JP5061623B2 - Radar equipment - Google Patents

Description

  The present invention relates to a radar apparatus that estimates an arrival direction of radio waves based on reception signals obtained from a plurality of channels that transmit and receive radar waves.

  2. Description of the Related Art Conventionally, there is known a radar apparatus that estimates an arrival direction (DOA: Direction of Arrival) of a plurality of radio waves that simultaneously arrive at an array antenna using an array antenna configured by a plurality of antenna elements.

  In addition, as a technique for estimating the direction of arrival of radio waves, an angle spectrum is generated based on a correlation matrix that represents the correlation between received signals received by each antenna element (also referred to as a channel), and this angle spectrum is scanned for high accuracy. A MUSIC (Multiple Signal Classification) method for estimating the resolution and an ESPRIT (Estimation of Signal Parameters via Rotational Invariance Techniques) method are known.

  Here, the outline of the MUSIC method will be described below. The array antenna is a so-called linear array in which N (N is an integer of 2 or more) antenna elements are arranged on a straight line at equal intervals.

First, for sampling data x ₁ (k), x ₂ (k),... X _N (k) at the sampling time kΔT (ΔT is a sampling interval, k is a natural number) obtained via the array antenna, (1) A reception vector X (k) represented by the equation is constructed. Next, using this received vector X (k), a correlation matrix Rxx of N rows and N columns is obtained according to equation (2).

  Here, T represents vector transposition, and H represents complex conjugate transposition.

次に、この相関行列Ｒxxの固有値λ₁ 〜λ_N （但し、λ₁ ≧λ₂ ≧…≧λ_N ）を求め、ノイズ閾値ＴＨ（＝熱雑音電力σ² ）より大きい固有値の数から到来波数Ｌ（＜Ｎ）を推定すると共に、固有値λ₁ 〜λ_N に対応する固有ベクトルｅ₁ 〜ｅ_N を算出する。

Next, eigenvalues λ _{1 to} λ _N (where λ ₁ ≧ λ ₂ ≧... ≧ λ _N ) of this correlation matrix Rxx are obtained, and the number of incoming waves is determined from the number of eigenvalues greater than the noise threshold TH (= thermal noise power σ ² ). L (<N) is estimated, and eigenvectors e ₁ to e _N corresponding to eigenvalues λ _{1 to} λ _N are calculated.

Then, define the following noise threshold TH the (N-L) pieces of noise eigenvectors E _NO consisting of eigenvectors corresponding to the eigenvalues (3) represents the complex response of the array antenna for a direction theta in a (theta) As an example, an evaluation function P _MU (θ) shown in equation (4) is obtained.

この評価関数Ｐ_MU(θ)から得られる角度スペクトラム（ＭＵＳＩＣスペクトラム）は、θが到来波の到来方向と一致すると発散して、鋭いピークが立つように設定されているため、到来方向の推定値θ₁ 〜θ_L は、ＭＵＳＩＣスペクトラムのピーク（ヌルポイント）をサーチすることにより求めることができる。

Since the angle spectrum (MUSIC spectrum) obtained from this evaluation function P _MU (θ) is set so as to diverge and form a sharp peak when θ matches the arrival direction of the incoming wave, the estimated value of the arrival direction θ _{1 to} θ _L can be obtained by searching for the peak (null point) of the MUSIC spectrum.

  By the way, as described above, in the MUSIC method (same as in the ESPRIT method), it is necessary to accurately estimate the number of incoming waves L in the process of calculating the direction of incoming waves, and for that purpose, the noise threshold TH is set appropriately. is important. In addition, there are various factors in noise, and it is known that the magnitude varies depending on the frequency.

Paying attention to this, a device for setting a different noise threshold TH for each frequency of a beat signal has been proposed (see, for example, Patent Document 1).
JP 2006-47282 A

  However, in the device described in Patent Document 1, although the noise threshold value is different for each frequency of the beat signal, the value is a fixed value. Therefore, when there is a temperature change or a secular change, the estimation accuracy of the number of incoming waves is high. There was a problem that it might be lowered. In particular, when the radar device is mounted on a vehicle and is used to detect objects around the vehicle, the noise environment varies greatly depending on the vehicle's running state, location, etc. With the noise threshold, it is difficult to always ensure the desired estimation accuracy.

