Object detection device, object detection system, object detection method, object detection program

Abstract

To provide a target detection device and the like that can restrict an update period of target detection from being lengthened in duration, while achieving both maximum detection speed and distance resolution.SOLUTION: A processor of a target detection device 100 executes acquisition of basic observation data that is observation data of a target in accordance with an actual send-receive result of a basic signal being an electromagnetic wave signal containing multiple chirp signals in which a frequency changes temporally. The processor executes acquisition of division observation data that is observation data of a target in accordance with a send-receive result assumed for a division signal which can be generated by dividing the basic signal and in which send time and a frequency band width for one chirp signal is smaller than in the basic signal. The processor executes determination of a detection result of a target, on the basis of at least one out of the basic observation data and the division observation data.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to a target detection technique for detecting a target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target.

Background Art

[0002] Patent Document 1 discloses a radar device that transmits a first transmission signal having a relatively high maximum detection speed and a low range resolution and a second transmission signal having a relatively low maximum detection speed and a high range resolution. This radar device calculates a first distance to a target based on a first reception signal that is a reflected wave of the first transmission signal reflected by the target. Further, the radar device calculates a second distance to the target based on a second reception signal that is a reflected wave of the second transmission signal reflected by the target. The radar device compares the first distance and the second distance, and if the first distance and the second distance correspond to each other, it selects the second distance as the measurement result, and if the first distance and the second distance do not correspond to each other, it selects the first distance as the measurement result.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Since the radar device of Patent Document 1 transmits two different types of transmission signals in order to achieve both the maximum detection speed and the range resolution, the total modulation time becomes long. As a result, there is a risk that the update cycle of target detection becomes long.

[0005] An object of the present disclosure is to provide an object detection device capable of achieving both a maximum detection speed and a distance resolution while suppressing an increase in the update cycle of object detection. Another object of the present disclosure is to provide an object detection system capable of achieving both a maximum detection speed and a distance resolution while suppressing an increase in the update cycle of object detection. Another object of the present disclosure is to provide an object detection method capable of achieving both a maximum detection speed and a distance resolution while suppressing an increase in the update cycle of object detection. Yet another object of the present disclosure is to provide an object detection program capable of achieving both a maximum detection speed and a distance resolution while suppressing an increase in the update cycle of object detection.

Means for Solving the Problems

[0006] Hereinafter, the technical means of the present disclosure for solving the problems will be described. Note that the reference numerals in parentheses described in the claims and this column indicate the correspondence with the specific means described in the embodiments to be described in detail later, and do not limit the technical scope of the present disclosure.

[0007] A first aspect of the present disclosure is an object detection device having a processor (102), mounted on a host moving body (A), and detecting an object based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the object, wherein the processor acquires basic observation data, which is observation data of an object corresponding to an actual transmission / reception result of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time, acquires divided observation data, which is observation data of an object corresponding to an assumed transmission / reception result of divided signals that can be generated by dividing the basic signal and have a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal, determines a detection result of the object based on at least one of the basic observation data and the divided observation data, and is configured to execute 、 Obtaining the basic observation data includes calculating a basic spectrum, which is a two-dimensional spectrum of the distance and relative speed of a target obtained by performing a two-dimensional fast Fourier transform on a basic beat signal obtained by mixing the transmission data and reception data of a basic signal. Obtaining the divided observation data includes calculating a divided spectrum, which is a two-dimensional spectrum of the distance and relative speed of a target obtained by performing a two-dimensional fast Fourier transform on a divided beat signal assumed to be obtained by mixing the transmission data and reception data of a divided signal. Determining the detection result includes determining the distance and relative speed based on the basic spectrum and the divided spectrum. . A second aspect of the present disclosure is a target detection device having a processor (102), mounted on a host moving body (A), and detecting a target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target. The processor obtains basic observation data, which is observation data of a target corresponding to the actual transmission / reception result of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; obtains divided observation data, which is observation data of a target corresponding to an assumed transmission / reception result of a divided signal that can be generated by dividing the basic signal and has a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal; tracks the target in time series based on the basic observation data and the divided observation data; determines the detection result of the target based on at least one of the basic observation data and the divided observation data; and is configured to execute the above. Tracking the target in time series includes determining whether a target determination condition is satisfied, where the current detected target is the target being tracked. Determining the detection result includes determining the detection result based on both the basic observation data and the divided observation data for a detected target for which the target determination condition is not satisfied, and determining the detection result based on the basic observation data among the basic observation data and the divided observation data for a detected target for which the target determination condition is satisfied. A third aspect of the present disclosure is a target detection device having a processor (102), mounted on a host moving body (A), and detecting a target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target. The processor Obtaining basic observation data, which is observation data of a target according to the actual transmission and reception results of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; Obtaining divided observation data, which is observation data of a target according to the assumed transmission and reception results of divided signals that can be generated by dividing the basic signal and whose transmission time and frequency bandwidth per chirp signal are smaller than those of the basic signal; Tracking the target in time series based on the basic observation data and the divided observation data; Determining a detection result of the target based on at least one of the basic observation data and the divided observation data; being configured to execute; Determining the detection result includes selecting what is determined as the detection result from the basic observation data and the divided observation data; Tracking the target in time series includes determining whether a target determination condition that the currently detected target is the target being tracked is satisfied; Determining the detection result includes, for a detected target for which the target determination condition is not satisfied, determining the detection result based on the divided observation data among the basic observation data and the divided observation data, and for a detected target for which the target determination condition is satisfied, determining the detection result based on the basic observation data among the basic observation data and the divided observation data. A fourth aspect of the present disclosure is a target detection device having a processor (102), mounted on a host mobile body (A), and detecting a target based on a transmission and reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, wherein the processor obtains basic observation data, which is observation data of a target according to the actual transmission and reception results of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; obtains divided observation data, which is observation data of a target according to the assumed transmission and reception results of divided signals that can be generated by dividing the basic signal and whose transmission time and frequency bandwidth per chirp signal are smaller than those of the basic signal; correcting the phase of each chirp signal in the divided signal; determining a detection result of the target based on at least one of the basic observation data and the divided observation data; and being configured to execute. A fifth aspect of the present disclosure is a target detection device having a processor (102), mounted on a host mobile body (A), and detecting a target based on a transmission and reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, wherein the processor Obtaining basic observation data, which is observation data of a target according to the actual transmission and reception results of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; Obtaining divided observation data, which is observation data of a target according to the assumed transmission and reception results of divided signals that can be generated by dividing the basic signal and have a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal; Determining a detection result of a target based on at least one of the basic observation data and the divided observation data; configured to execute; Obtaining the divided observation data includes obtaining divided observation data according to the assumed transmission and reception results for each divided signal obtained by decimating the chirp signals so that the decimated locations are different between the divided signal corresponding to a specific chirp signal in the basic signal and at least one other divided signal corresponding to another chirp signal in the basic signal. A sixth aspect of the present disclosure is a target detection device having a processor (102), mounted on a host moving body (A), and detecting a target based on a transmission and reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, The processor obtains basic observation data, which is observation data of a target according to the actual transmission and reception results of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; obtains divided observation data, which is observation data of a target according to the assumed transmission and reception results of divided signals that can be generated by dividing the basic signal and have a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal; determines a detection result of a target based on at least one of the basic observation data and the divided observation data; configured to execute; Obtaining the divided observation data includes changing at least one of the frequency bandwidth, the number of chirp signals, and the total modulation time in the divided signal according to the speed of the host moving body. A seventh aspect of the present disclosure is a target detection device having a processor (102), mounted on a host moving body (A), and detecting a target based on a transmission and reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, The processor obtains basic observation data, which is observation data of a target according to the actual transmission and reception results of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; Obtaining divided observation data, which is observation data of a target corresponding to transmission and reception results assumed for divided signals in which the transmission time and frequency bandwidth per chirp signal, which can be generated by dividing a basic signal, are smaller than those of the basic signal, by dividing the basic signal; Determining a detection result of a target based on at least one of the basic observation data and the divided observation data; configured to execute; Obtaining the divided observation data includes obtaining a plurality of divided observation data corresponding to transmission and reception results assumed for a plurality of divided signals in which the transmission time and frequency bandwidth per chirp signal are different from each other.

