JPWO2020121709A1 - Radar device, radar transmission signal control method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a radar device capable of observing a Doppler velocity and capable of detecting secondary echoes of both long pulse and short pulse, a radar transmission signal control method, and a program.
A radar device includes a transmission unit 30 and a transmission control unit 31. The transmission unit 30 alternately transmits the first pulse PL and the second pulse PS having different pulse widths. The transmission control unit 31 sets the transmission interval from the start of transmission of the first pulse PL to the start of transmission of the next first pulse PL in the order of the first transmission interval PRT1, the second transmission interval PRT2, and the third transmission interval PRT3. The transmission interval from the start of transmission of the second pulse PS to the start of transmission of the next second pulse PS is repeatedly changed in the order of the same transmission interval as that of the first pulse PL, including the third transmission interval PRT3. Control to do.
[Selection diagram] Fig. 3

Description

The present disclosure relates to radar devices, radar transmission signal control methods, and programs.

Conventionally, there is known a radar device that detects a target in a detection area by transmitting a radio wave signal to a predetermined detection area and receiving the reflected signal. In recent years, as radar devices have become smaller, solid-state radars such as semiconductors have been widely used. Solidified radar uses pulse compression technology to make it detectable in the distance. A long pulse with a long pulse width is used in the pulse compression technique. However, since a long pulse has a dead region near the radar, a short pulse having a pulse width shorter than that of the long pulse is combined with the long pulse in order to detect this dead region. Long pulses and short pulses are transmitted alternately. A long pulse reflected echo reception time is provided after the long pulse transmission, and a short pulse reflected echo reception time is provided after the short pulse transmission.

However, a so-called secondary echo may occur in which the reflected echo of the short pulse enters the reception time of the long pulse, or conversely, the reflected echo of the long pulse enters the reception time of the short pulse.

Patent Document 1 discloses that the transmission order of pulses is changed when a long pulse and a short pulse are repeatedly transmitted as a countermeasure against secondary echo. For example, after transmitting the long pulse and the short pulse in this order, the short pulse and the long pulse are transmitted in this order.

Patent Document 2 describes that one pulse signal is transmitted at a predetermined repetition cycle, and the same number of antennas as the number of predetermined repetition cycles are used.

Patent Document 3 describes a secondary echo (false image) of a short pulse due to the short pulse entering the reception period of the long pulse by periodically changing the time from the start of transmission of the short pulse to the start of transmission of the long pulse. ) Can be removed. However, it seems that the secondary echo problem of long pulses has not been solved because the intervals between long pulses are equal or random. In addition, if the pulse transmission interval is changed at random, it becomes difficult to observe the Doppler velocity.

Japanese Patent No. 56977877 Japanese Patent No. 6169116 Japanese Unexamined Patent Publication No. 61-133858

An object of the present disclosure is to provide a radar device, a radar transmission signal control method, and a program capable of observing Doppler velocity and detecting secondary echoes of both long pulse and short pulse.

The radar device of the present disclosure is
A transmitter that alternately transmits the first pulse and the second pulse with different pulse widths,
The transmission interval from the start of transmission of the first pulse to the start of transmission of the next first pulse is repeatedly changed in the order of the first transmission interval, the second transmission interval, and the third transmission interval.
Control so that the transmission interval from the start of transmission of the second pulse to the start of transmission of the next second pulse is repeatedly changed in the order of the same transmission interval as that of the first pulse, including the third transmission interval. Transmission control unit and
To be equipped.

In this way, the transmission interval of the first pulse is repeatedly changed in the order of the first transmission interval, the second transmission interval, and the third transmission interval, and the transmission interval of the second pulse is the first transmission interval including the third transmission interval. It is changed in the same order as the pulse. Therefore, the interval from the start of transmission of the first pulse to the start of transmission of the second pulse and the interval from the start of transmission of the second pulse to the start of transmission of the first pulse always change periodically. The secondary echoes of the 1st pulse and the 2nd pulse can be detected and removed. Nevertheless, since the transmission intervals of the first pulse and the second pulse have periodicity, the Doppler speed can be calculated.

The figure which shows the structure of the radar apparatus which concerns on one Embodiment Diagram schematically showing the concept of transmission Transmission timing chart and reflected wave reception timing chart by transmission control of one embodiment The reception signal shown in FIG. 3 is plotted in the relationship between each sweep and the distance. In the transmission control shown in FIG. 3, the reception timing chart of the reflected wave in another case Transmission timing chart and reflected wave reception timing chart in the same case as FIG. 5 in the transmission control of the prior art Transmission timing chart in a modified example of transmission control The figure which shows the structure of the radar apparatus in the modification The figure which shows the structure of the radar apparatus in the modification A flowchart showing a radar transmission signal control processing routine executed by the transmission processing unit.

