A radar apparatus and an automobile including the radar apparatus are provided. The radar apparatus may measure the elevation/declination angle of a target with high accuracy by using simple circuits at low cost without use of a detection circuit and an AD conversion circuit having high time resolution. A transmit antenna transmits transmit signal waves modulated through the multilevel FSK, and receive antennas receive reflected waves obtained by reflecting, off a target, the transmit signal waves which return. The multilevel FSK is used as a modulation method so that the beat frequency between the receive signal waves from the target and the transmit signal waves serves as the Doppler frequency. Thus, the elevation/declination angle φ of the target is calculated by a computing unit, not from the frequencies of the receive signal waves as in the related art, but from the frequency of the transmit signal waves.

Disclosed is a radar signal processing device including a shift unit to shift either one of an ascending sequence signal in which the frequency of a pulse wave rises discretely with time and a descending sequence signal in which the frequency of a pulse wave falls discretely with time.

A radar apparatus and an automobile including the radar apparatus are provided. The radar apparatus may measure the elevation/declination angle of a target with high accuracy by using simple circuits at low cost without use of a detection circuit and an AD conversion circuit having high time resolution. A transmit antenna transmits transmit signal waves modulated through the multilevel FSK, and receive antennas receive reflected waves obtained by reflecting, off a target, the transmit signal waves which return. The multilevel FSK is used as a modulation method so that the beat frequency between the receive signal waves from the target and the transmit signal waves serves as the Doppler frequency. Thus, the elevation/declination angle of the target is calculated by a computing unit, not from the frequencies of the receive signal waves as in the related art, but from the frequency of the transmit signal waves.

The present invention generally relates to processing of electromagnetic signals, and more specifically, for a method and apparatus for managing the computational cost of radar signal processing on a vehicular radar. The system is operative to utilize a Goerzel filter to aid in determining a frequency for a radar echo. In addition the system uses a DFT operation for tracking stationary objects and a FFT operation for tracing moving objects.

The present invention generally relates to processing of electromagnetic signals, and more specifically, for a method and apparatus for managing the computational cost of radar signal processing on a vehicular radar. The system is operative to utilize a Goerzel filter to aid in determining a frequency for a radar echo. In addition the system uses a DFT operation for tracking stationary objects and a FFT operation for tracing moving objects.

A radar device according to an embodiment includes a transmission unit, a reception unit, a processing unit, a first determination unit, and a second determination unit. The transmission unit emits transmission signals. The reception unit receives reception signals acquired by reflecting the transmission signals on an object. The processing unit detects object data corresponding to the object from the reception signals. The first determination unit determines object data included in a predicted range based on past object data detected in the past as past correspondence data having time continuity with respect to the past object data. In a case where parameters of new data that has not been detected in the past and the past correspondence data have predetermined relation, the second determination unit determines that the new data and the past correspondence data correspond to the same object.

Use of a radar sensor with a waveguide antenna array, having at least two groups of antenna units having a plurality of antenna elements, wherein antenna elements in each antenna unit are arranged next to one another in a first direction, wherein, in a first group, the antenna units are arranged offset with respect to one another in a second direction perpendicular to the first direction, and wherein, in a second group, the antenna units are arranged offset with respect to one another in the first direction, for a method for determining an estimated ego velocity value and an estimated angle value of targets. In the method, using the radar sensor, a distance between the radar sensor and the respective target is in each case measured, and a relative velocity of the respective target is in each case measured using the Doppler effect.

Disclosed is a radar signal processing device including a shift unit to shift either one of an ascending sequence signal in which the frequency of a pulse wave rises discretely with time and a descending sequence signal in which the frequency of a pulse wave falls discretely with time.