Radar apparatus and signal processing method

A signal processing method of emitting a transmission wave relating to a transmission signal to be frequency-modulated, receiving a reflected wave coming from a target at which the transmission wave is reflected as a reception signal, and deriving target information including at least a transverse distance of the target from peak signals based on the reception signal, the signal processing method comprising:

• deriving this time-decided transverse distance which is a transverse distance of the target of this time processing, by filtering, with a predetermined filter constant, this time transverse distance which is a transverse distance of paired data of this time processing, obtained by pairing the peak signals, and a predicted transverse distance which is obtained by predicting a transverse distance of the target of this time processing from a previous time-decided transverse distance which is a transverse distance of the target of previous time processing;
• and
• when the transverse distance of an object moving target moving in a traveling direction of a vehicle mounted with the radar apparatus and the transverse distance of a specific target which is a target except for the object moving target satisfy a predetermined relation, changing the filter constant for filtering this time transverse distance and the predicted transverse distance of the object moving target so that a reflection amount of this time transverse distance is reduced in comparison to before the change.

A radar apparatus configured to emit a transmission wave relating to a transmission signal to be frequency-modulated, to receive a reflected wave coming from a target at which the transmission wave is reflected as a reception signal, and to derive target information including at least a transverse distance of the target from peak signals based on the reception signal, the radar apparatus comprising:

• a derivation unit configured to derive this time-decided transverse distance which is a transverse distance of the target of this time processing, by filtering, with a predetermined filter constant, this time transverse distance which is a transverse distance of paired data of this time processing, obtained by pairing the peak signals, and a predicted transverse distance which is obtained by predicting a transverse distance of the target of this time processing from a previous time-decided transverse distance which is a transverse distance of the target of previous time processing;
• and
• a change unit configured to change, when the transverse distance of this time processing of an object moving target moving in a traveling direction of a vehicle mounted with the radar apparatus is shorter than the transverse distance of the previous time processing, the filter constant for filtering this time transverse distance and the predicted transverse distance of the object moving target so that a reflection amount of this time transverse distance is increased in comparison to before the change.

A signal processing method of emitting a transmission wave relating to a transmission signal to be frequency-modulated, receiving a reflected wave coming from a target at which the transmission wave is reflected as a reception signal, and deriving target information including at least a transverse distance of the target from peak signals based on the reception signal, the signal processing method comprising:

• deriving this time-decided transverse distance which is a transverse distance of the target of this time processing, by filtering, with a predetermined filter constant, this time transverse distance which is a transverse distance of paired data of this time processing, obtained by pairing the peak signals, and a predicted transverse distance which is obtained by predicting a transverse distance of the target of this time processing from a previous time-decided transverse distance which is a transverse distance of the target of previous time processing, and
• when the transverse distance of this time processing of an object moving target moving in a traveling direction of a vehicle mounted with the radar apparatus is shorter than the transverse distance of the previous time processing, changing the filter constant for filtering this time transverse distance and the predicted transverse distance of the object moving target so that a reflection amount of this time transverse distance is increased in comparison to before the change.