JP6381454B2 - Radar equipment - Google Patents

Description

  The present invention relates to a radar apparatus including a phased array antenna.

  Since a phased array antenna used in a radar apparatus transmits and receives a broadband high-frequency signal at the same time, a so-called beam directing direction shift in which the main beam direction shifts due to frequency fluctuations may occur. In order to suppress the beam direction deviation, it has been proposed to use a real-time delay device (True Time Delay: abbreviated as “TTD”) in a radar apparatus (for example, Non-Patent Document 1). The reason for the deviation in the beam directing direction due to the frequency variation is that the characteristic of the 360 degree phase shifter that adjusts the phase change within 360 degrees has a flat passing phase characteristic within the frequency band.

Masanobu Tanishima, Takumi Hasegawa, “Beam pointing error of wideband phased array antenna caused by reduction of the number of real-time delays and its correction method”, IEICE B, Vol. J88-B, no. 9, pp. 1863-1874, 2005.

  However, as shown in Non-Patent Document 1, TTD is generally expensive, and when a phased array antenna is configured using TTD, there is a problem that the hardware scale increases and becomes complicated.

  The present invention has been made in view of the above, and an object of the present invention is to provide a radar apparatus that can suppress a deviation of a beam pointing direction due to a frequency fluctuation without using a TTD.

In order to solve the above-described problems and achieve the object, the present invention provides a radar apparatus that transmits a transmission wave, receives a reception wave reflected by the transmission wave and hits a target, and detects the target from the reception wave. , is composed of a plurality of element antennas, and transmitting the transmission wave, and an antenna unit that receives the reception wave, dividing the plurality of element antennas into a plurality of subarrays, each of the plurality of sub-arrays, different from the different frequency bands a determination unit that determines the allocation of the beam scan frequency, based on the beam scan frequency, each of the a calculation unit for calculating an amount of phase adjustment for each of a plurality of element antennas, the plurality of sub-arrays determined by the determination unit A transmission processing unit that generates transmission signals in different frequency bands and transmits the transmission signals, and the frequency bands that differ for each of the plurality of subarrays. Based on a selection unit for selecting a sub-array in which the transmission signal is input, a distribution unit for distributing the transmission signal to each of antenna elements constituting the sub-array selected by the selection unit, each of the plurality of element antennas It disposed, on the basis of the phase adjustment amount to adjust the phase of the transmission signal, Ru and a phase shifter for outputting a transmission signal after adjusting the antenna elements.

  According to the present invention, there is an effect that it is possible to suppress a beam directing direction shift due to frequency fluctuation.

1 is a configuration diagram of a radar apparatus according to a first embodiment. The figure which shows the relationship between the frequency and time when linear frequency modulation is performed by the radar apparatus concerning Embodiment 1. FIG. The figure which shows the change of the amplitude of a transmission signal when linear frequency modulation is performed by the radar apparatus concerning Embodiment 1. FIG. The figure which shows the amplitude of the transmission signal when a frequency band is divided | segmented by the number of subarrays by the radar apparatus concerning Embodiment 1. FIG. FIG. 3 is a flowchart for explaining operations when radio waves are transmitted by the radar apparatus according to the first embodiment; FIG. 3 is a flowchart for explaining operations when radio waves are transmitted by the radar apparatus according to the first embodiment; Diagram showing radiation pattern of antenna Configuration diagram of radar apparatus according to second embodiment Configuration diagram of transmission / reception MDL unit according to the second embodiment Configuration diagram of radar apparatus according to Embodiment 3

  Hereinafter, a radar apparatus according to an embodiment of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
FIG. 1 is a diagram illustrating a radar apparatus 1 according to a first embodiment of the present invention. The radar device 1 is a device that transmits a transmission wave, receives a reception wave reflected by the transmission wave hitting a target, and detects a target from the reception wave.

