulation circuit 132 modulates and outputs the transmission data generated by the transmission data processing circuit 131 using the unmodulated frequency F _K as a local signal in the radio communication slot in the radar / communication mode, and FM- in the FM-CW wave output slot. The CW wave is output as it is.

The output of the modulation circuit 132 is input to the transmission amplification circuit 125, and the non-modulation frequency F _K in the frequency measurement mode is not necessary as the transmission output of the communication integrated radar device, so the transmission amplification circuit 125 operates only in the radar / communication mode. Then, it is controlled by the mode switching signal from the control unit 121 so as to amplify the millimeter wave band FM-CW wave or the radio communication transmission wave. The transmission wave amplified by the transmission amplifier circuit 125 is output through the transmission antenna 126, the FM-CW transmission wave is irradiated onto the target, and the radio communication transmission wave is emitted toward the slave radio communication apparatus.

  The FM-CW reflected wave or the transmission wave returned from the slave station radio communication apparatus in response to the radio communication transmission wave is received by the reception antenna 127 and amplified by the reception amplification circuit 128. The output of the reception amplifier circuit 128 is input to the frequency conversion circuit 129 and mixed with the output of the distribution circuit 124 to obtain an FM-CW wave beat signal or a radio communication reception IF signal. In the FM-CW wave output slot, the beat signal is input to the LPF 1301 of the distance measurement data extraction unit 130 to remove unnecessary harmonic components, and is converted into a digital value by the A / D converter 1302.

  The beat signal converted into the digital value is subjected to calculation by the FFT processing unit 1303, and a relative distance and a relative velocity with respect to the target input to the control unit 121 as distance measurement data are calculated. In the wireless communication slot, the received IF signal is input to the reception demodulation circuit 133, the received baseband signal is extracted and input to the control unit 121, and data from the slave station wireless communication device is restored.

  As described above, according to the fifth embodiment, in the communication integrated radar apparatus, the frequency output fluctuation due to the temperature fluctuation and the secular change of the voltage controlled oscillator is corrected at any time in the frame period in the frequency measurement mode. The FM / CW wave in the radar / communication mode has a constant frequency modulation width and a high frequency linearity, so that the measurement accuracy of the distance measurement data is high and the relative velocity and relative speed of the target are always accurate. The distance can be obtained.

In addition, since the radio communication transmission wave in the radar / communication mode is generated as a local signal with a stable non-modulated frequency with high frequency accuracy, stable radio communication with the slave station radio communication device is possible. Furthermore, in the radar / communication mode, the FM-CW wave output slot and the radio communication slot operate alternately. Therefore, by continuously performing radio communication with the slave station radio communication device in a time-sharing manner, large-capacity data can be transmitted and received. It is possible to extract ranging data that changes from moment to moment while performing, and it is possible to process the extracted ranging data and the received data from the slave radio communication apparatus in association with each other.
(Sixth embodiment)
FIG. 15 is a diagram showing a second operation frame configuration example of the communication integrated radar apparatus according to the present invention. A second operation of the communication integrated radar apparatus according to the present embodiment will be described.

  As shown in FIG. 15, the second operation of the communication integrated radar apparatus includes a frequency measurement mode in which frequency output fluctuations due to temperature fluctuations and secular changes of the voltage controlled oscillator are corrected at any time in the frame period, and a plurality of FM-CW wave outputs. A radar / communication mode in which a radar priority mode including a slot and one wireless communication slot and a communication priority mode in which an FM-CW wave output slot and a wireless communication slot are alternately repeated are selected and controlled by the control unit 121. Operates on configured frames.

  The operation in the frequency measurement mode is as described in the fifth embodiment. In the second operation of the communication integrated radar apparatus, when the radar / communication mode is started, it operates in the radar priority mode, priority is given to distance measurement data extraction by the FM-CW wave output slot, and after a plurality of FM-CW wave output slots are operated. The wireless communication slot is operated to transmit data for recognizing the existence of the slave station wireless communication device. When there is no slave station wireless communication device, that is, when there is no response from the slave station wireless communication device in the wireless communication slot, the radar priority mode is repeated.

