JP2001305215A - Radar equipment - Google Patents

Abstract

(57) [Summary] [Problem] Conventionally, there has been a problem that a detection probability is reduced. A target detection circuit for comparing a received signal with a threshold set by a threshold setting circuit, and outputting a received signal exceeding the threshold as a detection signal for detecting a target;
A distance waveform feature extraction circuit 1 for analyzing the detection signal to extract a feature of a distance waveform, a distance waveform feature DB3 for storing a feature of a pseudo distance waveform of a pseudo target signal, and a distance waveform feature extraction circuit. A distance waveform feature matching circuit 2 for comparing the feature of the distance waveform of the detection signal with the feature of the pseudo distance waveform of the pseudo target signal stored in the distance waveform feature DB;
A distance waveform feature determination circuit for determining whether the detection signal is a target signal or a noise signal based on a result of the comparison by the distance waveform feature comparison circuit. [Effect] It is possible to suppress a decrease in the detection probability when a constant false alarm probability is realized in an environment with a low S / N ratio or an increase in the false alarm probability when a certain detection probability is maintained.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a radar device which irradiates a target with radio waves, receives radio waves scattered by the target, and checks the received signal to detect the target.

[0002]

2. Description of the Related Art A conventional radar device will be described with reference to the drawings. FIG. 14 shows, for example, “George W. Stimso
n, '' Introduction to airborne radar second editio
n ″, SciTECH, Inc. 1998 ”is a block diagram showing the configuration of a conventional radar device.

In FIG. 14, reference numeral 501 denotes a transmitter, 502
Is a transmission / reception switch, 503 is a transmission / reception antenna, 504 is a receiver, 505 is a pulse compression circuit, 506 is a threshold setting circuit,
507 is a target detection circuit, and 508 is a display circuit.

Next, the operation of the above-described conventional radar device will be described with reference to the drawings. FIG. 15 is a diagram illustrating the operation of a conventional radar device.

[0005] The transmitter 501 generates a high-frequency pulse modulated into a signal (chirp signal) whose frequency changes with time, and supplies it to the transmission / reception antenna 503 via the transmission / reception switch 502. This transmitting / receiving antenna 503 transmits the supplied high-frequency pulse.

[0006] The transmitted high frequency pulse is reflected by the target,
The reflected signal (echo) is transmitted to the transmitting / receiving antenna 50.
3 and demodulated by the receiver 504 via the transmission / reception switch 502.

[0007] The signal demodulated by the receiver 504 is delayed from the instantaneous frequency of the transmission signal by the time required for reciprocation of radio wave propagation between the radar device and the target. Applying a matched filter to the received signal r (t) using s (t), that is, as shown in the following equation (1),
By obtaining a convolution of the conjugate signal s ^* (t) of (t) and the received signal r (t), an impulse v (t) (hereinafter referred to as a range profile) is obtained at a time corresponding to the delay. be able to. This allows
Range resolution is improved.

V (t) = s ^* (t) * r (t) Equation (1)

The threshold setting circuit 506 determines a detection threshold for giving a predetermined false alarm probability. Assuming that the standard deviation of the noise amplitude is σ and the desired false alarm probability is Pfa, a threshold value VT for satisfying these is given by the following equation (2).

VT = √ (−2σ ² lnPfa) Equation (2)

[0011]

However, in such a system, when the signal-to-noise power ratio (hereinafter, S / N ratio) is low, the threshold for the target signal power is high as shown in threshold 2 in FIG. Therefore, there is a problem that the detection probability is reduced.

Further, if the threshold value is lowered as shown by threshold value 1 in FIG. 15 so as not to lower the detection probability, there is a problem that the false alarm probability increases.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problem. By analyzing the waveform of a detection signal, it is determined whether the signal is a target signal or a noise signal, and the noise signal is determined. Obtaining a radar apparatus that can suppress a decrease in detection probability when a certain false alarm probability is realized at a low S / N ratio or a rise in false alarm probability when a certain detection probability is maintained by rejection With the goal.

[0014]

A radar apparatus according to a first aspect of the present invention compares a received signal with a threshold set by a threshold setting circuit and detects a received signal exceeding the threshold as a detection signal for detecting a target. A target detection circuit for outputting, a distance waveform feature extraction circuit for analyzing the detection signal to extract a feature of a distance waveform, and a distance waveform feature for storing a feature of a pseudo distance waveform of a pseudo target signal which is a reflected wave of the pseudo target A distance waveform feature matching circuit for comparing a feature of a distance waveform of a detection signal obtained by the distance waveform feature extraction circuit with a feature of a pseudo distance waveform of a pseudo target signal stored in the distance waveform feature database; It is determined whether the detection signal is a target signal or a noise signal based on the matching result of the distance waveform feature matching circuit. It is obtained by a distance waveform feature judging circuit for erasing from the output signal.

According to a second aspect of the present invention, there is provided a radar apparatus comprising:
A distance waveform feature database generation circuit that generates a pseudo-range waveform feature of the pseudo target signal and stores the feature in the distance waveform feature database, wherein the distance waveform feature database generation circuit changes the position of the pseudo target in various ways; A pseudo-waveform generating circuit for generating the pseudo-target signal, and a pseudo-waveform analyzing circuit for extracting characteristics of the pseudo-distance waveform of the generated pseudo-target signal.

According to a third aspect of the present invention, there is provided a radar apparatus comprising:
The distance waveform feature database generation circuit further includes a pseudo noise generation circuit for generating a pseudo noise signal, wherein the pseudo waveform generation circuit adds the pseudo noise signal to generate a pseudo target signal, and generates the pseudo target signal. The circuit extracts a characteristic of a pseudo-distance waveform of the pseudo target signal from the pseudo target signal to which the pseudo noise signal is added, in consideration of fluctuation due to the influence of noise.

According to a fourth aspect of the present invention, there is provided a radar apparatus comprising:
A target detection circuit that compares the received signal with a threshold set by a threshold setting circuit and outputs a received signal that exceeds the threshold as a detection signal that has detected a target; and A circular identification boundary type distance waveform feature extraction circuit for extracting a two-dimensional numerical value obtained by dividing the amplitude value of the cell of
Circular discriminating boundary type distance that stores the center and radius of a circle obtained from a two-dimensional numerical value obtained by dividing the amplitude value of the adjacent cell by the amplitude value of the cell that gives the peak of the amplitude of the pseudo target signal that is the reflected wave of the pseudo target The waveform feature database, the two-dimensional numerical value of the detection signal obtained by the circular identification boundary type distance waveform feature extraction circuit, and the center and radius of the circle of the pseudo target signal stored in the circular identification boundary type distance waveform feature database A circular discriminating boundary type distance waveform feature matching circuit to be collated, and determining whether the detection signal is a target signal or a noise signal based on a matching result of the circular discriminating boundary type distance waveform feature matching circuit, A circular discriminating boundary type distance waveform feature determining circuit for erasing the signal from the detection signal when it is determined that the signal is present.

According to a fifth aspect of the present invention, there is provided a radar apparatus comprising:
A circle discriminating boundary type distance waveform feature database generating circuit for generating a center and a radius of the circle of the pseudo target signal and storing the center and radius in the circular discriminating boundary type distance waveform feature database; The circuit includes a pseudo waveform generation circuit that generates a pseudo target signal in which the position of the pseudo target is variously changed, and a circular identification boundary type pseudo waveform analysis circuit that extracts a center and a radius of the generated pseudo target signal. Have

According to a sixth aspect of the present invention, there is provided a radar apparatus comprising:
The circular discriminating boundary type distance waveform feature database generation circuit further includes a pseudo noise generation circuit that generates a pseudo noise signal, and a switch provided between the pseudo waveform generation circuit and the pseudo noise generation circuit. When the switch is on, the generation circuit adds the pseudo noise signal to generate a pseudo target signal and outputs only the pseudo noise signal, and the circular discriminating boundary type pseudo waveform analysis circuit outputs the pseudo noise signal. The center and radius of the circle of the pseudo target signal are extracted from the pseudo target signal to which the signal is added in consideration of the fluctuation due to the influence of noise, the two-dimensional distribution of only the pseudo noise signal is extracted, and the circular discrimination boundary type distance is extracted. The waveform feature database also stores a two-dimensional distribution of only the pseudo noise signal, and the circular discriminating boundary type distance waveform feature matching circuit stores the circular discriminating boundary type distance waveform feature. The two-dimensional numerical value of the detection signal obtained by the extraction circuit is compared with the two-dimensional distribution of only the center and radius of the circle of the pseudo target signal stored in the circular identification boundary type distance waveform feature database and the pseudo noise signal. Things.

According to a seventh aspect of the present invention, there is provided a radar apparatus comprising:
A target detection circuit that compares the received signal with a threshold set by a threshold setting circuit and outputs a received signal that exceeds the threshold as a detection signal that has detected a target; and A two-dimensional discriminating boundary type distance waveform feature extraction circuit for extracting a two-dimensional feature amount related to the waveform by dividing the amplitude value of the cell, a pseudo target signal which is a reflected wave of the pseudo target, and a peak of the amplitude of the pseudo noise signal. Obtain a two-dimensional numerical value obtained by dividing the amplitude value of the cell on both sides by the amplitude value of the given cell, arrange it on a two-dimensional plane, divide this two-dimensional plane for each axis, and set a plurality of mesh-shaped small areas , The number of pseudo target signals to which the pseudo noise signal is added for each small region, and the number of pseudo noise signals are examined, and for each cell, whether the cell is regarded as a target signal or a cell regarded as a noise signal is determined. Write the pattern to give A two-dimensional discriminating boundary type distance waveform feature database, a two-dimensional feature amount of a detection signal obtained by the two-dimensional discriminating boundary type distance waveform feature extracting circuit, and the two-dimensional discriminating boundary type distance waveform feature database. A two-dimensional identification boundary type distance waveform feature matching circuit that matches a pattern of a two-dimensional mesh, and whether the detection signal is a target signal or a noise signal based on a matching result of the two-dimensional identification boundary type distance waveform feature matching circuit. And a two-dimensional discriminating boundary type distance waveform feature determination circuit for deleting the signal from the detection signal when the signal is determined to be a noise signal.

