JPWO2017145588A1 - Radar apparatus and radar image generation method - Google Patents

Abstract

A radar apparatus capable of confirming a target at a short distance in detail while suppressing the roughness of a radar image for confirming a target at a long distance.
[Solution means] The radar apparatus comprises an angle range setting section, a transmission section, a reception section, and a radar image generation section. The angle range setting unit sets at least one angle range that is not omnidirectional. The transmitter transmits a first transmission signal having a first pulse width, and transmits a second transmission signal having a second pulse width shorter than the first pulse width in the angle range set by the angle range setting unit. Send. The reception unit receives, as a reception signal, a signal obtained by reflecting the first transmission signal and the second transmission signal transmitted from the transmission unit on the target. The radar image generation unit generates a first radar image based on the reception signal of the first transmission signal, and generates a second radar image in the angular range based on the reception signal of the second transmission signal.
[Selection] Figure 5

Description

  The present invention relates to a radar apparatus that transmits two or more transmission signals having different pulse widths.

   For example, in a marine radar apparatus, a user uses different radar images with different display ranges depending on the purpose. The user uses a radar image with a narrow display range when he wants to check the situation in the vicinity of his ship, and uses a radar image with a wide display range when he wants to check the situation in the distance.

   In this type of radar apparatus, the pulse width of the transmission signal may be varied depending on the display range of the radar image. For example, when the display range of the radar image is narrow, the resolution can be improved by transmitting a transmission signal having a short pulse width. In addition, when the display range of the radar image is wide, by transmitting a transmission signal having a long pulse width, the SN ratio of the echo signal is improved, so that visibility can be improved. Patent Documents 1 and 2 disclose radar devices that transmit transmission signals having different pulse widths.

  Patent Documents 1 and 2 display two radar images having different display ranges on one screen. The radar device transmits a short pulse width transmission signal for generating a radar image with a narrow display range and a long pulse width transmission signal for generating a radar image with a wide display range. The radar device performs different processing on the reflected waves of two types of transmission signals having different pulse widths, and individually generates radar images.

   The radar device of Patent Document 3 is configured to be able to automatically change the display range. In this radar device, when a target to be warned is detected, the display range is set so that the target is positioned at approximately half the display range of the radar image. For example, when a target to be warned is located at 3 NM, the display range is set to 6 NM.

Japanese Patent No. 5231721 Japanese Patent No. 3493107 Japanese Patent Laid-Open No. 4-98179

   Since the radar apparatus cannot receive and transmit at the same time, it is necessary to wait for receiving the reflected wave after transmitting the transmission signal. Therefore, it is necessary to transmit the transmission signal at a predetermined transmission interval. Here, the radar devices of Patent Documents 1 and 2 alternately transmit transmission signals having different pulse widths in all directions. Therefore, the transmission interval between the same type of transmission signals becomes long, and the radar image may become rough. In particular, since the transmission signal is transmitted radially, it may not be possible to detect long-distance targets.

  Moreover, the display range of the radar apparatus of Patent Document 3 is automatically changed. Therefore, for example, when the user is paying attention to a target at a long distance, the target may not be displayed on the radar image.

  The present invention has been made in view of the above circumstances, and its main purpose is to be able to confirm a target at a short distance in detail while suppressing the roughness of a radar image for confirming a target at a long distance. Is to provide a simple radar device.

Means and effects for solving the problems

  The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.

   According to a first aspect of the present invention, a radar apparatus having the following configuration is provided. That is, the radar apparatus includes an angle range setting unit, a transmission unit, a reception unit, and a radar image generation unit. The angle range setting unit sets at least one angle range that is not omnidirectional. The transmission unit transmits a first transmission signal having a first pulse width, and a second transmission having a second pulse width that is shorter than the first pulse width in the angle range set by the angle range setting unit. Send a signal. The reception unit receives, as a reception signal, a signal that is reflected by a target from the first transmission signal and the second transmission signal transmitted by the transmission unit. The radar image generation unit generates a first radar image based on the received signal of the first transmission signal, and generates a second radar image of the angular range based on the received signal of the second transmission signal. .