  When there is a slave station wireless communication device, that is, when there is a response from the slave station wireless communication device in the wireless communication slot, the presence of the slave station wireless communication device is recognized and the communication priority mode is entered. In the communication priority mode, FM-CW wave output slots and radio communication slots are alternately repeated, ranging data is extracted in FM-CW wave output slots that operate every other slot, and a plurality of units that operate every other slot. The wireless communication slot is used for wireless communication with the slave station wireless communication device. When wireless communication with the slave station wireless communication device is completed in the communication priority mode, the operation in the communication priority mode is completed and the operation in the radar priority mode is performed.

  As described above, according to the sixth embodiment, in the communication integrated radar apparatus, as described in the fifth embodiment, the relative accuracy of the target with high measurement accuracy of distance measurement data is always high and accurate. Speed and relative distance can be obtained. In addition, stable radio communication with the slave station radio communication device is possible, and when the slave station radio communication device does not exist by selecting and operating the radar priority mode and the communication priority mode, the radar priority mode Thus, the FM-CW wave output slot ratio can be increased to operate as an FM-CW radar apparatus in a pseudo manner, and when there is a slave station radio communication apparatus, the FM-CW wave output is performed in the communication priority mode. Since the slots and radio communication slots operate alternately, continuous radio communication with the slave station radio communication device in a time-sharing manner enables extraction of ranging data that changes from moment to moment while sending and receiving large amounts of data. It is possible, and the extracted distance measurement data and the reception data from the slave station wireless communication apparatus can be processed in association with each other.

(Appendix 1)
A frequency modulation circuit in an FM-CW radar device and a communication integrated radar device,
A voltage controlled oscillator that oscillates a frequency according to an input control voltage;
Distributing means for distributing the output of the voltage controlled oscillator, one of which is output to a phase locked loop processing unit described later and the other is output of the present frequency modulation circuit;
First frequency dividing means for variably dividing the non-modulated frequency output from the distributing means, second frequency dividing means for fixedly dividing a reference oscillation output described later, and output of the first frequency dividing means Phase comparison means for phase comparison between the output of the first frequency dividing means and the output of the second frequency dividing means, and the phase synchronization state between the output of the first frequency dividing means and the output of the second frequency dividing means from the output of the phase comparison means. Means for detecting, and loop filter means for removing and smoothing the harmonic component of the output of the phase comparison means, and generating at a constant frequency interval according to variable frequency division data set in the first frequency division means A phase-locked loop processing unit that generates an unmodulated wave control voltage to obtain a plurality of unmodulated frequencies,
A reference oscillation means for generating a reference oscillation output;
An A / D converter for converting the unmodulated wave control voltage into unmodulated wave control voltage data which is a digital value;
Means for calculating a difference between unmodulated wave control voltage data for each adjacent frequency interval to generate a control step value; means for storing the unmodulated wave control voltage data for each frequency interval and the control step value; Means for generating and outputting triangular wave modulated waveform data from the controlled non-modulated wave control voltage data and the control step value, and means for outputting stored unmodulated wave control voltage data, and the control step value in the frequency measurement mode. The control step value and unmodulated wave control voltage data are stored, and in the radar mode configured by the FM-CW wave output slot, triangular wave modulation waveform data is generated and output based on the control step value, and FM -In the radar / communication mode consisting of a CW wave output slot and a radio communication slot, the FM-CW wave output slot A control voltage data generating unit which outputs the unmodulated wave control voltage data generated output waveform data wireless communication slots,
A D / A converter for converting the output of the control voltage data generation unit into an analog value;
A low-pass filter that removes and smoothes harmonic components of the output of the D / A converter;
In the frequency measurement mode, the output of the phase-locked loop processing unit, in the radar mode or radar / communication mode, the output of the low-pass filter is switched and output to the voltage controlled oscillator, and a switch circuit;
A frequency modulation processing control unit for generating a control signal, setting data, and other signals related to the frequency modulation circuit;
A frequency measurement mode for storing unmodulated wave control voltage data and control step values obtained by sequentially generating a plurality of unmodulated wave frequencies at a constant frequency interval, and generating triangular wave modulated waveform data A frequency modulation circuit characterized by repeating an output radar mode or triangular wave modulation waveform data or non-modulation wave control voltage data and outputting a radar / communication mode at a constant cycle.

