WO2007083479A1 - レーダ装置 - Google Patents
レーダ装置 Download PDFInfo
- Publication number
- WO2007083479A1 WO2007083479A1 PCT/JP2006/325530 JP2006325530W WO2007083479A1 WO 2007083479 A1 WO2007083479 A1 WO 2007083479A1 JP 2006325530 W JP2006325530 W JP 2006325530W WO 2007083479 A1 WO2007083479 A1 WO 2007083479A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- antenna
- antennas
- reception
- transmission
- array
- Prior art date
Links
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/24—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the orientation by switching energy from one active radiating element to another, e.g. for beam switching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
- G01S13/48—Indirect determination of position data using multiple beams at emission or reception
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q21/00—Antenna arrays or systems
- H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
- H01Q21/08—Arrays of individually energised antenna units similarly polarised and spaced apart the units being spaced along or adjacent to a rectilinear path
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
Definitions
- the present invention relates to an FM-CW radar device used for preventing collision of an automobile, and more particularly to a holographic radar device using an array antenna.
- the radar apparatus of Patent Document 1 includes one transmission antenna and a plurality of reception antennas arranged at equal intervals, and sequentially receives the reflected wave by switching the reception antenna during the modulation period of the transmission wave. Then, the phase difference of the reflected wave received by each receiving antenna is calculated to detect the direction of the object.
- FIG. 9 (A) is a block diagram of the radar apparatus of Conventional Example 1 corresponding to Patent Document 1 in the case of realizing 9 reception channels
- Fig. 9 (B) shows the reception channel state in this configuration.
- the radar apparatus of Conventional Example 1 includes receiving antennas 101 to 109, transmitting antenna 110, switch circuits 201 to 204, VCO 301, branch circuit 302, LNA 303, mixer 304, and IF amplifier 305.
- the receiving antennas 101 to 109 are arranged at equal intervals d.
- the reflected waves from the transmission wave from the transmission antenna 110 are received by the receiving antennas 101 to 109 arranged at equal intervals d, and as shown in FIG. 9B, the phase difference (2 ⁇ dsin ⁇ ) Assigns each reflected wave corresponding to each channel CH1 to CH9 that also has a spacing force of / ⁇ .
- the radar apparatus of Patent Document 2 includes a plurality of transmission antennas arranged at equal intervals at a first interval, and a plurality of reception antennas arranged at equal intervals at a second interval, Sequential transmission Transmits a transmission wave while switching antennas, and receives a reflected wave by sequentially switching the reception antenna for each transmission antenna.
- FIG. 10 (A) is a block diagram of the radar device of Conventional Example 2 corresponding to Patent Document 2 in the case of realizing 9 reception channels
- FIG. 10 (B) is a diagram showing the reception channel state in this configuration. It is.
- the radar apparatus of Conventional Example 2 includes receiving antennas 101 to 103, transmitting antennas 111 to 113, switch circuits 205 and 206, VCO 301, branch circuit 302, LNA 303, mixer 3 04, equipped with IF amplifier 305.
- the receiving antennas 101 to 103 are arranged at equal intervals d
- the transmitting antennas 111 to 113 are arranged at equal intervals 3d.
- the reflected waves from the transmission waves from the transmission antennas 111, 112, and 113 that are sequentially switched are sequentially received by the respective reception antennas 101 to 103, and as shown in FIG. 10 (B), the phase difference (2 ⁇ dsin ⁇ ) Assigns each reflected wave corresponding to each channel CHI to CH9 consisting of an interval of / ⁇ .
- the radar apparatus of Patent Document 3 includes a plurality of transmission / reception antennas, and the interval between the transmission / reception antennas is set to a specific value. Then, a transmission antenna is selected in synchronization with the modulation period of the transmission wave, and a reception antenna is selected at an interval shorter than the modulation period corresponding to the selected transmission antenna.
- FIG. 11 is a block diagram of a radar device of Conventional Example 3 corresponding to Patent Document 3 in the case of realizing 11 reception channels.
- the radar apparatus of Conventional Example 3 includes transmission / reception shared antennas 401 to 404, switch circuits 501, 502, VCO 301, coupler 302, LNA 303, mixer 304, and IF amplifier 305.
- the transmission / reception antennas 401 to 404 are sequentially arranged at intervals of d, 2d, and 2d. Then, by selecting one of the transmission / reception antennas as the transmission antenna and transmitting the transmission wave, selecting the transmission / reception antenna as the reception antenna and sequentially receiving the reflected wave, as shown in FIG. In addition, each reflected wave is assigned to each reception channel. Note that FIG.
- Patent Document 3 shows a diagram in which the number of channels is assigned to 11 channels.
- the channel assignment is set by a time difference. In other words, since the channels are allocated according to the time difference, the signal received by the transmitting antenna is used as a reference, and 11 channels are formed according to the time difference. If this is set by a spatial position difference, the antenna 401 arranged at the end becomes the reference of the transmission / reception signal, and the number of channels and the channel interval as shown in FIG. 12 of the present invention are obtained.
- Patent Document 1 Japanese Patent No. 3622565
- Patent Document 2 Japanese Patent No. 3368874
- Patent Document 3 Japanese Patent Laid-Open No. 2005-3393
- Conventional Example 3 can achieve downsizing compared to Conventional Examples 1 and 2 in terms of realizing nine channels.
- the channels are not set at equal intervals.
- channels CH8 and CH10 in 11 channels are missing
- channels CH7 and CH9 have a phase difference of 4 ⁇ d (si ⁇ ⁇ ) / ⁇
- channels CH9 and CHI 1 have a phase difference of 4 ⁇ d (sin 0) ⁇ ⁇ .
- the phase difference is 2 ⁇ d (sin ⁇ ) / ⁇ , so 9 channels that are not substantially equidistant must be used. For this reason, the object detection direction is partially lost, and the direction detection performance of the object detection is low.
- an object of the present invention is to realize a radar apparatus that has high azimuth detection performance without occurrence of missing object detection azimuths even when downsized.