  Thereby, since a transmission part transmits a 2nd transmission signal in the set angle range, the transmission interval of a 1st transmission signal is not lengthened in another angle range. Therefore, it is possible to generate the second radar image while suppressing the roughness of the first radar image.

  In the radar apparatus, it is preferable that the angle range setting unit accepts designation of a position on the first radar image and sets the angle range based on the accepted position.

  Thereby, the angle range including the said position can be set only by a user or another apparatus specifying a position.

  In the radar apparatus, it is preferable that the second radar image is an image of an area including a position received by the angle range setting unit.

  Thereby, since the 2nd radar image | video containing the position designated by the user or another apparatus is produced | generated, the user can confirm in detail about an important target etc.

  In the radar apparatus, it is preferable that the angle range setting unit accepts a position specified by a user.

  Thereby, the 2nd radar image | video containing the target (for example, the other ship etc. with the possibility of a collision) which the user paid attention to can be produced | generated.

   The radar device preferably has the following configuration. That is, the radar apparatus includes a target tracking unit that performs target tracking processing based on the received signal. The position received by the angle range setting unit is a target selected by the target tracking unit or a target selected from the target being tracked.

  As a result, the target currently being tracked is often an important target for the user, and the user can generate a second radar image so as to include the target in detail. Can be confirmed.

  In the radar apparatus, it is preferable that the transmission unit transmits the second transmission signal determined based on a distance from the own apparatus to a position received by the angle range setting unit.

  Thereby, the 2nd radar image | video with high resolution and visibility can be produced by determining a pulse width according to distance.

  In the radar apparatus, it is preferable that the transmission unit transmits the second transmission signal without changing the transmission interval of the first transmission signal in the angular range.

  As a result, the second radar image can be generated without degrading the quality of the first radar image.

  In the radar apparatus, it is preferable that the transmission unit transmits the second transmission signal by increasing the transmission interval of the first transmission signal in the angular range.

  Thus, even when the transmission interval of the first transmission signal is short, the second radar image can be generated by transmitting the second transmission signal instead of the transmission signal.

  The radar apparatus preferably includes a display unit that simultaneously displays the first radar image and the second radar image.

  Thereby, the user can confirm the detailed state about the target in the predetermined angle range while confirming the state of the entire target around the ship.

  In the radar apparatus, it is preferable that the second radar image is displayed superimposed on the first radar image.

  Thereby, the second radar image can be displayed without reducing the display area of the first radar image.

  In the radar apparatus, it is preferable that a portion occupied by the second radar image in the display unit is smaller than a portion occupied by the first radar image.

  Thereby, the second radar image can be displayed without reducing the display area of the first radar image. In particular, since the second radar image is a radar image in a set angle range, sufficient visibility can be exhibited even if the second radar image is displayed in a small size.

  In the radar apparatus, it is preferable that the time for waiting for the reception signal of the second transmission signal is shorter than the time for waiting for the reception signal of the first transmission signal.

  Since it is sufficient for the second transmission signal to detect a target at a short distance, the number of transmissions of the transmission signal per unit time can be increased by shortening the time for waiting for the reception signal.

   According to the second aspect of the present invention, the following radar image generation method is provided. That is, this radar image generation method includes an angle range setting step, a transmission step, a reception step, and a radar image generation step. The angle range setting step sets at least one angle range. In the transmission step, a transmission signal having a first pulse width is transmitted, and at least the transmission signal having a second pulse width is transmitted in the angle range set in the angle range setting step. In the reception step, a signal obtained by reflecting the transmission signal transmitted in the transmission step on a target is received as a reception signal. The radar image generation step generates a first radar image of a region including the angle range based on a reception signal having a first pulse width, and a second of the angle range based on a reception signal having a second pulse width. Radar image is generated.