  In order to solve the above-described problems, an object of the present invention is to provide a radar device that can estimate the number of incoming waves with stable accuracy regardless of temperature change or secular change.

  In the radar apparatus of the present invention made to achieve the above object, the transmission / reception means has a plurality of channels for transmitting a radar wave and receiving a reflected wave from an object reflecting the radar wave. The generation means generates a beat signal for each channel constituting the transmission / reception means.

  Then, the peak detection means obtains the frequency spectrum of the beat signal generated by the beat signal generation means, detects the frequency at which the frequency spectrum becomes a peak, and the matrix generation means calculates the signal component of the detected frequency. The correlation matrix representing the correlation between the channels is generated, and the eigenvalue calculating means calculates the eigenvalue of the correlation matrix generated by the matrix generating means.

  Further, the eigenvalue identifying means identifies eigenvalues calculated by the eigenvalue calculating means that are larger than a preset noise threshold as eigenvalues in the signal space, and those below the noise threshold as eigenvalues in the noise space, and direction estimation The means uses the number of eigenvalues in the signal space as the number of incoming waves, and estimates the arrival direction of each incoming wave based on the eigenvalues in the noise space.

  In particular, in the radar apparatus of the present invention, when the temperature detection unit detects the temperature and the fluctuation noise calculation unit calculates the fluctuation noise having temperature dependence based on the detection result of the temperature detection unit, the threshold setting is performed. The means sets the noise threshold based on the added value of the fluctuation noise calculated by the fluctuation noise calculation means and the preset circuit noise.

  Therefore, according to the radar apparatus of the present invention, since the noise threshold value reflecting the fluctuation noise corresponding to the temperature at that time is set, the arrival wave number is always estimated with stable accuracy regardless of the temperature change. As a result, the direction of the incoming wave can be obtained with high accuracy.

  There is also known a technique for increasing the number of snapshots used when generating the correlation matrix and improving the SN ratio of the received signal to improve the estimation accuracy. The estimation accuracy can be further improved.

Also, the radar device of the present invention, transmission comprises a signal blocking means for blocking the received signal from the receiving means, circuit noise component calculating means, the beat signal generating means in a state in which the received signal is blocked by the signal blocking means The frequency spectrum of the signal output from is obtained as circuit noise .

  In this way, by using measured values each time for circuit noise, it is possible to reliably reflect the secular change and temperature change for the circuit noise in the noise threshold, and to improve the estimation accuracy of the number of incoming waves. it can.

Further, the radar device of the present invention, offset calculation means, never reflected wave is received by transceiver unit (i.e., the reflected wave non-receiving state) so obstacle towards the sky no radar The circuit noise component (see FIG. 6B) calculated by the circuit noise component calculating unit is subtracted from the frequency spectrum of the signal output from the beat signal generating unit when the wave is transmitted (see FIG. 6A). Is obtained as an offset value for the fluctuation noise (see FIG. 6C), and the fluctuation noise calculation means adds the detection result of the temperature detection means in advance to the offset value calculated by the offset calculation means. A value obtained by adding a multiplication value with a set temperature coefficient is obtained as a fluctuation noise component .

  In other words, since it is difficult to create a reflected wave non-receiving state during normal measurement, such a situation (for example, transmission of radar waves toward the sky) is created at the time of shipment of the device. By operating the offset calculation means, the offset value for the fluctuation noise is obtained. In actual use, by correcting the fluctuation noise at the detected temperature, a noise other than the circuit noise (that is, the fluctuation noise) can be accurately reflected in the noise threshold.

In addition, as described in claim 2, the threshold value setting means repeatedly obtains an addition value of the fluctuation noise component and the circuit noise component, and obtains a noise threshold value by performing a filtering process on the addition value. It is desirable to be configured.
That is, by applying a filter process, it is possible to prevent a large erroneous noise threshold from being set following a temporary change in fluctuation noise based on, for example, erroneous detection of temperature, and to ensure stable estimation accuracy. can do.
As the filtering process, for example, as described in claim 3, a method of performing a weighted average between the noise threshold value calculated last time and the addition value calculated this time can be employed.
Incidentally, in the present invention as described above, the set noise threshold by the threshold setting means, but is used in identifying eigenvalues of the correlation matrix, as described in claim 4, the peak detection means It may be used when extracting the peak of the frequency spectrum.