- the present invention includes an antenna array in which a plurality of transmission / reception shared antennas are arranged, and a selection unit that selects a transmission antenna and a reception antenna from the plurality of transmission / reception shared antennas, and is selected by the selection unit Transmits a frequency-modulated transmission wave from the transmission antenna, receives the reflected wave of the transmission wave at each selected reception antenna while switching sequentially by the selection means, and uses the phase difference of the reflected wave received at each reception antenna.
- N1 shared antennas are arranged at each end of the array with a spacing d, and the distance between the shared antennas at the center of the array at both ends of the array is Nl X d It is characterized by the fact that a shared antenna is arranged at an interval of Nl X d between both ends of the array.
- the arrangement interval of the transmission / reception antennas constituting both ends is equal to the interval between both ends, or between the transmission / reception antennas in the central portion sandwiched between both ends. It becomes narrower than the arrangement interval. That is, the antenna arrangement is denser at both ends of the antenna array than at the center.
- the transmission antenna is switched and shifted, so that the channel arrangement pattern is also shifted, and the phase difference between the channels corresponding to the central portion of the antenna array in a single transmission antenna is relatively Wide partial force
- the phase difference between the channels corresponding to both ends of the antenna array in other transmit antennas is interpolated in a relatively narrow part.
- the radar apparatus is characterized in that the selection means switches and selects the transmission antenna at intervals shorter than the modulation period of the transmission wave.
- the total number of transmission / reception shared antennas constituting the antenna array is an integer N equal to or greater than 2, and the number N1 of transmission / reception shared antennas arranged at both ends of the array is: N + 3) It is the closest to Z4 and is characterized by an integer setting.
- the number of shared antennas at both ends of the array is set to an integer closest to (N + 3) Z4.
- N the number of channels that can be set
- N1 ( ⁇ + 3) ⁇ 4
- An optimal antenna array is constructed according to the total number of antennas.
- the radar apparatus of the present invention is characterized in that the plurality of shared antennas of the antenna array are arranged on a straight line so that the transmission / reception surfaces of the shared antennas face the same direction.
- each of the transmission / reception shared antennas constituting the antenna array transmits a transmission wave to substantially the same detection area, receives a reflected wave from the detection area, and the transmission / reception antenna is one-dimensional. Arranging along the direction simplifies the positional relationship between the channels and simplifies the phase difference calculation process.
- the radar apparatus of the present invention is characterized in that a wide-angle detection antenna whose transmitting / receiving surface faces in a direction different from a plurality of transmission / reception shared antennas arranged in a straight line is arranged at both ends of the array antenna.
- the detection area in a direction different from the detection area by the shared transmission / reception antenna arranged on a straight line is detected by the wide-angle detection antenna.
- the radar apparatus is characterized in that the selection means performs transmission switching selection of the wide-angle detection antenna in synchronization with the modulation cycle.
- the radar apparatus of the present invention performs transmission switching selection of the wide-angle detection antenna at intervals shorter than the modulation period by the selection means, and does not select the wide-angle detection antenna as the reception antenna, but the antenna array. Close to the corresponding wide-angle detection antenna in! Splinter It is characterized in that a shared antenna at the end is selected as a receiving antenna.
- the reflected wave based on the transmission wave transmitted from the wide-angle detection antenna is received while switching between the transmission / reception shared antenna (reception antenna) at one end close to the corresponding wide-angle detection antenna in the antenna array.
- the transmission / reception shared antenna reception antenna
- a plurality of channels can be obtained for one wide-angle detection antenna even in a region corresponding to the wide-angle detection antenna.
- the radar apparatus includes a temperature sensor in the detection means for detecting an object based on the reflected wave, and detects the object after correcting the reflected wave based on the temperature detected by the temperature sensor. It is characterized by performing.
- the transmission antenna is switched at intervals shorter than the transmission period of the transmission wave, and the reception antenna is switched with respect to each transmission antenna.
- the received signal can be obtained, and the direction detection performance of the detected object can be further improved.
- An optimum antenna array can be configured according to the total number N of antennas. As a result, it is possible to configure a radar apparatus having the highest azimuth detection performance for a preset number of shared antennas.
- the phase difference calculation process can be simplified, the direction detection can be speeded up, and ! It can speed up the object detection process.
- the detection processing of the regions existing on both ends of the detection region is simplified, and the azimuth detection accuracy in the detection region corresponding to the array antenna that is the main detection region is reduced. It is possible to suppress a decrease in the object detection speed in the entire wide-angle region without being performed.
- an object can be detected with a predetermined azimuth detection accuracy even in regions existing at both ends other than the detection region by the antenna array.
- the present invention it is possible to perform accurate object detection without lowering azimuth detection accuracy even if the array antenna is formed of a material, which is relatively inexpensive and has poor temperature characteristics. .
- FIG. 1 is a block diagram showing a configuration of a main part of a radar apparatus according to a first embodiment, and a conceptual diagram showing a relationship between a transmission antenna and a reception channel.
- FIG. 2 is a block diagram illustrating a configuration of a main part of a radar apparatus according to a second embodiment, and a conceptual diagram illustrating a relationship between a transmission antenna and a reception channel.
- FIG. 3 is a conceptual diagram illustrating a relationship between a transmission antenna and a reception channel according to a third embodiment.
- FIG. 4 is a block diagram showing a concept of an antenna arrangement pattern of the radar apparatus of the present invention.
- FIG. 5 is a conceptual diagram showing the arrangement when the number of antennas is “5” and the relationship between the transmitting antenna and the receiving channel in this case.
- FIG. 6 is a conceptual diagram showing the arrangement when the number of antennas is “6” and the relationship between the transmitting antenna and the receiving channel in this case.
- FIG. 7 is a conceptual diagram showing the arrangement when the number of antennas is “8” and the relationship between the transmitting antenna and the receiving channel in this case.
- FIG. 8 is a block diagram showing a configuration of a radar apparatus using another transmission / reception method of the present invention.
- FIG. 2 is a block diagram of a device, and a diagram showing a reception channel state in this configuration.
- FIG. 10 is a block diagram of a radar device of Conventional Example 2 corresponding to Patent Document 2 when 9 reception channels are realized, and a diagram showing a reception channel state in this configuration.
- FIG. 11 is a block diagram of a radar apparatus of Conventional Example 1 corresponding to Patent Document 1 when 11 reception channels are realized.
