Radar apparatus, object detection method and object detection program

An object detection method comprising:

• transmitting a chirp signal;
• receiving a reflected signal that is the chirp signal reflected by a target object;
• calculating a beat signal based on the chirp signal and the reflected signal and calculating a plurality of poles of the beat signal by eigenvalue decomposition of an autocorrelation matrix of the beat signal;
• calculating a complex amplitude of a pole having an absolute value component less than a preset threshold value among the plurality of the poles by using a least squares method between a basis waveform corresponding to the pole and the beat signal;
• calculating a distance to the target object based on the beat signal;
• and
• calculating a scattering intensity of the target object as a square of an absolute value of the complex amplitude.

A non-transitory computer-readable storage medium storing an object detection program, wherein executing of the object detection program causes one or more computers to perform operations comprising:

• transmitting a chirp signal;
• receiving a reflected signal that is the chirp signal reflected by a target object;
• calculating a beat signal based on the chirp signal and the reflected signal and
• calculating a plurality of poles of the beat signal by eigenvalue decomposition of an autocorrelation matrix of the beat signal;
• calculating a complex amplitude of a pole having an absolute value component less than a preset threshold value among the plurality of the poles by using a least squares method between a basis waveform corresponding to the pole and the beat signal;
• calculating a distance to the target object based on the beat signal;
• and
• calculating a scattering intensity of the target object as a square of an absolute value of the complex amplitude.