Hereinafter, one embodiment of the present disclosure will be described with reference to the drawings.

FIG. 1 is a diagram showing a configuration of a radar device of this embodiment. FIG. 2 is a diagram schematically showing a transmission concept. FIG. 3 is a transmission timing chart and a reflected wave reception timing chart according to the transmission control of the present embodiment.

As shown in FIG. 1, the radar device includes an antenna 1, a circulator 2, a transmission processing unit 3, and a reception processing unit 4. When the radar device functions only as a transmitter, the reception processing unit 4 can be omitted.

<Transmission control>
The transmission processing unit 3 has a transmission unit 30 and a transmission control unit 31. The transmission unit 30 generates two types of pulses, a first pulse PL (long pulse) and a second pulse PS (short pulse) shown in FIG. 3, and sequentially outputs them to the circulator 2. As a result, the first pulse PL (long pulse) and the second pulse PS (short pulse) having different pulse widths are alternately transmitted via the antenna 1. The transmission control unit 31 controls the transmission unit 30 by giving the transmission control information to the transmission unit 30. The first pulse PL and the second pulse PS may have different pulse widths. In the present specification, a long pulse having a relatively long pulse width is referred to as a first pulse PL, and a short pulse having a relatively short pulse width is referred to as a second pulse PS. However, the first pulse PL is referred to as a short pulse. , The second pulse PS may be a long pulse.

As shown in FIG. 2, the long pulse PL is a pulse signal for long-distance observation having a predetermined pulse width for detecting a predetermined detection region Ar2. The short pulse PS is a pulse signal for short-range observation for detecting the short-range detection area Ar1 which is a dead region of the long-pulse PL. As shown in FIG. 3, the transmission time (pulse width) of the first pulse PL is represented by TS1, and the reception time of the first pulse PL is represented by TW1. The transmission time (pulse width) of the second pulse PS is represented by TS2, and the reception time of the second pulse PS is represented by TW2. In the present embodiment, a standby time for not receiving a signal is provided after the reception times TW1 and TW2 of each pulse, but the presence or absence of the standby time can be changed as appropriate.

The circulator 2 transmits the first pulse PL (long pulse) and the second pulse PS (short pulse) output from the transmission unit 30 to the antenna 1. The antenna 1 radiates the first pulse PL (long pulse) and the second pulse PS (short pulse) input via the circulator 2 to the outside with a predetermined directivity. With this configuration, as shown in FIG. 2, the first pulse PL (long pulse) and the second pulse PS (short pulse) are radiated while sequentially changing the directions.

As shown in FIG. 3, the transmission control unit 31 sets the transmission interval from the start of transmission of the first pulse PL to the start of transmission of the next first pulse PL as the first transmission interval PRT1, the second transmission interval PRT2, and the third transmission interval. The transmission interval is configured to be repeatedly changed in the order of PRT3. The first transmission interval PRT1, the second transmission interval PRT2, and the third transmission interval PRT3 have different lengths from each other. In the present embodiment, the transmission interval becomes longer in the order of the first transmission interval PRT1, the second transmission interval PRT2, and the third transmission interval PRT3, but this is an example and can be changed in various ways. In this specification, since it is expressed on the time axis, the transmission interval is expressed by the pulse repetition time (PRT), but the pulse repetition frequency (PRF) is also synonymous. As shown in FIG. 3, the second pulse PS is transmitted during the transmission interval of the first pulse PL. Similarly, the first pulse PL is transmitted during the transmission interval of the second pulse PS.

Further, the transmission control unit 31 controls so as to repeatedly change the transmission interval from the start of transmission of the second pulse PS to the start of transmission of the next second pulse PS in the same order of the transmission interval as that of the first pulse PL. However, the transmission interval of the first pulse PL starts with the first transmission interval PRT1, but the transmission interval of the second pulse PS starts with the third transmission interval PRT3. This is because the transmission interval of the second pulse PS cannot be the same as the transmission interval of the first pulse PL in the period overlapping with the transmission interval of the second pulse PS. For example, in FIG. 3, the transmission interval of the first second pulse PS and the transmission interval of the first and second first pulse PL overlap. Therefore, for the transmission interval of the first second pulse PS, the same interval as the first transmission interval PRT1 of the first first pulse PL and the second transmission interval PRT2 of the second first pulse PL is used. Therefore, only the third transmission interval PRT3 can be used. In this way, both the period from the start of transmission of the first pulse PL to the start of transmission of the second pulse PS and the period from the start of transmission of the second pulse PS to the start of transmission of the first pulse always fluctuate. It will be.

