JPWO2007094064A1 - Radar equipment - Google Patents

Abstract

The virtual image reflected by the stationary object line located on the side of the road is removed without depending on the angle measurement accuracy. A radar wave echo mounted on a moving body and irradiated toward a predetermined angle range including the course direction of the moving body is received from a plurality of beam directions, and the echo reflection source is received based on the received signal of the received echo. In the radar apparatus for calculating the distance of the echo and the velocity of the reflection source of the echo, and calculating the direction of the reflection source of the echo using the received beam signal 207 in the beam direction, the distance and velocity of the reflection source of the echo, and Based on the stationary object line detection unit 122 that detects the position 223 of the stationary object line existing around the moving body in the path direction using the received beam signal, and the position 223 of the stationary object line and the direction of the received beam signal 207. A beam determination unit 123 that performs a determination process for determining whether or not the beam of the received beam signal 207 is a beam including a virtual image caused by reflection by the stationary object line 223. It was.

Description

  The present invention relates to a radar apparatus, and more particularly to a technique for removing unnecessary reflected waves from radar waves.

  A radar mounted on an automobile is mainly intended to detect a relative distance, a relative speed, and a direction with an object such as a preceding vehicle existing in front of the vehicle. There are stationary objects such as guardrails, sidewalks, and buildings on the side of the road on which automobiles run. For this reason, after the radar wave irradiated in front of the automobile is reflected by the object to be detected, it may be reflected again by a stationary object on the side of the road and incident on the receiving antenna of the radar apparatus. In-vehicle radars have a problem of erroneously detecting the position of an object by measuring the direction of such incident waves.

  Thus, in the field of on-vehicle radar systems, techniques for excluding reflected waves from stationary objects on the side of the road have been proposed. For example, as such a technique, assuming that a certain region is a region where a ghost (virtual image) exists based on the distribution of a stationary object, if the image is included in this region, this image is a virtual image (For example, Patent Document 1) and a method for removing a detected object other than the own lane and the adjacent lane as a virtual image after incorporating the concept of a lane (for example, Patent Document 2) are known. .

Japanese Patent Laid-Open No. 2101-116839 “Inter-Vehicle Distance Sensor” Japanese Patent Laid-Open No. 2103-270342 “Object Recognition Device, Object Recognition Method, Radar Device”

  The conventional method assumes a region where a virtual image exists, obtains the position of a reflection point, and considers the reflection point as a virtual image when the position is included in the region where the virtual image exists. In order to correctly distinguish between a real image and a virtual image using such a determination method, it is premised that each image is correctly separated and the distance and direction of each image are accurately calculated.

  In reality, however, such assumptions cannot always be adopted. For example, when trying to determine the direction of an image using a multi-beam, a virtual image may appear in a region (real image region) where a real image should originally exist depending on how the beams are combined. Even if the conventional method is applied in such a case, the virtual image is not excluded because it exists in the real image region. The present invention has been made to solve such a problem, and an object of the present invention is to surely eliminate a virtual image even when there is a possibility that a virtual image and a real image cannot be correctly separated.

In order to solve such a problem, a radar apparatus according to the present invention provides:
A radar wave echo mounted on a moving body and irradiated to a predetermined angle range including the traveling direction of the moving body is received from a plurality of beam directions, and the reflection source of the echo is received based on a received signal of the received echo In the radar apparatus for calculating the distance to the echo source and the velocity of the echo reflection source, and calculating the direction of the echo reflection source using the received beam signal in the beam direction,
A stationary object line detecting means for detecting a position of a stationary object line existing around the path of the moving body using the distance and speed of the reflection source of the echo and the received beam signal;
Based on the position of the stationary object line detected by the stationary object line detecting means and the direction of the received beam signal, whether or not the beam of the received beam signal is a beam including a virtual image due to reflection by the stationary object line. Beam determination means for performing a determination process for determining whether
It is equipped with.

  By using such a determination method, it is possible to identify a beam that is easily affected by a stationary object and to exclude this beam. Therefore, even when the angle measurement accuracy of the virtual image cannot be ensured sufficiently, the beam itself including the virtual image is excluded, so that measurement without being affected by the virtual image is possible.

The figure explaining the propagation path of the reflected wave of embodiment of this invention, The figure for demonstrating the method of determining the effectiveness of a beam, The block diagram showing the structure of the radar apparatus by embodiment of this invention, The figure which showed the frequency modulation method of the transmission signal in the radar apparatus of embodiment of this invention, A diagram showing the relationship between the arrangement of receiving antenna elements and the phase difference of incoming waves, It is the block diagram which showed the detailed structure of the radar apparatus of embodiment of this invention.