Thereby, the extraction accuracy of the peak and the detection accuracy of the object specified from the peak can be improved.
According to the radar apparatus of the present invention, as described in claim 5 , based on the frequency detected by the peak detecting means, the object detecting means includes the distance and the relative speed from the peak to the specified object. You may be comprised so that at least one may be calculated | required.

Further, the radar device of the present invention, for example, as described in claim 6 is mounted on a vehicle, it may be incorporated in a device for recognizing an object existing around the vehicle.

Embodiments of the present invention will be described below with reference to the drawings.
<Overall configuration>
FIG. 1 is a block diagram showing the overall configuration of a radar apparatus 2 to which the present invention is applied.

The radar device 2 is mounted on a vehicle and is configured as a part of a vehicle object recognition device that recognizes an object existing in front of the vehicle.
As shown in FIG. 1, a radar apparatus 2 includes a D / A converter 10 that generates a triangular wave-shaped modulation signal M in accordance with a modulation command C, and the modulation signal M generated by the D / A converter 10 is buffered. 12, a voltage-controlled oscillator (VCO) 14 whose oscillation frequency changes in accordance with the modulation signal M, a distributor 16 that distributes the output of the VCO 14 to a transmission signal Ss and a local signal L, and a transmission signal Ss And a transmission antenna 18 that radiates a radar wave corresponding to the frequency.

  The radar apparatus 2 includes any one of a reception-side antenna unit 20 including an array antenna including N (N is an integer of 2 or more) antennas that receive radar waves, and an antenna configuring the reception-side antenna unit 20. A reception switch 22 that selectively selects an antenna terminal connected to the antenna or an NC terminal that is not connected to any antenna and supplies a signal from the selected terminal to the subsequent stage as a reception signal Sr; The mixer 24 that generates the beat signal B by mixing the local signal L with the reception signal Sr supplied from the switch 22, the amplifier 26 that amplifies the beat signal B generated by the mixer 24, and the beat amplified by the amplifier 26. An A / D converter 28 that samples the signal B and converts it into digital data D is provided.

  The reception switch 22 operates differently according to the mode selection signal X. When the mode selection signal X indicates the normal mode, the reception switch 22 operates so as to sequentially select N antenna terminals. When the signal X indicates the signal cutoff mode, the operation is always performed to select the NC terminal.

  Further, the radar apparatus 2 includes a temperature sensor 30 that detects an inside air temperature of the apparatus 2, an initial setting switch 32 that is operated when initializing a noise threshold value TH described later, and a modulation command to the D / A converter 10. C, outputs a mode selection signal to the reception switch 22, and also outputs the digital data D taken in via the A / D converter 28 in accordance with the inside air temperature detected by the temperature sensor 30, the operation of the initial setting switch 32, etc. And a signal processing unit 34 that executes signal processing and the like.

  In the following description, it is assumed that the antennas constituting the reception-side antenna unit 20 are assigned to the channels ch1 to chN, respectively, and the reception signals of the channels chi (i = 1, 2,..., N) are based on Sri and the reception signal Sri. The generated beat signal is represented by Bi, and the digital data obtained by sampling the beat signal Bi is represented by Di.

  In the radar apparatus 2 configured as described above, the distributor 16 distributes power to the high-frequency signal (frequency-modulated continuous wave: FMCW) generated by the VCO 14 according to the modulation signal M, whereby the transmission signal Ss and the local signal L are distributed. The transmission signal Ss is transmitted as a radar wave via the transmission antenna 18.

  Radar waves (reflected waves) transmitted from the transmission antenna 18 and reflected back to the object are received by the respective antennas (channels ch1 to chN) constituting the reception-side antenna unit 20, but are received by the reception switch 22. Only the received signal Sri of the selected channel chi (i = 1 to N) is supplied to the mixer 24. Then, the mixer 24 mixes the received signal Sri with the local signal L from the distributor 16 to generate the beat signal Bi, and the beat signal B amplified by the amplifier 26 is output from the A / D converter 28. It is sampled and taken into the signal processor 34 as digital data Di.

  Next, the signal processing unit 34 is configured around a well-known microcomputer including a CPU, a ROM, and a RAM, and further performs a fast Fourier transform (FFT) process on the data taken in via the A / D converter 28. An arithmetic processing unit (for example, DSP) for execution is provided.