[0021] The radar device according to claim 8 of the present invention provides:
A two-dimensional identification boundary type distance waveform feature database generation circuit that generates the two-dimensional mesh pattern and stores the two-dimensional identification boundary type distance waveform feature database in the two-dimensional identification boundary type distance waveform feature database; A pseudo-noise generating circuit for generating a pseudo-noise signal, a switch for turning on and off the output of the pseudo-noise generating circuit, and when the switch is on, adding the pseudo-noise signal to variously change the position of the pseudo target. A pseudo-waveform generating circuit for generating a changed pseudo-target signal and outputting only the pseudo-noise signal; and an amplitude value of a cell that gives a peak of the amplitude of the pseudo-target signal and the pseudo-noise signal. Is divided into two-dimensional planes, and the two-dimensional plane is divided for each axis to divide a plurality of mesh-like subareas. Is set, and the number of pseudo target signals to which the pseudo noise signal is added for each small area and the number of pseudo noise signals are checked, and for each cell, a cell that is regarded as a target signal or a cell that is regarded as a noise signal And a two-dimensional discriminating boundary type pseudo-waveform analysis circuit for generating a pattern giving presence.

According to a ninth aspect of the present invention, there is provided a radar apparatus comprising:
A target detection circuit that compares the received signal with a threshold set by a threshold setting circuit and outputs a received signal that exceeds the threshold as a detection signal that has detected a target; and After obtaining the two-dimensional feature value of the waveform by dividing the amplitude value of the cell of the above, a two-dimensional numerical value is extracted by regarding the larger numerical value as the first dimension and the smaller numerical value as the second dimension. A dimension discriminating boundary-type folded distance waveform feature extraction circuit, a pseudo target signal that is a reflected wave of the pseudo target, and a two-dimensional division of the amplitude value of the cell that gives the peak of the amplitude of the pseudo noise signal by the amplitude value of the adjacent cells Obtain a numerical value, arrange the larger numerical value on the two-dimensional plane so that it becomes the first dimension and the smaller numerical value on the second dimension, divide this two-dimensional plane for each axis, and Set small area of each small area The number of the pseudo target signal to which the pseudo noise signal is added and the number of the pseudo noise signal are respectively examined, and a pattern for giving, for each cell, a cell which is regarded as a target signal or a cell which is regarded as a noise signal is stored. The two-dimensional identification boundary type folded distance waveform feature database, the two-dimensional numerical value of the detection signal obtained by the two-dimensional identification boundary type folded distance waveform feature extraction circuit, and the two-dimensional identification boundary type folded distance waveform feature database are stored. A two-dimensional discriminating boundary-type folded distance waveform feature matching circuit that matches a pattern of a two-dimensional mesh, and the detection signal is a target signal or a noise signal based on a matching result of the two-dimensional discriminating boundary-type folded distance waveform feature matching circuit. It is determined whether the signal is a noise signal, and if it is determined that the signal is a noise signal, the signal is deleted from the detection signal. It is obtained by a determination circuit.

According to a tenth aspect of the present invention, there is provided a radar apparatus for generating a two-dimensional identification boundary type folded distance waveform feature database which generates the two-dimensional mesh pattern and stores the pattern in the two-dimensional identification boundary type folded distance waveform feature database. A two-dimensional identification boundary type folded distance waveform feature database generation circuit, a pseudo noise generation circuit that generates a pseudo noise signal, a switch that turns on and off an output of the pseudo noise generation circuit, and a switch that turns on the switch. Sometimes, the pseudo noise signal is added to generate a pseudo target signal in which the position of the pseudo target is variously changed, and a pseudo waveform generating circuit that outputs only the pseudo noise signal, the pseudo target signal, and the pseudo noise signal. Divide the amplitude value of the adjacent cell by the amplitude value of the cell that gives the peak of the signal amplitude to obtain a two-dimensional numerical value. The square value of the so first dimension, a number of smaller the second dimension are arranged in a two-dimensional plane,
This two-dimensional plane is divided about each axis to set a plurality of mesh-shaped small areas, and the number of pseudo target signals and the number of pseudo noise signals to which the pseudo noise signals are added for each small area are examined, respectively. A two-dimensional discriminating boundary-type folded pseudo-waveform analysis circuit for generating a pattern for each cell to determine whether it is a cell considered as a target signal or a cell considered as a noise signal.

In a radar apparatus according to an eleventh aspect of the present invention, the coherent integration circuit for coherently integrating the received signal, and the received signal after the coherent integration is compared with a threshold set by a threshold setting circuit to exceed the threshold. A target detection circuit that outputs the received signal as a detection signal that has detected a target, a distance frequency waveform feature extraction circuit that analyzes the detection signal and extracts a feature of a two-dimensional distance-frequency waveform,
A distance-frequency waveform feature database that stores waveform features related to the distance and frequency of the pseudo target signal that is a reflected wave of the pseudo target, and a two-dimensional distance-frequency waveform of the detection signal obtained by the distance frequency waveform feature extraction circuit And a distance frequency waveform feature matching circuit for comparing the features of the waveform related to the distance and frequency of the pseudo target signal stored in the distance frequency waveform feature database, and the detection signal based on the matching result of the distance frequency waveform feature matching circuit. Is a target signal or a noise signal, and when it is determined that the signal is a noise signal, a distance frequency waveform characteristic determination circuit for eliminating this signal from the detection signal.

A radar apparatus according to a twelfth aspect of the present invention further includes a distance frequency waveform feature database generation circuit for generating a waveform feature relating to the distance and frequency of the pseudo target signal and storing the waveform feature in the distance frequency waveform feature database. A distance-frequency waveform feature database generation circuit that generates a pseudo-target signal in a plurality of hits at various positions and speeds of the pseudo target, and a pseudo-target signal in the plural hits. A second coherent integration circuit for performing coherent integration; and a pseudo-range frequency waveform analysis circuit for extracting a characteristic of a waveform related to a distance and a frequency of the pseudo target signal from an output of the second coherent integration circuit.

[0026]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 A radar device according to Embodiment 1 of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a configuration of a radar device according to Embodiment 1 of the present invention. In the drawings, the same reference numerals indicate the same or corresponding parts.

In FIG. 1, 1 is a distance waveform feature extraction circuit, 2 is a distance waveform feature matching circuit, and 3 is a distance waveform feature DB.
(Database) 4 is a distance waveform feature determination circuit, 5 is a pseudo waveform generation circuit, 6 is a pseudo waveform analysis circuit, and 7 is a distance waveform feature DB generation circuit. The transmitter 501 to the display circuit 508 are the same as those in the conventional example shown in FIG.

Next, the operation of the radar apparatus according to the first embodiment will be described with reference to the drawings. FIG.
FIG. 3 is a diagram showing an operation of the radar apparatus according to Embodiment 1 of the present invention.

In the first embodiment, the target detection circuit 507
By analyzing the distance waveform after detecting the target in step (1), it is determined whether the detected signal is a target signal or a noise signal.

First, in the distance waveform feature DB generation circuit 7,
A feature amount database (hereinafter, DB) for determining whether the detection signal is a target signal or a noise signal is generated.

Inside the distance waveform feature DB generation circuit 7,
A pseudo waveform generation circuit 5 for simulating the operation of the radar from the transmitter 501 to the pulse compression circuit 505 on a computer is incorporated. This pseudo waveform generation circuit 5 assumes a point target existing at an appropriate position, transmits a high-frequency pulse modulated to a chirp signal to this target, receives a reflected echo by a receiver, and converts this into a conventional signal. A process of generating a pseudo signal of a distance waveform by performing compression by pulse compression described in the art is performed on a computer.

In the pseudo waveform analysis circuit 6, the amplitude distribution V (r) (r = 1, 1) of the pseudo signal generated by the pseudo waveform generation circuit 5
, R: R is the number of range cells), and r = rmax that maximizes V (r) is obtained. Then, the following equation (3)
X and y given by

X = V (rmax−1) / V (rmax) y = V (rmax + 1) / V (rmax) Equation (3)

Further, c given by the following equation (4) is used as an evaluation function.

C = x + y Equation (4)

The x and y give a relative waveform shape normalized by the maximum value near the peak of the amplitude of V (r). Since the sampling position of the waveform changes by changing the position of the pseudo target in the pseudo waveform generation circuit 5, the values of x and y also change, and the value of c changes accordingly.

In the distance waveform feature DB3, these values of c are stored. Further, the minimum value cmin and the maximum value cmax of c are also stored.

Further, the transmitter 501 sends the target detection circuit 5
07, the actual distance waveform Vr (r) and the range cell number rn (n = 1, 2,..., N: N
Is the number of detection cells). In the distance waveform feature extraction circuit 1,
Equations (3) and (4) above for each detection range cell rn
Is used to calculate the value cn of c for each n.

Since the target signal and the noise signal have different distance waveforms as shown in FIG. 2, the value of c is also different. Therefore, the distance waveform matching circuit 2 obtains c obtained for each n.
The value of n is compared with cmin and cmax.
Check if it is between n and cmax.

The distance waveform characteristic determination circuit 4 determines a detection signal as a target signal only for n when the following equation (5) is satisfied, and otherwise determines and deletes a noise signal.

Cmin <cn <cmax Equation (5)

The display circuit 508 displays the result. Since the second test of the detection signal is performed by analyzing the shape of the waveform as compared with the conventional technique, the detection probability is reduced when a certain false alarm probability is realized in an environment with a low S / N ratio, or a certain detection is performed. It is possible to suppress an increase in the false alarm probability when the probability is maintained.

In the first embodiment, the range of c of the target signal is set by the maximum value and the minimum value.
It goes without saying that the range may be set by setting hresh so that c smaller than this or c larger than this is regarded as the target signal.

That is, the radar apparatus according to the first embodiment transmits a radio wave to a target, receives a reflected wave from the target, and detects the target based on the received signal. A threshold setting circuit 506 for setting a power or amplitude threshold for a received signal, and comparing the received signal with a threshold set by the threshold setting circuit 506 to detect a signal exceeding the threshold as a target signal. Target detection circuit 5
07, a distance waveform feature extraction circuit 1 that analyzes a detection signal to extract a waveform feature, and a distance waveform feature DB that generates a database of waveform features of a target signal that is a target reflected wave.
A generation circuit 7, a distance waveform feature DB 3 for storing the characteristics of the waveform of the target signal, and a feature extraction result of the detection signal obtained by the distance waveform feature extraction circuit 1. A distance waveform feature matching circuit 2 for matching with the feature extraction result, and whether or not the detection signal is a target signal is determined based on the matching result of the distance waveform feature matching circuit 2. Is provided with a distance waveform characteristic determination circuit 4 for removing this signal from the detection signal.

Further, in the radar apparatus according to the first embodiment, the distance waveform feature DB generation circuit 7 is assumed to change the position of the pseudo target in various ways, and in response to this, a radio wave is transmitted and reflected from the target. A pseudo waveform generating circuit 5 for performing a simulation of receiving a wave and generating a pseudo reception signal;
It comprises a pseudo waveform analysis circuit 6 for extracting the characteristics of the waveform of the pseudo signal generated by the pseudo waveform circuit 5.