  Thereby, since the second transmission signal is transmitted in the set angle range in the transmission step, the transmission interval of the first transmission signal does not become longer in other angle ranges. Therefore, it is possible to generate the second radar image while suppressing the roughness of the first radar image.

1 is a block diagram showing a configuration of a radar apparatus according to an embodiment of the present invention. The flowchart which shows the process which transmits a 2nd transmission signal only to the set angle range. The figure which shows the pulse transmitted before the detection of a dangerous target, and the pulse transmitted during the detection of a dangerous target. The figure which shows the radar image | video displayed before detection of a dangerous target. The figure which shows the radar image | video displayed during the detection of a dangerous target. The figure which shows another example of the radar image | video displayed during the detection of a dangerous target.

  Next, embodiments of the present invention will be described with reference to the drawings. First, the radar apparatus 1 will be described with reference to FIG. FIG. 1 is a block diagram showing a configuration of a radar apparatus 1 according to an embodiment of the present invention.

   The radar apparatus 1 of this embodiment is mounted for ships and detects and displays other ships. The radar apparatus 1 can detect the position of the target by transmitting a radio wave (transmission signal) having a long pulse width and analyzing the received signal by performing a pulse compression process. As shown in FIG. 1, the radar apparatus 1 includes an antenna unit 10 and a radar indicator 20.

  The antenna unit 10 includes an antenna unit 11, a transmission circuit (transmission unit) 12, a reception circuit (reception unit) 13, and an angle detection unit 14.

   The antenna unit 11 can transmit a transmission signal (radio wave), and can receive a reflected wave reflected by a target or the like. The antenna unit 11 is configured to repeatedly transmit and receive signals while rotating in a horizontal plane at a predetermined period. Instead of the radar apparatus 1 of the present embodiment, a radar apparatus that detects the surroundings without rotating the antenna unit 11 may be used.

  The transmission circuit 12 generates a transmission signal in response to an instruction from the radar indicator 20 and outputs the transmission signal to the antenna unit 11. The transmission circuit 12 is configured to be able to generate transmission signals having different pulse widths. The transmission circuit 12 can generate and transmit a transmission signal having a different pulse width in accordance with an instruction from the radar indicator 20.

  The receiving circuit 13 receives the reflected wave received by the antenna unit 11 as a received signal. The receiving circuit 13 performs frequency down-conversion and amplification on the received signal. The receiving circuit 13 outputs the converted reflected wave to the radar indicator 20.

  The angle detection unit 14 is attached to the rotation shaft of the antenna unit 11 and detects the rotation angle of the antenna unit 11. The detection result of the angle detector 14 is output to the radar indicator 20.

  The radar indicator 20 includes a signal processing unit 21, a target tracking unit 22, a radar image generation unit 23, a display unit 24, an operation unit 25, a transmission signal setting unit 26, a transmission signal control unit 27, Is provided.

   The signal processing unit 21 performs A / D conversion, pulse compression processing, gain adjustment, sea surface reflection removal processing, and the like on the reception signal input from the reception circuit 13. Note that at least part of the processing performed by the signal processing unit 21 may be performed on the antenna unit 10 side, or at least part of the processing performed by the reception circuit 13 may be performed on the signal processing unit 21 side. The signal processing unit 21 outputs the received signal after the signal processing to the target tracking unit 22 and the radar image generation unit 23.

  The target tracking unit 22 is for realizing a TT (Target Tracking) function. This TT (or ARPA) function is well known and will not be described in detail. However, the position of the target is automatically detected and captured based on the received signal input from the antenna unit 10, and the time shifts. Based on this, the velocity vector of the target is estimated by tracking the movement of the target. The TT information calculated by the target tracking unit 22 is output to the radar image generation unit 23.