[0008] The first aspect of the present disclosure Eight is a target detection system having a processor (102) and detecting a target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, wherein the processor acquires basic observation data, which is observation data of a target corresponding to an actual transmission / reception result of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time, acquires divided observation data, which is observation data of a target corresponding to a transmission / reception result assumed for a divided signal that can be generated by dividing the basic signal and has a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal, determines a detection result of the target based on at least one of the basic observation data and the divided observation data, and is configured to execute 、 Obtaining the basic observation data includes calculating a basic spectrum, which is a two-dimensional spectrum of the distance and relative speed of a target obtained by performing a two-dimensional fast Fourier transform on a basic beat signal obtained by mixing transmission data and reception data of the basic signal. Obtaining the divided observation data includes calculating a divided spectrum, which is a two-dimensional spectrum of the distance and relative speed of a target obtained by performing a two-dimensional fast Fourier transform on a divided beat signal assumed to be obtained by mixing transmission data and reception data of the divided signal. Determining the detection result includes determining the distance and relative speed based on the basic spectrum and the divided spectrum. . A ninth aspect of the present disclosure is a target detection system having a processor (102), which detects a target based on transmission and reception results in which an electromagnetic wave signal is transmitted and received by reflection from the target, The processor obtaining basic observation data, which is observation data of a target corresponding to the actual transmission and reception results of a basic signal, which is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; obtaining divided observation data, which is observation data of a target corresponding to transmission and reception results assumed for divided signals in which the transmission time and frequency bandwidth per chirp signal, which can be generated by dividing the basic signal, are smaller than those of the basic signal, by dividing the basic signal; tracking the target in time series based on the basic observation data and the divided observation data; determining a detection result of the target based on at least one of the basic observation data and the divided observation data; configured to execute; Tracking the target in time series includes determining whether a target determination condition is satisfied, which is that the currently detected target is the target being tracked. Determining the detection result includes determining the detection result based on both the basic observation data and the divided observation data for a detected target for which the target determination condition is not satisfied, and determining the detection result based on the basic observation data among the basic observation data and the divided observation data for a detected target for which the target determination condition is satisfied. A tenth aspect of the present disclosure is a target detection system having a processor (102), which detects a target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target. The processor obtains basic observation data, which is observation data of a target corresponding to the actual transmission / reception result of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time, obtains divided observation data, which is observation data of a target corresponding to an assumed transmission / reception result for divided signals that can be generated by dividing the basic signal and for which the transmission time and frequency bandwidth per chirp signal are smaller than those of the basic signal, tracks the target in time series based on the basic observation data and the divided observation data, determines the detection result of the target based on at least one of the basic observation data and the divided observation data, is configured to execute Determining the detection result includes selecting what is determined as the detection result from the basic observation data and the divided observation data. Tracking the target in time series includes determining whether or not a target determination condition is satisfied, where the current detected target is the target being tracked. Determining the detection result includes determining the detection result based on the divided observation data among the basic observation data and the divided observation data for a detected target for which the target determination condition is not satisfied, and determining the detection result based on the basic observation data among the basic observation data and the divided observation data for a detected target for which the target determination condition is satisfied. An eleventh aspect of the present disclosure is a target detection system having a processor (102), which detects a target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target. The processor obtains basic observation data, which is observation data of a target corresponding to the actual transmission / reception result of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time, Obtaining divided observation data, which is observation data of a target corresponding to the transmission and reception results assumed for divided signals each having a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal, and which can be generated by dividing the basic signal; Correcting the phase of each chirp signal in the divided signal; Determining a detection result of the target based on at least one of the basic observation data and the divided observation data; is configured to execute. The twelfth aspect of the present disclosure is a target detection system having a processor (102), which detects a target based on a transmission and reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, The processor obtaining basic observation data, which is observation data of a target corresponding to the actual transmission and reception result of a basic signal, which is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; Obtaining divided observation data, which is observation data of a target corresponding to the transmission and reception results assumed for divided signals each having a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal, and which can be generated by dividing the basic signal; Determining a detection result of the target based on at least one of the basic observation data and the divided observation data; is configured to execute, Obtaining the divided observation data includes obtaining divided observation data corresponding to the transmission and reception results assumed for each divided signal obtained by decimating the chirp signals such that the decimated positions are different between the divided signal corresponding to a specific chirp signal in the basic signal and at least one other chirp signal in the basic signal. The thirteenth aspect of the present disclosure is a target detection system having a processor (102), which detects a target around a host moving body (A) based on a transmission and reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, The processor obtaining basic observation data, which is observation data of a target corresponding to the actual transmission and reception result of a basic signal, which is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; Obtaining divided observation data, which is observation data of a target corresponding to the transmission and reception results assumed for divided signals each having a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal, and which can be generated by dividing the basic signal; Determining a detection result of the target based on at least one of the basic observation data and the divided observation data; configured to execute, acquiring segmented observation data includes changing at least one of a frequency bandwidth, a number of chirp signals, and a total modulation time in the segmented signal according to a speed of a host moving body. A fourteenth aspect of the present disclosure is a target detection system having a processor (102), and detecting a target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, the processor acquiring basic observation data, which is observation data of a target corresponding to an actual transmission / reception result of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time, acquiring segmented observation data, which is observation data of a target corresponding to an assumed transmission / reception result of a segmented signal that can be generated by dividing the basic signal and has a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal, determining a detection result of the target based on at least one of the basic observation data and the segmented observation data, configured to execute, acquiring the segmented observation data includes acquiring a plurality of segmented observation data corresponding to assumed transmission / reception results of a plurality of segmented signals having different transmission times and frequency bandwidths per chirp signal.

[0009] The first Fifteen aspect of the present disclosure is a target detection method executed by a processor (102) for detecting a target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, acquiring basic observation data, which is observation data of a target corresponding to the actual transmission / reception result of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; acquiring divided observation data, which is observation data of a target corresponding to the assumed transmission / reception result of divided signals that can be generated by dividing the basic signal and in which the transmission time and frequency bandwidth per chirp signal are smaller than those of the basic signal; determining a target detection result based on at least one of the basic observation data and the divided observation data; including see acquiring the basic observation data includes calculating a basic spectrum, which is a two-dimensional spectrum of the distance and relative speed of the target obtained by performing a two-dimensional fast Fourier transform on a basic beat signal obtained by mixing transmission data and reception data of the basic signal, acquiring the segmented observation data includes calculating a segmented spectrum, which is a two-dimensional spectrum of the distance and relative speed of the target obtained by performing a two-dimensional fast Fourier transform on a segmented beat signal assumed to be obtained by mixing transmission data and reception data of the segmented signal, determining the detection result includes determining the distance and relative speed based on the basic spectrum and the segmented spectrum . A sixteenth aspect of the present disclosure is a target detection method executed by a processor (102) for detecting a target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, acquiring basic observation data, which is observation data of a target corresponding to an actual transmission / reception result of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time, Obtaining divided observation data, which is observation data of a target corresponding to transmission / reception results assumed for divided signals that can be generated by dividing a basic signal and have a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal, by dividing the basic signal; Tracking the target in time series based on the basic observation data and the divided observation data; Determining a detection result of the target based on at least one of the basic observation data and the divided observation data; including; Tracking the target in time series includes determining whether a target determination condition that the current detected target is the target being tracked is satisfied; Determining the detection result includes, for a detected target for which the target determination condition is not satisfied, determining the detection result based on both the basic observation data and the divided observation data, and for a detected target for which the target determination condition is satisfied, determining the detection result based on the basic observation data among the basic observation data and the divided observation data. A seventeenth aspect of the present disclosure is a target detection method executed by a processor (102) for detecting a target based on transmission / reception results in which an electromagnetic wave signal is transmitted and received by reflection from the target, Obtaining basic observation data, which is observation data of a target corresponding to an actual transmission / reception result of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; Obtaining divided observation data, which is observation data of a target corresponding to transmission / reception results assumed for divided signals that can be generated by dividing the basic signal and have a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal, by dividing the basic signal; Tracking the target in time series based on the basic observation data and the divided observation data; Determining a detection result of the target based on at least one of the basic observation data and the divided observation data; including; Determining the detection result includes selecting what is to be determined as the detection result from the basic observation data and the divided observation data; Tracking the target in time series includes determining whether a target determination condition that the current detected target is the target being tracked is satisfied; Determining the detection result includes, for a detected target for which the target determination condition is not satisfied, determining the detection result based on the divided observation data among the basic observation data and the divided observation data, and for a detected target for which the target determination condition is satisfied, determining the detection result based on the basic observation data among the basic observation data and the divided observation data. The eighteenth aspect of the present disclosure is a target detection method executed by a processor (102) for detecting a target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, the method comprising: obtaining basic observation data, which is observation data of a target corresponding to an actual transmission / reception result of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; obtaining divided observation data, which is observation data of a target corresponding to an assumed transmission / reception result of divided signals that can be generated by dividing the basic signal and in which the transmission time and frequency bandwidth per chirp signal are smaller than those of the basic signal; correcting the phase of each chirp signal in the divided signal; determining a detection result of the target based on at least one of the basic observation data and the divided observation data; and the like. The nineteenth aspect of the present disclosure is a target detection method executed by a processor (102) for detecting a target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, the method comprising: obtaining basic observation data, which is observation data of a target corresponding to an actual transmission / reception result of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; obtaining divided observation data, which is observation data of a target corresponding to an assumed transmission / reception result of divided signals that can be generated by dividing the basic signal and in which the transmission time and frequency bandwidth per chirp signal are smaller than those of the basic signal; determining a detection result of the target based on at least one of the basic observation data and the divided observation data; and including: Obtaining the divided observation data includes: obtaining divided observation data corresponding to an assumed transmission / reception result for each divided signal obtained by decimating the chirp signals such that the decimation points are different between a divided signal corresponding to a specific chirp signal in the basic signal and at least one other divided signal corresponding to another chirp signal in the basic signal. The twentieth aspect of the present disclosure is a target detection method executed by a processor (102) for detecting a target around a host moving body (A) based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, the method comprising: obtaining basic observation data, which is observation data of a target corresponding to an actual transmission / reception result of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; Assume transmission and reception results for split signals that can be generated by splitting a basic signal, where the transmission time and frequency bandwidth per chirp signal are smaller than those of the basic signal, and obtain split observation data, which is observation data of a target corresponding to the assumed transmission and reception results. Based on at least one of the basic observation data and the split observation data, determine the detection result of the target. including Obtaining the split observation data includes changing at least one of the frequency bandwidth, the number of chirp signals, and the total modulation time in the split signal according to the speed of the host mobile body. A twenty-first aspect of the present disclosure is a target detection method executed by a processor (102) for detecting a target based on transmission and reception results in which an electromagnetic wave signal is transmitted and received by reflection from the target, Obtain basic observation data, which is observation data of a target corresponding to the actual transmission and reception results of a basic signal, which is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time. Assume transmission and reception results for split signals that can be generated by splitting a basic signal, where the transmission time and frequency bandwidth per chirp signal are smaller than those of the basic signal, and obtain split observation data, which is observation data of a target corresponding to the assumed transmission and reception results. Based on at least one of the basic observation data and the split observation data, determine the detection result of the target. including Obtaining the split observation data includes obtaining a plurality of split observation data corresponding to the assumed transmission and reception results for a plurality of split signals with different transmission times and frequency bandwidths per chirp signal.