Further, in the radar device according to the first embodiment, the pseudo waveform generation circuit 5 is adjacent to the pseudo target signal generated by assuming variously changing the target position by the amplitude value of the cell indicating the peak of the amplitude of the pseudo target signal. A pseudo waveform analysis circuit 6 for calculating a value obtained by further adding a value obtained by dividing the amplitude value of the cell to obtain an evaluation value and calculating a fluctuation range of the evaluation value, and a distance waveform characteristic storing the fluctuation range of the evaluation value Distance waveform feature extraction that divides the amplitude value of an adjacent cell by the amplitude value of a detection cell and extracts the waveform feature of the detection signal by the sum of those values for DB3 and the detection signal obtained by the target detection circuit 507. A circuit 1 and a distance waveform feature matching circuit 2 for comparing the variation range of the evaluation value stored in the distance waveform feature DB 3 with the evaluation value of the waveform of the detection signal obtained by the distance waveform feature extraction circuit 1
If the evaluation value of the detection signal corresponds to the fluctuation range of the evaluation value stored in the distance waveform feature DB 3 based on the comparison result of the distance waveform feature comparison circuit 2, the detection signal is regarded as the target signal. In other cases, a distance waveform feature determination circuit 4 is provided which removes the detection signal as a noise signal.

Embodiment 2 Embodiment 2 A radar device according to Embodiment 2 of the present invention will be described with reference to the drawings.
FIG. 3 is a diagram showing a configuration of a radar device according to Embodiment 2 of the present invention.

In FIG. 3, reference numeral 21 denotes a pseudo signal generation circuit;
Reference numeral 22 denotes a noise consideration distance waveform feature DB generation circuit, and reference numeral 23 denotes a noise consideration distance waveform feature DB. The other components are
It is the same as FIG.

Next, the operation of the radar apparatus according to Embodiment 2 will be described with reference to the drawings.

In the second embodiment, the waveform is analyzed based on the fact that the waveform of the target signal changes when a noise signal is added to the target signal.

In the noise consideration distance waveform feature DB generation circuit 22, a pseudo noise generation circuit 21 in the circuit generates a noise signal, which is input to the pseudo waveform generation circuit 6 to generate a pseudo waveform to which noise is added. Let it. The pseudo waveform analysis circuit 6 calculates c from x and y at this time to obtain the appearance frequency distribution of c at each target position and each noise.

Further, the pseudo-waveform analysis circuit 6 calculates the minimum and maximum values of c based on the appearance frequency distribution, or the minimum and maximum values when a certain probability density is used as a threshold, as the minimum value cmin and maximum value of c. The value is obtained as a value cmax, and is stored in the noise-considered distance waveform feature DB 23.

Thereafter, the same processing as in the first embodiment is performed to determine whether the detected signal is a noise signal or a target signal.

As compared with the prior art, since the shape of the waveform is analyzed and the second test of the detection signal is performed, the detection probability decreases when a certain false alarm probability is realized in an environment with a low S / N ratio, or In addition, it is possible to suppress an increase in the false alarm probability when a certain detection probability is maintained. In addition, the accuracy of the test is further improved by considering noise.

That is, the radar apparatus according to the second embodiment has a pseudo noise generation circuit 21 for generating pseudo noise.
Assuming that the position of the pseudo target is variously changed, a radio wave is transmitted, a reflected wave from the target is received, and a pseudo noise signal output from the pseudo noise generation circuit 21 is added to generate a pseudo reception signal. A simulation is performed to generate a pseudo-waveform signal, and a pseudo-waveform generation circuit 5 generates a pseudo-received signal. From the pseudo-signal obtained by the pseudo-waveform generation circuit 5, the fluctuation width of the characteristic amount of the target signal is considered in consideration of fluctuation due to the influence of noise. It is provided with a pseudo waveform analysis circuit 6 to be set, and a noise-considered distance waveform feature DB 23 that accumulates the fluctuation width.

Embodiment 3 Embodiment 3 A radar device according to Embodiment 3 of the present invention will be described with reference to the drawings.
FIG. 4 is a diagram showing a configuration of a radar device according to Embodiment 3 of the present invention.

In FIG. 4, reference numeral 31 denotes a circular discriminating boundary type pseudo-waveform analyzing circuit, 32 denotes a circular discriminating boundary type distance waveform feature extracting circuit, 33 denotes a circular discriminating boundary type distance waveform feature matching circuit, 3
Reference numeral 4 denotes a circular identification boundary type distance waveform feature determination circuit, reference numeral 35 denotes a circular identification boundary type distance waveform feature DB, and reference numeral 36 denotes a circular identification boundary type distance waveform feature DB generation circuit. The other components are the same as those in FIG.

Next, the operation of the third embodiment will be described with reference to FIGS. FIG. 5 shows the third embodiment.
FIG. 5 is a diagram for explaining the operation of the radar device according to the first embodiment.

In the third embodiment, as shown in FIG. 5, the combination of the values of (x, y) when the target position is changed is a point (xc, yc) on the xy plane. The target signal and the noise signal are classified based on the fact that they are approximately distributed on the circumference of the radius L as the center.

In the circular discriminating boundary type pseudo waveform analyzing circuit 36, a pseudo waveform is generated by the pseudo waveform generating circuit 5, and in the circular discriminating boundary type pseudo waveform analyzing circuit 31, a circular signal is generated from the pseudo signal generated by changing the target position. Of the center (xc, yc) radius L is estimated. At this time, based on the symmetry of x and y, x
Assuming that c = yc = c0, k kinds of centers (c
k, ck) (k = 1, 2, 3,...). The m-point pseudo target is represented by (xm, ym). The radius Lmk at each of m and k is given by the following equation (6).

Lmk = {(xm−ck) ² + (ym−ck) ² } Equation (6)

The standard deviation σ _{k of} Lmk is given by the following equation (7).

Σ _k = {E ((Lmk−E (Lmk)) ² )} Equation (7)

When this value is minimized, ck gives the center (c0, c0) of the circle. The average value of the radius at that time gives L.

In the circular boundary type distance waveform feature DB 35, c
k, L, and the allowable variation width δL for L are stored. The processing from the transmitter 501 to the target detection circuit 507 is the same as in the first embodiment. From the obtained distance waveform, x and y are calculated by the circular boundary type distance waveform feature extraction circuit 32. In the circular boundary type distance waveform feature matching circuit 33, the following equation (8) is used.
Then, the radius L _now of the detection signal is calculated.

L _now = {(x−c0) ² + (y−c0) ² } Equation (8)

When the following equation (9) is satisfied, the circular boundary type distance waveform characteristic determination circuit 34 regards the detection signal as a target signal, and otherwise rejects the detection signal as a noise signal.

L−δL <L _now <L + δL Equation (9)

In the third embodiment, the second test of the detection signal is performed by analyzing the shape of the waveform as compared with the conventional technique.
It is possible to suppress a decrease in the detection probability when a certain false alarm probability is realized in an environment with a low S / N ratio or an increase in the false alarm probability when a certain detection probability is maintained. Further, since the discrimination boundary between the noise signal and the target signal is set in accordance with the properties of the target signal, the performance is further improved.

That is, the radar apparatus according to the third embodiment divides the amplitude value of the adjacent cell by the amplitude value of the cell giving the peak of the amplitude of the pseudo target signal generated by the pseudo waveform generation circuit 5, and Considering the values as two-dimensional numbers and plotting them in a two-dimensional plane and placing these plots approximately on a circle of a certain radius around a point, these pseudo-target signals , The center and radius of the circle are determined, and furthermore, a circular discriminating boundary type pseudo-waveform analysis circuit 3 which gives an allowable variation width in the radial direction where the target signal exists.
1 and a circular identification boundary type distance waveform feature DB generation circuit 36 having a pseudo waveform generation circuit 5, and a center and a radius of a circle and a target signal from the pseudo target signal obtained by the circular identification boundary type distance waveform feature DB generation circuit 36. Discriminating boundary type distance waveform feature DB 35 that accumulates the permissible variation width in the radial direction where
And a circular identification boundary type distance waveform feature extraction circuit 32 for calculating a two-dimensional numerical value obtained by dividing the amplitude value of the adjacent cell by the amplitude value of the detection cell from the detection signal obtained by the target detection circuit 507.
And the two-dimensional numerical value is used as a circular discrimination boundary type distance waveform feature D
A circular discrimination boundary type distance waveform feature comparison circuit 33 for comparing the center and radius of the circle stored in B35 with an allowable variation range in a radial direction where the target signal exists; Based on the matching result, calculate the distance of the detection signal from the center of the circle, and determine whether or not the value is within a range obtained by adding the allowable variation width to the radius of the pseudo signal. It has a circular discriminating boundary type distance waveform feature determination circuit 34 which regards a detection signal as a target signal and, if not present, a detection signal as a noise signal.

Further, the radar apparatus according to Embodiment 3
For each of a plurality of pseudo signals having different target positions generated by the pseudo waveform generating circuit 5, a two-dimensional value is obtained by dividing the amplitude value of the cell adjacent to the cell giving the peak of the amplitude of each signal by the cell amplitude value. This is arranged on a two-dimensional plane, and if the two-dimensional plane is assumed to be an xy plane, y = x
Assuming a plurality of points on a straight line, calculate the distance from each point to the point based on the pseudo signal, and determine the point on y = x when the standard deviation of this distance is the smallest as the center point of the circle. In addition, there is provided a circular discrimination boundary type pseudo waveform analysis circuit 31 for determining the average distance from the center of the circle to the point based on the pseudo signal at that time as the radius of the circle.

Embodiment 4 Embodiment 4 A radar device according to Embodiment 4 of the present invention will be described with reference to the drawings.
FIG. 6 is a diagram showing a configuration of a radar device according to Embodiment 4 of the present invention.

In FIG. 6, reference numeral 41 denotes a distance waveform feature DB generation circuit for consideration of circular discrimination boundary type noise, and reference numeral 42 denotes a switch. The other components are the same as those in FIG. 3 or FIG.

Next, the operation of the radar apparatus according to the fourth embodiment will be described with reference to FIGS. FIG.
FIG. 14 is a diagram for explaining an operation of the radar device according to Embodiment 4.

In the fourth embodiment, the circular discrimination boundary introduced in the third embodiment is extended in consideration of noise. In the circular discriminating boundary type noise-considered distance waveform feature DB generation circuit 41, first, when the switch 42 is turned off, the pseudo signal which cannot add noise to the circular discriminating boundary type pseudo waveform analysis circuit 31 by the same operation as in the third embodiment. Is input from the pseudo waveform generation circuit 5, and the center of the circle and the radius thereof are determined using this data.