- FIG. 12 is a diagram showing a reception channel state in the radar apparatus shown in FIG. Explanation of symbols
- Fig. 1 (A) is a block diagram showing the configuration of the main part of the radar apparatus of this embodiment.
- the radar apparatus of this embodiment includes an array antenna 10, switch circuits 21, 22, a voltage controlled oscillator (VCO) 31, a branch circuit 32, an LNA 33, a mixer 34, an IF amplifier 35, and a signal processing circuit.
- VCO voltage controlled oscillator
- the array antenna 10 includes an antenna array in which antennas 11 to 14 that are commonly used for transmission and reception are arranged in a straight line, and all the antennas 11 to 14 are arranged so that the front directions of the antennas coincide with each other. At this time, the distance between the antenna 11 arranged at one end of the antenna array and the antenna 12 arranged adjacent to the antenna 11 is d, and the antenna 14 arranged at the other end is adjacent to the antenna 14. The distance from the placed antenna 13 is also d. Then, both end portions are constituted by one end portion composed of the antennas 11 and 12 and one end portion composed of the antennas 13 and 14.
- the number of antennas "N1" arranged at both ends can be derived by the following method. If the total number of antennas installed in the array antenna 10 is “N” and the number of antennas placed at both ends is “N1”, the number of reception channels of an equivalent reception channel array that can be realized with this antenna array Is 2 ( ⁇ — ⁇ 1 + 3) ⁇ ⁇ 1—3 channels become. This is a quadratic equation in N1, and the maximum number of channels that can be set corresponds to the maximum value of this quadratic equation. Therefore, to obtain the maximum number of channels that can be set
- the distance between the antenna 12 and the antenna 13, that is, the distance between both ends is a value obtained by multiplying the number of antennas (N1) “2” and the antenna distance “d” that constitute both ends, respectively.
- the antennas 11 to 14 are selected by the switch circuit 21 and are selected at the time of transmission.
- an antenna in such a state is referred to as a “transmitting antenna” radiates (transmits) a transmission signal to an external detection region.
- the antenna selected at the time of reception (hereinafter, the antenna in such a state is referred to as a “reception antenna”) receives a reflected wave obtained by reflecting the transmission signal to an object in the detection area, and A received signal based on this reflected wave is output to the switch circuit 21.
- the array antenna 10 having such a configuration is, for example, a microstrip array antenna formed by connecting patch antennas formed on one surface of a dielectric substrate in a straight line with the above-mentioned spacing in parallel by an electrode pattern, or a rectangular conductor.
- This is realized by a waveguide slot antenna or the like in which slot openings are formed on one surface of the wave tube at the aforementioned intervals.
- the VC031 generates, for example, a 76 GHz band transmission signal according to the modulation voltage supplied from the signal processing circuit 40. At this time, VC031 has a variable voltage value that fluctuates in a predetermined cycle. A regulated voltage, for example, a modulation voltage that fluctuates in a triangular waveform with a predetermined period is applied. The VC031 generates a transmission signal that is frequency-modulated within a predetermined frequency range, for example, a transmission signal that is frequency-modulated in the form of a triangular wave, in the predetermined period, in accordance with the modulation voltage.
- the branch circuit 32 provides the transmission signal output from the VC031 to the switch circuit 22, and also provides a part of the transmission signal to the mixer 34 as a local signal.
- the switch circuit 22 connects the VC031 and the switch circuit 21 in accordance with the transmission selection signal from the signal processing circuit 40, and gives the transmission signal output from the VC031 to the switch circuit 21. Further, the switch circuit 22 connects the switch circuit 21 and the LNA 33 in accordance with the reception selection signal from the signal processing circuit 40, and gives the reception signal from the switch circuit 21 to the LNA 33.
- the switch circuit 21 connects the selected transmission antenna or reception antenna to the switch circuit 22 in accordance with the antenna selection signal from the signal processing circuit 40, and is input via the switch circuit 22 at the time of transmission.
- the received transmission signal is output to the selected transmission antenna, and at the time of reception, the reception signal output as the selected reception antenna force is output to the switch circuit 22.
- the switch circuits 21 and 22 may be mechanical switches, electronic components that can be used as switches, or soft switches! /.
- the LNA 33 amplifies the input received signal and outputs the amplified signal to the mixer 34.
- the mixer 34 mixes the received signal from the LNA 33 and the local signal from the branch circuit 32 to generate an IF beat signal. Generate.
- the IF amplifier 35 amplifies the IF beat signal and outputs it to the signal processing circuit 40.
- the signal processing circuit 40 applies a modulation voltage to the VC031, provides an antenna selection signal to the switch circuit 21, and provides a transmission selection signal or a reception selection signal to the switch circuit 22. At this time, the signal processing circuit 40 sets the transmission antenna switching interval by the transmission selection signal to be shorter than the modulation period by the modulation voltage. For example, in the case of a transmission signal whose frequency is modulated in a triangular wave shape, the signal processing circuit 40 is set so that all channels receive within the frequency modulation period, that is, one triangular wave period.
- the signal processing circuit 40 calculates the speed, distance, and the like of the detected object by using a known FM-CW method calculation using the input IF beat signal.
- the signal processing circuit 40 Detects the azimuth of the sensing object from the received signals of channels CH1 to CH9 formed by antennas 11 to 14, which will be described later, using the principle of holographic radar.
- the detection operation by the radar apparatus of this embodiment will be specifically described.
- the explanation will be given for the case where the transmitting antenna and the receiving antenna are switched in the order of antenna 11, antenna 12, antenna 13, and antenna 14.
- the switching order of antennas is not limited to this, and is set as appropriate. be able to.
- the signal processing circuit 40 gives a modulation voltage to the VC031.
- the signal processing circuit 40 continuously applies a modulation voltage to the VC031, and the VC031 generates a transmission signal that is continuously frequency-modulated.
- the signal processing circuit 40 provides a transmission selection signal to the switch circuit 22 and an antenna selection signal for selecting the antenna 11 to the switch circuit 21.
- the transmission antenna 11 transmits the transmission signal generated by the VC031 to the detection area.