[0010] The first aspect of the present disclosure Twenty-two is a target detection program stored in a storage medium (101) and executed by a processor (102) to detect a target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, wherein the instructions cause to obtain basic observation data, which is observation data of a target corresponding to an actual transmission / reception result of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time, Obtaining split observation data, which is observation data of a target corresponding to transmission and reception results assumed for split signals that can be generated by splitting a basic signal and have a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal; Determining a detection result of a target based on at least one of the basic observation data and the split observation data; Including see Causing the basic observation data to be obtained includes causing a basic spectrum, which is a two-dimensional spectrum of the distance and relative speed of the target obtained by performing a two-dimensional fast Fourier transform on a basic beat signal obtained by mixing the transmission data and reception data of the basic signal, to be calculated. Causing the split observation data to be obtained includes causing a split spectrum, which is a two-dimensional spectrum of the distance and relative speed of the target obtained by performing a two-dimensional fast Fourier transform on a split beat signal assumed to be obtained by mixing the transmission data and reception data of the split signal, to be calculated. Determining the detection result includes determining the distance and relative speed based on the basic spectrum and the split spectrum. 。 The twenty-third aspect of the present disclosure is a target detection program stored in a storage medium (101) and executed by a processor (102) to detect a target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, the program including instructions that: The instructions are: acquire basic observation data, which is observation data of a target corresponding to an actual transmission / reception result of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; acquire divided observation data, which is observation data of a target corresponding to an assumed transmission / reception result of divided signals that can be generated by dividing the basic signal and each have a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal; track the target in time series based on the basic observation data and the divided observation data; determine a detection result of the target based on at least one of the basic observation data and the divided observation data; and include tracking the target in time series includes determining whether a target determination condition is satisfied, where the currently detected target is the target being tracked; determining the detection result includes determining the detection result based on both the basic observation data and the divided observation data for a detected target for which the target determination condition is not satisfied, and determining the detection result based on the basic observation data among the basic observation data and the divided observation data for a detected target for which the target determination condition is satisfied. The twenty-fourth aspect of the present disclosure is a target detection program stored in a storage medium (101) and executed by a processor (102) to detect a target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, the program including instructions that: The instructions are: acquire basic observation data, which is observation data of a target corresponding to an actual transmission / reception result of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; acquire divided observation data, which is observation data of a target corresponding to an assumed transmission / reception result of divided signals that can be generated by dividing the basic signal and each have a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal; track the target in time series based on the basic observation data and the divided observation data; determine a detection result of the target based on at least one of the basic observation data and the divided observation data; and include Determining the detection result includes causing a selection to be made of what is to be determined as the detection result from the basic observation data and the divided observation data. Tracking a target over time includes determining whether a target determination condition is satisfied, where the current detected target is the target being tracked. Determining the detection result includes, for a detected target for which the target determination condition is not satisfied, determining the detection result based on the divided observation data among the basic observation data and the divided observation data, and for a detected target for which the target determination condition is satisfied, determining the detection result based on the basic observation data among the basic observation data and the divided observation data. A twenty-fifth aspect of the present disclosure is a target detection program stored in a storage medium (101) and executed by a processor (102) for detecting a target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, the program including instructions to: The instructions are: acquire basic observation data, which is observation data of a target corresponding to an actual transmission / reception result of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; acquire divided observation data, which is observation data of a target corresponding to an assumed transmission / reception result of divided signals that can be generated by dividing the basic signal and for which the transmission time and frequency bandwidth per chirp signal are smaller than those of the basic signal; correct the phase of each chirp signal in the divided signals; determine a detection result of the target based on at least one of the basic observation data and the divided observation data; and include. A twenty-sixth aspect of the present disclosure is a target detection program stored in a storage medium (101) and executed by a processor (102) for detecting a target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, the program including instructions to: The instructions are: acquire basic observation data, which is observation data of a target corresponding to an actual transmission / reception result of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; acquire divided observation data, which is observation data of a target corresponding to an assumed transmission / reception result of divided signals that can be generated by dividing the basic signal and for which the transmission time and frequency bandwidth per chirp signal are smaller than those of the basic signal; determine a detection result of the target based on at least one of the basic observation data and the divided observation data; and include, acquiring the divided observation data is: Obtaining divided observation data corresponding to the transmission and reception results assumed for each divided signal obtained by thinning out the chirp signals so that the thinned-out positions are different between the divided signal corresponding to a specific chirp signal in the basic signal and the divided signal corresponding to at least one other chirp signal in the basic signal. The twenty-seventh aspect of the present disclosure is a target detection program stored in a storage medium (101) and executed by a processor (102) for detecting a target around a host mobile body (A) based on the transmission and reception results in which an electromagnetic wave signal is transmitted and received by reflection from the target, the program including: The instructions are: Obtaining basic observation data, which is observation data of a target corresponding to the actual transmission and reception results of a basic signal, which is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; Obtaining divided observation data, which is observation data of a target corresponding to the assumed transmission and reception results for divided signals that can be generated by dividing the basic signal and have a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal; Determining a detection result of the target based on at least one of the basic observation data and the divided observation data; Including Obtaining the divided observation data includes: Changing at least one of the frequency bandwidth, the number of chirp signals, and the total modulation time in the divided signal according to the speed of the host mobile body. The twenty-eighth aspect of the present disclosure is a target detection program stored in a storage medium (101) and executed by a processor (102) for detecting a target based on the transmission and reception results in which an electromagnetic wave signal is transmitted and received by reflection from the target, the program including: The instructions are: Obtaining basic observation data, which is observation data of a target corresponding to the actual transmission and reception results of a basic signal, which is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; Obtaining divided observation data, which is observation data of a target corresponding to the assumed transmission and reception results for divided signals that can be generated by dividing the basic signal and have a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal; Determining a detection result of the target based on at least one of the basic observation data and the divided observation data; Including Causing the acquisition of divided observation data includes causing the acquisition of a plurality of divided observation data corresponding to transmission / reception results assumed for a plurality of divided signals in which the transmission time and frequency bandwidth per chirp signal are different from each other.

[0011] According to these first to Twenty-eight According to these aspects, in addition to the basic observation data according to the actual transmission / reception result of the basic signal, division observation data based on the assumed transmission / reception result of the division signal that can be generated by dividing the basic signal is acquired. Since the basic signal has a higher range resolution than the division signal and the division signal has a higher maximum detection speed than the basic signal, the detection result of the target is determined based on at least one of the basic observation data and the division observation data, so that the maximum detection speed and the range resolution can be compatible. Furthermore, since the actually transmitted signal is only the basic signal, it is also possible to suppress the lengthening of the update cycle of target detection. As described above, it is possible to suppress the lengthening of the update cycle of target detection while achieving both the maximum detection speed and the range resolution.

Brief Description of the Drawings

[0012]

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Embodiments for Carrying Out the Invention

[0013] Hereinafter, a plurality of embodiments of the present disclosure will be described with reference to the drawings. In each embodiment, the same reference numerals may be assigned to corresponding components, and redundant descriptions may be omitted. Further, when only a part of the configuration is described in each embodiment, the configuration of other embodiments described previously can be applied to other parts of the configuration. Furthermore, not only the combinations of configurations explicitly shown in the description of each embodiment, but also the configurations of a plurality of embodiments can be partially combined with each other as long as there is no problem with the combination, even if not explicitly stated.

[0014] Hereinafter, a plurality of embodiments of the present disclosure will be described with reference to the drawings.

[0015] (First Embodiment) The object detection device 100 according to the first embodiment shown in FIG. 1 detects an object around the host vehicle A shown in FIG. 2 as a host moving body. From the viewpoint centered on the host vehicle A, the host vehicle A can also be said to be an ego-vehicle.

[0016] In the host vehicle A, an automated driving mode is provided, which is classified into levels according to the degree of manual intervention of the occupant in the driving task. The automated driving mode may be realized by autonomous driving control in which the system during operation executes all driving tasks, such as conditional driving automation, highly automated driving, or fully automated driving. The automated driving mode may be realized by highly automated driving assistance control in which the occupant executes some or all of the driving tasks, such as driving assistance or partial driving automation. The automated driving mode may be realized by either one, a combination, or a switch between the autonomous driving control and the highly automated driving assistance control.

[0017] The host vehicle A is equipped with a radar device 1. In the example shown in FIG. 2, the radar device 1 is attached to the front of the host vehicle A. Also, a plurality of radar devices 1 may be mounted. Further, the radar device 1 may be attached to the side surface, roof, etc. of the host vehicle A. Incidentally, the host vehicle A may be equipped with an external sensor other than the radar device 1. The external sensor is at least one of, for example, a camera, LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), and a sonar.

[0018] The radar device 1 transmits a transmission signal which is transmission data, receives the transmission signal reflected by an object as a reception signal which is reception data, and detects the distance to the detection target which is the object that reflected the transmission signal, the relative speed with the detection target, and the azimuth of the detection target as detection information. The radar device 1 includes a transmission unit 11, a reception unit 12, and a target detection device 100. The transmission unit 11 is configured to include a transmission control unit and a transmission antenna. The transmission control unit generates an electromagnetic wave signal in the millimeter wave band which is a radar wave transmitted from the transmission antenna. The transmission control unit generates an electromagnetic wave signal transmitted at a specified transmission time band, frequency channel (frequency band), chirp period, and CDM code. The transmission control unit distributes the electromagnetic wave signal to the transmission signal supplied to the transmission antenna and the local signal supplied to a signal mixing unit described later at a predetermined ratio.