Further, a pseudo noise signal is generated by the pseudo noise generation circuit 21 and the pseudo noise signal is input to the pseudo waveform generation circuit 5,
The pseudo waveform generation circuit 5 generates a pseudo target signal to which the noise signal has been added, and sends it to the circular discriminating boundary type pseudo waveform analysis circuit 31. Further, the pseudo waveform generation circuit 5 sets the amplitude of the pseudo signal based on the target to zero and generates only a noise signal, which is also sent to the circular discriminating boundary type pseudo waveform analysis circuit 31.

In the circular discriminating boundary type pseudo waveform analysis circuit 31, the distance from the center (c0, c0) is calculated as the target + noise signal L
T and a noise signal LN, and a radius L such that a target signal + a noise signal is passed as much as possible and only noise is not passed.
Is the evaluation function W (L, δL) of the following equation (10).
Is determined as the maximum δL.

W (L, δL) = AtPt (L, δL) −AnPn (L, δL) Equation (10)

Here, Pt (L, δL) is L−δL to L
+ ΔL when the target signal is regarded as the target signal, Pn (L,
δL) is a false alarm probability when L−δL to L + δL is regarded as a target signal, and At and An are appropriate positive constants. That is, the false alarm probability is reduced while increasing the detection probability.

In the fourth embodiment, the second test of the detection signal is performed by analyzing the shape of the waveform as compared with the conventional technique.
It is possible to suppress a decrease in the detection probability when a certain false alarm probability is realized in an environment with a low S / N ratio or an increase in the false alarm probability when a certain detection probability is maintained. Further, since the discrimination boundary between the noise signal and the target signal is set in accordance with the properties of the target signal, the performance is further improved.

That is, the radar apparatus according to the fourth embodiment assumes that the position of the switch 42 for switching the output of the pseudo noise generation circuit 21 and the position of the pseudo target are variously changed, and transmits a radio wave in response thereto. A simulation is performed to receive a reflected wave from the target, and a pseudo waveform generating circuit 5 for generating a pseudo reception signal having a variable amplitude value of the target signal.
And the pseudo waveform generating circuit 5 when the switch 42 is turned off.
By determining the center and radius of the circle on the two-dimensional plane described in the third embodiment from the output of the third embodiment, the switch 42 is turned on to make the amplitude value of the target signal of the pseudo waveform generating circuit 5 zero, By generating only the noise signal to generate the two-dimensional distribution described in the third embodiment for each noise signal, and then turning on the switch 42 and setting the amplitude value of the target signal to a certain value other than zero, The two-dimensional distribution of the signal obtained by adding the signal and the noise signal is generated as described in the third embodiment, and the center, the radius, and the two-dimensional distribution of only the noise signal obtained above are obtained.
A circular discriminating boundary type pseudo-waveform analyzing circuit 31 for determining the radius of the target signal so as to reduce the false alarm probability while keeping the detection probability as high as possible from the two-dimensional distribution of the signal obtained by adding the noise signal and the target signal is provided. The circle discrimination boundary type noise-considered distance waveform feature DB generation circuit 41 and the center of a circle on a two-dimensional plane which is the output of the circle discrimination boundary type noise-considered distance waveform feature DB generation circuit 41, the radius thereof, and the detection probability should be as small as possible. It is provided with a circular identification boundary type distance waveform feature DB 35 that accumulates the range of the radius of the target signal that reduces the false alarm probability while maintaining a high value.

Embodiment 5 Embodiment 5 A radar apparatus according to Embodiment 5 of the present invention will be described with reference to the drawings.
FIG. 8 is a diagram showing a configuration of a radar apparatus according to Embodiment 5 of the present invention.

In FIG. 8, reference numeral 51 denotes a two-dimensional identification boundary type noise-considered distance waveform feature DB generation circuit, 52 denotes a two-dimensional identification boundary type distance waveform feature DB, 53 denotes a two-dimensional identification boundary type pseudo waveform analysis circuit, and 54 denotes a two-dimensional identification boundary type pseudo waveform analysis circuit. A dimension identification boundary type distance waveform feature extraction circuit, 55 is a two-dimensional identification boundary type distance waveform feature matching circuit,
Reference numeral 56 denotes a two-dimensional identification boundary type distance waveform feature determination circuit.
Except for this, it is the same as FIG.

Next, the operation of the radar apparatus according to the fifth embodiment will be described with reference to FIGS. 7, 8, and 9. FIG. 9 is a diagram for explaining the operation of the radar device according to the fifth embodiment.

Up to the fourth embodiment, a one-dimensional numerical value is calculated from a two-dimensional numerical value of x and y, and is used to classify a noise signal and a target signal. In the fifth embodiment, the noise signal and the target signal are classified using the two-dimensional number (x, y).

First, in the same manner as in the fourth embodiment, using the pseudo noise generation circuit 21, the switch 42, and the pseudo waveform generation circuit 5, as shown in FIG. Get the distribution of the plot on the plane.

On the other hand, in the two-dimensional discrimination boundary type pseudo waveform analysis circuit 53, as shown in FIG. 9, a mesh-like area (ix, iy) (ix = 1,
2, ..., Nx, iy = 1,2, ..., Ny: Nx, Ny =
(The number of meshes), and the evaluation value W (ix, iy) of the following equation (11) is calculated for each region.

W (ix, iy) = BtNt (ix, iy) −BnNn (ix, iy) Equation (11)

Here, Nt (ix, iy), Nn (i
x, iy) are the number of detections of the target signal and the number of detections of the noise signal in the small area (ix, iy), respectively, and Bt, Bn
Is an appropriate constant.

Next, some cells are selected in descending order of the value of W (ix, iy), these cells are set as target signal cells, and the other cells are set as noise signal cells.

FIG. 9 shows an example in which the target signal cell is white and the noise signal cell is black.

This pattern is stored in the two-dimensional identification boundary type distance waveform feature DB 52. In actual observation, the two-dimensional discriminating boundary type distance waveform feature extraction circuit 54 calculates x and y of the detection signal of the signal detected by the target detection circuit 507 using the above equation (3). Next, (ix, iy) of the detection signal is calculated by the following equation (12).

Ix = fix (x / Δ) iy = fix (y / Δ) Equation (12)

Here, fix (A) is defined as an operation for extracting an integer part of a real number A.

If the obtained (ix, iy) corresponds to a target signal cell, it is regarded as a target signal, and if it corresponds to a noise signal cell, it is regarded as a noise signal.

In the fifth embodiment, the second test of the detection signal is performed by analyzing the shape of the waveform as compared with the conventional technique.
It is possible to suppress a decrease in the detection probability when a certain false alarm probability is realized in an environment with a low S / N ratio or an increase in the false alarm probability when a certain detection probability is maintained. Further, since the discrimination boundary between the noise signal and the target signal is set by two-dimensional parameters according to the properties of the target signal, the performance is further improved.

That is, the radar apparatus according to the fifth embodiment includes a pseudo noise generation circuit 21, a switch 42, and a pseudo waveform generation circuit 5, and further includes a target signal and a noise signal generated from these apparatuses. For the added pseudo reception signal or pseudo reception signal of only noise, a two-dimensional numerical value obtained by dividing the amplitude value of the adjacent cell by the amplitude value of the cell showing the peak of the amplitude is obtained and arranged on the two-dimensional plane. Further, the two-dimensional plane is divided for each axis, a plurality of mesh-like small regions are set, and the number of pseudo target signals to which noise is added and the number of pseudo noise signals for each small region are respectively determined. A two-dimensional pattern that examines and generates a pattern that gives a cell that is considered as a target signal or a noise signal for each cell so that the probability of false alarms is kept low while keeping the detection probability as high as possible. Another borderline pseudo waveform analysis circuitry 53
And the two-dimensional discriminating boundary type noise-considered distance waveform feature D including the pseudo waveform generating circuit 5, the switch 42, the pseudo noise generating circuit 21, and the two-dimensional discriminating boundary type pseudo waveform analyzing circuit 53 as components.
B generation circuit 51 and the above-described two-dimensional mesh pattern for determining whether the received signal output from the two-dimensional identification boundary type noise-considered distance waveform feature DB generation circuit 51 is a target signal or a noise signal. The two-dimensional characteristic amount relating to the waveform is obtained by dividing the amplitude value of the adjacent cells by the stored two-dimensional identification boundary type distance waveform feature DB 52 and the amplitude value of the detection cell of the detection signal which is the main force of the target detection circuit 507. The above-described two-dimensional mesh stored in the two-dimensional identification boundary type distance waveform feature DB 52 by using the identification boundary type distance waveform feature extraction circuit 54 and the two-dimensional feature amount output from the two-dimensional identification boundary type distance waveform feature extraction circuit 54. And a two-dimensional feature amount of the detection signal based on the matching result of the two-dimensional identification boundary type distance waveform feature matching circuit 55 for matching with the pattern of When entering the mesh of the target signal are those comprising a target signal, when entering the mesh noise signal the two-dimensional identification borderline distance waveform feature judging circuit 56 to be removed is regarded as noise signals.

Embodiment 6 FIG. Embodiment 6 A radar device according to Embodiment 6 of the present invention will be described with reference to the drawings.
FIG. 10 is a diagram showing a configuration of a radar device according to Embodiment 6 of the present invention.

In FIG. 10, reference numeral 61 denotes a two-dimensional discriminating boundary type folded noise consideration distance waveform feature DB generation circuit, 62 denotes a two-dimensional discriminating boundary type folded distance waveform feature DB, 63 denotes a two-dimensional discriminating boundary type folded pseudo waveform analysis circuit, Reference numeral 64 denotes a two-dimensional identification boundary-type folded distance waveform feature extraction circuit, 65 denotes a two-dimensional identification boundary-type folded distance waveform feature matching circuit, and 66 denotes a two-dimensional identification boundary-type folded distance waveform characteristic determination circuit. Otherwise,
It is the same as FIG.

Next, the operation of the radar apparatus according to the sixth embodiment will be described with reference to FIGS. FIG. 11 is a diagram for explaining the operation of the radar device according to the sixth embodiment.

In the sixth embodiment, x and y are symmetric in the fifth embodiment, that is, the noise and target signal appearance frequency distribution are line-symmetric with respect to a straight line y = x on the xy plane. Focus on something.

The processing from the transmitter 501 to the target detection circuit 507 is the same as in the fifth embodiment. The two-dimensional discriminating boundary type folded distance waveform feature extraction circuit 64 first determines x0 and y0 according to the following equation (13).