- the signal processing circuit 40 gives a reception selection signal to the switch circuit 22 and gives an antenna selection signal to the switch circuit 21.
- the antenna selection signal at the time of reception is a signal for selecting a reception antenna at predetermined intervals in the order of antenna 11, antenna 12, antenna 13, and antenna 14.
- the antennas 11 to 14 sequentially function as reception antennas and receive reflected waves based on the transmission signals from the transmission antenna 11.
- the receiving antennas 11 to 14 sequentially output the received signals to the LNA 33 via the switch circuit 21 and the switch circuit 22.
- the antennas 11 to 14 force are arranged at the above-described intervals, so that the reception signals of the antennas 11 to 14 have a phase difference of 2 ⁇ d (sin as shown in Fig. 1 (B). It is set to one of the reception signals of reception channels CH1 to CH9 set at intervals of ⁇ ) / ⁇ .
- ⁇ is the wavelength of the received signal
- ⁇ is the incident angle of the received signal, that is, the angle formed with respect to the front direction of the antenna.
- the received signal strength of antenna 12 has a phase difference of 2 ⁇ d with respect to reception channel CH1.
- the received signal of antenna 13 is positioned relative to reception channel CH2.
- the reception signal of the antenna 14 is set to the reception signal of the reception channel CH5 that is separated from the reception channel CH4 by a phase difference of 2 ⁇ (1 (sin ⁇ ) / ⁇ ).
- the signal processing circuit 40 gives a transmission selection signal to the switch circuit 22 and gives an antenna selection signal for selecting the antenna 12 to the switch circuit 21.
- the transmission antenna 12 transmits the transmission signal generated by the VC031 to the detection area.
- the signal processing circuit 40 provides a reception selection signal to the switch circuit 22 and an antenna selection signal to the switch circuit 21.
- the antenna selection signal at the time of reception is the same as the antenna selection signal shown in (2).
- the antennas 11 to 14 sequentially function as reception antennas, and receive reflected waves based on the transmission signals from the transmission antenna 12. Receive. Then, the receiving antennas 11 to 14 sequentially output the received signals to the LNA 33 via the switch circuit 21 and the switch circuit 22. At this time, since the transmission antenna is continuously switched and the signal is continuously radiated, even if the transmission antenna is switched from the antenna 11 to the antenna 12, the reference reception channel CH1 does not change.
- the reception channel given to each of the reception antennas 11 to 14 with respect to the transmission antenna 12 is transmitted by the phase difference 2 ⁇ d (sin ⁇ ) / ⁇ corresponding to the distance d between the transmission antenna 11 and the transmission antenna 12.
- Received channel power corresponding to antenna 11 A shifted receive channel is set.
- the reception signal of the antenna 11 is set to the reception signal of the reception channel CH2 that is separated from the reception signal of the reception channel CH1 by a phase difference of 2 ⁇ d (sin ⁇ ) / ⁇ .
- Received signal strength of antenna 12 It is set to the received signal of receiving channel CH3 that is separated by a phase difference of 2 ⁇ d (sin ⁇ ) / ⁇ with respect to receiving channel CH2.
- the reception signal of the antenna 13 is set to the reception signal of the reception channel CH5 that is separated from the reception channel CH3 by a phase difference of 4 ⁇ d (sin ⁇ ) / ⁇ .
- the reception signal of the antenna 14 is set to the reception signal of the reception channel CH6 that is separated from the reception channel CH5 by a phase difference of 2 ⁇ d (sin ⁇ ) / ⁇ .
- the signal processing circuit 40 gives a transmission selection signal to the switch circuit 22 and gives an antenna selection signal for selecting the antenna 13 to the switch circuit 21.
- the transmission antenna 13 transmits the transmission signal generated by the VC031 to the detection area.
- the signal processing circuit 40 provides a reception selection signal to the switch circuit 22 and an antenna selection signal to the switch circuit 21.
- the antenna selection signal at the time of reception is the same as the antenna selection signal shown in (2) and (4), and antennas 11 to 14 sequentially function as reception antennas and transmit signals from the transmission antenna 13 to the transmission signals. Receive a reflected wave based. Then, the receiving antennas 11 to 14 sequentially output the received signals to the LNA 33 via the switch circuit 21 and the switch circuit 22.
- the reception channel given to each of the reception antennas 11 to 14 with respect to the transmission antenna 13 is transmitted by a phase difference of 6 ⁇ d (sin ⁇ ) / ⁇ corresponding to the interval 3d between the transmission antenna 11 and the transmission antenna 13.
- Received channel corresponding to antenna 11 Shifted receive channel is set. Specifically, the received signal power of the antenna 11 is set to the received signal of the receiving channel CH4 that is separated from the received signal of the receiving channel CH1 by a phase difference of 6 ⁇ d (sin ⁇ ) / ⁇ .
- Received signal strength of antenna 12 Set to the received signal of receiving channel CH5 that is separated by a phase difference of 2 ⁇ d (sin ⁇ ) / ⁇ with respect to receiving channel CH4.
- the reception signal of the antenna 13 is set to the reception signal of the reception channel CH7 that is separated from the reception channel CH5 by a phase difference of 4 ⁇ d (sin ⁇ ) / ⁇ . Further, the reception signal of the antenna 14 is set to the reception signal of the reception channel CH8 that is separated from the reception channel CH7 by a phase difference 2 ⁇ (1 (sin ⁇ ) / ⁇ ).
- the signal processing circuit 40 gives a transmission selection signal to the switch circuit 22 and gives an antenna selection signal for selecting the antenna 14 to the switch circuit 21.
- the transmission antenna 14 transmits the transmission signal generated by the VC031 to the detection area.
- the signal processing circuit 40 gives a reception selection signal to the switch circuit 22 and gives an antenna selection signal to the switch circuit 21.
- the antenna selection signal at the time of reception is the same as the antenna selection signals shown in (2), (4), and (6), and antennas 11 to 14 sequentially function as reception antennas, and transmit antenna 14 A reflected wave based on the transmitted signal is received. Then, the receiving antennas 11 to 14 sequentially output the received signals to the LNA 33 via the switch circuit 21 and the switch circuit 22.