  The radar apparatus 1 includes an antenna unit 11 that transmits and receives radio waves, a radar control unit 12 that is a determination unit that determines a frequency band and a beam scanning frequency, and a phase shifter control unit that is a calculation unit that calculates a phase adjustment amount. 13, a phase shifter 14 that adjusts the phase, a combining unit that combines the received signals for each subarray, and a combining / distributing unit 15 that is a distributing unit that distributes the transmission signal, and a reception process that processes the received signal Unit 16 and a target detection unit 17 for detecting a target. The radar apparatus 1 also includes a transmission processing unit 18 that transmits a transmission signal, a selection unit 19 that selects a subarray, and a circulator 20 that determines an output destination of the signal.

  The antenna unit 11 includes a plurality of element antennas 11a. The element antenna 11 a converts the received wave received into a received signal, and outputs the converted received signal to the phase shifter 14. The element antenna 11a converts a transmission signal into a transmission wave and radiates the converted transmission wave to the outside.

  In the first embodiment, the antenna unit 11 includes 67 element antennas 11a in the horizontal direction and 3 element antennas 11a in the vertical direction, and is configured by a total of 201 element antennas 11a. To do. The number of horizontal element antennas 11a is not limited to 67, the number of vertical element antennas 11a is not limited to three, and the total number of element antennas 11a is not limited to 201. Moreover, although the space | interval of the element antennas 11a of the horizontal direction is 0.5 wavelength of the electromagnetic wave transmitted / received by the antenna part 11, it is not restricted to 0.5 wavelength. The interval between the element antennas 11a in the vertical direction is one wavelength of the radio wave, but is not limited to one wavelength.

  The radar control unit 12 divides the plurality of element antennas 11a into a plurality of subarrays, and determines a frequency band and a beam scanning frequency assigned to each subarray. The radar control unit 12 divides the antenna unit 11 into three subarrays 11A, 11B, and 11C, and one subarray is configured by 67 element antennas 11a. The number of subarrays is not limited to three. The number of element antennas 11a constituting one subarray is not limited to 67.

  The radar control unit 12 assigns different frequency bands and different beam scanning frequencies to the subarrays 11A, 11B, and 11C. The radar control unit 12 determines the center frequency of the transmission radio wave, the modulation frequency band, the modulation method of the transmission radio wave, the transmission timing of the transmission radio wave, and the reception timing of the reception radio wave.

  Here, processing for assigning frequency bands to the subarrays 11A, 11B, and 11C by the radar control unit 12 will be described. The frequency band allocation processing is not limited to the following four.

  The radar control unit 12 divides the frequency band by the number of subarrays 11A, 11B, and 11C, and assigns the divided frequency bands to the subarrays 11A, 11B, and 11C.

  The radar control unit 12 converts the frequency band into a wavelength band, divides the wavelength band by the number of subarrays 11A, 11B, and 11C, converts the divided wavelength bands into frequency bands, and converts each frequency after conversion. Bands are assigned to the subarrays 11A, 11B, and 11C.

  Also, the radar control unit 12 divides a plurality of subarrays into one subarray group without dividing the number of subarrays 11A, 11B, and 11C, divides the frequency band by the number of subarray groups, and divides each divided frequency band into each subarray. Assign to a group.

  The radar control unit 12 converts the frequency band into a wavelength band, divides the wavelength band by the number of subarray groups, converts the divided wavelength bands into frequency bands, and converts the converted frequency bands into subarrays. Assign to a group.

  Next, processing for determining the beam scanning frequency will be described. The determination of the beam scanning frequency is not limited to the following two.

  The radar control unit 12 determines the center frequency of the frequency band assigned to each subarray as the beam scanning frequency.

  Also, the radar control unit 12 converts the frequency band assigned to the subarrays 11A, 11B, and 11C into a wavelength, obtains the center wavelength of the wavelength, converts the center wavelength into a frequency, and determines the converted frequency as the beam scanning frequency. To do.