The CPU of the signal processing unit 34 calculates the distance and relative velocity with respect to the object reflecting the radar wave based on the digital data D obtained through the A / D converter 28, and the direction in which the object exists. And a noise threshold initialization process for initializing the noise threshold TH used when estimating the number of incoming waves in the measurement process.
<Noise threshold initialization processing>
Here, the noise threshold value initialization process executed by the CPU of the signal processing unit 34 will be described with reference to the flowchart shown in FIG.

  This process is executed only once when the initial setting switch 32 is operated. However, this processing is executed in a state where the reception side antenna unit 20 does not receive the reflected wave, for example, in a state where the apparatus 2 is arranged so that the radar wave is transmitted toward the sky where there is no obstacle. Shall.

  When this process is started, first, in S110, the mode selection signal X is set so that the reception switch 22 operates in the normal mode, and the modulation command C is sent to the D / A converter 10 from the A / D converter 28. By taking in the digital data D, data Ds in the noise state for the sky (received signal reception state without a reflector) is acquired for all channels ch1 to chN.

  In subsequent S120, the mode selection signal X is set so that the reception switch 22 operates in the signal cutoff mode, the modulation command C is sent to the D / A converter 10, and the digital data D is taken in from the A / D converter 28. As a result, the reception signal cutoff state data Dn is acquired, and the process proceeds to S130. In the signal cut-off mode, channel switching is not performed by the reception switch 22.

  In S130, the internal temperature Tc of the device 2 is measured by taking the output of the temperature sensor 30, and in subsequent S140, the data Ds acquired in the previous S110 is used for each channel CHi and the frequency of the transmission signal Ss. By executing the FFT process for each modulation time during uplink modulation where the frequency gradually increases and downlink modulation where the frequency gradually decreases, N (number of channels) × 2 (number of modulation periods) power spectra are obtained and obtained. The average power spectrum PSs in the sky noise state is calculated by averaging the power spectrum, and the power spectrum in the reception signal cut-off state by executing FFT processing on the data Ds acquired in the previous S120 PSn is calculated.

  In subsequent S150, the difference (PSs-PSn) between the average power spectrum PSs and the power spectrum PSn is obtained for each frequency [bin], and the average value AVE (PSs-PSn) of the difference is used as the offset Poffs for the fluctuation noise. calculate.

  In subsequent S160, based on the inside air temperature Tc measured in the previous S130, the power spectrum PSn in the reception signal cutoff state obtained in the previous S140, the offset Poffs obtained in the previous S150, and the preset temperature coefficient K, According to (5), the initial value TH (0) of the noise threshold is obtained, and this process ends.

TH (0) = PSn + Poffs + K × Tc (5)
However, the initial value TH (0) of the noise threshold is set for each frequency [bin]. In equation (5), PSn is the circuit noise component, and Poffs + K × Tc is the fluctuation noise component.
<Measurement process>
Next, measurement processing repeatedly executed by the CPU of the signal processing unit 34 will be described with reference to the flowchart shown in FIG.

  When this processing is started, first, in S210, the mode selection signal X is set so that the reception switch 22 operates in the signal cutoff mode, and the modulation command C is sent to the D / A converter 10, and the A / D converter By fetching the digital data D from 28, the data Da in the reception signal cutoff state is acquired as in the case of the previous S120, and the process proceeds to S220.

  In S220, the internal temperature Tc of the device 2 is measured by taking the output of the temperature sensor 30, and in S230, the power spectrum PSa is calculated by executing the FFT process on the data Da acquired in the previous S210. To do.

  In subsequent S240, based on the power spectrum PSa calculated in S230, a noise threshold TH (n) is calculated for each frequency [bin] of the power spectrum according to the equation (6), and the process proceeds to S250. However, α is a coefficient (0 <α <1), and TH (n−1) is a noise threshold value calculated in the previous cycle (when this process was activated last time). Further, TH (n), TH (n-1), PSa, and Poffs in the equation (6) are values of the same frequency [bin].

TH (n) = (1−α) × TH (n−1) + α × (PSa + Poffs + K × Tc) (6)
In Equation (6), PSa is the circuit noise, and Poffs + K × Tc is the fluctuation noise.

  In S250, the mode selection signal X is set so that the reception switch 22 operates in the normal mode, the modulation command C is sent to the D / A converter 10, and the digital data D is taken in from the A / D converter 28. Data Db in the normal state is acquired for all channels CH1 to CHN, and the process proceeds to S260.