X0 = V (rmax−1) / V (rmax) y0 = V (rmax + 1) / V (rmax) Equation (13)

Next, x and y are determined by the following equation (14).

X = max (x0, y0) y = min (x0, y0) Equation (14)

As a result, the range of (x, y) is
1 is limited to the lower right range. Therefore, the two-dimensional identification boundary type folded pseudo waveform analysis circuit 63 of the two-dimensional identification boundary type folding noise consideration distance waveform feature DB generation circuit 61 converts the noise signal and the target signal into a pseudo waveform generation circuit as in the previous embodiments. 5, switch 42, pseudo noise generation circuit 21
The pseudo target signal and the pseudo noise signal generated in step (1) are processed by the above equations (13) and (14) to generate patterns of the target signal cell and the noise signal cell as in the fifth embodiment.

However, since Expressions (13) and (14) are used, the noise signal and the target signal (x, y) are limited to the portion of y ≦ x shown in FIG. Therefore, in the two-dimensional discriminating boundary type folded distance waveform feature DB 62, only the pattern of the portion of y ≦ x shown in FIG.

In the two-dimensional discriminating boundary type folded pseudo waveform analysis circuit 63, the greater the number of signals to be generated, the higher the reliability of the pattern. By performing the processing of the sixth embodiment, the number of times of signal generation for each mesh can be doubled, so that the reliability is improved.

That is, the radar device according to the sixth embodiment includes a pseudo noise generation circuit 21, a switch 42, and a pseudo waveform generation circuit 5, and further includes a target signal and a noise signal generated from these devices. For the added pseudo-received signal or pseudo-received signal of only noise, a two-dimensional numerical value obtained by dividing the amplitude value of the cell on both sides by the amplitude value of the cell showing the peak of the amplitude is obtained, and the larger numerical value is obtained. The first dimension, the smaller numerical value is arranged on the two-dimensional plane so as to be the second dimension, and further, the two-dimensional plane is divided for each axis, and a plurality of mesh-shaped small areas are set. The number of pseudo target signals to which noise is added for each small area and the number of pseudo noise signals are respectively examined, and the target signal is regarded as a target signal for each cell so as to keep the detection probability as low as possible while keeping the detection probability as high as possible. C , A two-dimensional discriminating boundary type folded pseudo-waveform analyzing circuit 63 for generating a pattern giving whether the cell is a cell regarded as a noise signal, a pseudo-waveform generating circuit 5, a switch 42, a pseudo-noise generating circuit 21, and a two-dimensional discriminating boundary. A two-dimensional discriminating boundary-type folded noise-considered distance waveform feature DB generation circuit 61 having a pattern folding pseudo-waveform analysis circuit 63 as a component, and each cell which is an output of the two-dimensional discrimination boundary-type folded noise-considered distance waveform feature DB generation circuit 61 A two-dimensional discriminating boundary-type folded distance waveform feature DB 62 that stores a pattern indicating whether a cell is regarded as a target signal or a cell that is regarded as a noise signal, and a detection signal detection cell which is a main force of the target detection circuit 507. After obtaining the two-dimensional feature value of the waveform by dividing the amplitude value of both adjacent cells by the amplitude value, the larger value is used as the first dimension, the smaller number And a two-dimensional identification boundary-type folded distance waveform feature extraction circuit 64 that obtains a two-dimensional numerical value that is regarded as a second dimension, and a two-dimensional feature amount output from the two-dimensional identification boundary-type folded distance waveform feature extraction circuit 64 A two-dimensional discriminating boundary type folded distance waveform feature matching circuit 65 for collating with the above-described two-dimensional mesh pattern stored in the two-dimensional discriminating boundary type folded distance waveform feature DB 62, and a two-dimensional discriminating boundary type folded distance waveform feature matching circuit 65 Based on the result of the comparison, the two-dimensional identification boundary is removed when the two-dimensional feature of the detected signal enters the mesh of the target signal and is removed as the noise signal when it enters the mesh of the noise signal. It has a pattern turning distance waveform feature determination circuit 66.

Embodiment 7 FIG. Embodiment 7 A radar apparatus according to Embodiment 7 of the present invention will be described with reference to the drawings.
FIG. 12 is a diagram showing a configuration of a radar device according to Embodiment 7 of the present invention.

In FIG. 12, reference numeral 70 denotes a multiple hit pseudo waveform generation circuit, 71A and 71B denote coherent integration circuits,
72 is a pseudo-distance frequency waveform analysis circuit, 73 is a distance frequency waveform feature DB generation circuit, and 74 is a distance frequency waveform feature D
B and 75 are distance frequency waveform feature extraction circuits, 76 is a distance frequency waveform feature matching circuit, and 77 is a distance frequency waveform feature determination circuit. The rest is the same as FIG.

Next, the operation of the radar apparatus according to the seventh embodiment will be described with reference to FIGS. FIG. 13 is a diagram for explaining the operation of the radar device according to this embodiment.

In the seventh embodiment, the transmitter 501 generates a high-frequency signal, irradiates the target with the high-frequency signal, receives the high-frequency signal at the target, receives the received signal at the receiver 504, and performs pulse compression by the pulse compression circuit 505 a plurality of times. Is coherently integrated by a coherent integration circuit 71A.

Each hit h (h = 0, 1,..., H-1: H
Is the number of hits), each range cell r (r = 0, 1,..., R−
1: R is the number of range cells), and if the signal after pulse compression is s (h, r), the signal of each Doppler cell f (f = 0,1,..., H-1) after coherent integration and the signal of each range r Sd (f, r) is given by the following equation (15). Note that h in Σ is h = 0 to H−1.

Sd (f, r) = {s (h, r) exp} −j2πfh / H} Equation (15)

By the processing of the above equation (15), the received signal is separated in the Doppler direction based on the relative speed difference of each target. A threshold value is set for this signal by a threshold value setting circuit 506, and a target signal is detected by a target detection circuit 507.

In the distance frequency waveform feature DB generating circuit 73, targets having different initial positions and speeds are set by the multiple hit pseudo waveform generating circuit 70, and a target signal with multiple hits is generated for each target. This signal is coherently integrated by a coherent integration circuit 71B and sent to a pseudorange frequency waveform analysis circuit 72.

In the pseudo distance frequency waveform analysis circuit 72, the power distribution Sd near the reference cell (f0, r0) is obtained.
For (f, r), first, a power distribution S0 (j, k) (j =
0, 1,..., 2Cf, k = 0, 1,.

S0 (j, k) = S0 (f−f0 + Cf, r−r0 + Cr) = s (f, r) / s (f0, r0) (j = 0, 1,..., 2Cf, k = 0, 1) , ..., 2Cr) Equation (16)

Here, Cf and Cr are parameters defining the width of the waveform reference area, respectively, and are shown in FIG.

Next, these areas are numbered sequentially from 0. This is expressed as sv (p) (p = 0, 1,..., P-1:
It is regarded as a P-dimensional vector of P = (2Cf + 1) × (2Cr + 1)).

Further, the existence range in the P-dimensional space defined by sv (p) when the target speed and the initial position are variously changed is examined. Based on this, a pattern for determining a range in which the received signal is regarded as a target signal and a range in which the received signal is regarded as a noise signal is set in the P-dimensional feature space, and is stored in the distance-frequency waveform feature DB 74.

In the distance frequency waveform feature extraction circuit 75, similarly to the pseudo distance frequency waveform analysis circuit 72, the power of the cells near the reference cell is extracted, and the power distribution normalized by the power of the reference cell is obtained therefrom. Further, a P-dimensional vector st (p) (p = 0, 1,..., P−1) is obtained from this.

The distance frequency waveform feature matching circuit 76 compares this st (p) with the pattern stored in the distance frequency waveform feature DB 74 and the P-dimensional vector of the received signal.

The distance frequency waveform feature determination circuit 77 regards the P-dimensional vector as a target signal when the P-dimensional vector falls within the range considered as the target signal of the pattern based on the comparison result of the distance frequency waveform feature comparison circuit 76. In other cases, this is regarded as a noise signal and removed.

In the seventh embodiment, the second test of the detection signal is performed by analyzing the shape of the waveform as compared with the conventional technique.
It is possible to suppress a decrease in the detection probability when a certain false alarm probability is realized in an environment with a low S / N ratio or an increase in the false alarm probability when a certain detection probability is maintained. Further, since the discrimination boundary between the noise signal and the target signal is set in accordance with the properties of the target signal, the performance is further improved.

In particular, since information on a plurality of cells near the reference cell regarding distance and frequency is used to determine whether the detection signal is a target signal or a noise signal, the classification performance of the target signal and the noise signal is improved, and noise immunity is improved. Performance is improved.

That is, the radar device according to the seventh embodiment is a radar device for transmitting radio waves to a target and detecting the target based on reflected waves from the target. And a coherent integration circuit 71A for coherently integrating the result and a threshold setting circuit 5 for setting a power or amplitude threshold for the received signal after coherent integration.
06, a target detection circuit 507 that compares the received signal with a threshold set by the threshold setting circuit and detects a signal exceeding the threshold as a target signal, and analyzes a detected signal to generate a two-dimensional distance-frequency waveform. A distance-frequency waveform feature extraction circuit 75 for extracting features, a distance-frequency waveform feature DB generation circuit 73 for generating a database of two-dimensional waveform features of distance and frequency of a target signal as a target reflected wave, A distance frequency waveform DB 74 for storing the characteristics of the waveforms related to distance and frequency, and a distance frequency waveform feature extraction circuit 75
The distance frequency waveform feature matching circuit 76 for comparing the feature extraction result of the detection signal obtained in step 2 with the feature extraction result of the target signal stored in the distance frequency waveform feature DB 74, and the matching result of the distance frequency waveform feature matching circuit 76. It is determined whether or not the detection signal is a target signal, and if it is determined that the detection signal is not the target signal, a distance frequency waveform feature determination circuit 77 is provided to remove this signal from the detection signal.

