Object sensing apparatus, object sensing method, and computer readable recording medium

An object sensing method comprising:

• emitting an RF transmission signal by each of a plurality of antennas as an electromagnetic wave for object sensing, the RF transmission signal emitted by each antenna including an added identifier specifying the antenna;
• receiving a reflected wave of the RF transmission signal as an RF reception signal, extracting the added identifier, and using the RF transmission signal to generate a demodulated signal based on the RF reception signal;
• calculating a range spectrum based on the demodulated signal and detecting a plurality of objects that reflected the RF transmission signal and a distance to each object based on the range spectrum;
• detecting a direction of each object based on the added identifier;
• detecting behavior of each object based on the range spectrum;
• specifying a fixed object from among the objects based on the distance to each object and the behavior of each object;
• and
• in a case in which two or more objects other than the fixed object among the detected objects:
• dividing the objects other than the fixed objects into one or more combinations that each include an object that is farther away than the fixed object and an object that is closer to the fixed object;
• for each combination, calculating a degree of similarity in change over time between the behavior of each object in the combination;
• for each combination, specifying a virtual image based on the degree of similarity;
• and
• based on the direction of each object, select the combination estimated to correspond to an actual image and the virtual image.

A non-transitory computer readable recording medium in an object sensing apparatus, the non-transitory computer readable recording medium including a program recorded thereon, the program including instructions that cause the object sensing apparatus to carry out:

• emitting an RF transmission signal by each of a plurality of antennas as an electromagnetic wave for object sensing, the RF transmission signal emitted by each antenna including an added identifier specifying the antenna;
• receiving a reflected wave of the RF transmission signal as an RF reception signal, extracting the added identifier, and using the RF transmission signal to generate a demodulated signal based on the RF reception signal;
• calculating a range spectrum based on the demodulated signal and detecting a plurality of objects that reflected the RF transmission signal and a distance to each object based on the range spectrum;
• detecting a direction of each object based on the added identifier;
• detecting behavior of each object based on the range spectrum;
• specifying a fixed object from among the objects based on the distance to each object and the behavior of each object;
• and
• in a case in which two or more objects other than the fixed object among the detected objects:
• dividing the objects other than the fixed objects into one or more combinations that each include an object that is farther away than the fixed object and an object that is closer to the fixed object;
• for each combination, calculating a degree of similarity in change over time between the behavior of each object in the combination;
• for each combination, specifying a virtual image based on the degree of similarity;
• and
• based on the direction of each object, select the combination estimated to correspond to an actual image and the virtual image.