[0019] The receiving unit 12 is configured to include a receiving antenna. The receiving antenna receives an electromagnetic wave signal reflected by an object. The receiving antenna generates a received signal corresponding to the received electromagnetic wave signal. The received signal is input to the target detection device 100.

[0020] The target detection device 100 is connected to the transmitting unit 11 and the receiving unit 12 via at least one of, for example, a LAN (Local Area Network) line, a wire harness, an internal bus, and a wireless communication line. The target detection device 100 is configured to include at least one dedicated computer. Incidentally, the dedicated computer constituting the target detection device 100 may be a microcomputer mounted on the same substrate as the transmitting unit 11 and the receiving unit 12.

[0021] The dedicated computer constituting the target detection device 100 may be a control ECU (Electronic Control Unit) that controls the operation of the radar device 1. The dedicated computer constituting the target detection device 100 may be an integrated ECU (Electronic Control Unit) that integrates the driving control of the host vehicle A. The dedicated computer constituting the target detection device 100 may be a judgment ECU that judges the driving tasks in the driving control of the host vehicle A. The dedicated computer constituting the target detection device 100 may be a monitoring ECU that monitors the driving control of the host vehicle A. The dedicated computer constituting the target detection device 100 may be an evaluation ECU that evaluates the driving control of the host vehicle A.

[0022] The dedicated computer that constitutes the target detection device 100 may be a navigation ECU that navigates the travel route of the host vehicle A. The dedicated computer that constitutes the target detection device 100 may be a locator ECU that estimates the self-state quantity of the host vehicle A. The dedicated computer that constitutes the target detection device 100 may be an actuator ECU that controls the travel actuator of the host vehicle A. The dedicated computer that constitutes the target detection device 100 may be an HCU (HMI (Human Machine Interface) Control Unit) that controls information presentation in the host vehicle A. The dedicated computer that constitutes the target detection device 100 may be a computer other than the host vehicle A that constitutes, for example, an external center or a mobile terminal that can communicate with the host vehicle A.

[0023] The dedicated computer that constitutes the target detection device 100 has at least one memory 101 and one processor 102. The memory 101 is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, and an optical medium, that non-temporarily stores a computer-readable program, data, and the like. The processor 102 includes at least one type, such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a RISC (Reduced Instruction Set Computer)-CPU, a DFP (Data Flow Processor), and a GSP (Graph Streaming Processor), as a core.

[0024] In the target detection device 100, the processor 102 executes a plurality of instructions included in the target detection program stored in the memory 101 in order to detect a target. As a result, the target detection device 100 constructs a plurality of functional blocks for detecting a target. As shown in FIG. 3, the plurality of functional blocks constructed in the target detection device 100 include a basic signal processing block 110, a divided signal processing block 120, a determination block 130, a tracking block 140, and a correction block 150.

[0025] By the cooperation of these blocks 110, a flow of a target detection method (hereinafter referred to as a target detection flow) in which the target detection device 100 detects a target will be described below with reference to FIGS. 4 and 5. This processing flow is repeatedly executed while the host vehicle A is in operation. Note that each "S" in this processing flow means a plurality of steps executed by a plurality of instructions included in the radar program.

[0026] First, in S10 of FIG. 4, the basic signal processing block 110 generates and transmits a basic signal. The basic transmission signal is a radar wave such as a millimeter wave band or a quasi-millimeter wave band. The basic signal processing block 110 generates a chirp wave whose frequency is modulated temporally as a basic signal. Specifically, as shown in FIG. 6, the basic signal processing block 110 uses a waveform that changes from a predetermined initial frequency to a final frequency (for example, gradually decreases) as one chirp, and generates a signal that repeats a plurality of chirps at a predetermined period. The basic signal processing block 110 transmits the basic signal thus generated as a transmission signal. Hereinafter, the transmitted basic signal may be referred to as a basic transmission signal.

[0027] Next, in S20, the basic signal processing block 110 receives, as a basic reception signal, a signal that the basic transmission signal has been reflected by a target and returned.

[0028] In the subsequent S30, the basic signal processing block 110 generates a basic beat signal based on the basic transmission and reception signals. The basic signal processing block 110 generates the basic beat signal by frequency mixing a local signal having the same frequency modulation as the transmission signal with the reception signal. That is, the basic beat signal becomes an interference signal indicating the frequency difference between the transmission signal and the reception signal. Note that the basic signal processing block 110 may filter the basic beat signal so as to extract only the portion indicating the frequency difference by a low-pass filter.

[0029] In the subsequent S40, the basic signal processing block 110 calculates a two-dimensional spectrum regarding distance and relative speed by performing frequency analysis on the basic beat signal. For example, the basic signal processing block 110 calculates the two-dimensional spectrum by performing two FFT (Fast Fourier Transform) processes on the basic beat signal.

[0030] Specifically, the basic signal processing block 110 first performs FFT processing on the basic beat signal for each chirp. By this first FFT process, a frequency spectrum (distance spectrum) indicating a peak at a frequency position corresponding to the distance to the target is obtained for each chirp. The distance spectrum is data indicating the signal intensity for each distance bin according to the distance resolution.

[0031] When the relative speed with respect to the target is not zero, the distance spectra corresponding to the respective chirps show peaks at the same distance bin, but the phases are different from each other between the chirps. This phase difference between the chirps is caused by a change in the distance between the radar device 1 and the target. Utilizing this, in the FCM (Fast Chirp Modulation) method, the relative speed with respect to the target is detected. By these two FFT processes, the basic signal processing block 110 acquires a two-dimensional spectrum regarding distance and relative speed.

[0032] Specifically, as the second FFT process, the basic signal processing block 110 performs an FFT process on a waveform obtained by arranging in time series the phases at distance bins obtained by the first FFT process for a plurality of chirps. As a result, a frequency spectrum (velocity spectrum) indicating a peak at a position corresponding to the relative velocity with respect to the target is obtained for each velocity bin. Depending on the maximum detection velocity, velocity aliasing may occur, and multiple peaks may be shown in the two-dimensional spectrum.

[0033] The peak position in this basic spectrum represents the relative velocity with respect to the target and the distance to the target based on the transmission and reception results of the basic signal. Hereinafter, the observation data of the target based on the transmission and reception results of the basic signal is referred to as basic observation data. The basic observation data is data including information on the relative velocity and distance with respect to the target based on the transmission and reception results of the basic signal, and includes, for example, the basic spectrum.

[0034] In addition, the azimuth of the detection target can be detected based on the irradiation direction of the beam. Also, when the receiving unit 12 includes a plurality of receiving antennas, the azimuth may be detected based on the phase difference of the received signals between the receiving antennas. The radar device 1 outputs the detected detection target information to a driving control ECU (Electronic Control Unit) or the like that controls the driving of the host vehicle A.

[0035] Next, in S50, the split signal processing block 120 generates a split beat signal obtained by virtually splitting the basic beat signal. The split period is set to be shorter than the chirp period of the transmission signal.

[0036] This split beat signal can be assumed to be a beat signal generated from the transmission and reception results obtained by transmitting and receiving a split signal, which is a virtual case where the transmission time and frequency bandwidth of one chirp are smaller than those of the basic signal, based on the basic signal. In the following description, when simply referred to as the transmission time, it means the transmission time of one chirp unless otherwise specified.

[0037] The divided transmission signal, which is the transmission result of the divided signal, and the divided reception signal, which is the reception result of the divided signal, can be assumed by time-division of the basic transmission signal and the basic reception signal for each chirp as shown in FIGS. 6 and 7. In the example shown in FIGS. 6 and 7, one chirp of the divided transmission signal is each of the three equal parts obtained by dividing one chirp of the basic transmission signal in the time direction. That is, it is possible to assume a set of chirps corresponding to the number of divisions from one set of chirps in the basic transmission and reception signals. The transmission time of one chirp (divided transmission time) in the divided transmission signal is shorter than the transmission time of one chirp (basic transmission time) in the basic transmission signal. Note that the divided transmission signal and the divided reception signal can also be said to be those obtained by frequency-division of the basic transmission signal and the basic reception signal for each chirp.

[0038] From such divided transmission and reception signals, a beat signal (divided beat signal) as shown in FIG. 7 can be generated. That is, from the basic beat signal corresponding to one set of chirps of the basic transmission and reception signals, divided beat signals corresponding to the set of the above-described number of divisions (three sets in FIGS. 6 and 7) of chirps can be generated.

[0039] The divided signal processing block 120 may generate a divided transmission and reception signal from the basic transmission and reception signals and generate a divided beat signal based on the divided transmission and reception signal. Alternatively, the divided signal processing block 120 may directly generate a divided beat signal from the basic beat signal.

[0040] Then, in S60, the divided signal processing block 120 calculates a two-dimensional spectrum (divided spectrum) regarding distance and relative speed by performing frequency analysis on the divided beat signal. At this time, the divided signal processing block 120 performs two FFT processes on the divided beat signal in the same manner as the basic beat signal. That is, the divided signal processing block 120 performs the first FFT process on the divided beat signal for each divided period, and performs the second FFT process on the waveform obtained by arranging the phases at the distance bins obtained by the first FFT process in time series.

[0041] The split beat signal is a beat signal generated from a split transmission signal with a shorter transmission time than the basic transmission signal and its reflected wave, the split reception signal, as described above. Therefore, the maximum detection speed when calculating the relative speed based on the split beat signal is higher than the maximum detection speed when calculating the relative speed based on the basic beat signal.

[0042] On the other hand, the split beat signal is a beat signal generated from a split reception signal with a smaller frequency bandwidth per chirp (split bandwidth) than the frequency bandwidth per chirp (basic bandwidth) in the basic signal and its reflected wave. Therefore, the range resolution when calculating the range based on the split beat signal is lower than the range resolution when calculating the range based on the basic beat signal.