Further, the radar apparatus according to Embodiment 7
A multiple hit pseudo waveform generation circuit 70 for generating a pseudo target signal with multiple hits, assuming various initial positions and speeds
A coherent integration circuit 71B for coherently integrating a pseudo target signal in a plurality of hits, which is an output of the multi-hit pseudo waveform generation circuit 70, and a coherent integration circuit 71B
Divide the amplitude value of the neighboring cell by the amplitude value of the cell that gives the maximum amplitude in the distance-frequency waveform of the pseudo target that is the output of, and consider the resulting multidimensional value as a multidimensional vector, and vary the initial position and speed in various ways. A pseudo-range frequency analysis circuit 7 that determines a pattern of a range regarded as a target signal in a multi-dimensional space from a distribution of a multi-dimensional vector of a pseudo target signal obtained by changing.
2, a distance frequency waveform feature DB generation circuit 73 including a multiple hit pseudo waveform generation circuit 70, a coherent integration circuit 71B, and a pseudo distance frequency waveform analysis circuit 72;
A distance frequency waveform feature DB 74 that stores a pattern in a range regarded as a target signal in a multidimensional space, which is an output of the distance frequency waveform feature DB generation circuit 73;
A distance frequency waveform feature extraction circuit 75 which divides the amplitude value of a nearby cell by the amplitude value of a detection cell of a detection signal relating to the range-frequency output from 07 and outputs this as a multidimensional vector, and a distance frequency waveform feature extraction circuit A distance frequency waveform feature matching circuit 76 for matching the multidimensional vector output from the unit 75 with a pattern in a range regarded as a target signal in a multidimensional space stored in the distance frequency waveform feature DB 74, and a distance frequency waveform feature matching circuit 76 Based on the comparison result, if the multi-dimensional vector of the detection signal exists in a range considered as the target signal in the multi-dimensional space, this is regarded as a target signal, otherwise, it is regarded as a noise signal. It has a distance frequency waveform feature determination circuit 77 to be removed.

[0130]

As described above, the radar apparatus according to the first aspect of the present invention compares a received signal with a threshold set by a threshold setting circuit and detects a target that detects a received signal exceeding the threshold. A distance detection circuit that outputs the target signal, a distance waveform feature extraction circuit that analyzes the detection signal to extract a feature of the distance waveform, and a distance waveform that stores a feature of the pseudo distance waveform of the pseudo target signal that is a reflected wave of the pseudo target. A feature database, a distance waveform feature matching circuit that matches a feature of the distance waveform of the detection signal obtained by the distance waveform feature extraction circuit with a feature of the pseudo-range waveform of the pseudo target signal stored in the distance waveform feature database, It is determined whether the detection signal is a target signal or a noise signal based on the matching result of the distance waveform feature matching circuit, and if it is determined that the detection signal is a noise signal, this signal is determined. A distance waveform feature determination circuit that eliminates the detection signal from the detection signal, so that the detection probability decreases when a constant false alarm probability is realized in an environment with a low S / N ratio, or when a certain detection probability is maintained. This has the effect of suppressing an increase in the false alarm probability.

[0131] The radar apparatus according to claim 2 of the present invention provides:
As described above, the apparatus further includes a distance waveform feature database generating circuit that generates a feature of the pseudo distance waveform of the pseudo target signal and stores the feature in the distance waveform feature database.
The distance waveform feature database generation circuit includes a pseudo waveform generation circuit that generates a pseudo target signal in which the position of the pseudo target is variously changed, and a pseudo waveform analysis circuit that extracts a pseudo distance waveform characteristic of the generated pseudo target signal. Has
This has the effect of reducing the detection probability when realizing a constant false alarm probability in an environment with a low S / N ratio, or suppressing the increase in the false alarm probability when maintaining a certain detection probability.

A radar device according to a third aspect of the present invention includes:
As described above, the distance waveform feature database generation circuit further includes a pseudo noise generation circuit that generates a pseudo noise signal, and the pseudo waveform generation circuit adds the pseudo noise signal to generate a pseudo target signal. The pseudo waveform analysis circuit extracts the characteristic of the pseudo distance waveform of the pseudo target signal from the pseudo target signal to which the pseudo noise signal is added in consideration of the fluctuation due to the influence of noise, thereby further improving the accuracy of the test. It has the effect of being able to do so.

The radar device according to claim 4 of the present invention is
As described above, a target detection circuit that compares a reception signal with a threshold set by a threshold setting circuit and outputs a reception signal that exceeds the threshold as a detection signal that has detected a target, and a detection cell that analyzes the detection signal. Circular identification boundary type distance waveform feature extraction circuit that extracts a two-dimensional numerical value obtained by dividing the amplitude value of both adjacent cells by the amplitude value of the cell, and the cell amplitude that gives the peak of the amplitude of the pseudo target signal that is the reflected wave of the pseudo target A circular discriminating boundary type distance waveform feature database that stores the center and radius of a circle obtained from a two-dimensional numerical value obtained by dividing the amplitude value of each of the adjacent cells by a value, and the circular discriminating boundary type distance waveform feature extracting circuit. A circular discriminating boundary type distance waveform feature matching circuit for comparing the two-dimensional numerical value of the detection signal with the center and radius of a circle of the pseudo target signal stored in the circular discriminating boundary type distance waveform feature database; It is determined whether the detection signal is a target signal or a noise signal based on the result of the identification boundary type distance waveform feature comparison circuit, and if it is determined that the signal is a noise signal, this signal is deleted from the detection signal. , The detection probability decreases when a certain false alarm probability is realized in an environment with a low S / N ratio, or the error occurs when a certain detection probability is maintained. It is possible to suppress an increase in the alarm probability, and furthermore, since the discrimination boundary between the noise signal and the target signal is set in accordance with the properties of the target signal, it is possible to further improve the performance.

The radar device according to claim 5 of the present invention provides:
As described above, the circular target boundary type distance waveform feature database generation circuit for generating the center and radius of the circle of the pseudo target signal and storing the center and radius in the circular target boundary type distance waveform feature database is further provided. The distance waveform feature database generation circuit includes a pseudo waveform generation circuit that generates a pseudo target signal in which the position of the pseudo target is variously changed, and a circular identification boundary type pseudo that extracts a center and a radius of a circle of the generated pseudo target signal. Since it has a waveform analysis circuit,
In a low S / N ratio environment, it is possible to suppress a decrease in the detection probability when realizing a constant false alarm probability or an increase in the false alarm probability when maintaining a certain detection probability. Since the signal discriminating boundary is set in accordance with the properties of the target signal, the performance can be further improved.

A radar device according to a sixth aspect of the present invention provides:
As described above, the circular discrimination boundary type distance waveform feature database generation circuit further includes a pseudo noise generation circuit that generates a pseudo noise signal, and a switch provided between the pseudo waveform generation circuit and the pseudo noise generation circuit. When the switch is on, the pseudo-waveform generating circuit adds the pseudo-noise signal to generate a pseudo-target signal, and outputs only the pseudo-noise signal. Extracting the center and radius of a circle of the pseudo target signal from the pseudo target signal to which the pseudo noise signal has been added in consideration of fluctuation due to the influence of noise, extracting a two-dimensional distribution of only the pseudo noise signal, The circular discriminating boundary type distance waveform feature database also stores a two-dimensional distribution of only the pseudo noise signal, and the circular discriminating boundary type distance waveform feature matching circuit stores the circular shape. The two-dimensional numerical value of the detection signal obtained by the separate boundary type distance waveform feature extraction circuit, the center and radius of the circle of the pseudo target signal stored in the circular identification boundary type distance waveform feature database, and only the pseudo noise signal Since the two-dimensional distribution is collated, it is possible to reduce the false alarm probability while increasing the detection probability.

[0136] The radar device according to claim 7 of the present invention provides:
As described above, a target detection circuit that compares a reception signal with a threshold set by a threshold setting circuit and outputs a reception signal that exceeds the threshold as a detection signal that has detected a target, and a detection cell that analyzes the detection signal. A two-dimensional discriminating boundary type distance waveform feature extraction circuit for extracting a two-dimensional feature value related to the waveform by dividing the amplitude value of the cell on both sides by the amplitude value of the cell, a pseudo target signal which is a reflected wave of the pseudo target, and a pseudo noise signal The two-dimensional numerical value obtained by dividing the amplitude value of the cell on both sides by the amplitude value of the cell giving the peak of the amplitude is obtained and arranged on the two-dimensional plane. A small area is set, and the number of pseudo target signals to which the pseudo noise signal is added for each small area and the number of pseudo noise signals are checked, and each cell is regarded as a target signal or a noise signal. Is a cell A two-dimensional discriminating boundary type distance waveform feature database that stores a given pattern; a two-dimensional feature amount of a detection signal obtained by the two-dimensional discriminating boundary type distance waveform feature extraction circuit; and the two-dimensional discriminating boundary type distance waveform feature database A two-dimensional discriminating boundary type distance waveform feature matching circuit that matches a pattern of a two-dimensional mesh stored in a memory, and whether the detection signal is a target signal or noise based on a matching result of the two-dimensional discriminating boundary type distance waveform feature matching circuit. And a two-dimensional discriminating boundary type distance waveform feature determination circuit for erasing the signal from the detection signal when the signal is determined to be a noise signal. Lower detection probability when realizing a certain false alarm probability in an environment,
Alternatively, it is possible to suppress an increase in the false alarm probability when maintaining a certain detection probability, and furthermore, since the discriminating boundary between the noise signal and the target signal is set by a two-dimensional parameter according to the property of the target signal. There is an effect that the performance can be improved.

The radar device according to claim 8 of the present invention provides:
As described above, the two-dimensional identification boundary type distance waveform feature database generation circuit that generates the two-dimensional mesh pattern and stores the pattern in the two-dimensional identification boundary type distance waveform feature database is further provided. The waveform feature database generation circuit includes a pseudo noise generation circuit that generates a pseudo noise signal, a switch that turns on and off an output of the pseudo noise generation circuit, and when the switch is on, adds the pseudo noise signal to generate the pseudo target. And a pseudo waveform generating circuit that outputs only the pseudo noise signal, and a pseudo target signal and a pseudo noise signal that are adjacent to each other with an amplitude value of a cell that gives a peak of the amplitude of the pseudo noise signal. The two-dimensional numerical value obtained by dividing the amplitude value of the cell is obtained and arranged on a two-dimensional plane. A cell in which a plurality of shuffle-shaped small areas are set, the number of pseudo target signals to which pseudo noise signals are added for each small area, and the number of pseudo noise signals are checked, and each cell is regarded as a target signal. And a two-dimensional discriminating boundary type pseudo-waveform analysis circuit for generating a pattern giving whether the cell is regarded as a cell considered as a noise signal or a noise signal. It is possible to suppress the decrease or increase of the false alarm probability when maintaining a certain detection probability, and furthermore, the discrimination boundary between the noise signal and the target signal is set by two-dimensional parameters according to the properties of the target signal. Therefore, there is an effect that the performance can be further improved.

