United States: (12) Patent Application Publication (10) Pub. No.: US 2012/0242535 A1

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US 20120242535A1

(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)

(43) Pub. Date:

Sep. 27, 2012

US. Cl. ...................................................... .. 342/158

(57)

ABSTRACT

(75) Inventor:

Junji KANAMOTO, Yokohama-shi

(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

signal inbeat frequencies and to calculate complex data based

(30)

Foreign Application Priority Data


(JP) ............................... .. 2010-286637

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

Dec. 22, 2010

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)

Int. Cl. G01S 13/02

(2006.01)

the extended complex data.

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

Hummwumw-(-QWAVE < vco GENERATING

Patent Application Publication

Sep. 27, 2012 Sheet 2 0f 35

US 2012/0242535 A1

FREQUENCY A
MODULATION f0

TRANSM I TTED SIGNAL


I

RECEIVED SIGNAL

I;

I I I

I
'

:
I

NISSIIEATIGN TIIIIEE

I
FREQUENCY

I
I I

ASSESSING GESGENSING
l I I I

BEAT SIGNAL

I II. ____ --.i


I

r I\IIII

TIME
SIGNAL LEvEL
I

ASCENDING

i
i _

I
I

FREQUENCY

SIGNAL LEVEL

I
I I

DESCENDING

I
I _
FREQUENCY

Patent Application Publication

Sep. 27, 2012 Sheet 3 0f 35

US 2012/0242535 A1

ADDED VALUES OF ALL ASCENDING CHANNELS SIGNAL LEVEL M

PEAK DETECTION

/ iV
fuI

'

\/\THRESHOLD VALUE
FREQUENCY POINT

fu2

fu3

(BEAT FREQUENCY)
ADDED VALUES OF ALL DESCENDING CHANNELS SIGNAL LEVEL A

PEAK DETECTION

\/\ THRESHOLD VALUE


fd2 fd3

FREQUENCY POI NT

(BEAT FREQUENCY)

Patent Application Publication

Sep. 27, 2012 Sheet 4 0f 35

US 2012/0242535 A1

ASCEND | NG PEAK >

PDES<CA-ENKD NG |

MATRIX IS CREATED TO CORRESPOND T0 ANGLE CH AFTER DBF

TARGET GROUP NUMBER

DISTANCE RELATIVE FREQUENCY VELOCITY POINT

TARGET TARGET TARGET TARGET

GROUP GROUP GROUP GROUP

1 2 3 4

r1 r2 r3 r4

v1 v2 v3 v4

f1 f2 f3 f4

Patent Application Publication

Sep. 27, 2012 Sheet 6 0f 35

US 2012/0242535 A1

wSQzgE3tw2i53q z w % ?g

Patent Application Publication

Sep. 27, 2012 Sheet 7 0f 35

US 2012/0242535 A1

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47
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Patent Application Publication

Sep. 27, 2012 Sheet 8 0f 35

US 2012/0242535 A1

. Em?ajg;i?

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EmNaE

m@3$i.v2a1:%g?
a.2505 %3

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Q av i a

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Patent Application Publication

Sep. 27, 2012 Sheet 9 0f 35

US 2012/0242535 A1

Patent Application Publication

Sep. 27, 2012 Sheet 11 0f 35

US 2012/0242535 A1

MN
A

EN
+

.QWM mw

Patent Application Publication

Sep. 27, 2012 Sheet 13 0f 35

US 2012/0242535 A1

mMW WE 3% a dlian

Patent Application Publication

Sep. 27, 2012 Sheet 15 0f 35

US 2012/0242535 A1

i5,.amnwz.2
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mm, x

ME ME 2%,; QUE i.,2i. a

hummm-mumummmummumumu.-umnmmumumumnumnmumummmmumnmui

Patent Application Publication

Sep. 27, 2012 Sheet 17 0f 35

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

TARGET TARGET TARGET TARGET

GROUP GROUP GROUP GROUP

1 2 3 4

t1_ang1 t2_ang1 t3_ang1 t4_ang1

t1_ang2 t2_ang2 t3_ang2 t4_ang2

f1 f2 f3 f4

DESCENDING

FREQUENCY

TARGET TARGET TARGET TARGET

GROUP GROUP GROUP GROUP

1 2 3 4

t1_ang1 t2_ang1 t3_ang1 t4_ang1

t1_ang2 t2_ang2 t3_ang2 t4_ang2

f1 f2 f3 f4

Patent Application Publication

Sep. 27, 2012 Sheet 18 0f 35

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

TARGET TARGET TARGET TARGET

GROUP GROUP GROUP GROUP

1 2 3 4

r1 r2 r3 r4

Iong_d1 Iong_d2 Iong_d3 Iong_d4

Iate_d1 Iate_d2 Iate_d3 Iate_d4

v1 v2 v3 v4

f1 f2 f3 f4

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