  The radar controller 12 sends the beam scanning frequency determined for each of the subarrays 11A, 11B, and 11C to the phase shifter controller 13.

  Next, the control of the selection unit 19 by the radar control unit 12 will be described. FIG. 2 is a diagram illustrating the relationship between frequency and time when linear frequency modulation, which is one of frequency modulations, is performed. FIG. 3 is a diagram illustrating a change in amplitude of a transmission signal when linear frequency modulation is performed. FIG. 4 is a diagram showing the amplitude of the transmission signal when the frequency band is divided by 3, which is the number of subarrays 11A, 11B, and 11C. Hereinafter, the low frequency band is referred to as a low band, the high frequency band is referred to as a high band, and the intermediate frequency band between the low band and the high band is referred to as a middle band.

  The frequency increases as time progresses, as indicated by f1 in FIG. Further, the frequency component included in the amplitude increases as time progresses, as indicated by A1 in FIG.

  The radar control unit 12 controls the selection unit 19 so that a transmission signal having an amplitude waveform A1 that is a low frequency is output from the subarray 11A during a period t1 in FIG. The radar control unit 12 controls the selection unit 19 so that the transmission signal of the amplitude waveform A2 that is the middle region is output from the subarray 11B in the period t2 in FIG. The radar control unit 12 is in a high frequency range during a period t3 in FIG. The selector 19 is controlled so that the transmission signal having the amplitude waveform A3 is output from the sub-array 11C.

  The phase shifter control unit 13 calculates a phase adjustment amount for each element antenna 11a based on the beam scanning frequency.

  The phase shifter 14 is disposed for each element antenna 11a and adjusts the phase of the received signal received by the antenna unit 11 based on the phase adjustment amount. Specifically, the phase shifter 14 is a 360 degree phase shifter that can change the phase of the high-frequency signal within 360 degrees. The phase shifter 14 adjusts the phase of the transmission signal based on the phase adjustment amount, and outputs the adjusted transmission signal to the element antenna 11a.

  The synthesizer / distributor 15 synthesizes the received signal whose phase is adjusted by the phase shifter 14 for each of the subarrays 11A, 11B, and 11C.

  The reception processing unit 16 is arranged for each of the subarrays 11A, 11B, and 11C, and processes the reception signal combined by the combining / distributing unit 15. Specifically, the reception processing unit 16 performs amplification, bandpass filter processing, conversion processing to an intermediate frequency on the high-frequency reception signal synthesized by the synthesis distribution unit 15 for each of the subarrays 11A, 11B, and 11C, and An AD conversion process is performed, and a signal after the AD conversion process is output to the target detection unit 17.

  The target detection unit 17 detects a target based on the reception signal processed by the reception processing unit 16. Specifically, the target detection unit 17 performs frequency demodulation and unnecessary signal removal on the reception signal input from the reception processing unit 16, extracts a target signal, and detects a target from the extracted target signal.

  The transmission processing unit 18 generates a transmission signal in the frequency band determined by the radar control unit 12 and transmits the transmission signal.

  The selection unit 19 selects the subarrays 11A, 11B, and 11C to which the transmission signal is input based on the frequency band input from the radar control unit 12. The combining / distributing unit 15 distributes the transmission signal to the element antennas 11a constituting the sub-array selected by the selecting unit 19. The combining / distributing unit 15 may be divided into a combining unit and a distributing unit. In the case of this configuration, the combining unit combines the reception signals for each of the subarrays 11A, 11B, and 11C, and outputs the combined reception signal to the circulator 20. The distribution unit distributes the transmission signal input from the circulator 20, and outputs the distributed transmission signal to the phase shifter 14.

  The circulator 20 switches the reception signal input from the combining / distributing unit 15 to be output to the reception processing unit 16 and the transmission signal input from the selecting unit 19 to be output to the combining / distributing unit 15.

  Here, the operation when the radar apparatus 1 transmits radio waves will be described with reference to the flowchart of FIG.