   Further, the target tracking unit 22 determines whether or not there is a high possibility of collision of the target being tracked based on the calculated TT information. Specifically, the target tracking unit 22 performs a process of determining whether or not the collision possibility is high using “CPA”, “BCR”, “TCPA”, “BCT”, and the like. CPA is an abbreviation for Closest Point of Approach, and indicates the distance when the ship and the target are closest to each other. TCPA is an abbreviation for Time to CPA and indicates the time until the ship and the target are closest. BCR is an abbreviation for Bow Crossing Range, and indicates the distance between the ship and the target when the target crosses the bow direction of the ship. BCT is an abbreviation for Bow Crossing Time and indicates the time until the target crosses the bow direction of the ship.

  These values are often used to determine the possibility of a collision. The smaller the value, the shorter the distance between the target and the ship, or the shorter the time it takes to approach. The target tracking unit 22 obtains these values for the target being tracked and determines whether or not the possibility of collision is high based on the result. Hereinafter, the target determined by the target tracking unit 22 as having a high possibility of collision is referred to as a collision risk target.

  The radar image generation unit 23 generates a radar image based on the received signal after signal processing. Specifically, the radar video generation unit 23 acquires the distance to the target based on the time difference between the timing at which the antenna unit 11 transmits the transmission signal and the timing at which the reception signal is received. Further, the radar image generation unit 23 acquires the direction in which the target exists based on the direction of the antenna unit 11 when the transmission signal is transmitted. As described above, the radar image generation unit 23 can generate a radar image as shown in FIG. The radar image generation unit 23 can display the TT information input from the target tracking unit 22 on the radar image.

  As shown in FIG. 4, the ship image 41, echoes 42a, 42b, and 42c, and a TT symbol 43 are displayed in the radar image (first radar image 40).

  The own ship mark 41 is a mark indicating the position of the own ship (own apparatus, radar apparatus 1). The echoes 42a, 42b, and 42c are targets whose distances and directions are calculated based on the received signals as described above. The echo 42a is a land echo, and the echoes 42b and 42c are echoes indicating other ships.

   Further, since the target tracking unit 22 is tracking the other ship indicated by the echo 42c, a TT symbol 43 is displayed in the vicinity thereof. The TT symbol 43 is a mark created based on the TT information calculated by the target tracking unit 22. The TT symbol 43 includes a circular mark indicating the position of the ship (target) and a line segment (speed vector) indicating the speed of the ship (target).

  The display unit 24 is configured by a display such as a liquid crystal. The display unit 24 can display the radar image.

   The operation unit 25 is a part that the user operates to give an instruction to the radar indicator 20. The operation unit 25 may be a key arranged in the casing of the radar indicator 20, or may be a trackball connected to the casing. The display unit 24 and the operation unit 25 may be touch panels.

   The transmission signal setting unit 26 performs processing for calculating the pulse width, timing, and the like of the transmission signal and setting them in the transmission signal control unit 27. The transmission signal control unit 27 receives the rotation angle of the antenna unit 11 from the angle detection unit 14. The transmission signal control unit 27 controls the transmission circuit 12 to generate a transmission signal based on the rotation angle of the antenna unit 11 and the content set by the transmission signal setting unit 26.

  The radar apparatus 1 of this embodiment normally transmits only one type of transmission signal. When the target tracking unit 22 detects a collision risk target, the radar apparatus 1 is set to transmit a second transmission signal in addition to the first transmission signal in the direction in which the collision risk target exists. As shown in FIG. 5, the display unit 24 displays a second radar image 50 obtained by transmitting and receiving the second transmission signal in addition to the first radar image 40. Hereinafter, the process of transmitting the second transmission signal in the direction in which the collision target is present will be described in detail with reference to the flowchart of FIG.

  As described above, the target tracking unit 22 determines whether the target being tracked (that is, the target displayed in the first radar image 40) is a collision risk target. The target tracking unit 22 outputs the position (relative position) of the collision dangerous target to the transmission signal setting unit 26 when there is a collision dangerous target. Based on the input from the target tracking unit 22, the transmission signal setting unit 26 determines whether or not there is a collision risk target in the target being tracked (S101).

