Radar device

1. A radar device, comprising:

a transmission section configured to, every time a predetermined measurement period elapses, repeatedly transmit a chirp, whose frequency changes with respect to time, at predetermined cycle periods, the number of the transmitted chirps being a predetermined repetition number;

a reception antenna section that has a plurality of reception antennas configured so as to receive the chirps reflected from an object;

a reception section configured to generate beat signals for the respective chirps, for a respective plurality of reception signals received by the plurality of reception antennas of the reception antenna section;

a frequency analysis section configured to perform a frequency analysis for the respective beat signals to calculate distance spectra that are frequency spectra, in which a distance to the object that has reflected the chirp is associated with a frequency, for the respective plurality of reception antennas and the respective plurality of beat signals;

a first correlation matrix generation section configured to define a plurality of frequency bins indicating different frequency ranges in the distance spectra as distance bins, define any of the distance bins, whose frequency corresponding to the distance bin is equal to or less than a predetermined short distance determination frequency, as short-distance bins, define any of the distance bins, whose frequency corresponding to the distance bin is more than the short distance determination frequency, as long-distance bins, and generate, for the repetition number of chirps, first correlation matrixes for the respective distance bins based on complex information on the long-distance bins in the distance spectra corresponding to the respective reception antennas that have received the identical chirp;

an averaging process section configured to perform, for the respective long-distance bins, an averaging process for the repetition number of first correlation matrixes generated so as to correspond to the long-distance bins, to generate average correlation matrixes for the respective long-distance bins;

a first azimuth estimation section configured to perform, for the respective long-distance bins, azimuth estimation calculation using the average correlation matrixes corresponding to the long-distance bins;

a two-dimensional spectrum generation section configured to generate a two-dimensional spectrum represented by the distance spectra and a velocity spectrum, which is a result of a frequency analysis over the plurality of chirps performed for the respective short-distance bins of the distance spectra;

a second correlation matrix generation section configured to generate one second correlation matrix based on complex information on peaks in the two-dimensional spectrum; and

a second azimuth estimation section configured to perform azimuth estimation calculation using the second correlation matrix.

2. The radar device according to claim 1 , wherein

the short distance determination frequency is variable.

3. The radar device according to claim 2 , further comprising a frequency setting section configured to, in a road on which a vehicle in which the radar device is installed is traveling, if a predetermined determination frequency setting condition is met which indicates that stationary objects are continuously present along at least one of the two sides of the road, lower the short distance determination frequency compared with a case in which the determination frequency setting condition is not met.

4. The radar device according to claim 1 , further comprising a failure determination section configured to determine whether the chirps received by the reception antenna section are failures, wherein

the averaging process section performs the averaging process for other than the first correlation matrixes corresponding to the chirps determined as failures.