  In step ST1, the radar control unit 12 determines the frequency, modulation method, and transmission timing of the transmission signal output from the transmission processing unit 18.

  In step ST <b> 2, the transmission processing unit 18 generates a transmission signal having a frequency determined by the radar control unit 12, and performs modulation processing on the transmission signal based on the modulation scheme determined by the radar control unit 12. The transmission processing unit 18 outputs the transmission signal after the modulation processing to the selection unit 19.

  In step ST <b> 3, the selection unit 19 selects the circulator 20 based on an instruction from the radar control unit 12, and outputs a transmission signal to the selected circulator 20. Note that the selection unit 19 may select a plurality of circulators 20.

  In step ST <b> 4, the circulator 20 outputs the transmission signal input from the selection unit 19 to the synthesis / distribution unit 15.

  In step ST5, the combining / distributing unit 15 outputs the transmission signal to the corresponding phase shifter 14.

  In step ST6, the phase shifter 14 adjusts the phase of the transmission signal based on the phase adjustment amount calculated by the phase shifter control unit 13. The phase shifter 14 outputs the adjusted transmission signal to the element antenna 11a.

  In step ST7, the element antenna 11a converts the transmission signal into a transmission wave and radiates the transmission wave to the outside.

  Next, the operation when radio waves are received by the radar apparatus 1 will be described with reference to the flowchart of FIG.

  In step ST11, the antenna unit 11 receives a received wave by the plurality of element antennas 11a. The element antenna 11 a converts the received wave into a received signal and outputs the received signal to the phase shifter 14.

  In step ST12, the phase shifter 14 adjusts the phase of the received signal based on the phase adjustment amount. The phase shifter 14 outputs the received signal after adjustment to the synthesis / distribution unit 15.

  In step ST13, the combining / distributing unit 15 combines the received signals for each of the subarrays 11A, 11B, and 11C. The combining / distributing unit 15 outputs the combined received signal to the circulator 20.

  In step ST <b> 14, the circulator 20 outputs the reception signal input from the combining / distributing unit 15 to the reception processing unit 16.

  In step ST15, the reception processing unit 16 performs signal processing on the received signal. Specifically, the reception processing unit 16 performs amplification, bandpass filter processing, conversion processing to an intermediate frequency, and AD conversion processing on the received signal, and the signal after the AD conversion processing is sent to the target detection unit 17. Output.

  In step ST16, the target detection unit 17 performs frequency demodulation and unnecessary signal removal on the received signal, extracts the target signal, and detects the target from the extracted target signal.

  Here, the radiation pattern by the antenna unit 11 will be described. FIG. 7 shows a radiation pattern of the antenna unit 11 according to the first embodiment and a radiation pattern having a configuration in which the antenna unit 11 is not divided by a plurality of subarrays 11A, 11B, and 11C.

  P1 indicated by a broken line in FIG. 7 indicates a radiation pattern of a low-frequency transmission wave, P2 indicated by a one-dot chain line in FIG. 7 indicates a radiation pattern of a transmission wave in the middle frequency, and is indicated by a solid line in FIG. P3 indicates the radiation pattern of the high-frequency transmission wave. The beam angle of the element antenna 11a in the antenna element direction is P1 <P2 <P3. Further, P4 indicated by a two-dot chain line in FIG. 7 indicates a radiation pattern of the antenna unit when not divided by a plurality of subarrays.

  In the antenna unit 11 according to the first embodiment, as described above, the interval between the element antennas 11a in the horizontal direction is 0.5 wavelength of the radio wave transmitted and received by the antenna unit 11, and The interval is one wavelength of the radio wave. The frequency band is 10%. Thus, the higher the frequency, the wider the bandwidth.

  Further, the received signal is shifted in the beam pointing direction due to the frequency component. Due to the deviation of the beam directing direction, three radiation patterns appear on the center, the minus side, and the plus side. P1, P2, P3, and P4 in FIG. 7 indicate three patterns in order to indicate the width of deviation in the beam directing direction.