Explanation of symbols

2 mobile objects,
4 object,
5 stationary object line,
101 transmitter,
102 transmit antenna,
103a-103e receiving antenna element,
104a-104e receiving part,
105a-105e A / D converter,
106a-106e frequency detection part,
107 distance / speed calculator,
108 Beam forming section,
109 Beam effectiveness determination unit,
110 Angle measurement processing unit.

Embodiments of the present invention will be described below with reference to the drawings.
Embodiment.
First, the operation principle of the radar apparatus according to the embodiment of the present invention will be described. FIG. 1 is a diagram for explaining a propagation path of a reflected wave arriving at a radar apparatus according to an embodiment of the present invention. In FIG. 1A, a radar apparatus 1 according to an embodiment of the present invention is mounted on a moving body 2. The moving body 2 is an object that moves on a path 3 around which a stationary object exists, for example. An example of the moving body 2 is an automobile. If the moving body 2 is an automobile, the route 3 may be a road or a lane.

  In FIG. 1A, the object 4 is present in front of the moving body 2 (moving direction). Actually, the object 4 is moving on the path 3 at a predetermined speed. However, the distance R to the object 4 and the speed V with respect to the object 4 are unknown to the radar apparatus 1. A stationary object line 5 is provided around the route 3, for example, on the side. The stationary object line 5 is not necessarily composed of an inseparable object. For example, if the route 3 is a road, the stationary object line 5 may be a shoulder of a sidewalk, a guardrail, a building provided along the route 3 or the like.

  When the radar apparatus 1 irradiates a radar wave in the direction of the object 4, a part of the irradiated radar wave is reflected by the reflection source 11 on the object 4 shown in FIG. 1 and from the reflection source 11 to the radar apparatus 1. It returns to the radar apparatus 1 through the straight line 12 which is the shortest path. The radar apparatus 1 detects the distance R, the direction θ, and the velocity V to the object 4 by analyzing the reflected wave.

  However, the propagation path of the radar wave from the moving body 2 to the object 4 is not limited to the straight line 12. A part of the reflected wave is reflected again by the stationary object line 5 and arrives at the radar apparatus 1. Such a propagation path of the reflected wave is, for example, a path 13. When the radar apparatus 1 measures the direction and distance of an echo incident through the path 13, the echo is observed to appear to be at the position of the reflection point 14.

  In such a case, in the prior art, an area where a virtual image can exist is assumed based on the position of the stationary object line 5 and the width of the route 3 (for example, the width of the lane), and the reflection point 14 becomes an area where the virtual image can exist. If included, the reflection point 14 is assumed to be a virtual image and is removed from the echo data. This method seems to work without problems if the positions of the reflection points 11 and 14 can be acquired correctly.

  However, the direction of the reflection point 14 is not always obtained with high accuracy. Therefore, when the conventional technique is used, it cannot be said that the position of the reflection point 14 can be accurately identified.

  Therefore, in the embodiment of the present invention, instead of eliminating the virtual image based on the position of the reflection point 14, the beam 23 itself including the reflection point 14 is excluded. That is, based on the relative positional relationship between the beam direction and the stationary object line, it is determined whether or not the beam may contain a virtual image due to reflection by the stationary object line. It is used to observe reflection points.

  As a specific example of a method for determining whether or not a virtual image is included in the beam, the following method can be considered. For example, when a part or all of the stationary object trajectory is included in a predetermined beam pattern region, this beam is excluded as invalid. This is because there is a possibility that a virtual image is generated if a stationary object line locus exists in the beam pattern region.

  When the beam center axis and the stationary object line trajectory intersect at a predetermined intersection, the effectiveness of the beam may be determined based on the distance between the intersection and the radar apparatus. FIG. 2 shows a comparison between the case where the intersection between the beam center axis and the stationary object line locus is close to the radar apparatus (FIG. 2A) and the case where the distance is long (FIG. 2B). It is. In FIG. 2A, the central axis 23c of the beam 23 and the stationary object line locus 5 intersect at an intersection 23J. In FIG. 2B, the central axis 22c of the beam 22 and the stationary object trajectory 5 intersect at an intersection 22J. The intersection 23J is closer to the radar device than the intersection 22J.