- the reception channel given to each of the reception antennas 11 to 14 with respect to the transmission antenna 14 has a phase difference of 8 ⁇ d (sin 0) ⁇ ⁇ corresponding to the distance 4d between the transmission antenna 11 and the transmission antenna 14.
- the received signal strength of the antenna 11 is set to the received signal of the receiving channel CH5 separated by a phase difference of 8 ⁇ d (sin ⁇ ) / ⁇ with respect to the received signal of the receiving channel CH1.
- the reception signal of the antenna 12 is set to the reception signal of the reception channel CH6 that is separated from the reception channel CH5 by a phase difference of 2 ⁇ d (sin ⁇ ) / ⁇ .
- the reception signal of antenna 13 is set to the reception signal of reception channel CH8 that is separated by a phase difference of 4 ⁇ (1 (sin 0)) with respect to reception channel CH6. It is set to the received signal of the receiving channel CH9 that is separated from the receiving channel CH8 by a phase difference of 2 ⁇ d (sin ⁇ ) / ⁇ .
- the intervals of the four transmission / reception antennas are arranged as d, 2d, and d, respectively, and the transmission antennas are switched to generate reception signals at all reception antennas for each transmission antenna.
- the transmission antennas are switched to generate reception signals at all reception antennas for each transmission antenna.
- the distance between the four antennas is d, 2d, and d, and the array length of the antenna array is 4d. Therefore, the radar device described in Patent Document 3 (array of antenna arrays) Compared to 5d), the orientation detection performance is excellent and the size can be further reduced.
- FIG. 2A is a block diagram showing the configuration of the main part of the radar apparatus of this embodiment
- FIG. 2B is a conceptual diagram showing the relationship between the transmission antenna and the reception channel.
- the radar apparatus according to the present embodiment further includes antennas 15 and 16 in addition to the radar apparatus (FIG. 1A) shown in the first embodiment, and the switch circuit 21 is replaced with a switch circuit. 23, and other configurations are the same.
- the switch circuit 23 may be any switch as in the case of the switch circuits 21 and 22.
- the antennas 15 and 16 are transmission / reception shared antennas, and are arranged so that a direction different from that of the array antenna 10 provided with the antennas 11 to 14 is a detection region.
- the antenna 15 is arranged with the front direction rotated by + 45 ° with respect to the front direction of the antennas 11 to 14, and the antenna 16 has a front direction of — Arranged at 45 ° rotation.
- the switch circuit 23 selects any one of the antennas 11 to 16 according to the antenna selection signal from the signal processing circuit 40 and connects it to the switch circuit 22.
- the signal processing circuit 40 performs transmission / reception switching processing and antenna selection processing similar to those of the first embodiment for the antennas 11 to 14, but transmits to the antennas 15 and 16 every modulation period. Perform antenna switching processing.
- the processing using the reception channels CH1 to CH9 when the processing using the reception channels CH1 to CH9 is performed using the antennas 11 to 14, it synchronizes with the start of a new modulation period.
- Select antenna 15 as the transmitting antenna and transmit the transmission signal to the corresponding detection area.
- the antenna 15 is selected as a receiving antenna, a reflected wave corresponding to the transmission signal from the antenna 15 is received, a reception signal is generated, and output to the LNA 33 via the switch circuits 23 and 22.
- This transmission / reception switching process is continuously performed for at least one modulation period.
- the independent reception channel CH31 (circled in FIG. 2) corresponding to the antenna 15 in a 1: 1 ratio is set.
- the antenna 16 is selected as a transmitting antenna in synchronization with the start of a new modulation period, and a transmission signal is transmitted to the corresponding detection area. Then, the antenna 16 is selected as a receiving antenna, receives a reflected wave corresponding to the transmission signal from itself, generates a reception signal, and outputs it to the LNA 33 via the switch circuits 23 and 22. This transmission / reception switching process is also continuously performed for at least one modulation period. As a result, the independent reception channel CH32 (circled in FIG. 2) corresponding to the antenna 16 at 1: 1 is set.
- FIG. 3 is a conceptual diagram showing the relationship between the transmission antenna and the reception channel of this embodiment.
- the radar apparatus of this embodiment has the same configuration as that of the radar apparatus of the second embodiment, and only the reception process when the antennas 15 and 16 are set as transmission antennas is different.
- the radar apparatus also switches the transmission of antennas 15 and 16 at intervals shorter than the modulation period, similarly to antennas 11 to 14. That is, the antennas 11 to 16 are switched at intervals shorter than the modulation period.
- antenna 15 is a transmitting antenna
- antennas 11 and 12 arranged at the end of array antenna 10 on the antenna 15 side are set as receiving antennas, and the reflected wave of the transmission signal transmitted from antenna 15 is reflected. Receive.
- new reception channels CH33 and CH34 different from the reception channels CH1 to CH9 are obtained.
- antenna 16 is used as the transmitting antenna
- antennas 13 and 14 arranged at the end of antenna 16 on array antenna 10 are set as receiving antennas, and the reflected wave of the transmission signal transmitted from antenna 16 is received. To do.
- new reception channels CH35 and CH36 different from the reception channels CH1 to CH9, CH33, and CH34 are obtained.
- the front direction of the peripheral portion detection antenna has a force or other angle shown as an example in which the front direction is set to ⁇ 45 ° with respect to the front direction of the array antenna.
- the case where the number of antennas (total number) constituting the array antenna is four is shown. However, when the number of antennas is different, the equations (1) and (2) are used. The number of antennas at both ends and the antenna interval can be set.
- FIG. 4 is a block diagram showing the concept of the antenna arrangement pattern of the radar apparatus of the present invention. is there.
- the array antenna 50 includes a plurality of antennas 51A arranged at one end with a spacing "d” and "N1", a plurality of antennas 51B arranged at the other end with a spacing "d” and a plurality of antennas 51B.
- the antenna 51 C includes antennas 51 C arranged between the antenna group 51 A and the antenna 51 group B with an interval “N1 ⁇ d”.
- the antennas 51A, 51B, 51C are arranged in a straight line, and the front directions of all the antennas 51A, 51B, 51C are the same.
