Radar apparatus
A processing unit analyzes a reception signal to calculate, for every plurality of receiving antennas, a velocity spectrum in which a frequency is associated with a velocity at which the phase of the reception signal is changed at every cycle period. The processing unit extracts, as a group of identical object peaks, peaks that are generated on a velocity spectrum due to an identical object and that are identical in number to transmitting antennas. The processing unit determines, for each of the plurality of peaks constituting the group of identical object peaks, whether there is power variation among a plurality of the receiving antennas. The processing unit calculates an orientation of the object except for virtual receiving antennas included in a plurality of virtual receiving antennas and formed by the transmitting antennas corresponding to the peaks determined to involve the power variation.
1. A radar apparatus comprising:
a transmitting antenna unit including a plurality of transmitting antennas;
an oscillating unit configured to generate a common signal of a continuous wave;
a modulating unit configured to perform phase shift keying on a plurality of branch signals into which the common signal is branched and which are identical in number to the plurality of transmitting antennas, the branch signals having phases rotated at every preset cycle period with different phase rotation amounts to generate a plurality of transmission signals that are input to the plurality of transmitting antennas;
a receiving antenna unit including a plurality of receiving antennas, wherein
the plurality of transmitting antennas and the plurality of receiving antennas are used to form a virtual array including a plurality of virtual receiving antennas, and wherein
the radar apparatus further comprises a processor and a memory storing a program, the processor executing the program to:
generate information related to an object having reflected a radiation wave from the transmitting antenna unit, based on a plurality of signal components corresponding to a plurality of transmission signals extracted from each of a plurality of reception signals received at the receiving antenna unit;
analyze the reception signal to calculate, for every plurality of the receiving antennas, a velocity spectrum in which a frequency is associated with a velocity at which the phase of the reception signal is changed at every cycle period;
extract, as a group of identical object peaks, peaks that are generated on the velocity spectrum due to the identical object and that are identical in number to the transmitting antennas, and determine a relative velocity of the object from a positional relationship, on the velocity spectrum, among a plurality of peaks belonging to the group of identical object peaks;
determine, for each of the plurality of peaks constituting the group of identical object peaks, whether there is power variation among a plurality of the receiving antennas;
calculate an orientation of the object except for virtual receiving antennas included in a plurality of the virtual receiving antennas and formed by the transmitting antennas corresponding to the peaks determined to involve the power variation;
determine whether the number of the peaks present on the velocity spectrum is greater than the number of the transmitting antennas of the transmitting antenna unit; and
bar the power variation determination whether there is the power variation among the plurality of the receiving antennas, upon determining that the number of the peaks is not greater than the number of the transmitting antennas.