(Appendix 2)
The phase-locked loop processing unit includes means for adding the output of the loop filter unit and the output of the control voltage data generation unit after the loop filter unit, and the control voltage data generation unit performs phase synchronization in the frequency measurement mode. The stored non-modulated wave control voltage data corresponding to the variable frequency-divided data is output as the phase-locked loop initial setting voltage at the timing when the variable frequency-divided data is set in the first frequency dividing means of the loop processing unit. The frequency modulation circuit according to appendix 1, wherein the frequency modulation circuit is controlled.

(Appendix 3)
The reference oscillation means integrates the set phase data, reads the sine wave generation data stored in advance based on the integration result, and generates and outputs an arbitrary reference oscillation output as a digital value; and A D / A converter for converting the digital output of the numerically controlled oscillating means into an analog value, and a low-pass filter for removing and smoothing the harmonic component of the output of the D / A converter; The fixed frequency division data is set in the first frequency division means in the processing unit, and the frequency of the reference oscillation output is sequentially changed at regular intervals by changing the phase data set in the numerically controlled oscillation means in the frequency measurement mode. The frequency modulation circuit according to appendix 1 or 2, wherein a plurality of non-modulated frequencies having a constant frequency interval are sequentially generated.

(Appendix 4)
An FM-CW radar apparatus that transmits an FM-CW wave and receives a reflected wave from a target (hereinafter referred to as an FM-CW reflected wave),
A frequency modulation circuit operating in a frequency measurement mode and a radar mode;
Multiplying means for multiplying the output of the frequency modulation circuit to generate a millimeter-wave FM-CW wave;
Distributing means for distributing the output of the multiplying means, outputting one to a transmitting means described later and outputting the other to a frequency converting means described later;
Transmitting means for transmitting a millimeter wave band FM-CW wave which is an output of the distributing means;
Receiving means for receiving an FM-CW reflected wave with respect to the output of the transmitting means;
A frequency converting means for mixing and outputting the output of the receiving means and the output of the distributing means;
Ranging data extracting means for extracting ranging data from the beat signal that is the output of the frequency converting means;
A control unit for generating a control signal to be provided to the frequency modulation circuit and calculating a relative speed and a relative distance of a target from the distance measurement data;
The frequency measurement mode and the radar mode are repeated at a constant cycle, the FM-CW wave is output in the FM-CW wave output slot in the radar mode, and the relative distance and the relative velocity of the target are detected. FM-CW radar device.

(Appendix 5)
A communication integrated radar device that transmits FM-CW waves and radio communication transmission waves in a time-sharing manner and receives FM-CW reflected waves and transmission waves of a slave station radio communication device mounted on a target,
A frequency modulation circuit that operates in a frequency measurement mode and a radar / communication mode, and is controlled so that an FM-CW wave output slot and a radio communication slot in the radar / communication mode operate alternately;
Multiplying means for multiplying the output of the frequency modulation circuit to generate a millimeter wave band FM-CW wave or a millimeter wave band unmodulated wave;
Distributing means for distributing the output of the multiplying means, outputting one to a transmitting means described later and outputting the other to a frequency converting means described later;
Transmission data processing means for generating data to be transmitted to the slave station wireless communication device mounted on the target in the wireless communication slot;
In the wireless communication slot, the millimeter wave band unmodulated wave is generated as a local signal, and a transmission wave for wireless communication is generated from the transmission data of the transmission data processing means and transmitted. In the FM-CW wave output slot, the millimeter wave band FM is transmitted. A transmission means for transmitting CW waves;
Receiving means for receiving a transmission wave or FM-CW reflected wave of the slave station wireless communication device and outputting a radio communication reception wave or FM-CW reception wave;
A frequency converting means for mixing and outputting the output of the receiving means and the output of the distributing means;
Ranging data extraction means for extracting ranging data from a beat signal obtained as an output of the frequency conversion means in an FM-CW wave output slot;
Receiving demodulation means for extracting and processing a received baseband signal from a received wave for wireless communication which is an output of the frequency converting means or the receiving means in a wireless communication slot;
A control unit for processing a control signal to be provided to the frequency modulation circuit and transmission data to be provided to the transmission data processing unit, a calculation of a relative speed and a relative distance of a target from the distance measurement data, and an output of the reception demodulation unit; ,
The frequency measurement mode and the radar / communication mode are repeated at regular intervals, and the FM-CW wave output slot for detecting the relative distance and relative speed of the target in the radar / communication mode and the slave station radio communication device A communication integrated radar apparatus, wherein wireless communication slots for performing wireless communication operate alternately.