[0043] Incidentally, hereinafter, the observation data of the target based on the split beat signal is referred to as split observation data. The split observation data is data including information on the relative speed and range to the target based on the split transmission and reception signals, and includes, for example, a split spectrum.

[0044] In subsequent S70, the split signal processing block 120 corrects the phase of the split spectrum based on the phase correction value described later.

[0045] In subsequent S80 and later in FIG. 5, a tracking process for tracking the time change of the state quantity regarding the detected target based on the basic beat signal and the split beat signal is executed as a sub-process of the radar control process. First, in S80, the tracking block 140 determines whether there is a target being tracked (tracking target) for which the tracking process in the current cycle has not been completed among the targets being tracked in the previous cycle. If it is determined that there is no tracking target for which the tracking process is incomplete, that is, if the tracking process has been completed for all tracking targets, this flow ends.

[0046] If it is determined that there is a tracking target for which the tracking process is incomplete, this flow proceeds to S90. In S90, the tracking block 140 predicts the state quantity (predicted quantity) of the current tracking target based on the state quantity of the tracking target before the previous processing cycle. The predicted quantity includes, for example, relative velocity, distance, and azimuth. The tracking block 140 may calculate the predicted quantity, for example, by executing the prediction step of the Kalman filter. The tracking block 140 sequentially provides the calculated predicted quantity to the confirmation block 130.

[0047] In the subsequent S100, the confirmation block 130 performs an association between the predicted quantity in S90 and the basic observation data included in the basic spectrum. In this association process, when there is basic observation data associated with the predicted quantity, the confirmation block 130 associates these two parameters. For example, when the basic observation data is included within a predetermined range including the predicted quantity, the predicted quantity and the basic observation data are associated. Also, when there is no peak associated with the predicted quantity, the confirmation block 130 outputs the result of association failure.

[0048] Then, in S110, the tracking block 140 determines whether the target confirmation condition for the tracking target is satisfied. The target confirmation condition is a condition that is satisfied when the tracking target can be confirmed. For example, the target confirmation condition is considered to be satisfied when the association between the predicted quantity of the tracking target and the basic observation data in S100 has been successful for a specified number of cycles. In other words, the target confirmation condition is satisfied when the tracking of the tracking target has been successful for a specified number of cycles.

[0049] If, in S110, the target confirmation condition is not satisfied, that is, the number of successful associations is less than the specified number of cycles or the association fails, this flow proceeds to S120. In S120, the confirmation block 130 performs an association between the basic observation data and the divided observation data. For example, the confirmation block 130 pairs the peaks of the observation data whose relative velocity and distance ranges are each within a predetermined range (see FIG. 8).

[0050] In the subsequent S130, based on the result of the association, the determination block 130 determines the observation data (determined observation data) of the detection target. For example, the determination block 130 adopts the basic observation data among the successfully paired basic observation data and divided observation data as the determined observation data.

[0051] Through such processing, even when multiple peaks are detected in the basic spectrum due to a low maximum detection speed, the observation data of the detection target can be determined based on the peak of the divided spectrum with a high maximum detection speed. In the example shown in FIG. 8, the determination block 130 determines the relative speed and distance of the peak closer to the peak detected in the divided spectrum among the two peaks detected in the basic spectrum as the detection result.

[0052] In the subsequent S140, the tracking block 140 executes an estimation process of estimating the state quantity of the detection target in the current cycle based on the predicted quantity and the determined observation data. Note that the state quantity calculated in this step is hereinafter referred to as the estimated quantity.

[0053] The tracking block 140 may calculate the estimated quantity, for example, by executing the estimation step of the Kalman filter. If the association between the predicted quantity and the basic observation data fails in S100, that is, when it is determined that the detection target is a new target that is not the tracked target, the tracking block 140 may simply determine the determined observation data as the estimated quantity. The calculated estimated quantity is used in the calculation of the predicted quantity after the next cycle.

[0054] Next, the correction value calculation process in the detection process will be described with reference to FIG. 9.

[0055] First, in S210, the basic signal processing block 110 transmits a chirp signal, which is a predetermined frequency-modulated wave, as a transmission signal.

[0056] Next, in S220, the basic signal processing block 110 receives, as a received signal, the signal that the transmission signal is reflected by the target and returned.

[0057] Next, in S230, the split signal processing block 120 generates a split beat signal.

[0058] Then, in S240, the split signal processing block 120 calculates a distance spectrum by performing distance FFT processing on the split beat signal.

[0059] In the subsequent S250, the correction block 150 calculates a correction value for correcting the phase angle for each chirp in the split beat signal. The correction block 150 calculates a phase correction value for each chirp signal based on the initial phases of a plurality of chirp signals. Specifically, the correction block 150 first performs FFT processing on each chirp of the split beat signal to calculate a distance spectrum. The correction block 150 calculates a correction value based on the received signal (stationary signal) from the stationary target from the distance spectrum.

[0060] Specifically, the correction block 150 calculates a correction value that aligns the phase angles of the peaks of the stationary signals in each chirp. For example, as shown in FIG. 10, when a split beat signal is generated by dividing one chirp of the transmission signal into three parts, the peaks A1, A2, and A3 of the stationary signals in each chirp are represented by the following equations (1), (2), and (3) using the phase angles θ1, θ2, and θ3.

[0061] (Equation 1) A1 = cosθ1 + isinθ1 ···(1)

[0062] (Equation 2) A2 = cosθ2 + isinθ2 ···(2)

[0063] (Equation 3) A3 = cosθ3 + isinθ3 ···(3) The correction block 150 calculates a correction value for the phase angle so that the phase angles θ2 and θ3 are equal to the phase angle θ1. The correction block stores the calculated correction value in a storage medium such as the memory 101. The stored correction value is sequentially used in the process of S70 described above.

[0064] Note that the correction block 150 may calculate the correction value based on the received signal including the reflected signals from a plurality of stationary targets located at different distances. In this case, the correction block 150 calculates different correction values for each distance based on each stationary signal corresponding to each stationary target. Then, the correction value corresponding to each distance bin of the divided spectrum is applied in the process of S70.

[0065] According to the first embodiment described above, in addition to the basic observation data according to the actual transmission and reception result of the basic signal, the divided observation data based on the assumed transmission and reception result of the divided signal that can be generated by dividing the basic signal is acquired. Since the basic signal has a higher range resolution than the divided signal and the divided signal has a higher maximum detection speed than the basic signal, the detection result of the target is determined based on at least one of the basic observation data and the divided observation data, so that the maximum detection speed and the range resolution can be compatible. Furthermore, since the actually transmitted signal is only the basic signal, it is possible to suppress the elongation of the update cycle of target detection. As described above, it is possible to suppress the elongation of the update cycle of target detection while achieving both the maximum detection speed and the range resolution.

[0066] (Second Embodiment) As shown in FIG. 11, the second embodiment is a modification of the first embodiment.

[0067] When the predicted amount is calculated in S90 in the second embodiment, this flow proceeds to S110. In S110, it is determined whether or not the target determination condition is satisfied. In the second embodiment, the tracking block 140 determines that the target determination condition is satisfied when the tracking of the tracked target based on the predicted amount and the confirmed observation data has been successful for a specified number of cycles up to the previous time.

[0068] When it is determined that the target determination condition is satisfied, this flow proceeds to S111. In S111, the determination block 130 performs an association between the predicted amount in S90 and the basic observation data included in the basic spectrum. This process is the same as the process of S100 in the first embodiment. That is, when the target determination condition is satisfied, the basic observation data is used as the determined observation data for target tracking (see FIG. 12).

[0069] On the other hand, when the target determination condition is not satisfied in S110, this flow proceeds to S115. In S115, the determination block 130 performs an association between the predicted amount and the divided observation data. That is, when the target determination condition is not satisfied, the divided observation data is used as the determined observation data for target tracking (see FIG. 12).

[0070] In the subsequent S130, the determination block 130 determines the detection result of the tracking target based on the result of the association. That is, when the target determination condition is satisfied, the determination block 130 adopts the basic observation data as the determined observation data for determining the relative speed and distance. On the other hand, when the target determination condition is not satisfied, the determination block 130 adopts the divided observation data as the determined observation data for determining the relative speed and distance. After the process of S130, this flow proceeds to S140, and calculates the estimated amount of the tracking target in the current cycle. The calculation method of the estimated amount is the same as that of the first embodiment.

[0071] (Third Embodiment) As shown in FIG. 13, the third embodiment is a modification of the first embodiment.

[0072] In the third embodiment, after the process of S40, the flow of FIG. 13 proceeds to S51. In S51, the divided signal processing block 120 generates a divided beat signal according to the vehicle speed. For example, the divided signal processing block 120 changes the bandwidth and the number of chirps of the divided transmission signal when the vehicle speed is in the low-speed region and when it is in the high-speed region higher than the low-speed region.

[0073] Specifically, when the vehicle speed is in the low-speed range, the split signal processing block 120 generates a split transmission signal such that the bandwidth of one chirp is larger than that in the high-speed range. For example, as shown in FIG. 14, in the low-speed range, the split signal processing block 120 generates a split transmission signal such that the bandwidth is one-third of the basic transmission signal. On the other hand, in the high-speed range, the split transmission signal is generated such that the bandwidth is one-sixth of the basic transmission signal.

[0074] Thereby, in the low-speed range, distance resolution is prioritized for high-precision recognition, and in the high-speed range, maximum detection speed priority can be prioritized because the relative speed with respect to stationary targets and low-speed targets tends to be high.

