Radar apparatus and running vehicle sensing method
A radar receiver of a radar apparatus includes a Doppler frequency acquirer which, in operation, acquires a Doppler frequency for each of range bins from an echo signal, received via at least one antenna, which is a radar signal reflected by an object, a direction correlation power value calculator which, in operation, calculates, for each of combinations of the range bins and the Doppler frequencies, a direction correlation power value indicating strength of the echo signal for each of directions, a normalized direction correlation value calculator which, in operation, calculates, for each of the combinations of the range bins and the Doppler frequencies, a normalized direction correlation value indicating likelihood of a direction of arrival of the echo signal for each of the directions, and a running vehicle detector which, in operation, determines, on a basis of the direction correlation power value and the normalized direction correlation value, whether the object is a running vehicle.
1. A radar apparatus comprising:
a Doppler frequency acquirer which, in operation, acquires a Doppler frequency for each of plural range bins from an echo signal, received via at least one antenna, which is a radar signal reflected by an object, each of the plural range bins being a unit of processing for a search target distance;
a direction correlation power value calculator which, in operation, calculates, for each of plural combinations of the plural range bins and the Doppler frequencies, a direction correlation power value indicating strength of the echo signal for each of plural directions of arrival of the echo signal;
a normalized direction correlation value calculator which, in operation, calculates, for each of the plural combinations of the plural range bins and the Doppler frequencies, a normalized direction correlation value indicating likelihood of a direction of arrival of the echo signal for each of the plural directions; and
a running vehicle detector which, in operation, determines, on a basis of the direction correlation power value and the normalized direction correlation value, whether the object is a running vehicle.
2. The radar apparatus according to claim 1 , wherein
the running vehicle detector determines whether the object is a running vehicle, on a basis of a distribution of the direction correlation power value in a predetermined correlated value band on a Doppler frequency axis where the normalized direction correlation value is not less than a predetermined correlated value threshold.
3. The radar apparatus according to claim 2 , wherein
the running vehicle detector determines, for each of the plural directions, whether a condition that a waveform on the Doppler frequency axis of the direction correlation power value has a portion which changes within a predetermined range along the Doppler frequency axis in the correlated value band is fulfilled and determines a direction that fulfills the condition as a direction in which a wheel portion of the running vehicle is present.
4. The radar apparatus according to claim 3 , further comprising:
an information storage which, in operation, stores a piece of local feature information indicating a feature of at least one of a position and an echo signal component in the direction in which a wheel portion of a running vehicle is present, the piece of local feature information being generated in advance by machine learning; and
a wheel position estimator which, in operation, estimates the direction in which the wheel portion is present, on a basis of the piece of local feature information, wherein
the running vehicle detector determines whether the condition is fulfilled for the direction in which the wheel portion is estimated to be present.
5. The radar apparatus according to claim 3 , wherein
the running vehicle detector further determines whether the object is a running automobile of a predetermined vehicle type, on a basis of at least one of a position and an echo signal component in the direction in which the wheel portion is determined to be present.
6. The radar apparatus according to claim 5 , further comprising:
an information storage which, in operation, stores a piece of vehicle type feature information indicating a feature of at least one of a position and an echo signal component in the direction in which a wheel portion of an automobile of a predetermined vehicle type is present, the piece of vehicle type feature information being generated in advance by machine learning, wherein
the running vehicle detector determines whether the direction, which fulfills the condition, corresponds to the wheel portion of the automobile of the predetermined vehicle type, on a basis of the piece of vehicle type feature information.
7. The radar apparatus according to claim 3 , wherein
the Doppler frequency acquirer acquires a Doppler frequency from the echo signal via each of a plurality of the antenna elements,
the direction correlation power value calculator calculates, as the direction correlation power value, a square of an inner product of a direction vector indicating complex responses of the plurality of antenna elements and a correlation vector indicating components of the plurality of echo signals when the echo signal arrives from the direction, and
the normalized direction correlation value calculator calculates, as the normalized direction correlation value, a value obtained by normalizing the inner product by a 2-norm of the correlation vector.
8. The radar apparatus according to claim 2 , wherein
the running vehicle detector determines, for each of the plural directions, whether a condition that a waveform on the Doppler frequency axis of the direction correlation power value has a peak portion and a portion which changes within a predetermined range along the Doppler frequency axis inside the predetermined correlated value band in a direction away from the peak portion toward a portion outside the correlated value band is fulfilled and determines that a wheel portion of the running vehicle is present in a direction that fulfills the condition.
9. A running vehicle sensing method comprising:
acquiring a Doppler frequency for each of plural range bins from an echo signal, received via at least one antenna, which is a radar signal reflected by an object, each of the plural range bins being a unit of processing for a search target distance;
calculating, for each of plural combinations of the range bins and the Doppler frequencies, a direction correlation power value indicating strength of the echo signal for each of plural directions of arrival of the echo signal;
calculating, for each of the plural combinations of the plural range bins and the Doppler frequencies, a normalized direction correlation value indicating likelihood of a direction of arrival of the echo signal for each of the plural directions; and
determining, on a basis of the direction correlation power value and the normalized direction correlation value, whether the object is a running vehicle.
10. A direction-of-arrival estimation apparatus comprising:
a Doppler frequency acquirer which, in operation, acquires a Doppler frequency for each of plural range bins from an echo signal, received via at least one antenna, which is a radar signal reflected by an object, each of the plural range bins being a unit of processing for a search target distance;
a direction correlation power value calculator which, in operation, calculates, for each of plural combinations of the plural range bins and the Doppler frequencies, a direction correlation power value indicating strength of the echo signal for each of plural directions of arrival of the echo signal;
a normalized direction correlation value calculator which, in operation, calculates, for each of the plural combinations of the plural range bins and the Doppler frequencies, a normalized direction correlation value indicating likelihood of a direction of arrival of the echo signal for each of the plural directions; and
an outputter which, in operation, outputs the direction correlation power value and the normalized direction correlation value to a running vehicle detector which determines whether the object is a running vehicle.
11. A direction-of-arrival estimation method comprising:
acquiring a Doppler frequency for each of plural range bins from an echo signal, received via at least one antenna, which is a radar signal reflected by an object, each of the plural range bins being a unit of processing for a search target distance;
calculating, for each of plural combinations of the plural range bins and the Doppler frequencies, a direction correlation power value indicating strength of the echo signal for each of plural directions of arrival of the echo signal;
calculating, for each of the plural combinations of the plural range bins and the Doppler frequencies, a normalized direction correlation value indicating likelihood of a direction of arrival of the echo signal for each of the plural directions; and
outputting the direction correlation power value and the normalized direction correlation value to a running vehicle detection apparatus which determines whether the object is a running vehicle.