The merits of the transmission control of the present disclosure will be described.

In FIG. 3, the reflected wave RL of the first pulse PL (long pulse) arrives at the reception time TW1 of the first pulse PL, but the reflected wave RS of the second pulse PS (short pulse) reaches the reception time of the second pulse PS. This is an example in which the reception time TW1 of the next first pulse PL is reached without reaching the TW2. In FIG. 3, it takes time D1 from the start of transmission of the first pulse PL to the arrival of the reflected wave RL of the first pulse. Therefore, the distance from the antenna 1 to the target can be calculated according to the time D1. On the other hand, it takes time D2 from the start of transmission of the second pulse PS to the arrival of the reflected wave RS of the second pulse. Since the transmission is controlled so that the interval from the start of transmission of the second pulse PS to the start of transmission of the next first pulse PL is always different, the reflection of the second pulse PS with respect to the transmission start time P1 of the first pulse PL. The position where the wave RS appears will be different periodically. That is, the time from the start of transmission of the first pulse PL to the arrival of the reflected wave RS of the second pulse, which is a false image, is periodically different as in CD1, CD2, and CD3. FIG. 4 is a diagram in which the received signal is plotted in the relationship between each sweep and the distance. As shown in FIG. 4, the secondary echo (reflected wave RS of the second pulse), which is a false image, splits into three in the distance direction for each sweep, resulting in a striped pattern, and the density in the sweep direction is higher than that of the conventional method. Is also lowered, so that it can be easily removed by a known interference removing function. In the case of a primary echo that is not a false image, each sweep is not split in the distance direction, is continuous in the sweep direction, and has a higher density in the sweep direction than the secondary echo.

FIG. 5 shows an example in which the reflected wave RL of the first pulse PL (long pulse) does not reach the reception time TW1 of the first pulse PL and reaches the reception time TW2 of the next second pulse PS (short pulse). Is. In FIG. 5, it takes time D3 from the start of transmission of the first pulse PL to the arrival of the reflected wave RL of the first pulse. Since the transmission is controlled so that the interval from the start of transmission of the first pulse PL to the start of transmission of the next second pulse PS is always different, the reflected wave of the first pulse with respect to the transmission start time P2 of the second pulse PS. The position where the RL appears will be different periodically. Therefore, as in the example of FIG. 3, the secondary echo (reflected wave RL of the first pulse), which is a false image, splits into three in the distance direction for each sweep, resulting in a striped pattern and a density in the sweep direction. Since it is lower than the conventional method described later, it can be easily removed by a known interference removing function.

With respect to the transmission control of the present disclosure, the transmission control considered as the prior art will be described with reference to FIG. In FIG. 6, the transmission interval from the start of transmission of the long pulse PL to the start of transmission of the next long pulse PL is repeatedly changed in the order of the first transmission interval PRT1 and the second transmission interval PRT2. The short pulse PS starts transmission after a predetermined interval IV1 elapses from the start of transmission of the long pulse PL. FIG. 6 is the same example as in FIG. 5, and is an example in which the reflected wave RL of the long pulse PL does not reach the reception time TW1 of the long pulse PL and arrives at the reception time TW2 of the next short pulse PS.

Since the transmission control shown in FIG. 6 periodically changes the transmission interval of the long pulse PL, the interval from the start of transmission of the short pulse PS to the start of transmission of the next long pulse PL changes periodically. Therefore, even if the reflected wave of the short pulse PS enters the reception time TW1 of the long pulse PL, the position where the reflected wave of the short pulse PS appears with respect to the transmission start time P1 of the long pulse PL changes periodically. Therefore, when the short pulse PS becomes a secondary echo, it can be easily removed by the interference removing function.

However, in the transmission control shown in FIG. 6, since the interval IV1 from the start of transmission of the long pulse PL to the start of transmission of the short pulse PS is fixed, the reflected wave of the first pulse with respect to the transmission start time P2 of the short pulse PS. The position where the RL appears is constant. That is, the time from the start of transmission of the short pulse PS to the arrival of the reflected wave RL of the long pulse, which is a false image, is the CD4 at regular intervals. Therefore, although the reflected wave RL of the long pulse is a secondary echo, it does not have a striped pattern as shown in FIG. 4, cannot be removed by the interference removing function, and is treated as a primary echo, resulting in false detection.