[0075] Note that the split signal processing block 120 may generate a split transmission signal such that the total modulation time, which is the transmission time of the chirp signal in one transmission cycle, is smaller in the high-speed range than in the low-speed range. For example, as shown in FIG. 15, in the high-speed range, the split transmission signal is generated such that the total modulation time is two-thirds of that in the low-speed range. Thereby, since the number of chirps is reduced, the processing load can be suppressed in the high-speed range where the number of chirps tends to increase.

[0076] (Fourth Embodiment) As shown in FIGS. 16 and 17, the fourth embodiment is a modification of the first embodiment.

[0077] In the fourth embodiment, the determination block 130 generates a combined spectrum obtained by combining the basic spectrum and the split spectrum. The determination block 130 determines the distance and the relative speed based on the peak of this combined spectrum.

[0078] Specifically, in FIG. 16, when it is determined at S110 that the target determination condition is not satisfied, this flow proceeds to S125. At S125, the determination block 130 generates a combined spectrum obtained by combining the basic spectrum and the split spectrum as shown in FIG. 17.

[0079] In S130 following S125, the determination block 130 determines the distance and relative speed based on this composite spectrum.

[0080] (Other embodiments) Although a plurality of embodiments have been described above, the present disclosure is not construed as being limited to those embodiments, and can be applied to various embodiments and combinations without departing from the gist of the present disclosure.

[0081] In a modification, the split signal processing block 120 may decimate the chirps of the split transmission and reception signal so that the number of chirps of the split transmission and reception signal corresponding to one chirp of the basic transmission and reception signal is smaller than the number of splits. For example, in the example shown in FIG. 18, the chirps of the split transmission and reception signal are decimated so that the number of chirps of the split transmission and reception signal corresponding to one chirp of the basic transmission and reception signal is two, which is smaller than the number of splits of one chirp of the basic transmission and reception signal, which is three.

[0082] In a modification, the split signal processing block 120 may generate a split transmission signal so that the total modulation time of the split transmission signal is shorter than the total modulation time of the basic transmission signal (see, for example, FIG. 19).

[0083] In a modification, the split signal processing block 120 may generate a split transmission signal so that the frequency band of the split transmission signal is randomly decimated from the frequency band of the basic transmission signal (see, for example, FIG. 20). Note that decimating the chirp signals so that the decimation positions are different between the split signal corresponding to a specific chirp signal in the basic signal and the split signals corresponding to at least one other chirp signal in the basic signal corresponds to random decimation.

[0084] In a modification, the split signal processing block 120 may generate a plurality of split signals having different transmission times and frequency bandwidths (see, for example, FIG. 21). In this case, the determination block 130 may appropriately select the split spectrum associated with the basic spectrum based on the presence or absence of velocity aliasing or the like.

[0085] In a modified example, the dedicated computer that constitutes the target detection device 100 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is, for example, at least one type among ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), and CPLD (Complex Programmable Logic Device). Also, such a digital circuit may have a memory that stores a program.

[0086] In a modified example, the host moving body to which the target detection device 100 is applied may be, for example, an autonomous mobile robot capable of carrying luggage or collecting information by autonomous driving or remote driving.

[0087] In addition to the above-described explanatory forms, the target detection device 100 according to the above-described embodiments and modification examples may be implemented as a processing device (for example, a processing ECU or the like) mounted on the host vehicle A. Also, the above-described embodiments and modification examples may be implemented as a semiconductor device (for example, a semiconductor chip or the like) having at least one of the processor 102 and the memory 101 of the target detection device 100. Also, the target detection device 100 may be implemented as a target detection system including a plurality of processing devices capable of communicating with each other.

Explanation of Reference Numerals

[0088] 100: Target detection device, 101: Memory (storage medium), 102: Processor, A: Host vehicle (host moving body)

Claims

1. A target detection device having a processor (102), mounted on a host moving body (A), and detecting the target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, wherein the processor is configured to: acquire basic observation data, which is observation data of the target corresponding to an actual transmission / reception result of a basic signal that is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; acquire divided observation data, which is observation data of the target corresponding to a transmission / reception result assumed for divided signals that can be generated by dividing the basic signal and in which a transmission time and a frequency bandwidth per chirp signal are smaller than those of the basic signal; determine a detection result of the target based on at least one of the basic observation data and the divided observation data; and is configured to execute the above, wherein acquiring the basic observation data includes calculating a basic spectrum, which is a two-dimensional spectrum of the distance and relative speed of the target obtained by performing a two-dimensional fast Fourier transform on a basic beat signal acquired by mixing transmission data and reception data of the basic signal; wherein acquiring the divided observation data includes calculating a divided spectrum, which is a two-dimensional spectrum of the distance and the relative speed of the target obtained by performing a two-dimensional fast Fourier transform on a divided beat signal assumed to be acquired by mixing the transmission data and the reception data of the divided signal; and determining the detection result includes determining the distance and the relative speed based on the basic spectrum and the divided spectrum. A target detection device.

2. The target detection device according to claim 1, wherein determining the detection result includes determining the distance and the relative speed based on a peak of a composite spectrum obtained by combining the basic spectrum and the divided spectrum.

3. The target detection device according to claim 1, wherein determining the detection result includes determining the distance and the relative speed by performing pairing of peaks of the basic spectrum and the divided spectrum.

4. The target detection device is further configured to track the target in time series based on the basic observation data and the divided observation data. Tracking the object target in time series includes determining whether a target determination condition is satisfied, where the current detected object target is the object target being tracked. Determining the detection result includes determining the detection result based on both the basic observation data and the divided observation data for the detected object target for which the target determination condition is not satisfied, and determining the detection result based on the basic observation data among the basic observation data and the divided observation data for the detected object target for which the target determination condition is satisfied. The object target detection device according to any one of claims 1 to 3.

5. Determining the detection result is configured to include selecting, from the basic observation data and the divided observation data, what is to be determined as the detection result. The object target detection device according to claim 1.

6. Based on the basic observation data and the divided observation data, it is further configured to perform tracking the object target in time series. Tracking the object target in time series includes determining whether a target determination condition is satisfied, where the current detected object target is the object target being tracked. Determining the detection result includes determining the detection result based on the divided observation data among the basic observation data and the divided observation data for the detected object target for which the target determination condition is not satisfied, and determining the detection result based on the basic observation data among the basic observation data and the divided observation data for the detected object target for which the target determination condition is satisfied. The object target detection device according to claim 5.

7. An object target detection device having a processor (102), mounted on a host moving body (A), and detecting the object target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the object target. The processor is acquiring basic observation data, which is observation data of the object target corresponding to the actual transmission / reception result of a basic signal, which is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time. acquiring divided observation data, which is observation data of the object target corresponding to the assumed transmission / reception result for divided signals, each of which has a transmission time and a frequency bandwidth smaller than those of the basic signal and can be generated by dividing the basic signal. tracking the object target in time series based on the basic observation data and the divided observation data. Based on at least one of the basic observation data and the divided observation data, determining the detection result of the target; configured to execute; Tracking the target in time series includes determining whether a target determination condition is satisfied, where the currently detected target is the target being tracked; Determining the detection result includes, for the detected target for which the target determination condition is not satisfied, determining the detection result based on both the basic observation data and the divided observation data, and for the detected target for which the target determination condition is satisfied, determining the detection result based on the basic observation data among the basic observation data and the divided observation data. A target detection device.

8. A target detection device having a processor (102), mounted on a host moving body (A), and detecting the target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, The processor, acquiring basic observation data, which is observation data of the target corresponding to the actual transmission / reception result of a basic signal that is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; acquiring divided observation data, which is observation data of the target corresponding to the assumed transmission / reception result for divided signals that can be generated by dividing the basic signal, where the transmission time and frequency bandwidth per chirp signal are smaller than those of the basic signal; tracking the target in time series based on the basic observation data and the divided observation data; based on at least one of the basic observation data and the divided observation data, determining the detection result of the target; configured to execute; Determining the detection result includes selecting what is to be determined as the detection result from the basic observation data and the divided observation data; Tracking the target in time series includes determining whether a target determination condition is satisfied, where the currently detected target is the target being tracked; Determining the detection result includes, for the detected target for which the target determination condition is not satisfied, determining the detection result based on the divided observation data among the basic observation data and the divided observation data, and for the detected target for which the target determination condition is satisfied, determining the detection result based on the basic observation data among the basic observation data and the divided observation data. A target detection device.

9. The target detection device according to any one of claims 1 to 8, further configured to correct the phase of each of the chirp signals in the division signal.

10. A target detection device having a processor (102), mounted on a host moving body (A), and detecting the target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, wherein the processor obtains basic observation data, which is observation data of the target corresponding to an actual transmission / reception result of a basic signal that is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; obtains division observation data, which is observation data of the target corresponding to a transmission / reception result assumed for a division signal that can be generated by dividing the basic signal and in which a transmission time and a frequency bandwidth per chirp signal are smaller than those of the basic signal; corrects the phase of each chirp signal in the division signal; determines a detection result of the target based on at least one of the basic observation data and the division observation data; and is configured to execute the above.

11. The target detection device according to claim 10, wherein determining the detection result includes selecting what is determined as the detection result from the basic observation data and the division observation data.

12. The target detection device according to any one of claims 9 to 11, wherein correcting the phase includes calculating a correction value of the phase in each chirp signal based on an initial phase of a plurality of chirp signals in the division signal.

13. The target detection device according to claim 12, wherein correcting the phase includes calculating the correction value of the phase based on the initial phase when a stationary target is detected, for a plurality of chirp signals of the division signal corresponding to one chirp signal in the basic signal.

14. The target detection device according to claim 13, wherein correcting the phase includes calculating the correction value of the phase based on the initial phases of a plurality of chirp signals of the division signal corresponding to one chirp signal in the basic signal in which a plurality of stationary targets located at different distances are detected.