- the antenna 51C is “0” or a positive integer value.
- the switch circuit 20 selects one antenna from the antennas 51A, 51B, and 51C in accordance with the antenna selection signal from the signal processing circuit 40 and connects it to the switch circuit 22.
- the switch circuit 20 may be a switch as well as the switch circuits 21, 22 and 23! /.
- Fig. 5 (A) shows the arrangement when the number of antennas is "5"
- Fig. 5 (B) is a concept showing the relationship between the transmitting antenna and the receiving channel in Fig. 5 (A).
- FIG. 6 (A) shows the arrangement when the number of antennas is “6”
- FIG. 6 (B) is a conceptual diagram showing the relationship between the transmission antenna and the reception channel in the case of FIG. 6 (A). It is.
- Fig. 7 (A) shows the arrangement when the number of antennas is "8"
- Fig. 7 (B) is a conceptual diagram showing the relationship between the transmitting antenna and the receiving channel in the case of Fig. 7 (A). It is.
- CH1 to CH21 can be obtained.
- the optimum number of reception channels can be set according to this number, and the respective reception channels can be arranged at equal intervals.
- ⁇ is the array antenna number and ⁇ ⁇ ⁇ ⁇ is the temperature.
- An (T) represents an amplitude correction coefficient with respect to temperature, and ⁇ ⁇ ( ⁇ ) represents a phase correction coefficient with respect to temperature.
- the signal processing circuit 40 stores such correction information in a memory or the like in advance, and includes a temperature sensor, and detects the temperature each time an IF beat signal is input to perform the above correction. As a result, changes in characteristics due to temperature can be suppressed, and the azimuth, speed, distance, etc. of an object can be accurately detected even when an antenna with poor temperature characteristics is used.
- the transmission / reception may be switched with the structure shown in FIG.
- FIG. 8 is a block diagram showing a configuration of a radar apparatus using another transmission / reception method of the present invention.
- the radar apparatus shown in FIG. 8 has a configuration in which the switch circuit 22 is replaced with a switch amplifier 25 and a circulator 26 with respect to the radar apparatus of the first embodiment, and the other configurations are the same.
- the switch amplifier 25 is turned on based on the transmission selection signal from the signal processing circuit 40, amplifies the transmission signal generated by the VC031, and supplies the amplified signal to the circulator 26. Further, the switch amplifier 25 is turned off based on the reception selection signal from the signal processing circuit 40 and does not operate.
- the circulator 26 outputs the transmission signal from the switch amplifier 25 to the switch circuit 21, and outputs the reception signal input from the switch circuit 21 to the LNA 33. Even with such a configuration, the effects of the present invention can be achieved. Further, by reducing the number of switch circuits inserted into the receiving circuit system, it is possible to reduce the loss due to the received signal and more reliably detect the object.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112006003644T DE112006003644B4 (de) | 2006-01-23 | 2006-12-21 | Radarvorrichtung |
JP2007554835A JP4844566B2 (ja) | 2006-01-23 | 2006-12-21 | レーダ装置 |
US12/171,573 US7525479B2 (en) | 2006-01-23 | 2008-07-11 | Radar apparatus |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006013654 | 2006-01-23 | ||
JP2006-013654 | 2006-01-23 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/171,573 Continuation US7525479B2 (en) | 2006-01-23 | 2008-07-11 | Radar apparatus |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2007083479A1 true WO2007083479A1 (ja) | 2007-07-26 |
Family
ID=38287435
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/325530 WO2007083479A1 (ja) | 2006-01-23 | 2006-12-21 | レーダ装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7525479B2 (ja) |
JP (1) | JP4844566B2 (ja) |
DE (1) | DE112006003644B4 (ja) |
WO (1) | WO2007083479A1 (ja) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009300101A (ja) * | 2008-06-10 | 2009-12-24 | Denso Corp | 方位検出装置、レーダ装置 |
JP2009300102A (ja) * | 2008-06-10 | 2009-12-24 | Denso Corp | 方位検出装置、レーダ装置 |
JP2014153142A (ja) * | 2013-02-07 | 2014-08-25 | Japan Radio Co Ltd | Mimoレーダシステム、及び信号処理装置 |
CN104459690A (zh) * | 2014-12-03 | 2015-03-25 | 中国电子科技集团公司第四十一研究所 | 一种多探头阵列微波成像系统及开关控制方法 |
CN105339806A (zh) * | 2013-06-25 | 2016-02-17 | 罗伯特·博世有限公司 | 角度分辨的fmcw雷达传感器 |
KR20190113159A (ko) * | 2018-03-27 | 2019-10-08 | (주)스마트레이더시스템 | 레이더 장치 |
JP2020153872A (ja) * | 2019-03-20 | 2020-09-24 | パナソニックIpマネジメント株式会社 | レーダ装置 |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7755533B2 (en) * | 2006-11-01 | 2010-07-13 | Imsar Llc | Interferometric switched beam radar apparatus and method |