In order to ensure that the secondary echo in the transmission control of the present disclosure is removed by the interference removing function, it is preferable to satisfy the following three conditions.
The first condition is that the shortest transmission interval (PRT1) among the transmission intervals is the transmission / reception time (TS1 + TW1 + TS2 + TW2), which is the sum of the transmission times TS1 and TS2 and the reception times TW1 and TW2 of the first pulse PL and the second pulse PS, respectively. That is all.
The second condition is that the sum (PRT1 + PRT2) of the shortest transmission interval (PRT1) and the second shortest transmission interval (PRT2) among the transmission intervals is the third shortest transmission interval (PRT3) among the transmission intervals and the transmission / reception time. It is equal to or longer than the total time (PRT3 + TS1 + TW1 + TS2 + TW2) with (TS1 + TW1 + TS2 + TW2).
The third condition is that the total (TS1 + PRT1) of the transmission time TS1 of the pulse PL having the longest pulse width and the shortest transmission interval (PRT1) among the first pulse PL and the second pulse PS is the second shortest transmission interval (PRT2). ) Or more, and the sum (TS1 + PRT2) of the transmission time TS1 of the pulse PL having the long pulse width and the second shortest transmission interval (PRT2) is equal to or more than the third shortest transmission interval (PRT3).

In the examples of FIGS. 3 and 5, the reception time TW1 of the first pulse PL and the reception time TW2 of the second pulse PS are constant, but are not limited thereto. For example, as shown in FIG. 7, the waiting time after the reception time of the first pulse PL is eliminated, and the period from the completion of transmission of the first pulse PL to the start of transmission of the next second pulse PS is set to the first pulse. It can be set to the PL reception time (TW1-1, TW1-2, TW1-3). Similarly, the waiting time after the reception time of the second pulse PS is eliminated, and the period from the completion of the transmission of the second pulse PS to the start of the transmission of the next first pulse PL is the reception time of the second pulse PS (TW2). -1, TW2-2, TW2-3) can be used. By doing so, the reception time (TW1-1, TW1-2, TW1-3, TW2-1, TW2-2, TW2-3) of the pulse PL and PS for each transmission interval (PRT1, PRT2, PRT3) The length will be different.

<Reception control>
As shown in FIG. 1, the antenna 1 receives radio waves arriving from the outside and outputs a received signal to the circulator 2. This received signal includes the reflected signals of the first pulse PL and the second pulse PS radiated from the antenna 1. The circulator 2 transmits the received signal propagated from the antenna 1 to the reception processing unit 4.

The reception processing unit 4 executes reception processing during the reception times TW1 and TW2 based on the transmission control information from the transmission processing unit 3. In order to apply the radar device of the present disclosure to the Doppler radar, the timing of the transmission interval of the first pulse PL (long pulse) and the second pulse PS (short pulse) is different, so that the Doppler calculation cannot be performed as it is in the past. .. Therefore, as shown in FIG. 1, the reception processing unit 4 includes an A / D conversion unit 40, a first pulse reception processing unit 41, a second pulse reception processing unit 42, a time adjustment unit 43, and a synthesis unit 44. And a Doppler speed calculation unit 45.

The A / D conversion unit 40 performs analog-to-digital conversion of the received signal acquired via the circulator 2 at a predetermined sampling time to generate received data having a predetermined number of bits.

The first pulse reception processing unit 41 executes reception processing of the reception signal of the first pulse PL. Since this process is known, detailed description thereof will be omitted. Here, the transmission interval of the reception signal of the first pulse is in the order of PRT1, PRT2, and PRT3.

The second pulse reception processing unit 42 executes the reception processing of the reception signal of the second pulse reception processing unit 42 among the received data. Here, the transmission interval of the reception signal of the second pulse is in the order of PRT3, PRT1, and PRT2.

The time adjustment unit 43 adjusts the time of the reception signal of the first pulse PL or the second pulse so as to match the transmission timing of the pulse used by the Doppler speed calculation unit 45. Specifically, since the second pulse PS transmits one cycle ahead of the first pulse PL, it is a delayer that performs a process of delaying by one pulse. As a result, the transmission interval of the reception signal of the second pulse PS becomes PRT1, PRT2, and PRT3 in that order, which coincides with the timing of the first pulse PL.