  In S260, N (the number of channels) × 2 (the number of modulation periods) power spectrums by performing FFT processing on the data Db acquired in the previous S250 for each channel CHi and for each modulation time. PSb is obtained and the process proceeds to S270.

  In S270, based on the power spectrum PSb obtained in the previous S260, the distance and relative velocity with respect to the object reflecting the radar wave are obtained using a well-known method in FMCW radar (details thereof are omitted). The process proceeds to S280.

  However, when extracting the peak based on the reflected wave from the power spectrum PSb, the noise threshold value TH (n) obtained in S240 is used, and a frequency component larger than the noise threshold value TH (n) is extracted.

In S280, the object extracted in the previous S270 exists based on the 2N power spectra PSb obtained in the previous S260 and the noise threshold TH (n) obtained for each frequency [bin] in the previous S240. The azimuth estimation process for estimating the azimuth is executed, and this process is terminated.
<Direction estimation processing>
Next, details of the direction estimation process (MUSIC process) executed in S280 will be described with reference to the flowchart shown in FIG.

  First, in S310, of the frequency [bin] extracted from the presence of the signal component based on the reflected wave from the object in S270, the power spectrum of one of the upstream modulation and the downstream modulation is present. One of the unprocessed processes is selected, and the process proceeds to S320.

  In S320, a received vector X (i) is generated by extracting and arranging the signal components (FFT processing result data) of the selected frequency from the power spectra of all the channels ch1 to chN (see equation (7)). In subsequent S330, an autocorrelation matrix Rxx is generated according to the equation (8) based on the received vector X (i), and the process proceeds to S340.

Ｓ３４０では、Ｓ３３０にて生成した自己相関行列Ｒxxの固有値λ₁ 〜λ_N を算出する。但し、固有値λ₁ 〜λ_N は、その値が大きい順に並べるものとする。

In S340, eigenvalues λ _{1 to} λ _N of the autocorrelation matrix Rxx generated in S330 are calculated. However, the eigenvalues λ _{1 to} λ _N are arranged in descending order.

In the subsequent S350, the calculated eigenvalues λ _{1 to} λ _N are identified as the eigenvalue of the signal space and the eigenvalue of the noise space based on the noise threshold TH (n) obtained in S240, and the eigenvalue of the signal space. Is executed as an incoming wave number L, and the process proceeds to S360.

Here, the arrival wave number estimation processing will be described along the flowchart shown in FIG.
When this processing is started, first, in S410, the noise threshold value TH (n) of the frequency [bin] selected in the previous S310 is acquired from the calculation results in the previous S240. In the subsequent S420, the eigenvalue λ is obtained. The parameter i for identifying _{1 to} λ _N is initialized to 1, and the process proceeds to S430.

  In S430, it is determined whether or not the eigenvalue λi is larger than the noise threshold value TH (n). If the eigenvalue λi is larger than the noise threshold TH (n), the process proceeds to S440, and the parameter i is incremented (i ← i + 1). In subsequent S450, it is determined whether or not the parameter i is larger than N-1 (the maximum number of identifiable incoming waves). If the parameter i is larger than N-1, the number of incoming waves is too large and the direction is estimated. If the parameter i is less than N−1, the process returns to S430, and the comparison between the eigenvalue λi and the noise threshold TH (n) is repeated.

On the other hand, in the previous S430, if the eigenvalue i is determined to be below the noise threshold TH (n), i-1 the number of incoming waves L, lambda ₁ to [lambda] _L eigenvalues signal space, lambda _{L + 1} ˜λ _N is set to the eigenvalue of the noise space, and this process is terminated.

Returning to FIG. 4, in S360, a MUSIC spectrum is calculated based on the estimation result in the arrival wave number estimation process, and the process proceeds to S370.
Specifically, the noise space (N-L) eigenvalues λ _{L + 1} ~λ eigenvector corresponding to _{N e L + 1, e L} + 2, ... based on e _N, the noise eigenvectors E _NO (9 The evaluation function P _MU (θ) shown in the equation (10) is obtained by defining the complex response of the receiving side antenna unit 20 with respect to the azimuth θ by a (θ), and the evaluation function P _MU (θ ) Is the MUSIC spectrum.