JP2010008273A (ja) * | 2008-06-27 | 2010-01-14 | Maspro Denkoh Corp | ミリ波撮像装置 |
GB0902314D0 (en) * | 2009-02-12 | 2009-04-01 | Trw Ltd | Antennas |
JP2010204003A (ja) * | 2009-03-05 | 2010-09-16 | Hitachi Kokusai Electric Inc | 複合機能レーダ装置 |
DE102009027003A1 (de) | 2009-06-17 | 2010-12-23 | Endress + Hauser Gmbh + Co. Kg | Optimierung der Schaltreihenfolge bei geschalteten Antennenarrays |
CN101640949B (zh) * | 2009-06-29 | 2012-07-25 | 惠州Tcl移动通信有限公司 | 多天线无线收发装置 |
KR101137088B1 (ko) * | 2010-01-06 | 2012-04-19 | 주식회사 만도 | 통합 레이더 장치 및 통합 안테나 장치 |
JP5093298B2 (ja) * | 2010-06-04 | 2012-12-12 | 株式会社デンソー | 方位検出装置 |
EP2492709A1 (en) * | 2011-02-25 | 2012-08-29 | Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO | FMCW radar system |
DE102011084610A1 (de) * | 2011-10-17 | 2013-04-18 | Robert Bosch Gmbh | Winkelauflösender Radarsensor |
US8994581B1 (en) * | 2012-09-25 | 2015-03-31 | Adam Brown | Direction of arrival (DOA) estimation using multiple offset receive channels |
US8937570B2 (en) * | 2012-09-28 | 2015-01-20 | Battelle Memorial Institute | Apparatus for synthetic imaging of an object |
US10439684B2 (en) * | 2012-12-31 | 2019-10-08 | Futurewei Technologies, Inc. | Smart antenna platform for indoor wireless local area networks |
WO2015060997A1 (en) | 2013-10-25 | 2015-04-30 | Texas Instruments Incorporated | Angle resolution in radar |
US9759807B2 (en) * | 2013-10-25 | 2017-09-12 | Texas Instruments Incorporated | Techniques for angle resolution in radar |
DE102014220513A1 (de) * | 2014-09-30 | 2016-04-14 | Siemens Aktiengesellschaft | Mehrkanal-Radarverfahren und Mehrkanal-Radarsystem |
JP6365494B2 (ja) * | 2015-10-07 | 2018-08-01 | 株式会社デンソー | アンテナ装置及び物標検出装置 |
US11047956B2 (en) * | 2018-06-14 | 2021-06-29 | Semiconductor Components Industries, Llc | Reconfigurable MIMO radar |
CN111725629B (zh) * | 2019-03-20 | 2022-03-15 | Oppo广东移动通信有限公司 | 毫米波天线装置、毫米波信号控制方法和电子设备 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004245602A (ja) * | 2003-02-10 | 2004-09-02 | Denso Corp | アンテナの配列方法、及びレーダ装置 |
JP2005003393A (ja) * | 2003-06-09 | 2005-01-06 | Fujitsu Ten Ltd | レーダ装置 |
JP2005257384A (ja) * | 2004-03-10 | 2005-09-22 | Mitsubishi Electric Corp | レーダ装置およびアンテナ装置 |
JP2006003303A (ja) * | 2004-06-21 | 2006-01-05 | Fujitsu Ten Ltd | レーダ装置 |
Family Cites Families (30)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3685051A (en) * | 1969-03-06 | 1972-08-15 | Tetra Tech | Holographic imaging system using crossed linear arrays of energy sources and sensors |
US3717843A (en) * | 1970-03-06 | 1973-02-20 | Bendix Corp | Holographic system for forming images of both stationary and moving objects |
US3774203A (en) * | 1971-11-24 | 1973-11-20 | Kuhlenschmidt Dooley Corp | Holographic depth correction |
US3757332A (en) * | 1971-12-28 | 1973-09-04 | Gen Dynamics Corp | Holographic system forming images in real time by use of non-coherent visible light reconstruction |
JPS6242180A (ja) * | 1985-08-20 | 1987-02-24 | Hamamatsu Photonics Kk | マイクロ波ホログラフイ装置 |
JPS63179272A (ja) * | 1987-01-20 | 1988-07-23 | Mitsubishi Electric Corp | ホログラフイツクレ−ダ |
JPS63179271A (ja) * | 1987-01-20 | 1988-07-23 | Mitsubishi Electric Corp | ホログラフイツクレ−ダ |
JPS63179273A (ja) * | 1987-01-20 | 1988-07-23 | Mitsubishi Electric Corp | ホログラフイツクレ−ダ |
JPS63187180A (ja) * | 1987-01-29 | 1988-08-02 | Mitsubishi Electric Corp | ホログラフイツクレ−ダ |
JPS63187181A (ja) * | 1987-01-29 | 1988-08-02 | Mitsubishi Electric Corp | ホログラフイツクレ−ダ |
JPH0668542B2 (ja) * | 1987-04-14 | 1994-08-31 | 三菱電機株式会社 | ホログラフイツクレ−ダ |
US4924235A (en) * | 1987-02-13 | 1990-05-08 | Mitsubishi Denki Kabushiki Kaisha | Holographic radar |
JPH01316679A (ja) * | 1988-03-10 | 1989-12-21 | Mitsubishi Electric Corp | ホログラフイツクレーダ |
US4947176A (en) * | 1988-06-10 | 1990-08-07 | Mitsubishi Denki Kabushiki Kaisha | Multiple-beam antenna system |
JPH0552944A (ja) * | 1990-10-01 | 1993-03-02 | Mitsubishi Electric Corp | ホログラフイツクレーダ |
US5859609A (en) * | 1991-08-30 | 1999-01-12 | Battelle Memorial Institute | Real-time wideband cylindrical holographic surveillance system |
US5455590A (en) * | 1991-08-30 | 1995-10-03 | Battelle Memorial Institute | Real-time holographic surveillance system |
WO1993005408A1 (en) * | 1991-08-30 | 1993-03-18 | Battelle Memorial Institute | High resolution holographic surveillance system |
US5557283A (en) * | 1991-08-30 | 1996-09-17 | Sheen; David M. | Real-time wideband holographic surveillance system |
US5327139A (en) * | 1992-09-11 | 1994-07-05 | The Boeing Company | ID microwave holographic sensor |
JP3183480B2 (ja) * | 1993-01-11 | 2001-07-09 | 株式会社アドバンテスト | ホログラフィックレーダ |
US5734347A (en) * | 1996-06-10 | 1998-03-31 | Mceligot; E. Lee | Digital holographic radar |
JP3368874B2 (ja) | 1998-09-14 | 2003-01-20 | 株式会社豊田中央研究所 | ホログラフィックレーダ |
US6191724B1 (en) * | 1999-01-28 | 2001-02-20 | Mcewan Thomas E. | Short pulse microwave transceiver |