The synthesis unit 44 concatenates the processed data of the first pulse PL and the second pulse PS. The Doppler speed calculation unit 45 uses the transmission timing information of the first pulse PL (including the transmission intervals PRT1, PRT2, and PRT3) to calculate the Doppler speed based on the phase difference of at least one of the first pulse PL and the second pulse PS. do. The transmission timing information can be obtained from the transmission control information from the transmission processing unit 3.

<Modification example>
In the example shown in FIG. 1, the Doppler speed calculation unit 45 executes the Doppler process based on the transmission timing information of the first pulse PL, but the present invention is not limited to this. For example, as shown in FIG. 8, when the Doppler speed calculation unit 45 uses the transmission timing information (transmission interval PRT3, PRT1, PRT2) of the second pulse PS, the output signal of the first pulse reception processing unit 41 is pulsed. The time adjustment unit 143 may be provided as an accelerator that accelerates the speed by one.

Further, in the examples of FIGS. 1 and 8, the Doppler process is executed after synthesizing the received data of the first pulse and the second pulse, but the present invention is not limited to this. For example, as shown in FIG. 9, the Doppler speed calculation unit 243, the Doppler speed calculation unit 244, and the synthesis unit 245 may be provided. The Doppler speed calculation unit 243 calculates the Doppler speed based on the output data of the first pulse reception processing unit 41 and the transmission timing information of the first pulse. The Doppler speed calculation unit 244 calculates the Doppler speed based on the output data of the second pulse reception processing unit 42 and the transmission timing information of the second pulse. The synthesis unit 245 synthesizes the data from the two Doppler velocity calculation units 243 and 244.

[Radar transmission signal control method]
The radar transmission signal control method executed by the radar device will be described with reference to FIG.

First, in step ST1, the transmission unit 30 alternately transmits the first pulse PL and the second pulse PS having different pulse widths. In step ST2, the transmission control unit 31 sets the transmission interval from the start of transmission of the first pulse PL to the start of transmission of the next first pulse PL as the first transmission interval PRT1, the second transmission interval PRT2, and the third transmission interval. Change repeatedly in the order of PRT3,
Control to repeatedly change the transmission interval from the start of transmission of the second pulse PS to the start of transmission of the next second pulse PS in the order of the same transmission interval as the first pulse PL, including the third transmission interval PRT3. do.

As described above, the radar device of this embodiment is
The transmission unit 30 that alternately transmits the first pulse PL and the second pulse PS having different pulse widths, and the transmission interval from the start of transmission of the first pulse PL to the start of transmission of the next first pulse PL are set as the first transmission interval. The PRT1, the second transmission interval PRT2, and the third transmission interval PRT3 are repeatedly changed in this order.
Control to repeatedly change the transmission interval from the start of transmission of the second pulse PS to the start of transmission of the next second pulse PS in the order of the same transmission interval as the first pulse PL, including the third transmission interval PRT3. Transmission control unit 31 and
To be equipped.

The radar transmission signal control method of this embodiment is
First pulse PL and second pulse PS with different pulse widths are transmitted alternately,
The transmission interval from the start of transmission of the first pulse PL to the start of transmission of the next first pulse PL is repeatedly changed in the order of the first transmission interval PRT1, the second transmission interval PRT2, and the third transmission interval PRT3.
Control to repeatedly change the transmission interval from the start of transmission of the second pulse PS to the start of transmission of the next second pulse PS in the order of the same transmission interval as the first pulse PL, including the third transmission interval PRT3. do.

In this way, the transmission interval of the first pulse PL is repeatedly changed in the order of the first transmission interval PRT1, the second transmission interval PRT2, and the third transmission interval PRT3, and the transmission interval of the second pulse PS is changed to the third transmission interval. It is changed in the same order as the first pulse PL including PRT3. Therefore, the interval from the start of transmission of the first pulse PL to the start of transmission of the second pulse PS and the interval from the start of transmission of the second pulse PS to the start of transmission of the first pulse PL always change periodically. Therefore, the secondary echoes of the first pulse PL and the second pulse PS can be detected and can be removed. Nevertheless, since the transmission intervals of the first pulse PL and the second pulse PS have periodicity, the Doppler speed can be calculated.