Ｓ３７０では、Ｓ３６０にて求めたＭＵＳＩＣスペクトラムをヌルスキャンすることで、受信側アンテナ部２０を構成する各アンテナが受信したＬ個の反射波の到来角度θ₁ 〜θ_L 、即ち、レーダ波を反射した物体が存在する方向を求め、続く、Ｓ３８０では、物体からの反射波に基づく信号成分が存在するとして抽出された全ての周波数［ｂｉｎ］について、本処理を終了したか否かを判断する。

In S370, by null scanning a MUSIC spectrum obtained in S360, the arrival angle of the L of the reflected waves each antenna receives constituting the receiving-side antenna section 20 theta ₁ through? _L, i.e., the reflected radar waves In step S380, it is determined whether or not the present process has been completed for all frequencies [bin] extracted as the presence of signal components based on the reflected wave from the object.

  If there is an unprocessed frequency [bin], the process returns to S310, and the above-described processing (S310 to S370) is repeatedly executed for the unprocessed frequency [bin]. If the process is finished, this process is finished.

In this embodiment, the VCO 14, the distributor 16, the transmission antenna 18, the reception antenna unit 20, and the reception switch 22 are transmission / reception means, the mixer 24 is a beat signal generation means, and the process of detecting a peak in S270 is a peak detection means. S320 to S330 are matrix generation means, S340 is an eigenvalue calculation means, S350 is an eigenvalue identification means, S360 to S370 are direction estimation means, the temperature sensor 30 is a temperature detection means, and the process of obtaining Poffs + K × Tc in S240 is a variation noise calculation means. S210 to S240 correspond to threshold setting means, the NC terminal of the receiving switch 22 corresponds to signal blocking means, S210 and S230 correspond to circuit noise calculation means, S110 to S150 correspond to offset calculation means, and S270 correspond to object detection means.
<Effect>
As described above, in the radar apparatus 2, the noise threshold value TH (n) is obtained by measuring the noise threshold TH (n) in the signal cutoff mode before the measurement in the normal mode (the spectrum PSa in the reception signal cutoff state). ) And the fluctuation noise amount (Poffs + K × Tc) obtained according to the inside air temperature Tc is obtained by weighted averaging with the noise threshold value TH (n−1) obtained in the previous cycle.

  In addition, the radar apparatus 2 measures the circuit noise component that is easy to measure even during actual use, and measures each time, and uses the offset Poffs obtained in advance for the fluctuation noise that is difficult to measure during actual use. It is calculated by correcting it according to.

  Therefore, according to the radar apparatus 2, it is possible to set the noise threshold TH (n) in which the internal air temperature Tc and the circuit state at that time are accurately reflected, and it is always stable regardless of the temperature change or the secular change. The arrival wave number L can be estimated with accuracy, and the direction of the arrival wave can be obtained with high accuracy.

  Further, the radar apparatus 2 performs noise reduction by applying a filter process (that is, a weighted average with the noise threshold value TH (n−1) obtained in the previous cycle) to the added value of the circuit noise component and the fluctuation noise component. Since the threshold value TH (n) is obtained, for example, it is prevented that a greatly incorrect noise threshold value TH (n) is set following a temporary change of fluctuation noise based on erroneous detection of the inside air temperature Tc or the like. And stable estimation accuracy can be ensured.

Further, since the radar apparatus 2 improves the estimation accuracy of the number of incoming waves and consequently the direction estimation accuracy of the incoming wave without increasing the number of snapshots when generating the autocorrelation matrix Rxx, the signal processing unit 34 is provided. The present invention can be applied without problems even when the processing capability of the CPU to be configured is low.
<Other embodiments>
As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, In the range which does not deviate from the summary of this invention, it is possible to implement in various aspects.

  For example, in the above embodiment, in order to set a plurality of channels for transmitting and receiving radar waves, one transmission antenna is provided and a plurality of reception antennas. However, a plurality of transmission antennas and a reception antenna are provided. The number may be one, or a plurality of antennas may be provided on both the transmission side and the reception side.

  In the above embodiment, eigenvalues are calculated using the autocorrelation matrix Rxx obtained from one received vector X (i), but a plurality of autocorrelation matrices Rxx are obtained from a plurality of different received vectors X (i). It is also possible to use those created and averaged out of these autocorrelation matrices, that is, those with an increased number of snapshots.