  Comparing the beam 22 with the beam 23, the beam 23 has a stationary object line trajectory 5 crossing the central portion of the beam pattern, whereas the beam 22 has a small part of the beam pattern with the stationary object line trajectory 5. They are just touching. Therefore, the beam 23 can be expected to be more affected by the stationary object trajectory 5 than the beam 22.

  Therefore, when the distance between the intersection of the center axis of the beam and the stationary object line and the radar apparatus is a certain value or more, for example, when intersecting at a distance of about 22J, the beam is assumed to be less affected by the stationary object line trajectory. Judged to be valid. On the other hand, if it is less than a certain value, for example, if the center axis of the beam intersects the stationary object line at a distance of about 23J, it is determined that the beam is not effective because the influence of the stationary object line trajectory cannot be eliminated.

  In addition, the determination of the beam may be performed in consideration of the distance from the beam to the echo actually obtained instead of the determination based only on the relative relationship between the beam shape and the stationary object line trajectory. As will be described later, the distance to the reflection point can be calculated without depending on the beam direction or the angle measurement accuracy. In the case of a beam in the same direction, if the distance to the reflection point is increased, the possibility that the beam exists beyond the stationary object line increases. Also, considering that there is a stationary object on the side of the road, as the angle between the beam direction and the radar central axis increases (the beam deviates from the radar central axis direction), The distance gets closer.

  Therefore, the distance to the stationary object is assumed in advance based on the direction of the beam, and if this beam includes only reflection points within a range that does not exceed the assumed distance, it is determined that this beam is effective. To do. On the other hand, if this beam also includes a reflection point with a distance exceeding the distance assumed in advance, it is determined that this beam is not effective.

  There are other ways to determine the effectiveness of the beam, but if necessary, based on the direction of the beam, the relative position of the center axis of the beam and the stationary object line, or the distance to the echo, Determine the effect of the stationary object line on the echo of the beam. The principle of operation of the radar apparatus according to the embodiment of the present invention is to eliminate the influence of the virtual image from the received signal by not using the entire echo of the beam having a large influence on the stationary object line.

  Next, the detailed configuration and operation of the radar apparatus 1 will be described with reference to the drawings. FIG. 3 is a block diagram showing the configuration of the radar apparatus 1. In FIG. 3, an oscillator 101 is an oscillator that generates a transmission signal 201 with a predetermined frequency modulation.

  For example, when the radar apparatus 1 is a radar apparatus that employs an FMCW (Frequency Modulated Continuous Wave) system, the oscillator 101 has a period (frequency increase period or up chirp) in which the frequency increases linearly with respect to time. Then, a transmission signal 201 subjected to frequency modulation that sequentially repeats a period (frequency decreasing period or down chirp) in which the frequency is decreased linearly with respect to time is generated using a VCO (Voltage Controlled Oscillator). .

  FIG. 4 is a diagram illustrating the time change of the frequency of such a transmission signal 201. As shown in FIG. 4, the frequency sweep interval of the transmission signal 201 is Tc for both the frequency rise period and the frequency fall period, and the frequency sweep width is B.

  A transmission signal 201 generated by the oscillator 101 is radiated into the air as a transmission wave having a wavelength λ by the transmission antenna 102. A part of the transmission signal 201 is also input to the receiving units 104a to 104e.

  The transmission wave radiated from the transmission antenna 102 is reflected by the reflector. At that time, the reflected wave undergoes frequency modulation due to the speed of the reflecting object, and returns to the radar apparatus 1 with a time delay due to the distance to the reflecting object. The radar apparatus 1 calculates the velocity of the reflecting object and the distance to the reflecting object by analyzing the frequency modulation and the time delay.

  The reflected waves reflected by the reflector are received by the five receiving antenna elements from the receiving antenna element 103a to the receiving antenna element 103e. When the receiving antenna element 103a detects a reflected wave propagating in the air, the receiving antenna element 103a receives the reflected wave and outputs a received signal 202a. Similarly to the reception antenna element 103a, the reception antenna elements 104b to 104e also output reception signals 202b to 202e, respectively.

  The reception signal 202a output from the reception antenna element 103a is input to the reception unit 104a. Similarly, the reception signals 202b to 202e are input to the reception unit 104b to the reception unit 104e, respectively.