In the present embodiment, the shortest transmission interval (PRT1) among the transmission intervals is the transmission / reception time (TS1 + TW1 + TS2 + TW2), which is the sum of the transmission times TS1 and TS2 and the reception times TW1 and TW2 of the first pulse PL and the second pulse PS, respectively. That's it,
The sum (PRT1 + PRT2) of the shortest transmission interval (PRT1) and the second shortest transmission interval (PRT2) among the transmission intervals is the third shortest transmission interval (PRT3) among the transmission intervals and the transmission / reception time (TS1 + TW1 + TS2 + TW2). It is more than the total time (PRT3 + TS1 + TW1 + TS2 + TW2)
The total (TS1 + PRT1) of the transmission time TS1 of the pulse PL having the long pulse width and the shortest transmission interval (PRT1) among the first pulse PL and the second pulse PS is equal to or larger than the second shortest transmission interval (PRT2). The total (TS1 + PRT2) of the transmission time TS1 of the pulse PL having a long pulse width and the second shortest transmission interval (PRT2) is equal to or larger than the third shortest transmission interval (PRT3).

If this condition is satisfied, it is possible to ensure that the secondary echo is removed by the interference removing function.

In the present embodiment, the transmission interval is longer in the order of the first transmission interval PRT1, the second transmission interval PRT2, and the third transmission interval PRT3. This is a preferred application example of the present disclosure.

In the embodiment shown in FIG. 7, the length of the pulse reception time (TW1-1, TW1-2, TW1-3, TW2-1, TW2-2, TW2-3) for each transmission interval (PRT1, PRT2, PRT3). Is different. It is also possible to eliminate the waiting time by setting the reception times TW1 and TW2 of each pulse to the start of transmission of the next pulse without providing a waiting time for not receiving a signal after the reception times TW1 and TW2 of each pulse. .. In this case, the length of the pulse reception time differs depending on the transmission interval. In this way, the detection range can be expanded when there is no waiting time for the long pulse PL, and the boundary between the short-range detection area Ar1 and the detection area Ar2 is conspicuous when there is no waiting time for the short pulse PL. It becomes possible to make it difficult.

In the apparatus of the present embodiment, the Doppler speed calculation unit (45) that calculates the Doppler speed based on the received signal including the reflected waves of the first pulse PL and the second pulse PS and the transmission interval (PRT1, PRT2, PRT3). 243, 244) are further provided.

According to this configuration, it is possible to calculate the Doppler velocity of the target.

In the embodiment shown in FIGS. 1 and 8, the time for adjusting the time of the received signal of the first pulse PL or the second pulse PS so as to match the pulse transmission timing used by the Doppler speed calculation unit 45, 243, 244. Adjustment units 43 and 143 are further provided.

According to this configuration, the Doppler velocity calculation units 45, 243, and 244 can simultaneously perform Doppler calculation of the first pulse PL and the second pulse PS.

In the present embodiment, one of the first pulse PL and the second pulse PS is a short pulse for short-distance observation and the other is a long pulse for long-distance observation. This is a preferred application example of the present disclosure.

The program according to this embodiment is a program that causes one or more processors to execute the above method.

Although the embodiments of the present disclosure have been described above with reference to the drawings, it should be considered that the specific configuration is not limited to these embodiments. The scope of the present disclosure is shown not only by the description of the above-described embodiment but also by the scope of claims, and further includes all modifications within the meaning and scope equivalent to the scope of claims.

For example, in the present embodiment, the transmission interval is three, but the transmission interval is not limited to three. The transmission interval can be three or more. For example, when the transmission interval is PRT1, PRT2, PRT3, and PRT4, the transmission interval of the first pulse PL is repeatedly changed starting with PRT1 in the order of PRT1, PRT2, PRT3, and PRT4. It is preferable that the transmission interval of the second pulse PS is repeatedly changed in the order of the same transmission interval as that of the first pulse, starting with either PRT3 or PRT4.

For example, the execution order of each process such as operation, procedure, step, and step in the device, system, program, and method shown in the claims, specification, and drawings may be the output of the previous process after the output. Unless used in processing, it can be realized in any order. Even if the claims, the specification, and the flow in the drawings are explained using "first", "next", etc. for convenience, it does not mean that it is essential to execute in this order. ..

It is possible to adopt the structure adopted in each of the above embodiments in any other embodiment.

The specific configuration of each part is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present disclosure.