The radar device according to claim 9 of the present invention provides:
As described above, a target detection circuit that compares a reception signal with a threshold set by a threshold setting circuit and outputs a reception signal that exceeds the threshold as a detection signal that has detected a target, and a detection cell that analyzes the detection signal. After obtaining the two-dimensional feature value of the waveform by dividing the amplitude value of both adjacent cells by the amplitude value of the two-dimensional cell, the larger value is regarded as the first dimension, and the smaller value is regarded as the second dimension. A two-dimensional discriminating boundary type folded distance waveform feature extraction circuit for extracting a numerical value, a pseudo target signal which is a reflected wave of the pseudo target, and an amplitude value of a cell which gives a peak of the amplitude of the pseudo noise signal, and an amplitude value of a cell on both sides are obtained Divide the two-dimensional numerical value and place the larger numerical value on the two-dimensional plane so that the larger numerical value is the first dimension and the smaller numerical value on the second dimension. Multiple small areas in a mesh The number of pseudo target signals to which the pseudo noise signal is added for each small area, and the number of pseudo noise signals are examined, and each cell is a cell that is regarded as a target signal or a noise signal. A two-dimensional discriminating boundary-type folded distance waveform feature database that stores a pattern that gives the two-dimensional identification boundary-type folded distance waveform feature extraction circuit; A two-dimensional identification boundary-type folded distance waveform feature matching circuit that matches the two-dimensional mesh pattern stored in the distance waveform feature database; and the detection signal is based on a matching result of the two-dimensional identification boundary-type folded distance waveform feature matching circuit. It is determined whether the signal is a target signal or a noise signal. If it is determined that the signal is a noise signal, the signal is deleted from the detection signal. Since a type folding distance waveform feature judging circuit, the number of occurrences of the signal for each mesh can be doubled, there is an effect that it is possible to improve the reliability.

As described above, the radar apparatus according to the tenth aspect of the present invention generates the two-dimensional mesh pattern and stores it in the two-dimensional discriminating boundary type folded distance waveform feature database. Further comprising a distance waveform feature database generation circuit, wherein the two-dimensional identification boundary type folded distance waveform feature database generation circuit generates a pseudo noise signal, and a switch for turning on and off an output of the pseudo noise generation circuit; When the switch is on, the pseudo noise signal is added to generate a pseudo target signal in which the position of the pseudo target is variously changed, and a pseudo waveform generating circuit that outputs only the pseudo noise signal; The two-dimensional value obtained by dividing the amplitude value of the adjacent cell by the amplitude value of the cell that gives the peak of the amplitude of the signal and the pseudo noise signal Obtain a numerical value, arrange the larger numerical value on the two-dimensional plane so that it becomes the first dimension and the smaller numerical value on the second dimension, divide this two-dimensional plane for each axis, and And the number of pseudo target signals to which the pseudo noise signal is added for each small area,
Since the number of the pseudo noise signal is examined, and each cell has a two-dimensional identification boundary type folded pseudo waveform analysis circuit that generates a pattern that gives a cell that is regarded as a target signal or a cell that is regarded as a noise signal, The number of times of signal generation for each mesh can be doubled, and the effect of improving reliability can be obtained.

As described above, the radar apparatus according to the eleventh aspect of the present invention compares the received signal after the coherent integration with the threshold set by the threshold setting circuit by coherently integrating the received signal. A target detection circuit that outputs a received signal that exceeds the threshold value as a detection signal that has detected a target, a distance-frequency waveform feature extraction circuit that analyzes the detection signal and extracts a feature of a two-dimensional waveform of distance-frequency, A distance-frequency waveform feature database that stores waveform features related to the distance and frequency of the pseudo target signal that is a reflected wave of the pseudo target, and a two-dimensional distance-frequency waveform of the detection signal obtained by the distance frequency waveform feature extraction circuit And the characteristic of the waveform related to the distance and frequency of the pseudo target signal stored in the distance frequency waveform characteristic database. A separated frequency waveform feature matching circuit, and determines whether the detection signal is a target signal or a noise signal based on the matching result of the distance frequency waveform feature matching circuit. A distance frequency waveform characteristic determination circuit for eliminating a signal from the detection signal, so that the detection probability is reduced or a certain detection probability is maintained when a constant false alarm probability is realized in an environment with a low S / N ratio. In this case, it is possible to suppress an increase in the probability of a false alarm at the time of performing, and to further improve the performance because the discrimination boundary between the noise signal and the target signal is set in accordance with the property of the target signal.

As described above, a radar apparatus according to a twelfth aspect of the present invention generates a waveform characteristic relating to the distance and frequency of the pseudo target signal and stores the characteristic in the distance frequency waveform characteristic database. Further comprising a generation circuit, wherein the distance frequency waveform feature database generation circuit generates a pseudo-target signal in a plurality of hits at various positions and speeds of the pseudo target, and a multi-hit pseudo waveform generation circuit; A second coherent integration circuit that coherently integrates the pseudo target signal, and a pseudo distance frequency waveform analysis circuit that extracts, from the output of the second coherent integration circuit, waveform characteristics related to the distance and frequency of the pseudo target signal. So
In a low S / N ratio environment, it is possible to suppress a decrease in the detection probability when realizing a constant false alarm probability or an increase in the false alarm probability when maintaining a certain detection probability. Since the signal discriminating boundary is set in accordance with the properties of the target signal, the performance can be further improved.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a radar device according to Embodiment 1 of the present invention.

FIG. 2 is a diagram showing an operation of the radar device according to the first embodiment of the present invention.

FIG. 3 is a diagram showing a configuration of a radar device according to Embodiment 2 of the present invention.

FIG. 4 is a diagram showing a configuration of a radar device according to Embodiment 3 of the present invention.

FIG. 5 is a diagram showing an operation of the radar device according to Embodiment 3 of the present invention.

FIG. 6 is a diagram showing a configuration of a radar apparatus according to Embodiment 4 of the present invention.

FIG. 7 is a diagram illustrating an operation of a radar apparatus according to Embodiment 4 of the present invention.

FIG. 8 is a diagram showing a configuration of a radar apparatus according to Embodiment 5 of the present invention.

FIG. 9 is a diagram showing an operation of a radar apparatus according to Embodiment 5 of the present invention.

FIG. 10 is a diagram showing a configuration of a radar apparatus according to Embodiment 6 of the present invention.

FIG. 11 is a diagram illustrating an operation of a radar apparatus according to Embodiment 6 of the present invention.

FIG. 12 is a diagram showing a configuration of a radar device according to Embodiment 7 of the present invention.

FIG. 13 is a diagram showing an operation of the radar apparatus according to Embodiment 7 of the present invention.

FIG. 14 is a diagram illustrating a configuration of a conventional radar device.

FIG. 15 is a diagram showing the operation of a conventional radar device.

[Explanation of symbols]

1 distance waveform feature extraction circuit, 2 distance waveform feature matching circuit, 3 distance waveform feature DB, 4 distance waveform feature determination circuit, 5 pseudo waveform generation circuit, 6 pseudo waveform analysis circuit, 7
Distance waveform feature DB generation circuit, 21 pseudo signal generation circuit, 22 Noise-considered distance waveform feature DB generation circuit, 23
Noise consideration distance waveform feature DB, 31 circular discrimination boundary type pseudo waveform analysis circuit, 32 circular discrimination boundary type distance waveform feature extraction circuit, 33 circular discrimination boundary type distance waveform feature matching circuit, 3
4 circular discriminating boundary type distance waveform feature determining circuit, 35 circular discriminating boundary type distance waveform feature DB, 36 circular discriminating boundary type distance waveform feature DB generating circuit, 41 circular discriminating boundary type noise-considered distance waveform feature DB generating circuit, 42 switch, 51
2D discriminating boundary type noise consideration distance waveform feature DB generation circuit,
52 two-dimensional identification boundary type distance waveform feature DB, 53 two-dimensional identification boundary type pseudo waveform analysis circuit, 54 two-dimensional identification boundary type distance waveform feature extraction circuit, 55 two-dimensional identification boundary type distance waveform feature matching circuit, 56 two-dimensional identification Boundary-type distance waveform feature determination circuit, 61 2-dimensional identification boundary-type folded noise-considered distance waveform feature DB generation circuit, 62 2-dimensional identification boundary-type folded distance waveform feature DB, 63 2-dimensional identification boundary-type folded pseudo waveform analysis circuit, 64 2 Dimension discriminating boundary type folded distance waveform feature extraction circuit, 65 2D discriminating boundary type folded distance waveform feature matching circuit, 66 2D discriminating boundary type folded distance waveform feature determining circuit, 70 Multiple hit pseudo waveform generating circuit, 7
1A, 71B coherent integration circuit, 72 pseudo-range frequency waveform analysis circuit, 73 distance frequency waveform feature DB generation circuit, 74 distance frequency waveform feature DB, 75 distance frequency waveform feature extraction circuit, 76 distance frequency waveform feature verification circuit, 77 distance frequency Waveform characteristic determination circuit, 501 transmitter, 502 transmission / reception switch, 503 transmission / reception antenna,
504 receiver, 505 pulse compression circuit, 506 threshold setting circuit, 507 target detection circuit, 508 display circuit.

 ────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Tetsuro Kirimoto 2-3-2 Marunouchi, Chiyoda-ku, Tokyo F-term (reference) in Mitsubishi Electric Corporation 5J070 AB08 AC01 AC06 AD01 AH14 AH31 AH50 AK13 AK22 BA01

Claims (12)

