Radar device and method for determining targets to be followed
View Patent ↗A radar device that detects one or more information elements, groups the one or more information elements into one or more first groups in each frame, the one or more first groups including information on one or more first objects of which Doppler speeds fall within a determined range, groups the one or more information elements into one or more second groups in each frame, the one or more second groups including information on one or more second objects of which Doppler speeds fall outside the determined range calculates first positions in m-th frame, of positions of groups to be followed of the first groups and the second groups in n-th frame and extracts the groups to be followed in the m-th frame from the first groups and the second groups in the m-th frame using the first positions.
1. A radar device comprising:
radar circuitry which, in operation, transmits a plurality of radar signals, receives the plurality of radar signals, each of the plurality of received radar signals being reflected from a reflection point of a plurality of reflection points on an object of a plurality of objects, and detects, based on the plurality of received radar signals, a plurality of information elements;
a first group detector which, in operation, groups first one or more information elements of the plurality of information elements into one or more first groups in each frame, the one or more first groups including information on one or more first objects of which Doppler speeds fall within a determined range, the one or more first objects being included in the plurality of objects;
a second group detector which, in operation, groups second one or more information elements of the plurality of information elements into one or more second groups in each frame, the one or more second groups including information on one or more second objects of which Doppler speeds fall outside the determined range, the one or more second objects being included in the plurality of objects;
a position calculator which, in operation, calculates first positions in an m-th frame, based on positions of tracked groups in an n-th frame of the first groups and the second groups in the n-th frame, n being an integer of 1 or more, m being an integer satisfying m>n; and
a processor which, in operation, extracts tracked groups in the m-th frame from the first groups and the second groups in the m-th frame using the first positions, wherein
the tracked groups in the m-th frame include the second one or more information elements in the one or more second groups in the m-th frame and the first one or more information elements in the one or more first groups in the m-th frame, the one or more second groups in the n-th frame being designated as the first one or more information elements in the one or more first groups in the m-th frame.
2. The radar device of claim 1 , wherein the one or more first objects in the m-th frame are stationary and movable with respect to a ground in the n-th frame.
3. The radar device of claim 1 , comprising update circuitry which, in operation, deletes a group included in both the first groups and the second groups from the first groups in each frame.
4. The radar device of claim 1 , wherein the position calculator calculates the first positions in the m-th frame on the basis of moving speeds and moving directions of the radar device in frames from the n-th frame to the m-th frame.
5. A method for determining targets to be followed, comprising:
transmitting a plurality of radar signals;
receiving the plurality of radar signals, each of the plurality of received radar signals being reflected from a reflection point of a plurality of reflection points on an object of a plurality of objects;
detecting, based on the plurality of received radar signals, a plurality of information elements;
grouping first one or more information elements of the plurality of information elements into one or more first groups in each frame, the one or more first groups including information on one or more first objects of which Doppler speeds fall within a determined range, the one or more first objects being included in the plurality of objects;
grouping second one or more information elements of the plurality of information elements into one or more second groups in each frame, the one or more second groups including information on one or more second objects of which Doppler speeds fall outside the determined range, the one or more second objects being included in the plurality of objects;
calculating first positions in an m-th frame based on positions of tracked groups in an n-th frame of the first groups and the second groups in the n-th frame, n being an integer of 1 or more, m being an integer satisfying m>n; and
extracting tracked groups in the m-th frame from the first groups and the second groups in the m-th frame using the first positions, wherein
the tracked groups in the m-th frame include the second one or more information elements in the one or more second groups in the m-th frame and the first one or more information elements in the one or more first groups in the m-th frame, the one or more second groups in the n-th frame being designated as the first one or more information elements in the one or more first groups in the m-th frame.