  The receiving units 104a to 104e use the transmission signal 201 to perform reception processing on the received signals (202a to 202e), respectively. Specifically, the frequency of the received wave is down-converted to a low frequency by mixing the transmitted wave generated by the oscillator 101 and the received wave. As a result, a beat signal having a frequency difference between the frequency of the transmission radio wave and the frequency of the reception radio wave is generated. Further, when the received wave is weak, the received wave may be amplified as necessary. As a result, the receiving unit 104a outputs a beat signal 203a. Similarly, the receiving units 104b to 104e also output beat signals 203b to 203e.

  The A / D converter 105a converts the beat signal 203a, which is an analog signal, into a beat signal 204a based on a digital signal by sampling the beat signal 203a with a predetermined period. Similarly, the A / D converters 105b to 105e also convert the beat signals 203b to 203e into digital beat signals 204b to 204e.

  The frequency detection unit 106a performs a Fourier transform on the digital beat signal 204a to obtain a beat signal spectrum, and then, on this beat signal spectrum, a peak of an amplitude value that takes a value that is higher than a predetermined noise level by a predetermined value or higher. Is detected.

In the beat signal spectrum obtained by subjecting the digital beat signal 204a to Fourier transform, an outstanding amplitude value (peak of amplitude value) appears at a predetermined frequency. It is known that the frequency giving the peak of the amplitude value can be determined by the relative distance and relative speed of the reflecting object. In the case of the radar apparatus 1 adopting the FMCW method, if the beat frequency in the frequency rising period is fup and the beat frequency in the frequency falling period is fdn, fup and fdn are given by the equations (1) and (2). . Here, c is the speed of light, R is the distance to the reflection point, and V is the relative speed of the reflection point.

  The frequency detection unit 106a detects the peak of the amplitude value appearing in the beat signal spectrum, sets the frequency that gives the peak of the amplitude value as the beat frequency, and sets the beat frequency and the complex amplitude value corresponding to the beat frequency to the beat frequency. Output as signal 205a.

  Similarly to the frequency detection unit 106a, the frequency detection units 106b to 106e output beat frequency signals 205b to 205e corresponding to the reception antenna elements 103b to 103e from the digital beat signals 204b to 204e, respectively. The beat frequency signals 205a to 205e are branched and input to the distance / speed calculation unit 107 and the beam forming unit 108, respectively.

The distance / speed calculating unit 107 stores beat frequency signals 205a to 205e that are sequentially input for a predetermined period. Of the stored beat frequency signals, the beat frequency signals 205a to 205e of the beat frequency signals 205a to 205e input during a certain frequency increase period and the beat frequency signals 205a to 205e input during the frequency decrease period following this frequency increase period. One beat frequency fdn is selected one by one. Then, using the selected beat frequency fup and beat frequency fdn, the reflection point distance R and relative velocity V are calculated. Here, the distance R and the relative speed V of the reflection point are calculated using the equations (3) and (4) derived from the equations (1) and (2).

  The distance / speed calculating unit 107 outputs the distance R and the relative speed V calculated using the equations (3) and (4) as a signal 206 together with the beat frequencies fup and fdn used for calculating these values. To do.

  On the other hand, the beam forming unit 108 performs beam forming processing in a predetermined direction based on the beat frequency signals 205a to 205e input from the frequency detection units 106a to 106e. Beat frequency signals 205a to 205e are digital signals. As described above, the process of performing beam forming in an arbitrary direction based on the beat frequency signals 205a to 205e which are digital signals is widely known in the radar technical field as digital beam forming (DBF) processing. . The beam forming process will be specifically described below.

  First, the beam forming unit 108 selects a set of beat frequency signals having the same beat frequency from the beat frequency signals 205a to 205e input from the frequency detection units 106a to 106e. As is clear from the equations (1) and (2), the beat frequency does not depend on the beam direction and is determined only by the distance R of the reflection point and the relative velocity V. Therefore, the beat frequency signals from the receiving antenna elements 103a to 103e can be combined based on only the frequency, regardless of the beam direction.

  Based on the position and spacing of the receiving antenna elements that output the reception signals that are the basis of the plurality of beat frequency signals combined in this way, and the direction φ of the beam to be formed, they are combined. Compensates complex amplitude values of multiple beat frequency signals.

For example, if the distance between the receiving antenna elements is d and the beams coming from the same reflection source arrive at each receiving antenna element at the incident angle θ as shown in FIG. 5, the path length generated between adjacent receiving antenna elements Δ is given by Δ = d × sin (θ). Therefore, if the wavelength of the reception beam is λ, the phase shift that occurs between adjacent reception antenna elements is given by equation (5).