JP3622565B2 (ja) | 1999-03-31 | 2005-02-23 | 株式会社デンソー | レーダ装置 |
US6414627B1 (en) * | 1999-10-12 | 2002-07-02 | Mcewan Technologies, Llc | Homodyne swept-range radar |
GB0022503D0 (en) * | 2000-09-13 | 2000-11-01 | Univ Northumbria Newcastle | Microwve holographic measuring method and apparatus |
JP3575694B2 (ja) * | 2002-04-24 | 2004-10-13 | 株式会社ホンダエレシス | 走査型fmcwレーダ |
US7295146B2 (en) * | 2005-03-24 | 2007-11-13 | Battelle Memorial Institute | Holographic arrays for multi-path imaging artifact reduction |
US7034746B1 (en) * | 2005-03-24 | 2006-04-25 | Bettelle Memorial Institute | Holographic arrays for threat detection and human feature removal |
-
2006
- 2006-12-21 WO PCT/JP2006/325530 patent/WO2007083479A1/ja active Application Filing
- 2006-12-21 DE DE112006003644T patent/DE112006003644B4/de not_active Expired - Fee Related
- 2006-12-21 JP JP2007554835A patent/JP4844566B2/ja not_active Expired - Fee Related
-
2008
- 2008-07-11 US US12/171,573 patent/US7525479B2/en not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004245602A (ja) * | 2003-02-10 | 2004-09-02 | Denso Corp | アンテナの配列方法、及びレーダ装置 |
JP2005003393A (ja) * | 2003-06-09 | 2005-01-06 | Fujitsu Ten Ltd | レーダ装置 |
JP2005257384A (ja) * | 2004-03-10 | 2005-09-22 | Mitsubishi Electric Corp | レーダ装置およびアンテナ装置 |
JP2006003303A (ja) * | 2004-06-21 | 2006-01-05 | Fujitsu Ten Ltd | レーダ装置 |
Non-Patent Citations (1)
Title |
---|
YAMANE K. ET AL.: "Sharyo Radar-yo Hotographic Hoi Gezoho no Kento (A Holographic Imaging Method for Automotive Radar)", THE TRANSACTIONS OF THE INSTITUTE OF ELECTRONICS, INFORMATION AND COMMUNICATION ENGINEERS B-II, vol. J81-B-II, no. 8, 1998, pages 805 - 813, XP003016026 * |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009300101A (ja) * | 2008-06-10 | 2009-12-24 | Denso Corp | 方位検出装置、レーダ装置 |
JP2009300102A (ja) * | 2008-06-10 | 2009-12-24 | Denso Corp | 方位検出装置、レーダ装置 |
US7924214B2 (en) | 2008-06-10 | 2011-04-12 | Denso Corporation | Azimuth detecting apparatus and radar apparatus |
US7932854B2 (en) | 2008-06-10 | 2011-04-26 | Denso Corporation | Azimuth detecting apparatus and radar apparatus |
JP2014153142A (ja) * | 2013-02-07 | 2014-08-25 | Japan Radio Co Ltd | Mimoレーダシステム、及び信号処理装置 |
CN105339806A (zh) * | 2013-06-25 | 2016-02-17 | 罗伯特·博世有限公司 | 角度分辨的fmcw雷达传感器 |
JP2016525209A (ja) * | 2013-06-25 | 2016-08-22 | ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング | 角度分解型fmcwレーダセンサ |
US10914818B2 (en) | 2013-06-25 | 2021-02-09 | Robert Bosch Gmbh | Angle-resolving FMCW radar sensor |
CN104459690A (zh) * | 2014-12-03 | 2015-03-25 | 中国电子科技集团公司第四十一研究所 | 一种多探头阵列微波成像系统及开关控制方法 |
KR20190113159A (ko) * | 2018-03-27 | 2019-10-08 | (주)스마트레이더시스템 | 레이더 장치 |
KR102157583B1 (ko) * | 2018-03-27 | 2020-09-18 | (주)스마트레이더시스템 | 레이더 장치 |
JP2020153872A (ja) * | 2019-03-20 | 2020-09-24 | パナソニックIpマネジメント株式会社 | レーダ装置 |
JP7361263B2 (ja) | 2019-03-20 | 2023-10-16 | パナソニックIpマネジメント株式会社 | レーダ装置 |
Also Published As
Publication number | Publication date |
---|---|
DE112006003644T5 (de) | 2008-12-24 |
US20080291088A1 (en) | 2008-11-27 |
JP4844566B2 (ja) | 2011-12-28 |
US7525479B2 (en) | 2009-04-28 |
JPWO2007083479A1 (ja) | 2009-06-11 |
DE112006003644B4 (de) | 2011-05-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2007083479A1 (ja) | レーダ装置 | |
US6067048A (en) | Radar apparatus | |
JP7066015B2 (ja) | アンテナ装置及びレーダ装置 | |
US7173561B2 (en) | Radar device capable of scanning received reflection waves | |
JP3622565B2 (ja) | レーダ装置 | |
JP5130079B2 (ja) | 電子走査式レーダ装置及び受信用アレーアンテナ | |
EP1788408B1 (en) | Mono pulse radar device and antenna selector switch | |
CN1712985B (zh) | 雷达装置 | |
JP4833534B2 (ja) | レーダ装置 | |
US7289058B2 (en) | Radar apparatus | |
US7898460B2 (en) | Radar target detecting method, and apparatus using the target detecting method | |
US9097796B2 (en) | Radar apparatus | |
US6859168B2 (en) | Radar apparatus | |
US20110298653A1 (en) | Method and device for detecting azimuth | |
JP2000258524A (ja) | レーダ装置 | |
JPH11160423A (ja) | レーダ装置 | |
JP2007333656A (ja) | レーダ装置 | |
US20210149038A1 (en) | Radar device | |
JP2001166029A (ja) | Dbfレーダ装置 | |
JP4967384B2 (ja) | レーダ装置 | |
JP2009031185A (ja) | レーダ装置及びターゲット検出方法 | |
US20220107408A1 (en) | Radar device | |
JP5619061B2 (ja) | レ−ダ装置 | |
WO2022038759A1 (ja) | レーダ装置 | |
JP2009162521A (ja) | レ−ダ装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
ENP | Entry into the national phase |
Ref document number: 2007554835 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1120060036440 Country of ref document: DE |
|
RET | De translation (de og part 6b) |
Ref document number: 112006003644 Country of ref document: DE Date of ref document: 20081224 Kind code of ref document: P |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 06835091 Country of ref document: EP Kind code of ref document: A1 |
|
REG | Reference to national code |
Ref country code: DE Ref legal event code: 8607 |