  Further, the user can designate a target to be displayed on the second radar image. Specifically, the user designates the target by selecting the echoes 42a, 42b, 42c or the TT symbol 43 displayed on the first radar image 40 of the display unit 24 using the operation unit 25. be able to. The position of the target designated by the user is output to the transmission signal setting unit 26. The user may directly specify the position instead of the target. In this case, the position selected by the user is output to the transmission signal setting unit 26. The transmission signal setting unit 26 determines whether there is a position designation by the user based on the input from the operation unit 25 (S102).

  The transmission signal setting unit 26 sets only the first transmission signal as the transmission signal when there is no dangerous target being tracked and no position is designated by the user (S103). An example of a transmission signal transmitted when only the first transmission signal is set is shown in a portion described as “before detection of a dangerous target” in FIG. 3. As shown in FIG. 3, a transmission signal (first transmission signal) having a first pulse width is transmitted, and then there is a time to wait for reception of the reception signal of the first transmission signal (reception standby time). . After the elapse of the period for receiving the first transmission signal, the next first transmission signal is transmitted. The display unit 24 displays the first radar image 40 obtained from the received signal of the first transmission signal.

  The angle range setting unit 26a of the transmission signal setting unit 26 sets an angle range including the collision dangerous target or the designated position when the collision dangerous target or the position is designated by the user (S104). Specifically, the angle range setting unit 26a sets the angle range based on the angle (angle, azimuth in the horizontal plane) where the collision target is present so that the angle is included (and not in all directions). To do. For example, the transmission signal setting unit 26 sets an angle range from θ−α to θ + α in the transmission signal control unit 27, where θ is an angle at which a collision target is present.

  Next, the second pulse width setting unit 26b of the transmission signal setting unit 26 sets the second pulse width of the second transmission signal according to the collision target or the distance (r) to the designated position ( S105). As described above, the resolution can be improved by shortening the pulse width when creating a short-range radar image, and the visibility can be improved by increasing the pulse width when creating a long-range radar image. Can be improved.

   Therefore, the second pulse width setting unit 26b sets the shorter pulse width in the transmission signal control unit 27 as the second pulse width as the distance to the collision target or the designated position becomes shorter. Further, since the second transmission signal is used to detect a target at a short distance in more detail, the second pulse width is set to a value shorter than the first pulse width.

  Further, since it is sufficient for the second transmission signal to be able to detect the collision target or the surrounding of the designated position, it is not necessary to lengthen the reception waiting time of the reflected wave. Therefore, in this embodiment, the reception waiting time of the second transmission signal is shorter than the reception waiting time of the first transmission signal.

   Next, the transmission signal control unit 27 determines whether or not it is time to transmit a transmission signal within the set angle range (S106). Specifically, the rotation angle of the antenna unit 11 is input from the angle detection unit 14 to the transmission signal control unit 27. The transmission signal control unit 27 performs the determination in S106 based on whether or not the input rotation angle is within the angle range set by the transmission signal setting unit 26.

  If it is not the timing to transmit the transmission signal within the set angle range, the transmission signal control unit 27 transmits only the first transmission signal as in the case where no collision danger target exists (S103, in the center of FIG. 3). Waveform diagram).

   The transmission signal control unit 27 transmits the transmission signal while switching between the first transmission signal and the second transmission signal when it is the timing to transmit the transmission signal within the set angle range (S107, waveform diagram in the lower part of FIG. 3). . In this embodiment, the first transmission signal and the second transmission signal are alternately transmitted. However, every time one of the transmission signals is transmitted twice, the other transmission signal is transmitted once. There may be.

  In the present embodiment, the transmission interval of the first transmission signal is longer in the set angle range than in other angles. In other words, in the set angle range, the first transmission signal is thinned out and the second transmission signal is transmitted. As long as the transmission interval of the first transmission signal is long, the transmission interval of the first transmission signal may be the same in the set angle range and the other angle ranges.

