Radar apparatus and radar method

1. A radar apparatus comprising:

a pulse code generator which, in operation, stores a plurality of pulse codes generated by a code coupling process on a plurality of basic code pairs, and selects Nd different a plurality of complementary groups of the pulse codes for transmission in a plurality of Doppler cycles, respectively Nbc indicating a number of the basic code pairs, Ncp indicating a number of the pulse codes included in each of the Nsc indicating a number of the pulse codes generated for each of the basic code pairs and being an integer multiple of Ncp, Nd indicating a number of the Doppler cycle count cycles and being an integral multiple of Nbc, and Nsc Nbc,. and Ncp each being an integer greater than or equal to 2;

a transmitter which, in operation, transmits a different one of the complementary groups of the pulse codes selected by the pulse code generator in each of the Doppler cycles, a first one of the basic code pairs used to generate the pulse codes in one of the complementary groups of the pulse codes transmitted in one of the Dopplere being different from a second one of the basic code pairs used to generate the pulse codes in two of the complementary groups of the pulse codes respectively transmitted in two of the Doppler cycles that are adjacent to the one of the Doppler cycles;

a correlating circuit coupled to the pulse code generator, wherein the correlating circuit, in operation, outputs a correlation signal obtained by performing a cross-correlating process based each of the complementary groups of the pulse codes transmitted by the transmitter and an echo signal; and

a coherent adding circuit coupled to the correlating circuit, wherein the coherent adding circuit, in operation, performs coherent addition of a plurality of autocorrelation values of the pulse codes based on the correlation signal output by the correlating circuit, Nca indicating a number of autocorrelation values coherently added by the coherent adding circuit during each of the Doppler cycles, Nca being an integer greater than or equal to 2, and Nca being an integral multiple of Ncp.

2. The radar apparatus according to claim 1 , wherein

Nca is equal to 8, and the pulse code generator generates one of the plurality of complementary groups of the pulse codes by including eight complementary Spano codes {A, B, B′, A′, B, A, A′, B′} using two complementary Spano codes {A, B} generated by the code coupling process and two inverse complementary Spano codes {A′, B′} of the two complementary Spano codes {A, B}.

3. The radar apparatus according to claim 1 , wherein

the transmitter transmits each of the pulse codes at least once and a same number of times within a Doppler analysis interval in a measurement by the radar apparatus.

4. The radar apparatus according to claim 1 , wherein

the pulse codes, when transmitted, produce a plurality of range sidelobes in a plurality of range bins, respectively.

5. A radar method comprising:

storing a plurality of pulse codes generated by a code coupling process on a plurality of basic code pairs;

selecting a plurality of complementary groups of the pulse codes for transmission in plurality of Doppler cycles, respectively, Nbc indicating a number of the basic code pairs, Ncp indicating a number of the pulse codes included in each of the complementary groups, Nsc indicating a number of the pulse codes generated for each of the basic code pairs and being an integer multiple of Ncp, Nd indicating a number of the Doppler cycles and being an integral multiple of Nbc, and Nsc Nbc, and Ncp each being an integer greater than or equal to 2;

transmitting a different one of the complementary groups of the pulse codes selected by the selecting in each of the Doppler cycles, a first one of the basic code pairs used to generate the pulse codes in one of the complementary groups of the pulse codes transmitted in a one of the Doppler cycles being different from a second one of the basic code pairs used to generate the pulse codes in two of the complementary groups of the pulse codes respectively transmitted in two of the Doppler cycles that are adjacent to the one of the Doppler cycles;

outputting a correlation signal obtained by performing a cross-correlating process based each of the complementary groups of the pulse codes transmitted by the transmitting and an echo signal; and

performing coherent addition of a plurality of autocorrelation values of the pulse codes based on the correlation signal output by the outputting, Nca indicating a number of autocorrelation values coherently added by the coherent adding circuit during each of the Doppler cycles, Nca being an integral multiple of Ncp, and Nca being an integer greater than or equal to 2.

6. The radar method according to claim 5 , wherein Nca is equal to 8 , and the generating includes generating one of the complementary groups of the pulse codes by including eight complementary Spano codes {A, B, B′, A′, B, A, A′, B′} using two complementary Spano codes {A, B} generated by the code coupling process and two inverse complementary Spano codes {A′, B′} of the two complementary Spano codes {A, B}.

7. The radar method according to claim 5 , wherein

the transmitting includes transmitting each of the pulse codes at least once and a same number of times within a Doppler analysis interval in a measurement by a radar apparatus.

8. The radar method according to claim 5 , wherein

the pulse codes, when transmitted, produce a plurality of range sidelobes in a plurality of range bins, respectively.