15. Obtaining the division observation data includes The method according to any one of claims 1 to 14, comprising thinning out the chirp signals in the divided signals such that the number of chirp signals in the divided signals corresponding to one of the chirp signals in the basic signal is smaller than the number of divisions of the basic signal, and obtaining divided observation data corresponding to the assumed transmission / reception result of the thinned-out divided signals.

16. Obtaining the divided observation data The method according to any one of claims 1 to 14, comprising obtaining divided observation data corresponding to the assumed transmission / reception result of each of the divided signals thinned out such that the thinning positions are different between the divided signal corresponding to a specific chirp signal in the basic signal and the divided signal corresponding to at least one other chirp signal in the basic signal.

17. Obtaining the divided observation data The method according to any one of claims 1 to 14, comprising thinning out the chirp signals in the divided signals such that the total modulation time of the divided signals is shorter than the total modulation time of the basic signal, and obtaining divided observation data corresponding to the assumed transmission / reception result of the thinned-out divided signals.

18. Obtaining the divided observation data The method according to any one of claims 1 to 14, comprising changing at least one of the frequency bandwidth, the number of chirp signals, and the total modulation time in the divided signals according to the speed of the host mobile body.

19. A target detection device having a processor (102) and mounted on a host mobile body (A), for detecting the target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, wherein the processor obtains basic observation data, which is observation data of the target corresponding to the actual transmission / reception result of a basic signal, which is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; and obtains divided observation data, which is observation data of the target corresponding to the assumed transmission / reception result of divided signals that can be generated by dividing the basic signal, and in which the transmission time and the frequency bandwidth per chirp signal are smaller than those of the basic signal. Based on at least one of the basic observation data and the divided observation data, determining the detection result of the target; configured to execute; Obtaining the divided observation data includes: A target detection device that includes obtaining the divided observation data corresponding to the assumed transmission and reception results for each of the divided signals obtained by thinning out the chirp signals so that the thinned-out positions are different between the divided signal corresponding to a specific chirp signal in the basic signal and the divided signal corresponding to at least one other chirp signal in the basic signal.

20. A target detection device having a processor (102), mounted on a host moving body (A), and detecting the target based on a transmission and reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, The processor: Obtaining basic observation data, which is observation data of the target corresponding to the actual transmission and reception result of a basic signal that is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; Obtaining divided observation data, which is observation data of the target corresponding to the assumed transmission and reception result for divided signals that can be generated by dividing the basic signal and in which the transmission time and frequency bandwidth per chirp signal are smaller than those of the basic signal; Based on at least one of the basic observation data and the divided observation data, determining the detection result of the target; configured to execute; Obtaining the divided observation data includes: A target detection device including changing at least one of the frequency bandwidth, the number of chirp signals, and the total modulation time in the divided signal according to the speed of the host moving body.

21. The target detection device according to claim 19 or claim 20, wherein determining the detection result includes selecting what is to be determined as the detection result from the basic observation data and the divided observation data.

22. The target detection device according to any one of claims 1 to 21, wherein obtaining the divided observation data includes obtaining a plurality of divided observation data corresponding to the assumed transmission and reception results for a plurality of divided signals in which the transmission time and frequency bandwidth per chirp signal are different from each other. A target detection device having a processor (102), mounted on a host mobile body (A), and detecting the target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, wherein: the processor: acquires basic observation data, which is observation data of the target corresponding to an actual transmission / reception result of a basic signal, which is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; acquires divided observation data, which is observation data of the target corresponding to a transmission / reception result assumed for a divided signal that can be generated by dividing the basic signal and has a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal; determines a detection result of the target based on at least one of the basic observation data and the divided observation data; is configured to execute; and acquiring the divided observation data includes acquiring a plurality of divided observation data corresponding to transmission / reception results assumed for a plurality of divided signals having different transmission times and frequency bandwidths per chirp signal. A target detection device. The target detection device according to claim 23, wherein determining the detection result includes selecting, from the basic observation data and the divided observation data, what is to be determined as the detection result. Acquiring the divided observation data includes: decimating the chirp signals in the divided signal so that the number of chirp signals of the divided signal corresponding to one chirp signal in the basic signal is smaller than the number of divisions of the basic signal, and acquiring the divided observation data corresponding to the transmission / reception result assumed for the decimated divided signal. The target detection device according to claim 23 or claim 24. Acquiring the divided observation data includes: decimating the chirp signals in the divided signal so that the total modulation time of the divided signal is shorter than the total modulation time of the basic signal, and acquiring the divided observation data corresponding to the transmission / reception result assumed for the decimated divided signal. The target detection device according to claim 23 or claim 24. Claim 27 A target detection system having a processor (102), which detects the target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, The processor obtains basic observation data, which is observation data of the target corresponding to an actual transmission / reception result of a basic signal that is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time, obtains divided observation data, which is observation data of the target corresponding to a transmission / reception result assumed for divided signals that can be generated by dividing the basic signal and in which the transmission time and frequency bandwidth per chirp signal are smaller than those of the basic signal, determines a detection result of the target based on at least one of the basic observation data and the divided observation data, is configured to execute, Obtaining the basic observation data includes calculating a basic spectrum, which is a two-dimensional spectrum of the distance and relative speed of the target obtained by performing a two-dimensional fast Fourier transform on a basic beat signal obtained by mixing transmission data and reception data of the basic signal, Obtaining the divided observation data includes calculating a divided spectrum, which is a two-dimensional spectrum of the distance and the relative speed of the target obtained by performing a two-dimensional fast Fourier transform on a divided beat signal assumed to be obtained by mixing the transmission data and the reception data of the divided signal, Determining the detection result includes determining the distance and the relative speed based on the basic spectrum and the divided spectrum. A target detection system.

28. A target detection system having a processor (102), which detects the target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, The processor obtains basic observation data, which is observation data of the target corresponding to an actual transmission / reception result of a basic signal that is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time, obtains divided observation data, which is observation data of the target corresponding to a transmission / reception result assumed for divided signals that can be generated by dividing the basic signal and in which the transmission time and frequency bandwidth per chirp signal are smaller than those of the basic signal, Tracking the target in time series based on the basic observation data and the divided observation data; Determining the detection result of the target based on at least one of the basic observation data and the divided observation data; configured to execute; Tracking the target in time series includes determining whether a target determination condition is satisfied, where the currently detected target is the target being tracked; Determining the detection result includes determining the detection result based on both the basic observation data and the divided observation data for the detected target for which the target determination condition is not satisfied, and determining the detection result based on the basic observation data among the basic observation data and the divided observation data for the detected target for which the target determination condition is satisfied. A target detection system.

29. A target detection system having a processor (102) and detecting the target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, The processor, acquiring basic observation data, which is observation data of the target corresponding to the actual transmission / reception result of a basic signal, which is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; acquiring divided observation data, which is observation data of the target corresponding to the assumed transmission / reception result of a divided signal that can be generated by dividing the basic signal and has a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal; tracking the target in time series based on the basic observation data and the divided observation data; determining the detection result of the target based on at least one of the basic observation data and the divided observation data; configured to execute; Determining the detection result includes selecting what is determined as the detection result from the basic observation data and the divided observation data; Tracking the target in time series includes determining whether a target determination condition is satisfied, where the currently detected target is the target being tracked; Determining the detection result includes determining the detection result based on the divided observation data among the basic observation data and the divided observation data for the detected object target for which the object target determination condition is not satisfied, and determining the detection result based on the basic observation data among the basic observation data and the divided observation data for the detected object target for which the object target determination condition is satisfied. A target detection system.

30. A target detection system having a processor (102) and detecting the target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, The processor, acquiring basic observation data, which is observation data of the target corresponding to the actual transmission / reception result of a basic signal that is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time, acquiring divided observation data, which is observation data of the target corresponding to the assumed transmission / reception result for a divided signal that can be generated by dividing the basic signal and has a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal, correcting the phase of each chirp signal in the divided signal, determining a detection result of the target based on at least one of the basic observation data and the divided observation data; A target detection system configured to execute.

31. A target detection system having a processor (102) and detecting the target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, The processor, acquiring basic observation data, which is observation data of the target corresponding to the actual transmission / reception result of a basic signal that is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time, acquiring divided observation data, which is observation data of the target corresponding to the assumed transmission / reception result for a divided signal that can be generated by dividing the basic signal and has a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal, determining a detection result of the target based on at least one of the basic observation data and the divided observation data; configured to execute, Acquiring the divided observation data is A target detection system including obtaining split observation data corresponding to the transmission and reception results assumed for each of the split signals decimated such that locations decimated by the split signal corresponding to a specific chirp signal in the basic signal and the split signal corresponding to at least one other chirp signal in the basic signal are different.

32. A target detection system having a processor (102) and detecting a target around a host moving body (A) based on a transmission and reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, The processor, obtaining basic observation data which is observation data of the target corresponding to the actual transmission and reception result of a basic signal which is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change with time, obtaining split observation data which is observation data of the target corresponding to the transmission and reception result assumed for a split signal that can be generated by splitting the basic signal and has a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal, determining a detection result of the target based on at least one of the basic observation data and the split observation data, is configured to execute, Obtaining the split observation data, includes changing at least one of the frequency bandwidth, the number of chirp signals, and the total modulation time in the split signal according to the speed of the host moving body. A target detection system.

33. A target detection system having a processor (102) and detecting the target based on a transmission and reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, The processor, obtaining basic observation data which is observation data of the target corresponding to the actual transmission and reception result of a basic signal which is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change with time, obtaining split observation data which is observation data of the target corresponding to the transmission and reception result assumed for a split signal that can be generated by splitting the basic signal and has a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal, determining a detection result of the target based on at least one of the basic observation data and the split observation data, is configured to execute, Obtaining the divided observation data includes obtaining a plurality of divided observation data corresponding to the transmission and reception results assumed for a plurality of divided signals in which the transmission time and the frequency bandwidth per one chirp signal are different from each other, in a target detection system.