   As described above, the first transmission signal and the second transmission signal are alternately transmitted in the direction where the collision target is present, and only the first transmission signal is transmitted in the other directions. The radar image generation unit 23 generates the first radar image 40 based on the reception signal of the first transmission signal, and further generates the second radar image 50 based on the reception signal of the second transmission signal.

  FIG. 5 shows a display screen of the display unit 24 when the second radar image 50 is displayed in addition to the first radar image 40. The second radar image 50 is arranged at the lower right of the display screen and in front of the first radar image 40 so as to be superimposed on the first radar image 40.

   The second radar image 50 is a fan-shaped portion displayed in a rectangular frame. The fan-shaped portion of the second radar image 50 corresponds to the broken-line fan shape (second radar image area display unit 44) displayed in the first radar image 40. In the second radar image 50, since the radar image is generated with a shorter pulse width than that of the first radar image 40, a radar image with higher resolution is displayed. Further, the second radar image 50 is displayed in an enlarged manner than the first radar image 40. Therefore, the user can acquire more detailed information about the collision danger target.

  The display position of the second radar image is arbitrary and is not limited to the lower right, and may be displayed at any of the four corners. Further, the shape of the second radar image 50 is not limited to a sector shape, and may be a rectangular shape as shown in FIG.

   As described above, the radar apparatus 1 includes the angle range setting unit 26a, the transmission circuit 12, the reception circuit 13, and the radar image generation unit 23, and performs a radar image generation method. The angle range setting unit 26a sets at least one angle range that is not omnidirectional (angle range setting step). The transmission circuit 12 transmits the first transmission signal having the first pulse width, and the second transmission signal having the second pulse width that is shorter than the first pulse width in the angle range set by the angle range setting unit 26a. Is sent (transmission process). The reception circuit 13 receives, as a reception signal, a signal obtained by reflecting the first transmission signal and the second transmission signal transmitted from the transmission circuit 12 on the target (reception step). The radar image generation unit 23 generates a first radar image based on the reception signal of the first transmission signal, and generates a second radar image in the angle range based on the reception signal of the second transmission signal. Production process).

  Thereby, since the transmission circuit 12 transmits the second transmission signal in the set angle range, it is not necessary to shorten the transmission interval of the first transmission signal in other angle ranges. Therefore, it is possible to generate the second radar image while suppressing the roughness of the first radar image.

  The preferred embodiment of the present invention has been described above, but the above configuration can be modified as follows, for example.

   In the above embodiment, an example in which only one angle range is set is shown, but two or more angle ranges may be set and two or more second radar images 50 may be displayed. In this case, the pulse width may be different between the first angle range and the second angle range. Here, if the first angle range overlaps with the two angle ranges, and different pulse widths are set for each, the direction in which the two angle ranges overlap has the higher possibility of a collision. A transmission signal having a pulse width corresponding to the angle range can be transmitted.

  In the above embodiment, the target tracking unit 22 selects a target with a high possibility of collision and outputs it to the transmission signal setting unit 26. However, from another viewpoint, the target tracking unit 22 selects a target and transmits it to the transmission signal setting unit 26. It may be output. Further, when there are few targets being tracked, all the targets being tracked may be output to the transmission signal setting unit 26.

   In the above embodiment, the second radar image 50 is displayed in an enlarged manner than the first radar image 40. However, the second radar image 50 is displayed in the same scale or reduced than the first radar image 40. May be. In the above embodiment, the first radar image 40 and the second radar image 50 have the same reference direction (the upward direction of the radar image), but may be different. For example, the first radar image 40 can be displayed in the north up (the upward direction of the radar image is north), and the second radar image 50 can be displayed in the heading up (the upward direction of the radar image is in the bow direction). By setting the second radar image used for avoiding a collision as a heading-up, it is possible to intuitively avoid the collision.

