Radar apparatus and method of processing incoming waves for the radar apparatus
In a radar apparatus, one frequency pair is extracted from among all frequency pairs, and an eigenvalue ratio in relation to the extracted pair is derived. The number of incoming waves is estimated according to the number of eigenvalue ratios each of which is not less than a reference threshold. Then, a proportion of the frequency pairs each estimated to have a plurality of incoming waves, relative to all frequency pairs (hereinafter referred to as plural detection proportion) is calculated as an evaluation value. These steps are repeated every time radar waves are transmitted and received. As a result, when a state where the plural detection proportion becomes not less than a specified proportion is detected over a specified number of cycles, it is determined that noise factor materials have adhered to a covering member.
1. A radar apparatus comprising:
transmitting/receiving means for repeatedly performing, at a cycle specified in advance, a transmission/reception cycle of transmitting radar waves from a transmitting antenna, and receiving incoming waves by a receiving antenna composed of a plurality of antenna elements, the incoming waves being generated by reflection of the radar waves transmitted from the transmitting antenna;
a covering member for allowing passage of the radar waves therethrough and at least covering an opening face of the receiving antenna;
target detecting means for detecting targets that have reflected the radar waves, on the basis of results of transmitting/receiving the radar waves, every time the transmission/reception cycle is performed by the transmitting/receiving means;
azimuth estimating means for estimating an arrival bearing that is an azimuth from which incoming waves corresponding to the respective targets detected by the target detecting means have arrived;
state detecting means for detecting an adhered state in which, as a result of an estimation of the arrival bearing performed by the azimuth estimating means, a plural detection proportion is not less than a specified proportion, the plural detection proportion being a proportion of targets each having a plurality of arrival bearings, relative to all the targets detected by the target detecting means; and
determining means for determining that the covering member is adhered with noise factor materials that allow passage of the radar waves therethrough, when the state detecting means detects the adhered state over a specified number of cycles that is a specified number of transmission/reception cycles.
2. The radar apparatus according to claim 1 , wherein:
the target detecting means is configured to detect frequency peaks as the targets, the frequency peaks being detected on the basis of results of frequency analysis of incoming waves received by the receiving antenna; and
the azimuth estimating means is configured to derive, for each of the frequency peaks, a correlation matrix of a received signal in each of the antenna elements, and estimate the number of arrival bearings for one target from results of eigenvalue decomposition of the correlation matrix.
3. The radar apparatus according to claim 2 , wherein the state detecting means comprises:
a ratio deriving means for deriving an eigenvalue ratio that indicates a ratio of a maximum eigenvalue having a maximum value to a comparative eigenvalue, each of which is an eigenvalue other than the maximum eigenvalue, among the eigenvalues resulting from the eigenvalue decomposition of the correlation matrix; and
a wave number estimating means for estimating the number of arrival bearings for one target as being plural, when each eigenvalue ratio derived by the ratio deriving means is not less than a reference threshold that is specified in advance to define the arrival bearing for the one target as being one.
4. The radar apparatus according to claim 3 , wherein the determining means is configured to decrease the specified number of cycles, as a probability of being in the adhered state becomes higher.
5. The radar apparatus according to claim 4 , wherein the determining means is configured to render the probability of being in the adhered state as being higher, as the number of targets detected by the target detecting means increases.
6. The radar apparatus according to claim 5 , wherein the determining means is configured to render the probability of being in the adhered state as being higher, as the plural detection proportion becomes higher.
7. The radar apparatus according to claim 2 , wherein the determining means is configured to decrease the specified number of cycles, as the probability of being in the adhered state becomes higher.
8. The radar apparatus according to claim 7 , wherein the determining means is configured to render the probability of being in the adhered state as being higher, as the number of targets detected by the target detecting means increases.
9. The radar apparatus according to claim 8 , wherein the determining means is configured to render the probability of being in the adhered state as being higher, as the plural detection proportion becomes higher.
10. The radar apparatus according to claim 1 , wherein the determining means is configured decrease the specified number of cycles, as the probability of being in the adhered stated becomes higher.
11. The radar apparatus according to claim 10 , wherein the determining means is configured to render the probability of being in the adhered state as being higher, as the number of targets detected by the target detecting means increases.
12. The radar apparatus according to claim 11 , wherein the determining means is configured to render the probability of being in the adhered state as being higher, as the plural detection proportion becomes higher.
13. The radar apparatus according to claim 10 , wherein the determining means is configured to render the probability of being in the adhered state as being higher, as the plural detection proportion becomes higher.
14. A method of processing incoming waves for a radar apparatus, the apparatus comprising:
transmitting/receiving means for repeatedly performing, at a cycle specified in advance, a transmission/reception cycle of transmitting radar waves from a transmitting antenna, and receiving incoming waves by a receiving antenna composed of a plurality of antenna elements, the incoming waves being generated by reflection of the radar waves transmitted from the transmitting antenna; and
a covering member that allows passage of the radar waves therethrough and covers at least an opening face of the receiving antenna,
characterized in that the method comprises:
detecting targets that have reflected the radar waves, on the basis of results of transmitting/receiving the radar waves, every time the transmission/reception cycle is performed by the transmitting/receiving means;
estimating an arrival bearing that is an azimuth from which incoming waves corresponding to the detected respective targets have arrived;
detecting an adhered state over a specified number of cycles that is a specified number of transmission/reception cycles when, as a result of an estimation of the arrival bearing, the adhered state is implied, the adhered state being a state where a plural detection proportion is not less than a specified proportion, the plural detection proportion being a proportion of targets each having a plurality of arrival bearings, relative to all the detected targets; and
determining, following the detection, that the covering member is adhered with materials that allow passage of the radar waves therethrough and become factors of noise.