  As shown by P4 in FIG. 7, the radar apparatus provided with the antenna unit when not divided by a plurality of subarrays has a large deviation in the beam directing direction, and a received signal in the vicinity of the beam scanning direction cannot be obtained in the entire frequency band. I understand that.

  On the other hand, the radar apparatus 1 according to the first embodiment has a smaller beam-direction-direction deviation width and a wider beam width than a radar apparatus that includes an antenna unit that is not divided by a plurality of subarrays. Absent.

  Therefore, the radar apparatus 1 according to the first embodiment divides the antenna unit 11 by the plurality of subarrays 11A, 11B, and 11C, and determines different frequency bands and different beam scanning frequencies for each of the subarrays 11A, 11B, and 11C. In addition, it is possible to suppress the deviation of the beam pointing direction due to the frequency fluctuation.

  Further, as shown in FIG. 7, the radar apparatus 1 according to the first embodiment has a lower relative amplitude than a radar apparatus having an antenna unit when not divided by a plurality of subarrays. Can be increased in relative amplitude. Note that a configuration for amplifying a reception signal and a transmission signal will be described in Embodiment 2 and Embodiment 3.

Embodiment 2. FIG.
FIG. 8 is a diagram illustrating the radar apparatus 2 according to the second embodiment. Note that the radar apparatus 2 according to the second embodiment does not include the phase shifter 14 and the phase shifter control unit 13 of the radar apparatus 1 according to the first embodiment, and is a transmission / reception switching unit instead of the phase shifter 14. And a transmission / reception MDL control unit 22 instead of the phase shifter control unit 13. Since the configuration other than the transmission / reception MDL unit 21 and the transmission / reception MDL control unit 22 is the same as the configuration of the radar apparatus 1 according to the first embodiment, the same reference numerals as those of the radar apparatus 1 are used and description thereof is omitted.

  FIG. 9 is a diagram illustrating a configuration of the transmission / reception MDL unit 21. The transmission / reception MDL unit 21 includes a phase shifter 14 that adjusts a phase, a reception signal amplification unit 31 that amplifies a reception signal, a transmission signal amplification unit 32 that amplifies a transmission signal, and a reception signal amplification unit 31 or a transmission signal amplification unit. Circulators 33a and 33b, which are switching units for switching between 32. The transmission / reception MDL unit 21 may not include the phase shifter 14. In the case of this configuration, the phase shifter 14 is disposed between the transmission / reception MDL unit 21 and the combining / distributing unit 15.

  The transmission / reception MDL control unit 22 serving as a calculation unit performs a process of estimating the direction of an incoming wave using a minimum description length, and based on the result of the process and the beam scanning frequency, for each element antenna The phase adjustment amount is calculated and the calculated phase adjustment amount is output to the phase shifter 14. Further, the transmission / reception MDL control unit 22 transmits a switching signal to the transmission / reception MDL unit 21.

  The transmission / reception MDL unit 21 switches the reception signal amplification unit 31 or the transmission signal amplification unit 32 based on the switching signal. Here, a specific operation of the transmission / reception MDL unit 21 will be described.

  When a switching signal indicating switching from the transmission / reception MDL control unit 22 to the reception signal amplification unit 31 is input, the circulators 33a and 33b output the reception signal received by the antenna element 11a to the reception signal amplification unit 31 and receive the reception signal. The reception signal amplified by the amplification unit 31 is switched so as to be output to the phase shifter 14.

  When the circulators 33 a and 33 b receive a switching signal indicating switching from the transmission / reception MDL control unit 22 to the transmission signal amplification unit 32, the transmission signal amplification unit 32 transmits the transmission signal whose phase is adjusted by the phase shifter 14. So that the transmission signal amplified by the transmission signal amplification unit 32 is output to the antenna element 11a.