  In the above embodiment, whether or not there is a collision target is detected based on the TT process performed by the target tracking unit 22. Instead of this, for example, the position and speed of another ship may be acquired by using an AIS (Universal Ship Automatic Identification System), and it may be determined whether or not it is a collision target.

  In the above embodiment, the radar apparatus mounted on a ship has been described as an example. However, the present configuration can also be applied to a radar apparatus mounted on another moving body (for example, an aircraft). In addition, the present configuration can be applied to a radar apparatus that is installed in, for example, a lighthouse, a strait, a harbor, and the like and detects a surrounding situation by a radar echo.

DESCRIPTION OF SYMBOLS 1 Radar apparatus 10 Antenna unit 11 Antenna part 12 Transmission circuit (transmission part)
13 Receiver circuit (receiver)
DESCRIPTION OF SYMBOLS 20 Radar indicator 21 Signal processing part 22 Target tracking part 23 Radar image generation part 24 Display part 25 Operation part 26 Transmission signal setting part 27 Transmission signal control part 40 1st radar image 50 2nd radar image

Claims (13)

An angle range setting unit that sets at least one angle range that is not omnidirectional;
A transmission unit that transmits a first transmission signal having a first pulse width and that transmits a second transmission signal having a second pulse width that is shorter than the first pulse width in the angle range set by the angle range setting unit. When,
A receiving unit that receives, as a received signal, a signal reflected by a target from the first transmission signal and the second transmission signal transmitted by the transmission unit;
A radar image generation unit that generates a first radar image based on the received signal of the first transmission signal, and generates a second radar image of the angular range based on the received signal of the second transmission signal;
A radar apparatus comprising: The radar apparatus according to claim 1,
The angle range setting unit receives a designation of a position on a first radar image, and sets the angle range based on the received position. The radar apparatus according to claim 2,
2. The radar apparatus according to claim 1, wherein the second radar image is an image of an area including a position received by the angle range setting unit. The radar apparatus according to claim 3,
The radar apparatus according to claim 1, wherein the angle range setting unit receives a position designated by a user. The radar apparatus according to claim 3,
A target tracking unit that performs target tracking processing based on the received signal,
The position received by the angle range setting unit is a target being tracked by the target tracking unit, or a position of a target selected from the target being tracked. apparatus. A radar device according to any one of claims 2 to 5,
The radar device, wherein the transmission unit transmits the second transmission signal determined based on a distance from the own device to a position received by the angle range setting unit. The radar apparatus according to any one of claims 1 to 6,
The radar apparatus according to claim 1, wherein the transmission unit transmits a second transmission signal without changing a transmission interval of the first transmission signal in the angle range. The radar apparatus according to any one of claims 1 to 6,
The radar apparatus according to claim 1, wherein the transmission unit transmits a second transmission signal by increasing a transmission interval of the first transmission signal in the angle range. The radar apparatus according to any one of claims 1 to 8,
A radar apparatus comprising: a display unit that simultaneously displays the first radar image and the second radar image. The radar apparatus according to claim 9, wherein
The radar apparatus, wherein the second radar image is displayed so as to be superimposed on the first radar image. The radar apparatus according to claim 9 or 10, wherein
The radar apparatus according to claim 1, wherein a portion of the display unit occupied by the second radar image is smaller than a portion occupied by the first radar image. A radar apparatus according to any one of claims 1 to 11, comprising:
The radar apparatus characterized in that the time for waiting for the reception signal of the second transmission signal is shorter than the time for waiting for the reception signal of the first transmission signal. An angle range setting step for setting at least one angle range;
A transmission step of transmitting a transmission signal having a first pulse width and transmitting a transmission signal having at least a second pulse width in the angle range set in the angle range setting step;
A receiving step of receiving a signal reflected by the target transmitted signal transmitted in the transmitting step as a received signal;
Radar image generation for generating a first radar image of the region including the angle range based on the received signal of the first pulse width and generating a second radar image of the angle range based on the received signal of the second pulse width Process,
A radar image generation method comprising:

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