United States: (12) Patent Application Publication (10) Pub. No.: US 2012/0242535 A1
United States: (12) Patent Application Publication (10) Pub. No.: US 2012/0242535 A1
United States: (12) Patent Application Publication (10) Pub. No.: US 2012/0242535 A1
(19) United States (12) Patent Application Publication (10) Pub. No.: US 2012/0242535 A1
KANAMOTO
(54) ELECTRONIC SCANNING RADAR APPARATUS, RECEIVED WAVE DIRECTION ESTIMATING METHOD, AND RECEIVED
WAVE DIRECTION ESTIMATING PROGRAM
(52)
(57)
ABSTRACT
(75) Inventor:
(JP)
(73) Assignee: Honda elesys Co., Ltd., Yokohama-shi (JP)
(21) App1.No.:
(22) Filed:
13/333,405
Dec. 21, 2011
An electronic scanning radar apparatus mounted on a moving object includes a receiving unit including a plurality of anten nas receiving a received Wave arriving from a target having re?ected a transmitted Wave, a beat signal generating unit generating a beat signal from the transmitted Wave and the received Wave, a frequency resolving unit resolving the beat
(30)
on the beat signal resolved for each beat frequency, and an azimuth detecting unit calculating a direction of arrival of the received Wave based on original complex data calculated based on the beat signal, Wherein the azimuth detecting unit
Publication Classi?cation
includes a data extending unit generating extended complex data by extending the number of data based on the original complex data, and a ?rst computation processing unit calcu
lating the direction of arrival of the received Wave based on
(51)
(2006.01)
20A
SIGNAL PROCESSING UNIT 25
21
MEMORY >
22
FREQUENCY PEAK
23
PEAK
24
DISTANCE
DETECTING
27
PAIR
UN IT
RESDLVING->DETECTINGl->COMBINING
26
UNIT
UNIT
UNIT
VELOCITY
DETECTING
FlIJmNG
UNIT
60
AZ I MUTH DETECTING UNIT TRIANGULAR
31 I
TARGET FIXING UNIT
US 2012/0242535 A1
FREQUENCY A
MODULATION f0
RECEIVED SIGNAL
I;
I I I
I
'
:
I
NISSIIEATIGN TIIIIEE
I
FREQUENCY
I
I I
ASSESSING GESGENSING
l I I I
BEAT SIGNAL
r I\IIII
TIME
SIGNAL LEvEL
I
ASCENDING
i
i _
I
I
FREQUENCY
SIGNAL LEVEL
I
I I
DESCENDING
I
I _
FREQUENCY
US 2012/0242535 A1
PEAK DETECTION
/ iV
fuI
'
\/\THRESHOLD VALUE
FREQUENCY POINT
fu2
fu3
(BEAT FREQUENCY)
ADDED VALUES OF ALL DESCENDING CHANNELS SIGNAL LEVEL A
PEAK DETECTION
FREQUENCY POI NT
(BEAT FREQUENCY)
US 2012/0242535 A1
PDES<CA-ENKD NG |
1 2 3 4
r1 r2 r3 r4
v1 v2 v3 v4
f1 f2 f3 f4
US 2012/0242535 A1
wSQzgE3tw2i53q z w % ?g
US 2012/0242535 A1
$g We ga8m5?u%a 5@E?g
?alwizna
23%:
'
aw
r1.
EQZaEWM
47
.1.
US 2012/0242535 A1
. Em?ajg;i?
Exgmzwf?ai
EmNaE
m@3$i.v2a1:%g?
a.2505 %3
R? 2 .5 /
Q av i a
Ag
US 2012/0242535 A1
US 2012/0242535 A1
MN
A
EN
+
.QWM mw
US 2012/0242535 A1
mMW WE 3% a dlian
US 2012/0242535 A1
i5,.amnwz.2
i a.
mm, x
hummm-mumummmummumumu.-umnmmumumumnumnmumummmmumnmui
US 2012/0242535 A1
/2oB
SIGNAL PROCESSING UNIT
/21
_
,,22B
_ FREQUENCY _
/23B
PEAK
'
MEMORY
' RESOLVING
' DETECTING
UNIT
UNIT
60
/
24B
PEAK
= COMBINING
15
DISTANCE
= DETECTING >
31B
A2 I MUTH
=DETECTING
UN I T VELOCITY
> DETECTING >
TARGET
FIXING
UNIT
UNIT
UNIT
UNIT
R26
ASCENDING
FREQUENCY
1 2 3 4
f1 f2 f3 f4
DESCENDING
FREQUENCY
1 2 3 4
f1 f2 f3 f4
US 2012/0242535 A1
?zoc
SIGNAL PROCESSING UNIT
= MEMORY
21
=
22c
40
23c
24
DISTANCE
~25
27
>DETECTING>
FREQUENCY DBF PEAK PEAK RESOLVING> UNIT >DETECT|NG>COMBINING UNIT UNIT UNIT
UN I T
VELOCITY >DETECTING> UNIT
PA I R FIXING UNIT
R26
60
A2 I MUTH
= DETECTING
I 31
TARGET
> FIXING
UNIT
UNIT
TARGET GROUP N-
LONGITUDINAL LONGITUDINAL LATERAL RELATIVE FREQUENCY DISTANCE POSITION POSITION VELOCITY POINT
1 2 3 4
r1 r2 r3 r4
v1 v2 v3 v4
f1 f2 f3 f4