The beam forming unit 108 assumes that a phase shift given by the equation (5) occurs with respect to a predetermined beam direction (incident angle with respect to the receiving antenna element) θ ₁ , θ ₂ ,..., Θ _M (M is a natural number). phase shift phi ₁ against angle of _incidence, φ _{2, ...,} and calculates the phi _M, to compensate for the phase shift of the complex amplitude values of the beat frequency signal 205A～205e, adds the complex amplitude value of the compensation result. That is, if the complex amplitude value before compensation of the nth receiving antenna element is A (n) and the total number of receiving antenna elements is N (5 in this example), the direction θ _i (i = 1, 2,..., M The complex amplitude value B (θ _i ) of the beam formed for) is given by equation (6).

The signal 207 output from the beam forming unit 108 includes information on the beam formed in the beam forming unit 108, and includes at least the complex amplitude value B (θ _i ) and the beat frequency.

  Subsequently, the beam validity determination unit 109 uses the beat frequency and complex amplitude value of the beam in each direction included in the signal 207 in addition to the beat frequency, distance, and speed of the reflection point included in the signal 206 to generate a beam. The effectiveness of each beam formed by the forming unit 108 is determined. The beam determined to be effective by the beam effectiveness determination unit 109 is output as an effective beam 208 to the angle measurement processing unit 110, and is used in the angle measurement processing by the angle measurement processing unit 110 as a beam that is not affected by a virtual image.

  FIG. 6 is a block diagram showing a detailed configuration of the beam validity determination unit 109. In the figure, a reflection point separation unit 121 separates a reflection point into a moving point and a stationary point based on the speed included in the signal 206 output from the distance / speed calculation unit 107. Information on the reflection point separated as the movement point is output as movement point information 221. The reflection point separated as a stationary point is output as stationary point information 222.

  The moving point information 221 may include information on the moving point obtained by the processing so far, for example, the beam direction, the complex amplitude value of the beam, the beat frequency, the speed, and the distance. It is also possible to store movement point information in a file or memory area that can be referenced from all the components of the unit 209 and to pass the address of this file or memory area as the movement point information 221. A similar configuration can be adopted for the stationary point information 222.

  Further, as a specific method for separating the reflection point into the moving point and the stationary point, for example, the speed of the vehicle on which the radar apparatus 1 is mounted is obtained from an external speed sensor, and the vehicle speed and the relative speed of the reflection point are obtained. There is known a method of extracting a stationary point from a reflection point using and.

  In addition to this, there is a method in which a reflection point having a velocity with the highest distribution frequency in the velocity distribution of reflection points is regarded as a stationary point. This method is based on the fact that reflection points existing on a stationary object in a covered area such as an object on the road surface or the road side are detected most frequently.

  The reflection point separation unit 121 combines the signal 206 and the signal 207 having the same beat frequency. In other words, the reflection point separation unit 109 integrates the signal 206 and the signal 207 by assuming that the reflection point whose distance and velocity are calculated from a certain beat frequency is in a beam including the beat frequency.

  Subsequently, the stationary object line detection unit 122 extracts a stationary object line based on the stationary point information 222. The extraction of a stationary object line is often used by a method of fitting a straight line or a curve to a coordinate distribution of stationary points using an optimization method such as a least square method. However, in order to use such a method, the coordinate value of a stationary point is required. In the radar apparatus 1, the distance / velocity calculation unit 107 calculates the distance of the stationary point, but the coordinate value is not calculated.

  Therefore, the stationary object line detection unit 122 assumes a rough coordinate value of the stationary point by combining the beam direction and the distance between the stationary point. For example, the coordinates of the stationary point are determined using the beam center direction as it is as the direction of the stationary point. Then, the stationary object line trajectory is applied to the coordinates of the stationary point thus determined in the same manner as in the past.

  Since the radar apparatus 1 employs a method of determining effectiveness not in image (echo) units but in beam units, virtual images can be excluded with sufficient accuracy even if the trajectory of a stationary object line is not strictly specified. It is possible.

  In addition, since the virtual image is eliminated without performing the angle measurement process in units of images (echoes), the calculation load can be reduced. In the prior art, it has been necessary to specify coordinates with a certain degree of accuracy by performing angle measurement processing on a virtual image. The virtual image is finally removed, and although it is not used as the output value of the radar apparatus, a certain amount of calculation resources are consumed. However, the radar apparatus 1 does not cause such a problem.