(Appendix 6)
A communication integrated radar device that transmits FM-CW waves and data communication transmission waves in a time-sharing manner and receives FM-CW reflected waves and transmission waves of a slave station radio communication device,
In addition to the control signal provided to the frequency modulation circuit by the control unit, the radar priority mode timing composed of a plurality of FM-CW wave output slots and one radio communication slot, and the FM-CW wave output slot and the radio communication slot are alternated. A controller that generates and outputs a communication priority mode timing that repeats
The communication integrated radar apparatus according to appendix 5, wherein the radar integrated communication apparatus operates in a radar / communication mode by switching between a radar priority mode and a communication priority mode depending on the presence / absence of a slave station wireless communication apparatus.
(Effect of the invention)
As described above, according to the present invention, in the frequency modulation circuit and the FM-CW radar apparatus and communication integrated radar apparatus having the frequency modulation circuit, the desired frequency modulation width of the FM-CW wave is evenly distributed in the frequency measurement mode. Based on frequency correction data calculated by performing frequency measurement by PLL processing in a time division manner for a plurality of divided non-modulated frequencies, the frequency modulation width of the FM-CW wave is kept constant, and frequency nonlinearity is corrected, Furthermore, by correcting the local signal (non-modulated wave) of the transmission wave for wireless communication and repeating the frequency measurement mode at a constant period, the correction data is updated as needed to eliminate frequency fluctuations due to temperature fluctuations, resulting in high accuracy. Ranging data extraction and stable wireless communication are possible.

  Then, the increase in circuit scale and the increase in man-hours for adjustment of the apparatus are reduced by storing frequency nonlinearity correction data and temperature correction data in advance, which is a problem of the conventional method. Communication in which the radar performance can be ensured when the stabilization method is applied to the FM-CW radar device, the circuit size and cost can be solved, and the FM-CW radar function is added to the self-excited communication device. It is possible to ensure the radar performance in the apparatus.

  In addition, the integrated communication radar device performs time-division wireless communication with the slave station wireless communication device according to the configuration of the radar / communication mode, thereby transmitting and receiving a large amount of data while changing the measurement every moment. The distance data can be extracted, and the extracted distance measurement data and the received data from the slave station wireless communication apparatus can be processed in association with each other, so that it can be applied to various applications. Furthermore, since most of the frequency modulation circuit can be realized by digital signal processing, the apparatus can be miniaturized and an increase in cost can be suppressed.

It is a block diagram of the 1st frequency modulation circuit in this invention. It is a figure which shows the frequency division example of the control voltage versus the oscillation frequency characteristic of the voltage controlled oscillator in this invention. 3 is an operation flowchart of the frequency modulation circuit according to the present invention. It is a flowchart of the 1st frequency measurement mode in this invention. It is a flowchart of the FM-CW wave output slot process in this invention. It is a figure which shows the example of a frequency output timing chart of the 1st frequency modulation circuit in this invention. It is a block diagram of the 2nd frequency modulation circuit in this invention. It is a flowchart of the 2nd frequency measurement mode in this invention. It is a figure which shows the example of a frequency output timing chart of the 2nd frequency modulation circuit in this invention. It is a block diagram of the 3rd frequency modulation circuit in this invention. It is a flowchart of the 3rd frequency measurement mode in the present invention. It is a block diagram of the FM-CW radar apparatus in this invention. It is a block diagram of the communication integrated radar apparatus in this invention. It is a figure which shows the 1st operation | movement frame structural example of the communication integrated radar apparatus in this invention. It is a figure which shows the 2nd operation | movement frame structural example of the communication integrated radar apparatus in this invention. It is a schematic block diagram of the conventional FM-CW radar. It is a figure which shows the control voltage versus oscillation frequency characteristic of a voltage controlled oscillator.

