Radar device
In a radar apparatus, a processing unit calculates a wavenumber of incoming waves reflected from a target object for each of detected target objects. The processing unit calculates, as a wavenumber evaluation value, a proportion of target objects of which the calculated wavenumber is plural among the all of the detected target objects. The processing unit calculates, as a false azimuth evaluation value, a proportion of target objects including a second incoming wave of which an azimuth difference relative to an azimuth of a first incoming wave of which power of the incoming wave is maximum power is a specific azimuth difference occurring due to periodic signal errors being superimposed on the virtual array, among the target objects of which the calculated wavenumber is plural. The processing unit determines contamination of the radome based on the wavenumber evaluation value and the false azimuth evaluation value.
1 . A radar apparatus comprising:
a transmission antenna unit that includes a plurality of transmission antennas;
an oscillation unit that is configured to generate a common signal that is a continuous wave;
a modulation unit that is configured to generate a plurality of transmission signals to be inputted to the plurality of transmission antennas by performing a predetermined modulation on each of a plurality of branched signals obtained by branching the common signal into a same number as the number of transmission antennas;
a reception antenna unit that includes a plurality of reception antennas;
a processing unit that is configured to detect each target object reflecting the transmission wave from the transmission antenna based on a plurality of signal components corresponding to the plurality of transmission signals respectively extracted from a plurality of reception signals received by the reception antenna unit; and
a radome that covers and protects from outside an opening surface of the plurality of transmission antennas and the plurality of reception antennas, wherein
a virtual array having a plurality of virtual reception antennas is formed by the plurality of transmission antennas and the plurality of reception antennas, and
the processing unit includes
a wavenumber calculation unit that calculates a wavenumber of incoming waves reflected from the target object for each of the detected target objects,
a wavenumber evaluation value calculation unit that is configured to calculate, as a wavenumber evaluation value, a proportion of target objects of which the wavenumber calculated by the wavenumber calculation unit is plural among the all of the detected target objects,
a false azimuth evaluation value calculation unit that is configured to calculate, as a false azimuth evaluation value, a proportion of target objects including a second incoming wave of which an azimuth difference relative to an azimuth of a first incoming wave of which power of the incoming wave is maximum power is a specific azimuth difference occurring due to periodic signal errors being superimposed on the virtual array, among the target objects of which the wavenumber calculated by the wavenumber calculation unit is plural, and
a contamination determining unit that is configured to determine contamination of the radome based on the wavenumber evaluation value and the false azimuth evaluation value.
2 . The radar apparatus according to claim 1 , wherein:
the contamination determining unit includes
a contamination determination value updating unit that updates a contamination determination value by increasing in response to the wavenumber evaluation value and the false azimuth evaluation value being respectively equal to or greater than thresholds set in advance and decreasing otherwise, and is configured to determine that the radome is contaminated in response to the contamination determination value being equal to or greater than a predetermined value, and further
a threshold value setting unit that switches at least either of the thresholds for the wavenumber evaluation value and the false azimuth evaluation value so that contamination of the radome is easily determined in response to outside temperature being a low temperature equal to or lower than a predetermined temperature or in response to a heater that heats a member in the vicinity of the radar apparatus being driven.