[Claims] 1. A target detection circuit for comparing a reception signal with a threshold set by a threshold setting circuit and outputting a reception signal exceeding the threshold as a detection signal for detecting a target, and a distance waveform by analyzing the detection signal. A distance waveform feature extraction circuit for extracting the characteristics of: a distance waveform feature database storing the characteristics of the pseudo distance waveform of the pseudo target signal which is a reflected wave of the pseudo target; and a detection signal of the detection signal obtained by the distance waveform characteristic extraction circuit. A distance waveform feature matching circuit that matches a feature of the distance waveform with a feature of a pseudo distance waveform of the pseudo target signal stored in the distance waveform feature database; and the detection signal is a target signal based on a matching result of the distance waveform feature matching circuit. Or a noise signal, and when it is determined that the signal is a noise signal, a distance waveform feature determination circuit that eliminates the signal from the detection signal. Radar and wherein the door. 2. A distance waveform feature database generation circuit for generating a feature of a pseudo distance waveform of the pseudo target signal and storing the feature in the distance waveform feature database, wherein the distance waveform feature database generation circuit includes: 2. A pseudo-waveform generating circuit for generating a pseudo target signal at various positions, and a pseudo-waveform analyzing circuit for extracting characteristics of a pseudo-distance waveform of the generated pseudo target signal. Radar equipment. 3. The distance waveform feature database generation circuit further includes a pseudo noise generation circuit that generates a pseudo noise signal, and the pseudo waveform generation circuit adds the pseudo noise signal to generate a pseudo target signal. 3. The pseudo-waveform analysis circuit according to claim 2, wherein the pseudo-target signal to which the pseudo-noise signal is added extracts characteristics of a pseudo-distance waveform of the pseudo-target signal in consideration of fluctuation due to the influence of noise. Radar equipment. 4. A target detection circuit for comparing a reception signal with a threshold set by a threshold setting circuit and outputting a reception signal exceeding the threshold as a detection signal for detecting a target, and a detection cell analyzing the detection signal. Circular identification boundary type distance waveform feature extraction circuit that extracts a two-dimensional numerical value obtained by dividing the amplitude value of both adjacent cells by the amplitude value of the cell, and the amplitude of the cell that gives the peak of the amplitude of the pseudo target signal that is the reflected wave of the pseudo target A circular discriminating boundary type distance waveform feature database that stores the center and radius of a circle obtained from a two-dimensional numerical value obtained by dividing the amplitude value of each of the adjacent cells by a value, and the circular discriminating boundary type distance waveform feature extracting circuit. A circular discriminating boundary type distance waveform feature matching circuit for comparing a two-dimensional numerical value of the detection signal with the center and radius of a circle of the pseudo target signal stored in the circular discriminating boundary type distance waveform feature database; It is determined whether the detection signal is a target signal or a noise signal based on the matching result of the boundary type distance waveform feature matching circuit, and if it is determined that the signal is a noise signal, this signal is deleted from the detection signal. A radar apparatus comprising: a circular discrimination boundary type distance waveform feature determination circuit. 5. A circular discriminating boundary type distance waveform feature database generating circuit for generating a center and a radius of a circle of the pseudo target signal and storing the generated center and radius in the circular discriminating boundary type distance waveform feature database, A distance waveform feature database generation circuit that generates a pseudo target signal in which the position of the pseudo target is variously changed; a circular identification boundary type pseudo that extracts a center and a radius of a circle of the generated pseudo target signal; The radar device according to claim 4, further comprising a waveform analysis circuit. 6. The circular discrimination boundary type distance waveform feature database generation circuit further includes: a pseudo noise generation circuit for generating a pseudo noise signal; and a switch provided between the pseudo waveform generation circuit and the pseudo noise generation circuit. When the switch is on, the pseudo-waveform generation circuit adds the pseudo-noise signal to generate a pseudo-target signal, and outputs only the pseudo-noise signal. Extracting the center and radius of the circle of the pseudo target signal from the pseudo target signal to which the pseudo noise signal has been added, taking into account the fluctuation due to the influence of noise,
The two-dimensional distribution of only the pseudo noise signal is extracted. The circular discriminating boundary type distance waveform feature database also stores the two-dimensional distribution of only the pseudo noise signal. Only the two-dimensional numerical value of the detection signal obtained by the circular discriminating boundary type distance waveform feature extraction circuit, the center and radius of the circle of the pseudo target signal stored in the circular discriminating boundary type distance waveform feature database, and only the pseudo noise signal 6. The radar apparatus according to claim 5, wherein the two-dimensional distribution is compared. 7. A target detection circuit for comparing a reception signal with a threshold set by a threshold setting circuit and outputting a reception signal exceeding the threshold as a detection signal for detecting a target, and a detection cell analyzing the detection signal. A two-dimensional discriminating boundary type distance waveform feature extraction circuit for extracting a two-dimensional feature value relating to the waveform by dividing the amplitude value of both adjacent cells by the amplitude value of the target cell; a pseudo target signal which is a reflected wave of the pseudo target, and a pseudo noise signal The two-dimensional numerical value obtained by dividing the amplitude value of the cell on both sides by the amplitude value of the cell giving the peak of the amplitude is obtained and arranged on the two-dimensional plane. A small area is set, and the number of pseudo target signals to which the pseudo noise signal is added for each small area and the number of pseudo noise signals are checked, and each cell is regarded as a target signal or a noise signal. Give cells A two-dimensional discriminating boundary type distance waveform feature database that stores a pattern; a two-dimensional feature amount of a detection signal obtained by the two-dimensional discriminating boundary type distance waveform feature extracting circuit; and the two-dimensional discriminating boundary type distance waveform feature database. A two-dimensional discriminating boundary type distance waveform feature matching circuit for matching the stored two-dimensional mesh pattern; and a detection signal indicating whether the detection signal is a target signal or a noise signal based on a matching result of the two-dimensional discriminating boundary type distance waveform feature matching circuit. And a two-dimensional discriminating boundary type distance waveform feature determination circuit for removing the signal from the detection signal when the signal is determined to be a noise signal. 8. A two-dimensional discriminating boundary type distance waveform feature database generating circuit that generates the two-dimensional mesh pattern and stores the pattern in the two-dimensional discriminating boundary type distance waveform feature database; A waveform noise database generating circuit, a pseudo noise generating circuit for generating a pseudo noise signal, a switch for turning on and off an output of the pseudo noise generating circuit, and when the switch is on, adding the pseudo noise signal to the pseudo target. A pseudo-waveform generating circuit that generates only a pseudo-noise signal while generating a pseudo-target signal in which the position of the pseudo-target signal is changed in various ways; Obtain a two-dimensional numerical value obtained by dividing the amplitude value of the cell of above, place it on a two-dimensional plane, and divide this two-dimensional plane for each axis to A plurality of small areas are set, and the number of pseudo target signals and the number of pseudo noise signals to which the pseudo noise signals are added for each small area are checked, and whether each cell is considered as a target signal for each cell 8. The radar apparatus according to claim 7, further comprising a two-dimensional discriminating boundary type pseudo-waveform analysis circuit for generating a pattern indicating whether the cell is regarded as a noise signal. 9. A target detection circuit for comparing a reception signal with a threshold set by a threshold setting circuit and outputting a reception signal exceeding the threshold as a detection signal for detecting a target, and a detection cell analyzing the detection signal. After obtaining the two-dimensional feature value of the waveform by dividing the amplitude value of both adjacent cells by the amplitude value of the two-dimensional cell, the larger value is regarded as the first dimension, and the smaller value is regarded as the second dimension. A two-dimensional discriminating boundary type folded distance waveform feature extraction circuit for extracting a numerical value, a pseudo target signal which is a reflected wave of the pseudo target, and an amplitude value of a cell which gives a peak of the amplitude of the pseudo noise signal, and an amplitude value of both adjacent cells. Divide the two-dimensional numerical value and place the larger numerical value on the two-dimensional plane so that the larger numerical value is the first dimension and the smaller numerical value on the second dimension. To set multiple mesh-like small areas The number of pseudo target signal pseudo noise signal is added to each small area,
The number of pseudo noise signals is respectively examined, and a two-dimensional discriminating boundary type folded distance waveform feature database that stores a pattern that gives a cell that is regarded as a target signal or a cell that is regarded as a noise signal for each cell, Two-dimensional discriminating boundary-type folding that matches the two-dimensional numerical value of the detection signal obtained by the discriminating boundary-type folded distance waveform feature extraction circuit with the two-dimensional mesh pattern stored in the two-dimensional discriminating boundary-type folded distance waveform feature database A distance waveform feature matching circuit, and based on the matching result of the two-dimensional identification boundary type folded distance waveform feature matching circuit, determine whether the detection signal is a target signal or a noise signal, and determined that the detection signal is a noise signal A two-dimensional discriminating boundary-type folded distance waveform characteristic determination circuit for eliminating the signal from the detection signal in the case. . 10. The two-dimensional identification boundary further includes a two-dimensional identification boundary-type folded distance waveform feature database generation circuit that generates the two-dimensional mesh pattern and stores the pattern in the two-dimensional identification boundary-type folded distance waveform feature database. The pattern turning distance waveform feature database generation circuit includes: a pseudo noise generation circuit that generates a pseudo noise signal; a switch that turns on and off an output of the pseudo noise generation circuit; and when the switch is on, adds the pseudo noise signal. A pseudo-waveform generating circuit that generates a pseudo-target signal in which the position of the pseudo-target is changed in various ways, and outputs only the pseudo-noise signal; and the pseudo-target signal and the amplitude of a cell that gives a peak of the amplitude of the pseudo-noise signal. The two-dimensional value obtained by dividing the amplitude value of the cell on both sides by the value is obtained, and the larger value is used as the first dimension, the smaller value The values are arranged in a two-dimensional plane so as to be in the second dimension, and the two-dimensional plane is divided for each axis to set a plurality of small regions in a mesh shape, and a pseudo noise signal is added for each small region. The number of pseudo target signals and the number of pseudo noise signals are examined, and a two-dimensional discriminating boundary type folded pseudo pattern is generated for each cell to generate a pattern giving whether the cell is regarded as a target signal or a cell regarded as a noise signal. The radar device according to claim 9, further comprising a waveform analysis circuit. 11. A coherent integration circuit for coherently integrating a received signal, and comparing the received signal after the coherent integration with a threshold set by a threshold setting circuit to detect a received signal exceeding the threshold as a detection signal for detecting a target. A target detection circuit for outputting, a distance frequency waveform feature extraction circuit for analyzing the detection signal to extract a feature of a two-dimensional distance-frequency waveform, and a distance and frequency of a pseudo target signal which is a reflected wave of the pseudo target. A distance-frequency waveform feature database for storing waveform features; a two-dimensional distance-frequency waveform feature of a detection signal obtained by the distance-frequency waveform feature extraction circuit; and a pseudo target stored in the distance-frequency waveform feature database. A distance-frequency waveform feature matching circuit for comparing waveform features related to signal distance and frequency; A distance frequency waveform feature determination circuit that determines whether the detection signal is a target signal or a noise signal based on the result of the circuit comparison, and deletes the signal from the detection signal when the signal is determined to be a noise signal. A radar apparatus comprising: 12. A distance frequency waveform feature database generation circuit for generating a waveform feature related to the distance and frequency of the pseudo target signal and storing the waveform feature in the distance frequency waveform feature database, wherein the distance frequency waveform feature database generation circuit A multiple-hit pseudo-waveform generating circuit that generates a pseudo-target signal with a plurality of hits in which the position and speed of the pseudo-target are variously changed; a second coherent integration circuit that coherently integrates the pseudo-target signal with the plurality of hits; 12. The radar apparatus according to claim 11, further comprising: a pseudo-range frequency waveform analysis circuit that extracts a waveform characteristic related to a distance and a frequency of the pseudo target signal from an output of the second coherent integration circuit.