Radar device and signal processing method
There is provided a radar device. An extracting unit is configured to extract peak signals from a frequency difference between a transmission signal and a reception signal, in a first range of each of a first period and a second period. An estimating unit is configured to estimate a current peak signal on the basis of a previous peak signal extracted by the extracting unit. A first setting unit is configured to set the first range on the basis of the estimation result. A second setting unit is configured to set a second range different from the first range, if the peak signal is extracted in the first range of the second period and the peak signal cannot be extracted in the first range of the first period. A re-extracting unit is configured to extract the peak signal in the second range of the first period.
1. A radar device comprising:
a processor configured to:
extract peak signals from a frequency difference between a transmission signal in which a frequency varies in a predetermined cycle and a reception signal obtained by receiving a reflected wave of a transmission wave based on the transmission signal from a target, in a first frequency range of each of a first period in which the frequency of the transmission signal increases and a second period in which the frequency decreases;
estimate a current peak signal on the basis of a previous peak signal extracted by the processor;
set the first frequency range on the basis of the estimation result of the processor;
set a second frequency range different from the first frequency range, if the peak signal is extracted in the first frequency range of the second period and the peak signal cannot be extracted in the first frequency range of the first period, the second frequency range being set according to a change in a relative velocity; and
extract the peak signal in the second frequency range of the first period, set by the processor.
2. The radar device according to claim 1 , wherein the processor sets the second frequency range to be wider than the first frequency range.
3. The radar device according to claim 1 , wherein in a case where the relative velocity increases, the processor sets the second frequency range in which a width of a low frequency side from the current peak signal estimated by the processor is wider than a width of a high frequency side from the current peak signal.
4. The radar device according to claim 1 , wherein in a case where the relative velocity decreases, the processor sets the second frequency range in which a width of a high frequency side from the current peak signal estimated by the processor is wider than a width of a low frequency side from the current peak signal.
5. The radar device according to claim 1 , wherein the processor is further configured to:
pair the peak signal of the second period and the peak signal of the first period extracted by the processor; and
pair the peak signal of the second period and the peak signal of the first period extracted by the processor.
6. The radar device according to claim 5 , wherein in a case where the processor extracts the peak signal in the first frequency range of the second period, the processor pairs the peak signal in the first frequency range of the second period and the peak signal of the first period extracted by the processor.
7. The radar device according to claim 5 , wherein in a case where the peak signal of the first period extracted by the processor does not correspond to a still object, the processor performs pairing of the peak signal of the first period and the peak signal of the second period.
8. The radar device according to claim 5 , wherein the processor performs pairing on the basis of an azimuth angle corresponding to the peak signal of the first period extracted by the processor and an azimuth angle corresponding to the peak signal of the second period extracted by the processor.
9. A signal processing method comprising:
an extracting process of extracting peak signals from a frequency difference between a transmission signal in which frequency varies in a predetermined cycle and a reception signal obtained by receiving a reflected wave of a transmission wave based on the transmission signal from a target, in a first frequency range of each of a first period in which the frequency of the transmission signal increases and a second period in which the frequency decreases;
an estimating process of estimating a current peak signal on the basis of a previous peak signal extracted by the extracting process;
a first setting process of setting the first frequency range on the basis of the estimation result of the estimating process;
a second setting process of setting a second frequency range different from the first frequency range, if the peak signal is extracted in the first frequency range of the second period and the peak signal cannot be extracted in the first frequency range of the first period, the second frequency range being set according to a change in a relative velocity; and
a re-extracting process of extracting the peak signal in the second frequency range of the first period set by the second setting process.