30 Transmission unit 31 Transmission control unit PL 1st pulse PS 2nd pulse PRT1 1st transmission interval (transmission interval)
PRT2 2nd transmission interval (transmission interval)
PRT3 3rd transmission interval (transmission interval)
TW1 reception time TW2 reception time TS1 transmission time TS2 transmission time 45 Doppler speed calculation unit 243 Doppler speed calculation unit 244 Doppler speed calculation unit 43 Time adjustment unit 143 Time adjustment unit

the term

Not all objectives or effects / advantages can be achieved in accordance with any particular embodiment described herein. Thus, for example, those skilled in the art will appreciate that certain embodiments will be taught herein without necessarily achieving other objectives or effects / advantages as taught or suggested herein. You will conclude that it may be configured to work to achieve or optimize one or more effects / benefits.

All processes described herein can be embodied by software code modules executed by a computing system that includes one or more computers or processors and can be fully automated. The code module can be stored on any type of non-transitory computer-readable medium or other computer storage device. Some or all methods may be embodied in dedicated computer hardware.

It is clear from the present disclosure that there are many other variations other than those described herein. For example, depending on the embodiment, any particular action, event, or function of any of the algorithms described herein may be performed in different sequences and may be added, merged, or excluded altogether. (For example, not all described actions or events are required to execute the algorithm). Further, in certain embodiments, operations or events are performed in parallel rather than sequentially, for example through multithreading, interrupt handling, or through multiple processors or processor cores, or on other parallel architectures. Can be done. In addition, different tasks or processes can be performed by different machines and / or computing systems that can work together.

The various exemplary logical blocks and modules described in connection with the embodiments disclosed herein can be implemented or executed by a machine such as a processor. The processor may be a microprocessor, but instead, the processor may be a controller, a microcontroller, or a state machine, or a combination thereof. The processor can include an electrical circuit configured to process computer executable instructions. In another embodiment, the processor includes an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable device that performs logical operations without processing computer executable instructions. Processors can also be a combination of computing devices, such as a combination of a digital signal processor (digital signal processor) and a microprocessor, multiple microprocessors, one or more microprocessors in combination with a DSP core, or any other of that. It can be implemented as such a configuration. Although described primarily with respect to digital technology herein, the processor may also include primarily analog elements. For example, some or all of the signal processing algorithms described herein can be implemented by analog circuits or mixed analog and digital circuits. Computing environments include, but are not limited to, any type of computer system that is based on a microprocessor, mainframe computer, digital signal processor, portable computing device, device controller, or computing engine within the device. be able to.

Unless otherwise stated, conditional languages such as "can," "can," "will," or "may" include other features, elements, and / or steps in a particular embodiment. The embodiments are understood in the context commonly used to convey that they do not include. Thus, such conditional languages are generally any method in which features, elements and / or steps are required for one or more embodiments, or one or more embodiments are these features. , Elements and / or steps are not meant to necessarily include logic to determine whether they are included or performed in any particular embodiment.

Disjunctive languages such as the phrase "at least one of X, Y, Z" have items, terms, etc. of X, Y, Z, or any combination thereof, unless otherwise stated. It is understood in the context commonly used to indicate that it can be (eg X, Y, Z). Thus, such a disjunctive language generally requires at least one of X, at least one of Y, or at least one of Z, each of which has a particular embodiment. Does not mean.

Any process description, element or block in the flow diagram described herein and / or shown in the accompanying drawings is one or more executable instructions for implementing a particular logical function or element in the process. Should be understood as potentially representing a module, segment, or part of code, including. Alternative embodiments are included within the scope of the embodiments described herein, where the element or function is substantive, depending on the functionality involved, as will be appreciated by those skilled in the art. Can be performed simultaneously or in reverse order, deleted from those illustrated or described, in no particular order.

Unless otherwise stated, a number such as "one" should generally be construed as containing one or more described items. Thus, terms such as "one device configured to" are intended to include one or more listed devices. One or more of these enumerated devices can also be collectively configured to perform the described citations. For example, "processors configured to run A, B, and C below" are a first processor configured to run A and a second processor configured to run B and C. Can include processors with. In addition, even if an enumeration of specific numbers of introduced examples is explicitly enumerated, those skilled in the art will appreciate that such enumerations are typically at least the enumerated number (eg, other modifiers). A mere enumeration of "two enumerations" without is usually to be construed as meaning at least two enumerations, or two or more enumerations).

In general, the terms used herein should generally be construed as "non-limiting" terms (eg, the term "including" should be construed as "not only that, but at least including" and "~. The term "has" should be interpreted as "having at least", and the term "including" should be interpreted as "including, but not limited to,"). Those skilled in the art will judge that this is the case.