  The radar apparatus 2 according to the second embodiment divides the antenna unit 11 by a plurality of subarrays 11A, 11B, and 11C, and determines different frequency bands and different beam scanning frequencies for each of the subarrays 11A, 11B, and 11C. Deviations in the beam pointing direction due to fluctuations can be suppressed. Also, the radar apparatus 2 according to the second embodiment can increase the relative amplitude because the reception signal is amplified by the reception signal amplification unit 31 and the transmission signal is amplified by the transmission signal amplification unit 32.

Embodiment 3 FIG.
FIG. 10 is a diagram illustrating the radar apparatus 3 according to the third embodiment of the present invention. Note that the radar apparatus 3 according to the third embodiment does not include the selection unit 19 of the radar apparatus 2 according to the second embodiment, but includes a signal distribution unit 23 instead of the selection unit 19. Since the configuration other than the signal distribution unit 23 is the same as the configuration of the radar apparatus 2 according to the second embodiment, the same reference numerals as those of the radar apparatus 2 are used and the description thereof is omitted.

  The radar apparatus 3 generates a transmission signal in the frequency band determined by the radar control unit 12, transmits the transmission signal, and a signal distribution unit 23 that distributes the transmission signal to the subarrays 11A, 11B, and 11C. And a combining / distributing unit 15 that distributes the transmission signal distributed from the signal distributing unit 23 to each element antenna 11a, and a transmission / reception MDL unit 21 that switches between the reception signal and the transmission signal. As described above, the transmission / reception MDL unit 21 includes the phase shifter 14 that adjusts the phase, the reception signal amplification unit 31 that amplifies the reception signal, the transmission signal amplification unit 32 that amplifies the transmission signal, and the reception signal amplification. Circulators 33a and 33b, which are switching units for switching the unit 31 or the transmission signal amplification unit 32. The transmission / reception MDL unit 21 may not include the phase shifter 14. In the case of this configuration, the phase shifter 14 is disposed between the transmission / reception MDL unit 21 and the combining / distributing unit 15.

  The transmission / reception MDL control unit 22 which is a calculation unit performs processing for estimating the direction of the incoming wave using the minimum description length, and based on the result of the processing and the beam scanning frequency, sets the phase adjustment amount for each element antenna. The calculated phase adjustment amount is output to the phase shifter 14. Further, the transmission / reception MDL control unit 22 transmits a switching signal to the transmission / reception MDL unit 21.

  The transmission / reception MDL unit 21 switches the reception signal amplification unit 31 or the transmission signal amplification unit 32 based on the switching signal.

  Here, a specific operation of the transmission / reception MDL control unit 22 will be described. In the following, a case where a transmission wave is transmitted by the radar device 3 will be described. The transmission / reception MDL control unit 22 transmits a switching signal to the transmission / reception MDL unit 21 connected to the sub-array corresponding to the frequency band based on the frequency band determined by the radar control unit 12, and does not correspond to the frequency band. No switching signal is transmitted to the transmission / reception MDL unit 21 connected to the subarray.

  The circulators 33a and 33b of the transmission / reception MDL unit 21 output the transmission signal whose phase is adjusted by the phase shifter 14 to the transmission signal amplification unit 32 based on the switching signal, and the transmission amplified by the transmission signal amplification unit 32 It switches so that a signal may be output to the antenna element 11a.

  The radar apparatus 3 according to the third embodiment divides the antenna unit 11 by a plurality of subarrays 11A, 11B, and 11C, and determines different frequency bands and different beam scanning frequencies for each of the subarrays 11A, 11B, and 11C. Deviations in the beam pointing direction due to fluctuations can be suppressed. Further, the radar apparatus 3 according to the third embodiment amplifies the reception signal by the reception signal amplification unit 31 and amplifies the transmission signal by the transmission signal amplification unit 32, so that the relative amplitude can be increased.