  Even in the stationary object line detection unit 122, the direction of the stationary point is determined by using monopulse angle measurement processing or other methods as in the conventional technique, and the coordinate value is calculated by combining this direction and the distance. Needless to say, it is good.

  The stationary object line thus obtained is output as stationary object line trajectory information 223. Here, when the distribution of the stationary points is expressed by a straight line, the stationary object line trajectory information 223 includes parameters for specifying the straight line (for example, an inclination value of the straight line or an intercept value such as an x-intercept or a y-intercept with respect to a predetermined coordinate axis) as information. included. If the distribution of stationary points is expressed by a curve, parameters such as a radius of curvature and a center of curvature may be included in the stationary object line trajectory information 223 as information.

  It is not necessary to limit the stationary object line locus 223 to one. Since a stationary object line usually exists on the left and right on the road, the distribution of the stationary object may be expressed by two straight lines or curves. In the following description, it is assumed that the stationary object trajectory 223 is expressed as a straight line for easy understanding.

  The beam determination unit 123 determines the effectiveness of the beam using the method described above. Information about the beam determined to be valid is output as a signal 208. The signal 208 may include the beam direction, the complex amplitude value of the echo, the beat frequency, the distance, the speed, and the like.

  Finally, the angle measurement processing unit 110 measures the angle of the reflection point ahead of the traveling direction by using the effective beam 208 from which the influence of the mirror image reflection is removed, and appropriately combines the direction, the distance, and the speed, and the final measurement of the radar apparatus 1 is performed. The motion data 210 as output data is output.

  As described above, in the radar apparatus according to the embodiment, a decrease in angle measurement accuracy is predicted from the relationship between the position of the stationary object line and the beam center position, and in order not to select such a beam, angle measurement by mirror image reflection is performed. It becomes possible to prevent a decrease in accuracy.

  In the configuration diagram of the radar apparatus 1 shown in FIG. 3, the case where five receiving antenna elements are provided has been described. However, in order to exert the characteristics of the present invention, the number of receiving antenna elements must be five. It goes without saying that it is not impossible.

  In the embodiment of the present invention, the radar apparatus 1 forms a beam by digital beam forming. Since digital beam forming can finely control the beam directivity by calculation, it is suitable for evaluating the influence of a virtual image not on an echo basis but on a beam basis as in the radar apparatus 1. This is because fine selection of the beam direction enables selection in units of beams with sufficient accuracy.

  However, it will be apparent that the features of the present invention can be similarly achieved even when the direction of the transmission beam or the reception beam is changed mechanically or electronically. That is, if the beam is irradiated in a plurality of directions or receives a beam from a plurality of directions, it is possible to select each beam for each beam after judging the degree of influence of the stationary object line in each beam. Because it is possible.

The present invention can be widely applied to a system that detects a remotely existing object by radio waves.

Claims (4)

A radar wave echo mounted on a moving body and irradiated to a predetermined angle range including the traveling direction of the moving body is received from a plurality of beam directions, and the reflection source of the echo is received based on a received signal of the received echo In the radar apparatus for calculating the distance to the echo source and the velocity of the echo reflection source, and calculating the direction of the echo reflection source using the received beam signal in the beam direction,
A stationary object line detecting means for detecting a position of a stationary object line existing around the path of the moving body using the distance and speed of the reflection source of the echo and the received beam signal;
Based on the position of the stationary object line detected by the stationary object line detecting means and the direction of the received beam signal, whether or not the beam of the received beam signal is a beam including a virtual image due to reflection by the stationary object line. Beam determination means for performing a determination process for determining whether
A radar apparatus comprising: The radar device according to claim 1,
The beam determination unit performs the determination process based on a position of the stationary object line, a beam direction of the reception beam signal, and a distance to a reflection source of an echo included in the beam of the reception beam signal. Radar equipment. The radar device according to claim 1,
Angle measuring processing means for calculating a direction of the echo reflection source using a received beam signal of a beam determined not to include a virtual image due to reflection by the stationary object line in the determination process. Radar equipment. The radar device according to claim 1,
Receiving means for receiving the echo using an array antenna including a plurality of receiving antenna elements and generating an output signal based on the echo;
Beam forming means for controlling beam directivity of the output signal and forming a received beam signal in the beam direction;
A radar apparatus comprising:

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