Radar apparatus, radar signal generating apparatus, and radar signal generating method

A radar signal generating apparatus, comprising:

• signal generation circuitry, which, in operation, generates a transmission signal;
• and
• transmission circuitry, which, in operation,
• applies, to the transmission signal, a phase rotation corresponding to a Doppler shift amount assigned to each of a plurality of transmission antennas that include a first transmission antenna forming a first beam and a second transmission antenna forming a second beam different from the first beam, and
• performs, from the plurality of transmission antennas, multiplexing transmission of the transmission signal to which the phase rotation is applied,
• wherein
• a Doppler shift interval by the plurality of transmission antennas is uneven on a Doppler frequency axis, and
• a first pattern of the Doppler shift amount assigned to the first transmission antenna is different from a second pattern of the Doppler shift amount assigned to the second transmission antenna.

A radar signal generating method, comprising:

• generating a transmission signal;
• applying, to the transmission signal, a phase rotation corresponding to a Doppler shift amount assigned to each of a plurality of transmission antennas that include a first transmission antenna forming a first beam and a second transmission antenna forming a second beam different from the first beam;
• and
• performing, from the plurality of transmission antennas, multiplexing transmission of the transmission signal to which the phase rotation is applied,
• wherein
• a Doppler shift interval by the plurality of transmission antennas is uneven on a Doppler frequency axis, and
• a first pattern of the Doppler shift amount assigned to the first transmission antenna is different from a second pattern of the Doppler shift amount assigned to the second transmission antenna.