Explanation of symbols

1 Voltage Control Oscillator 2 Distribution Circuit 3 PLL Processing Unit 4 Reference Oscillation Circuit 5 A / D Converter 6 Control Voltage Data Generation Unit 7 D / A Converter 8 LPF (Low Pass Filter)
DESCRIPTION OF SYMBOLS 9 SW (switch) circuit 10 Frequency modulation process control part 31 Frequency division circuit 32 Frequency division circuit 33 Phase comparison circuit 34 Lock detection circuit 35 Filter circuit 61 Control step value generation circuit 62 Storage circuit 63 Accumulation circuit 64 Addition circuit

Claims (4)

A frequency modulation circuit in an FM-CW radar device and a communication integrated radar device,
A voltage controlled oscillator that oscillates a frequency according to an input control voltage;
Distributing means for distributing the output of the voltage controlled oscillator, outputting one to a phase locked loop processing unit described later and the other as an output of the frequency modulation circuit;
A first frequency dividing unit that variably divides the non-modulated frequency output from the distributing unit; a second frequency dividing unit that fixedly divides the reference oscillation output; the output of the first frequency dividing unit; A phase comparison unit that compares the phase of the output of the second frequency divider and the phase synchronization state between the output of the first frequency divider and the output of the second frequency divider from the output of the phase comparator; Detecting means; loop filter means for removing and smoothing the harmonic component of the output of the phase comparison means; and adding the output of the loop filter means and the output of the control voltage data generator at a subsequent stage of the loop filter means And a phase-locked loop for generating a non-modulated wave control voltage for obtaining a plurality of non-modulated frequencies generated at a constant frequency interval in accordance with variable frequency division data set in the first frequency dividing means A processing unit;
Reference oscillation means for generating the reference oscillation output;
An A / D converter for converting the unmodulated wave control voltage into unmodulated wave control voltage data which is a digital value;
Means for calculating a difference between the unmodulated wave control voltage data for each adjacent frequency interval to generate a control step value; and means for storing the unmodulated wave control voltage data for each frequency interval and the control step value; In the frequency measurement mode, the control step value is generated and the control step value and the unmodulated wave control voltage data are stored, while being variable in the first frequency dividing means of the phase locked loop processing unit A control voltage data generator that is controlled to output the stored unmodulated wave control voltage data corresponding to the variable frequency division data as a phase locked loop initial setting voltage at a timing at which the frequency division data is set;
In the frequency measurement mode, a switch circuit that outputs the output of the phase locked loop processing unit to the voltage controlled oscillator;
A D / A converter for converting the output of the control voltage data generator into an analog value;
A low-pass filter that removes and smoothes the harmonic components of the output of the D / A converter;
It is configured to include a,
The control voltage data generation unit generates and outputs triangular wave modulation waveform data from the stored unmodulated wave control voltage data and the control step value, and outputs the stored unmodulated wave control voltage data. , And generating and outputting the triangular wave modulation waveform data based on the control step value, and comprising the FM-CW wave output slot and a radio communication slot. In the radar / communication mode, the triangular wave modulated waveform data is generated and output in the FM-CW wave output slot, and the unmodulated wave control voltage data is output in the wireless communication slot.
The switch circuit outputs the output of the phase-locked loop processing unit in the frequency measurement mode to the voltage-controlled oscillator by switching the output of the low-pass filter in the radar mode or the radar / communication mode,
