# US 10,371,807 B2 · Radar apparatus and target object detection method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,371,807 B2 - Document ID: US10371807B2 - Status: Granted - Kind: B2 - Application number: 15/443,761 - Filed: 2017-02-27 - Published: 2017-09-21 - Granted: 2019-08-06 - Earliest claimed: 2016-03-16 - Assignees: Panasonic Corporation - Applicants: Panasonic Corporation - Inventors: Weijie Liu; Yoichi Nakagawa - Web page: https://patentgrep.com/patent/US10371807B2 ## CPC - G01S 13/28: with time compression of received pulses - G01S 7/2921: {based on data belonging to one radar period} - G01S 13/282: {using a frequency modulated carrier wave (G01S13/286 takes precedence)} - G01S 13/288: {phase modulated} - G01S 13/34: using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal - G01S 13/345: {using triangular modulation} - G01S 13/931: of land vehicles - G01S 7/2886: {using I/Q processing} - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract Frequency analysis of each of a plurality of reception antennas and each of reception signals received by the plurality of reception antennas is performed, a power spectrum is calculated for each of the reception antennas, a standard deviation indicating a degree of conformity in a peak of the power spectrum among the plurality of reception antennas is calculated, the power spectra are corrected with use of the standard deviation, a peak is detected based on the corrected power spectra, and a target object is detected based on the detected peak. ## Claims ### Claim 1 A radar apparatus comprising: a plurality of reception antennas, which in operation, receives one or more reflected waves resulting from reflection of one or more radar transmission signals by one or more objects to output a plurality of reception signals; a plurality of frequency analysis processing circuitry, which in operation, performs frequency analysis of the plurality of reception signals to acquire a plurality of frequency characteristics of the plurality of reception antennas; conformity calculation circuitry, which in operation, calculates a conformity indication value based on the plurality of frequency characteristics, the conformity indication value indicating how closely waveforms adjacent to a peak of each of the plurality of frequency characteristics match each other; a plurality of peak detection circuitry, which in operation, corrects the plurality of frequency characteristics with use of the conformity indication value, and detect a peak value that exceeds a certain threshold from the corrected plurality of frequency characteristics; and object detection circuitry, which in operation, detects a target object from among the one or more objects based on the detected peak value. ### Claim 2 (depends on 1) The radar apparatus according to claim 1, wherein the conformity indication value is a standard deviation or a variance of the plurality of frequency characteristics. ### Claim 3 (depends on 1) The radar apparatus according to claim 1, wherein the plurality of frequency characteristics are power spectra of the plurality of reception signals. ### Claim 4 (depends on 1) The radar apparatus according to claim 1, wherein the plurality of peak detection circuitry, in operation, corrects determined frequency characteristics of objects to be excluded from among the one or more objects, with use of the conformity indication value measured in advance, and the certain threshold is determined based on the corrected determined frequency characteristics of the objects to be excluded. ### Claim 5 (depends on 1) The radar apparatus according to claim 1, wherein the plurality of frequency analysis processing circuitry, in operation, performs frequency analysis of a result of addition of the plurality of reception signals to acquire a total frequency characteristic of the plurality of reception signals, and the peak detection circuitry, in operation, correct the total frequency characteristic of the plurality of reception signals with use of the conformity indication value to detect the peak value that exceeds a certain threshold from the corrected plurality of frequency characteristics from the corrected plurality of frequency characteristics. ### Claim 6 (depends on 1) The radar apparatus according to claim 1, wherein the radar apparatus is a radar apparatus of a pulse compression system, and the plurality of peak detectors, in operation, calculates a Doppler frequency based on the detected peak. ### Claim 7 (depends on 1) The radar apparatus according to claim 1, wherein the radar apparatus is a continuous-wave radar apparatus of a frequency modulated continuous wave system, and the radar apparatus comprises a beat frequency detection circuitry, which in operation, detects beat frequencies based on the plurality of frequency characteristics and the conformity indication value, and the object detection circuitry, in operation, detects the target object based on the beat frequencies. ### Claim 8 A target object detection method by a radar apparatus, the target object detection method comprising: receiving, by a plurality of reception antennas, one or more reflected waves resulting from reflection of one or more radar transmission signals by one or more objects to output a plurality of reception signals; performing, by a plurality of frequency analysis processing circuitry, frequency analysis of the plurality of reception signals to acquire a plurality of frequency characteristics of the plurality of reception antennas; calculating, by conformity calculation circuitry, a conformity indication value based on the plurality of frequency characteristics, the conformity indication value indicating how closely waveforms adjacent to a peak of each of the plurality of frequency characteristics match each other; correcting, by a plurality of peak detection circuitry, the plurality of frequency characteristics with use of the conformity indication value; detecting, by the plurality of peak detection circuitry, a peak value that exceeds a certain threshold from the corrected plurality of frequency characteristics; and detecting, by object detection circuitry, a target object from among the one or more objects based on the detected peak value.