Signal processing device, radar device and signal processing method

1. A radar device, comprising:

a plurality of transmission antennas;

a plurality of reception antennas; and

a signal processing device that includes a hardware processor configured to:

acquire phase information of a reception signal of each of a plurality of virtual antennas generated based on a combination of the plurality of transmission antennas and the plurality of reception antennas;

calculate, based on the phase information, at least one first phase difference between the plurality of transmission antennas in an outward path along which a transmission wave transmitted from the plurality of transmission antenna reaches a target;

calculate, based on the phase information, at least one second phase difference between the plurality of reception antennas in a return path along which a reflected wave reflected by the target reaches the plurality of reception antennas; and

determine, based on the at least one first phase difference and the at least one second phase difference, whether the outward path and the return path match each other.

2. The radar device according to claim 1 ,

wherein the hardware processor calculates the at least one first phase difference by comparing the phase information for each of the plurality of virtual antennas with each other, the plurality of virtual antennas being generated by combining different transmission antennas of the plurality of transmission antennas with a predetermined reception antenna of the plurality of reception antennas, and

the hardware processor calculates the at least one second phase difference by comparing the phase information for each of the plurality of virtual antennas with each other, the plurality of virtual antennas being generated by combining different reception antennas of the plurality of reception antennas with a predetermined transmission antenna of the plurality of transmission antennas.

3. The radar device according to claim 2 ,

wherein the hardware processor determines whether the outward path and the return path match each other based on the at least one first phase difference and the at least one second phase difference in which a distance between the plurality of reception antennas is same as a distance between the plurality of transmission antennas in the at least one first phase difference.

4. The radar device according to claim 3 ,

wherein, in a case where the at least one first phase difference includes a plurality of first phase differences, the hardware processor uses an average value of the plurality of first phase differences as the at least one first phase difference in determining whether the outward path and the return path match each other, and,

in a case where the at least one second phase difference includes a plurality of second phase differences, the hardware processor uses an average value of the plurality of second phase differences as the at least one second phase difference in determining whether the outward path and the return path match each other.

5. The radar device according to claim 2 ,

wherein, in a case where the at least one first phase difference includes a plurality of first phase differences, the hardware processor uses an average value of the plurality of first phase differences as the at least one first phase difference in determining whether the outward path and the return path match each other, and,

in a case where the at least one second phase difference includes a plurality of second phase differences, the hardware processor uses an average value of the plurality of second phase differences as the at least one second phase difference in determining whether the outward path and the return path match each other.

6. The radar device according to claim 1 ,

wherein the hardware processor determines whether the outward path and the return path match each other based on the at least one first phase difference and the at least one second phase difference in which a distance between the plurality of reception antennas is same as a distance between the plurality of transmission antennas in the at least one first phase difference.

7. The radar device according to claim 6 ,

wherein, in a case where the at least one first phase difference includes a plurality of first phase differences, the hardware processor uses an average value of the plurality of first phase differences as the at least one first phase difference in determining whether the outward path and the return path match each other, and,

in a case where the at least one second phase difference includes a plurality of second phase differences, the hardware processor uses an average value of the plurality of second phase differences as the at least one second phase difference in determining whether the outward path and the return path match each other.

8. The radar device according to claim 1 ,

wherein, in a case where the at least one first phase difference includes a plurality of first phase differences, the hardware processor uses an average value of the plurality of first phase differences as the at least one first phase difference in determining whether the outward path and the return path match each other, and,

in a case where the at least one second phase difference includes a plurality of second phase differences, the hardware processor uses an average value of the plurality of second phase differences as the at least one second phase difference in determining whether the outward path and the return path match each other.

9. The radar device according to claim 1 ,

wherein the hardware processor further calculates, based on the at least one first phase difference, a first phase reflection candidate value which is a phase difference candidate value when a phase reflection occurs, and

the hardware processor determines whether the outward path and the return path match each other based on the at least one first phase difference, the at least one second phase difference, and the first phase reflection candidate value.

10. The radar device according to claim 1 ,

wherein the hardware processor calculates, based on the at least one second phase difference, a second phase reflection candidate value which is a phase difference candidate value when phase reflection occurs, and

the hardware processor determines whether the outward path and the return path match each other based on the at least one first phase difference, the at least one second phase difference, and the second phase reflection candidate value.

11. A signal processing method of a radar device that includes a hardware processor, a plurality of transmission antennas and a plurality of reception antennas, the method comprising:

transmitting, from the plurality of transmission antennas, radio waves and receiving, via the plurality of reception antennas, reflected waves corresponding to the transmitted radio waves reflected by a target;

the hardware processor acquiring phase information of a reception signal of each of a plurality of virtual antennas based on a combination of the plurality of transmission antennas and the plurality of reception antennas;

the hardware processor calculating, based on the phase information, at least one first phase difference between the plurality of transmission antennas in an outward path along which a transmission wave transmitted from the plurality of transmission antenna reaches the target;

the hardware processor calculating, based on the phase information, at least one second phase difference between the plurality of reception antennas in a return path along which a reflected wave reflected by the target reaches the plurality of reception antenna; and

the hardware processor determining, based on the at least one first phase difference and the at least one second phase difference, whether the outward path and the return path match each other.