The frequency measurement mode for storing the non-modulated wave control voltage data and the control step value obtained by sequentially generating the plurality of non-modulated frequencies at a constant frequency interval, and the triangular wave modulated waveform data are generated and output. A frequency modulation circuit, wherein the radar mode, the triangular wave modulation waveform data, or the radar / communication mode for generating and outputting the unmodulated wave control voltage data is repeated at a constant cycle . The reference oscillation means integrates the set phase data, reads the sine wave generation data stored in advance based on the integration result, and generates and outputs an arbitrary reference oscillation output as a digital value; and A D / A converter for converting the digital output of the numerically controlled oscillating means into an analog value, and a low-pass filter for removing and smoothing the harmonic component of the output of the D / A converter; The fixed frequency division data is set in the first frequency division means in the processing unit, and the frequency of the reference oscillation output is sequentially changed at regular intervals by changing the phase data set in the numerically controlled oscillation means in the frequency measurement mode. frequency modulation circuit according to claim 1, frequency interval, characterized in that the sequentially generating a plurality of unmodulated frequency is constant. An FM-CW radar apparatus that transmits an FM-CW wave and receives a reflected wave from a target (hereinafter referred to as an FM-CW reflected wave),
The frequency modulation circuit according to claim 1 or 2 ,
Multiplying means for multiplying the output of the frequency modulation circuit to generate a millimeter-wave FM-CW wave;
Distributing means for distributing the output of the multiplying means, outputting one to a transmitting means described later and outputting the other to a frequency converting means described later;
Transmitting means for transmitting a millimeter wave band FM-CW wave which is an output of the distributing means;
Receiving means for receiving an FM-CW reflected wave with respect to the output of the transmitting means;
A frequency converting means for mixing and outputting the output of the receiving means and the output of the distributing means;
Ranging data extracting means for extracting ranging data from the beat signal that is the output of the frequency converting means;
A control unit for generating a control signal to be provided to the frequency modulation circuit and calculating a relative speed and a relative distance of a target from the distance measurement data;
The frequency measurement mode and the radar mode are repeated at a constant cycle, the FM-CW wave is output in the FM-CW wave output slot in the radar mode, and the relative distance and the relative velocity of the target are detected. FM-CW radar device. A communication integrated radar device that transmits FM-CW waves and radio communication transmission waves in a time-sharing manner and receives FM-CW reflected waves and transmission waves of a slave station radio communication device mounted on a target,
The frequency modulation circuit according to claim 1 or 2 ,
Multiplying means for multiplying the output of the frequency modulation circuit to generate a millimeter wave band FM-CW wave or a millimeter wave band unmodulated wave;
Distributing means for distributing the output of the multiplying means, outputting one to a transmitting means described later and outputting the other to a frequency converting means described later;
Transmission data processing means for generating data to be transmitted to the slave station wireless communication device mounted on the target in the wireless communication slot;
In the wireless communication slot, the millimeter wave band unmodulated wave is generated as a local signal, and a transmission wave for wireless communication is generated from the transmission data of the transmission data processing means and transmitted. In the FM-CW wave output slot, the millimeter wave band FM is transmitted. A transmission means for transmitting CW waves;
Receiving means for receiving a transmission wave or FM-CW reflected wave of the slave station wireless communication device and outputting a radio communication reception wave or FM-CW reception wave;
A frequency converting means for mixing and outputting the output of the receiving means and the output of the distributing means;
Ranging data extraction means for extracting ranging data from a beat signal obtained as an output of the frequency conversion means in an FM-CW wave output slot;
Receiving demodulation means for extracting and processing a received baseband signal from a received wave for wireless communication which is an output of the frequency converting means or the receiving means in a wireless communication slot;
A control unit for processing a control signal to be provided to the frequency modulation circuit and transmission data to be provided to the transmission data processing unit, a calculation of a relative speed and a relative distance of a target from the distance measurement data, and an output of the reception demodulation unit; ,
The frequency measurement mode and the radar / communication mode are repeated at regular intervals, and the FM-CW wave output slot for detecting the relative distance and relative speed of the target in the radar / communication mode and the slave station radio communication device A communication integrated radar apparatus, wherein wireless communication slots for performing wireless communication operate alternately.

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