  The configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

  DESCRIPTION OF SYMBOLS 1 radar apparatus, 11 antenna part, 11a antenna element, 11A, 11B, 11C subarray, 12 radar control part, 13 phase shifter control part, 14 phase shifter, 15 synthetic | combination distribution part, 16 reception processing part, 17 target detection part , 18 transmission processing unit, 19 selection unit, 20, 33a, 33b circulator, 21 transmission / reception MDL unit, 22 transmission / reception MDL control unit, 23 signal distribution unit, 31 reception signal amplification unit, 32 transmission signal amplification unit.

Claims (5)

In a radar device that transmits a transmission wave, receives a reception wave reflected by the transmission wave hitting a target, and detects a target from the reception wave,
An antenna unit configured by a plurality of element antennas for transmitting the transmission wave and receiving the reception wave;
The plurality of element antennas are divided into a plurality of subarrays, and a determination unit that determines allocation of different frequency bands and different beam scanning frequencies for each of the plurality of subarrays;
A calculation unit that calculates a phase adjustment amount for each of the plurality of element antennas based on the beam scanning frequency;
A transmission processing unit that generates a transmission signal of the different frequency band for each of the plurality of subarrays determined by the determination unit, and transmits the transmission signal;
A selection unit that selects a subarray to which the transmission signal is input based on the different frequency bands for each of the plurality of subarrays;
A distribution unit that distributes the transmission signal to each element antenna that constitutes the subarray selected by the selection unit;
Wherein arranged for each of a plurality of element antennas, on the basis of the phase adjustment amount to adjust the phase of the transmission signal, characterized in that it comprises a phase shifter for outputting a transmission signal after adjustment element antenna radar apparatus. A synthesizing unit that synthesizes the reception signal whose phase is adjusted by the phase shifter for each of the plurality of sub-arrays;
A reception processing unit that processes the received signal combined by the combining unit;
A target detection unit for detecting a target based on the received signal processed by the reception processing unit;
The radar apparatus according to claim 1 , wherein the phase shifter adjusts a phase of the reception signal received by the antenna unit based on the phase adjustment amount . The determining unit converts a frequency band into a wavelength band, divides the wavelength band by the number of subarrays, converts each divided wavelength band into a frequency band, and assigns each frequency band after conversion to each subarray. The radar apparatus according to 1 or 2. The phase shifter includes a reception signal amplification unit that amplifies the reception signal, a transmission signal amplification unit that amplifies the transmission signal, and a switching unit that switches the reception signal amplification unit or the transmission signal amplification unit. It has a transmission / reception switching unit,
The calculation unit includes:
Based on the result of the processing and the beam scanning frequency, a phase adjustment amount is calculated for each of the plurality of element antennas, and the calculated phase adjustment amount is input to the phase shifter. Output,
Sending a switching signal to the transmission / reception switching unit,
The radar device according to claim 2 , wherein the transmission / reception switching unit switches the reception signal amplification unit or the transmission signal amplification unit based on the switching signal. A transmission processing unit that generates a transmission signal of the frequency band determined by the determination unit and transmits the transmission signal;
A signal distributor for distributing the transmission signal to sub-arrays;
A distribution unit that distributes the transmission signal distributed from the signal distribution unit to each element antenna;
The phase shifter includes a reception signal amplification unit that amplifies the reception signal, a transmission signal amplification unit that amplifies the transmission signal, and a switching unit that switches the reception signal amplification unit or the transmission signal amplification unit. A transmission / reception switching unit,
The calculation unit includes:
Based on the result of the processing and the beam scanning frequency, a phase adjustment amount is calculated for each of the plurality of element antennas, and the calculated phase adjustment amount is input to the phase shifter. Output,
Sending a switching signal to the transmission / reception switching unit,
The radar device according to claim 2 , wherein the transmission / reception switching unit switches the reception signal amplification unit or the transmission signal amplification unit based on the switching signal.

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