For purposes of explanation, the term "horizontal" as used herein refers to a plane parallel to or parallel to the floor or surface of the area in which the system being described is used, regardless of its orientation. The method to be done is defined as the plane on which it is carried out. The term "floor" can be replaced with the term "ground" or "water surface". The term "vertical / vertical" refers to the direction perpendicular / vertical to the defined horizon. Terms such as "upper", "lower", "lower", "upper", "side", "higher", "lower", "upper", "beyond", and "lower" are defined for the horizontal plane. ing.

The terms "attach", "connect", "pair" and other related terms used herein are removable, movable, fixed, adjustable, unless otherwise noted. And / or should be construed as including removable connections or connections. Connections / connections include direct connections and / or connections with an intermediate structure between the two components described.

Unless otherwise stated, numbers preceded by terms such as "approximately," "about," and "substantially," as used herein, include enumerated numbers, and further. Represents an amount close to the stated amount that performs the desired function or achieves the desired result. For example, "approximately," "about," and "substantially" mean values less than 10% of the stated values, unless otherwise stated. As used herein, features of embodiments in which terms such as "approximately," "about," and "substantially" are previously disclosed perform further desired functions. Or represents a feature that has some variability to achieve the desired result for that feature.

Many modifications and modifications can be added to the embodiments described above, and their elements should be understood as being among other acceptable examples. All such modifications and modifications are intended to be included within the scope of this disclosure and are protected by the following claims.

Claims (9)

A transmitter that alternately transmits the first pulse and the second pulse with different pulse widths,
The transmission interval from the start of transmission of the first pulse to the start of transmission of the next first pulse is repeatedly changed in the order of the first transmission interval, the second transmission interval, and the third transmission interval.
Control so that the transmission interval from the start of transmission of the second pulse to the start of transmission of the next second pulse is repeatedly changed in the order of the same transmission interval as that of the first pulse, including the third transmission interval. Transmission control unit and
A radar device. The shortest transmission interval among the transmission intervals is equal to or longer than the transmission / reception time, which is the sum of the transmission time and the reception time of the first pulse and the second pulse, respectively.
The sum of the shortest transmission interval and the second shortest transmission interval of the transmission intervals is equal to or greater than the total time of the third shortest transmission interval of the transmission intervals and the transmission / reception time.
The sum of the transmission time of the first pulse and the second pulse having the longest pulse width and the shortest transmission interval is equal to or greater than the second shortest transmission interval.
The sum of the transmission time of the pulse having the long pulse width and the transmission interval of the second shortest is equal to or greater than the transmission interval of the third shortest.
The radar device according to claim 1. The radar device according to claim 1 or 2, wherein the transmission interval is longer in the order of the first transmission interval, the second transmission interval, and the third transmission interval. The length of the reception time of the pulse differs for each transmission interval.
The radar device according to any one of claims 1 to 3. A Doppler speed calculation unit that calculates the Doppler speed based on the received signal including the reflected waves of the first pulse and the second pulse and the transmission interval.
The radar device according to any one of claims 1 to 4, further comprising. A time adjusting unit that adjusts the time of the reception signal of the first pulse or the second pulse so as to match the transmission timing of the pulse used by the Doppler speed calculation unit.
The radar device according to claim 5, further comprising. One of the first pulse and the second pulse is a short pulse for short-distance observation, and the other is a long pulse for long-distance observation.
The radar device according to any one of claims 1 to 6. The first pulse and the second pulse with different pulse widths are transmitted alternately,
The transmission interval from the start of transmission of the first pulse to the start of transmission of the next first pulse is repeatedly changed in the order of the first transmission interval, the second transmission interval, and the third transmission interval.
Control so that the transmission interval from the start of transmission of the second pulse to the start of transmission of the next second pulse is repeatedly changed in the order of the same transmission interval as that of the first pulse, including the third transmission interval. do,
Radar transmission signal control method. The first pulse and the second pulse with different pulse widths are transmitted alternately,
The transmission interval from the start of transmission of the first pulse to the start of transmission of the next first pulse is repeatedly changed in the order of the first transmission interval, the second transmission interval, and the third transmission interval.
Control so that the transmission interval from the start of transmission of the second pulse to the start of transmission of the next second pulse is repeatedly changed in the order of the same transmission interval as that of the first pulse, including the third transmission interval. To do,
A program that causes one or more processors to execute.

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