  In the above embodiment, the circuit noise amount PSa used when determining the noise threshold value TH (n) is determined for each measurement. However, the circuit noise amount Sa is determined by the noise threshold value initialization process. The circuit noise component PSs may be used in a fixed manner.

  In the above embodiment, the noise threshold value TH (n) is obtained by filtering the added value of the circuit noise component PSa and the fluctuation noise component Poffs + K × Tc, but this added value is directly used as the noise threshold value TH (n). It may be used.

The block diagram which shows the whole structure of a radar apparatus. The flowchart which shows the content of the noise threshold value initialization process. The flowchart which shows the content of a measurement process. The flowchart which shows the content of an azimuth | direction estimation process. The flowchart which shows the content of an incoming wave estimation process. Explanatory drawing which shows the procedure which calculates | requires the offset value for fluctuation noise

Explanation of symbols

  DESCRIPTION OF SYMBOLS 2 ... Radar apparatus 10 ... D / A converter 12 ... Buffer 14 ... Voltage controlled oscillator (VCO) 16 ... Distributor 18 ... Transmitting antenna 20 ... Reception side antenna part 22 ... Reception switch 24 ... Mixer 26 ... Amplifier 28 ... A / D converter 30 ... temperature sensor 32 ... initial setting switch 34 ... signal processing unit

Claims (6)

Transmitting / receiving means having a plurality of channels for transmitting a radar wave and receiving a reflected wave from an object reflecting the radar wave;
Beat signal generating means for generating a beat signal for each channel constituting the transmitting / receiving means;
Obtaining a frequency spectrum of the beat signal generated by the beat signal generating means, and detecting a frequency at which the frequency spectrum reaches a peak;
Matrix generating means for generating a correlation matrix representing the correlation between the channels using the signal component of the frequency detected by the peak detecting means;
Eigenvalue calculating means for calculating eigenvalues of the correlation matrix generated by the matrix generating means;
Of the eigenvalues calculated by the eigenvalue calculating means, eigenvalue identifying means for identifying those greater than a preset noise threshold as eigenvalues in the signal space, and those below the noise threshold as eigenvalues in the noise space;
A radar apparatus comprising: direction estimation means for estimating the arrival direction of each incoming wave based on the number of eigenvalues of the signal space as the number of incoming waves and based on the eigenvalue of the noise space;
Temperature detecting means for detecting the temperature;
Fluctuation noise component calculating means for calculating a fluctuation noise component having temperature dependence based on a detection result in the temperature detection unit;
Threshold setting means for setting the noise threshold based on an addition value of the fluctuation noise calculated by the fluctuation noise calculation means and a preset circuit noise;
A signal blocking means for blocking a reception signal from the transmission / reception means;
Circuit noise component calculating means for obtaining a frequency spectrum of a signal output from the beat signal generating means as the circuit noise component in a state in which the received signal is blocked by the signal blocking means;
From the frequency spectrum of the signal output from the beat signal generation means when a radar wave is transmitted toward the sky where no obstacle exists so that the reflected wave is not received by the transceiver, the circuit noise component is obtained. An offset calculation means for obtaining a value obtained by subtracting the circuit noise calculated by the calculation means as an offset value for the fluctuation noise;
With
The fluctuation noise component calculation means adds the multiplication value of the detection result of the temperature detection means and a preset temperature coefficient to the offset value calculated by the offset calculation means as the fluctuation noise component. A radar apparatus characterized by being obtained.   The radar apparatus according to claim 1, wherein the threshold value setting unit obtains the noise threshold value by repeatedly obtaining the addition value and performing a filtering process on the addition value.   The radar apparatus according to claim 2, wherein the filtering process performs a weighted average of the noise threshold value calculated previously and the addition value. It said peak detecting means uses a set noise threshold by the threshold setting unit, the radar apparatus according to any one of claims 1 to 3, characterized in that extracting the peak of the frequency spectrum. Based on the frequency detected by said peak detecting means, according to claim 1 to claim 4, characterized in that it comprises an object detecting means for determining at least one of the distance and relative velocity to the object to be identified from the frequency The radar device according to any one of the above. Mounted on a vehicle, the radar apparatus according to any one of claims 1 to 5, characterized in that incorporated in the device for recognizing an object existing around the said vehicle.

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