Radar device, vehicle, and moving object speed detection method

A vehicle, comprising:

• a first sector radar which a first detection range is a right side area of the vehicle in the traveling direction;
• a second sector radar which a second detection range is a left side area of the vehicle in the traveling direction;
• a detection result integrator that corrects the relative speed of the target at the first sector radar or the second sector radar, in accordance with difference between a first estimation value of traveling speed of the vehicle at the first sector radar, and a second estimation value of traveling speed of the vehicle at the second sector radar;
• a radar transmitter that transmits a radio-frequency radar transmission signal from a transmission antenna, at each transmission cycle;
• and
• a radar receives that receives a plurality of returning signals that are generated as a result of the radar transmission signal reflected off of a plurality of targets, by a plurality of reception antennas,
• wherein the radar receiver includes
• a plurality of antenna brunch processors that perform correlation processing of the received returning signals and the radar transmission signal, and generate respective correlation signals each including arrival delay information of each of the received returning signals,
• an electric power profile generator that generates an electric power profiles for each arrival direction of the received returning signals and Doppler frequency component, using the generated correlation signals, and
• a stationary object group distribution generator that, based on the generated electric power profiles, obtains a first distribution of a Doppler frequency components of a stationary object group including a plurality of stationary objects as the plurality of targets in the perimeter of the moving object, for each azimuth angle,
• wherein the stationary object group distribution generator includes
• a traveling speed estimator that estimates the traveling speed of the moving object, based on the first distribution,
• a Doppler frequency distribution analyzer that counts an amount of the electric power profiles for each azimuth angle and each Doppler frequency components, that calculates the greatest amount of the electric power profiles at each azimuth angle, and that calculates Doppler frequency components where the amount of the electric power profiles is the greatest amount at each azimuth angle,
• a stationary object group identifier that extracts the azimuth angle and the Doppler frequency components, where the greatest amount of the electric power profiles is a predetermined amount or greater,
• motion state estimator that obtains the first distribution based on the extracted azimuth angle and the extracted Doppler frequency components, and
• a speed corrector that, based on the Doppler frequency components in the azimuth angle direction of the electric power profiles and the first distribution, corrects the relative speed of the electric power profiles exceeding a predetermined threshold value.

A moving object speed detecting method in a radar device mounted in the moving object, the method comprising:

• transmitting a radio-frequency radar transmission signal from a transmission antenna, at each transmission cycle;
• receiving a plurality of returning signals that are generated as a result of the radar transmission signal reflected off of a plurality of targets, by a plurality of reception antennas;
• performing correlation processing of the received returning signals and the radar transmission signal, and generating respective correlation signals each including arrival delay information of each of the received returning signals;
• generating an electric power profiles for each arrival direction of the received returning signals and Doppler frequency component, using the generated correlation signals;
• obtaining, based on the electric power profile of the returning signals, a first distribution of a Doppler frequency components of a stationary object group including a plurality of stationary objects in the perimeter of the moving object, for each azimuth angle;
• and
• estimating the traveling speed of the moving object, based on the first distribution.