Object sensing device, automotive radar system, surveillance radar system, object sensing method, and program
The object sensing device comprises a transmitter and a receiver. The transmitter includes an irradiation unit that irradiates an RF transmission signal having a periodically swept frequency. The receiver includes a reception unit that receives an RF reception signal being a reflected wave of the RF transmission signal reflected by the target, an IF signal generation unit that generates an IF signal by mixing the RF transmission signal with the RF reception signal, a position detection unit that detects a position of the target, based on amplitude of a one-dimensional spectrum calculated from the IF signal for each period in which the frequency is swept, and a displacement detection unit that detects displacement of the target, based on a phase of the one-dimensional spectrum at the detected position of the target.
1. An object sensing device comprising:
a transmitter and a receiver,
wherein the transmitter includes an irradiator configured to irradiate a Radio Frequency transmission signal having a periodically swept frequency to at least one target, and
the receiver includes:
a receptor configured to receive a Radio Frequency reception signal being a reflected wave of the Radio Frequency transmission signal irradiated to the target by the irradiator,
an Intermediate Frequency signal generator configured to generate an Intermediate Frequency signal by mixing the Radio Frequency transmission signal with the Radio Frequency reception signal,
a position and velocity detector configured to detect a position of the target, based on amplitude of a two-dimensional spectrum calculated from the Intermediate Frequency signal for each period in which the frequency is swept, and
a displacement detector configured to detect displacement of the target, based on a phase of a two-dimensional Fourier transform at the position and velocity of the target being detected by the position and velocity detector, the phase of the two-dimensional Fourier transform being calculated from the Intermediate Frequency signal for each of the period.
2. The object sensing device according to claim 1 , wherein the receiver includes a second spectrum calculator configured to calculate the two-dimensional spectrum of the Intermediate Frequency signal by applying, to the Intermediate Frequency signal, two-dimensional Fourier transform for each of the period.
3. The object sensing device according to claim 1 , wherein, when there is a plurality of the targets, the displacement detector calculates each displacement of the plurality of the targets, based on a phase of the two-dimensional spectrum at a position of a peak in amplitude of the two-dimensional spectrum.
4. An object sensing method for an object sensing device including a transmitter and a receiver, comprising:
irradiating a Radio Frequency transmission signal having a periodically swept frequency;
receiving a Radio Frequency reception signal being a reflected wave of the Radio Frequency transmission signal reflected by at least one target;
generating an IF signal by mixing the Radio Frequency transmission signal with the Radio Frequency reception signal;
detecting a position and velocity of the target, based on amplitude of a two-dimensional spectrum calculated from the IF signal for each period in which the frequency is swept;
calculating a two-dimensional Fourier transform from the Intermediate Frequency signal for each of the period; and
detecting displacement and velocity of the target, based on a phase of the two-dimensional Fourier transform at the position of the target being detected from the two-dimensional Fourier transform.
5. The object sensing method for the object sensing device according to claim 4 , further comprising
identifying a class of the target, based on displacement of the target.
6. The object sensing method for the object sensing device according to claim 4 , further comprising
identifying a state of the target, based on displacement of 10 the target.