34. A target detection method executed by a processor (102) for detecting the target based on a transmission and reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, obtaining basic observation data which is the observation data of the target corresponding to the actual transmission and reception result of a basic signal which is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time, obtaining divided observation data which is the observation data of the target corresponding to the transmission and reception result assumed for a divided signal which can be generated by dividing the basic signal, and in which the transmission time and the frequency bandwidth per one chirp signal are smaller than those of the basic signal, determining a detection result of the target based on at least one of the basic observation data and the divided observation data, comprising: Obtaining the basic observation data includes calculating a basic spectrum which is a two-dimensional spectrum of the distance and the relative speed of the target obtained by performing a two-dimensional fast Fourier transform on a basic beat signal obtained by mixing transmission data and reception data of the basic signal. Obtaining the divided observation data includes calculating a divided spectrum which is a two-dimensional spectrum of the distance and the relative speed of the target obtained by performing a two-dimensional fast Fourier transform on a divided beat signal assumed to be obtained by mixing the transmission data and the reception data of the divided signal. Determining the detection result includes determining the distance and the relative speed based on the basic spectrum and the divided spectrum, in a target detection method.

35. A target detection method executed by a processor (102) for detecting the target based on a transmission and reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, obtaining basic observation data which is the observation data of the target corresponding to the actual transmission and reception result of a basic signal which is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time, Obtaining divided observation data, which is the observation data of the target according to the assumed transmission and reception result of a divided signal whose transmission time and frequency bandwidth per chirp signal, which can be generated by dividing the basic signal, are smaller than those of the basic signal; Tracking the target in time series based on the basic observation data and the divided observation data; Determining the detection result of the target based on at least one of the basic observation data and the divided observation data; including; Tracking the target in time series includes determining whether a target determination condition is satisfied, where the currently detected target is the target being tracked; Determining the detection result includes determining the detection result based on both the basic observation data and the divided observation data for the detected target for which the target determination condition is not satisfied, and determining the detection result based on the basic observation data among the basic observation data and the divided observation data for the detected target for which the target determination condition is satisfied. This is a target detection method.

36. A target detection method executed by a processor (102) for detecting a target based on a transmission and reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, Obtaining basic observation data, which is the observation data of the target according to the actual transmission and reception result of a basic signal that is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; Obtaining divided observation data, which is the observation data of the target according to the assumed transmission and reception result of a divided signal whose transmission time and frequency bandwidth per chirp signal, which can be generated by dividing the basic signal, are smaller than those of the basic signal; Tracking the target in time series based on the basic observation data and the divided observation data; Determining the detection result of the target based on at least one of the basic observation data and the divided observation data; including; Determining the detection result includes selecting what is to be determined as the detection result from the basic observation data and the divided observation data; Tracking the target in time series includes determining whether a target determination condition is satisfied, where the currently detected target is the target being tracked; Determining the detection result includes determining the detection result based on the divided observation data among the basic observation data and the divided observation data for the detected object target for which the object target determination condition is not satisfied, and determining the detection result based on the basic observation data among the basic observation data and the divided observation data for the detected object target for which the object target determination condition is satisfied. This is an object target detection method.

37. A method for detecting an object target, executed by a processor (102), based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the object target, obtaining basic observation data, which is observation data of the object target corresponding to the actual transmission / reception result of a basic signal that is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; obtaining divided observation data, which is observation data of the object target corresponding to the assumed transmission / reception result for divided signals that can be generated by dividing the basic signal and for which the transmission time and frequency bandwidth per chirp signal are smaller than those of the basic signal; correcting the phase of each chirp signal in the divided signal; determining a detection result of the object target based on at least one of the basic observation data and the divided observation data; An object target detection method including the above.

38. A method for detecting an object target, executed by a processor (102), based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the object target, obtaining basic observation data, which is observation data of the object target corresponding to the actual transmission / reception result of a basic signal that is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; obtaining divided observation data, which is observation data of the object target corresponding to the assumed transmission / reception result for divided signals that can be generated by dividing the basic signal and for which the transmission time and frequency bandwidth per chirp signal are smaller than those of the basic signal; determining a detection result of the object target based on at least one of the basic observation data and the divided observation data; including Obtaining the divided observation data A target detection method including obtaining divided observation data corresponding to the transmission and reception results assumed for each of the divided signals obtained by decimating the chirp signals such that the decimated locations are different between the divided signal corresponding to a specific chirp signal in the basic signal and the divided signal corresponding to at least one other chirp signal in the basic signal.

39. A target detection method executed by a processor (102) for detecting a target around a host mobile body (A) based on a transmission and reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, obtaining basic observation data which is the observation data of the target corresponding to the actual transmission and reception result of a basic signal which is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; obtaining divided observation data which is the observation data of the target corresponding to the transmission and reception result assumed for a divided signal which can be generated by dividing the basic signal and in which the transmission time and the frequency bandwidth per chirp signal are smaller than those of the basic signal; determining a detection result of the target based on at least one of the basic observation data and the divided observation data; including obtaining the divided observation data includes a target detection method including changing at least one of the frequency bandwidth, the number of chirp signals, and the total modulation time in the divided signal according to the speed of the host mobile body.

40. A target detection method executed by a processor (102) for detecting the target based on a transmission and reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, obtaining basic observation data which is the observation data of the target corresponding to the actual transmission and reception result of a basic signal which is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; obtaining divided observation data which is the observation data of the target corresponding to the transmission and reception result assumed for a divided signal which can be generated by dividing the basic signal and in which the transmission time and the frequency bandwidth per chirp signal are smaller than those of the basic signal; determining a detection result of the target based on at least one of the basic observation data and the divided observation data; including The acquisition of the divided observation data includes acquiring a plurality of divided observation data corresponding to the transmission and reception results assumed for a plurality of divided signals in which the transmission time and the frequency bandwidth per one chirp signal are different from each other, in a target detection method.

41. A target detection program stored in a storage medium (101) and executed by a processor (102) for detecting the target based on a transmission and reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, The instructions are acquiring basic observation data, which is observation data of the target corresponding to the actual transmission and reception result of a basic signal, which is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time, acquiring divided observation data, which is observation data of the target corresponding to the transmission and reception result assumed for a divided signal that can be generated by dividing the basic signal and in which the transmission time and the frequency bandwidth per one chirp signal are smaller than those of the basic signal, determining a detection result of the target based on at least one of the basic observation data and the divided observation data, including The acquisition of the basic observation data includes calculating a basic spectrum, which is a two-dimensional spectrum of the distance and relative speed of the target obtained by performing a two-dimensional fast Fourier transform on a basic beat signal obtained by mixing transmission data and reception data of the basic signal. The acquisition of the divided observation data includes calculating a divided spectrum, which is a two-dimensional spectrum of the distance and the relative speed of the target obtained by performing a two-dimensional fast Fourier transform on a divided beat signal assumed to be obtained by mixing the transmission data and the reception data of the divided signal. Determining the detection result includes determining the distance and the relative speed based on the basic spectrum and the divided spectrum, in the target detection program.

42. A target detection program stored in a storage medium (101) and executed by a processor (102) for detecting the target based on a transmission and reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, The instructions are causing to obtain basic observation data which is observation data of the target according to an actual transmission / reception result of a basic signal which is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; causing to obtain divided observation data which is observation data of the target according to an assumed transmission / reception result of a divided signal which is generated by dividing the basic signal and has a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal; tracking the target in time series based on the basic observation data and the divided observation data; determining a detection result of the target based on at least one of the basic observation data and the divided observation data; including; tracking the target in time series includes determining whether a target determination condition that a currently detected target is the target being tracked is satisfied; determining the detection result includes determining the detection result based on both the basic observation data and the divided observation data for the detected target for which the target determination condition is not satisfied, and determining the detection result based on the basic observation data among the basic observation data and the divided observation data for the detected target for which the target determination condition is satisfied. A target detection program.

43. A target detection program stored in a storage medium (101) and executed by a processor (102) for detecting the target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, the instructions are causing to obtain basic observation data which is observation data of the target according to an actual transmission / reception result of a basic signal which is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; causing to obtain divided observation data which is observation data of the target according to an assumed transmission / reception result of a divided signal which is generated by dividing the basic signal and has a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal; tracking the target in time series based on the basic observation data and the divided observation data, determining a detection result of the target based on at least one of the basic observation data and the divided observation data; including; Determining the detection result includes causing selection of what is determined as the detection result from the basic observation data and the divided observation data. Tracking the target over time includes determining whether a target determination condition is satisfied, where the current detected target is the target being tracked. Determining the detection result includes, for a detected target for which the target determination condition is not satisfied, determining the detection result based on the divided observation data among the basic observation data and the divided observation data, and for a detected target for which the target determination condition is satisfied, determining the detection result based on the basic observation data among the basic observation data and the divided observation data, which is a target detection program. A target detection program stored in a storage medium (101) and executed by a processor (102) for detecting a target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, comprising: The instructions are: acquiring basic observation data, which is observation data of the target corresponding to the actual transmission / reception result of a basic signal that is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; acquiring divided observation data, which is observation data of the target corresponding to the assumed transmission / reception result for a divided signal that can be generated by dividing the basic signal and has a transmission time and a frequency bandwidth per chirp signal smaller than those of the basic signal; correcting the phase of each chirp signal in the divided signal; determining a detection result of the target based on at least one of the basic observation data and the divided observation data; and a target detection program including the above. A target detection program stored in a storage medium (101) and executed by a processor (102) for detecting a target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target, comprising: The instructions are: acquiring basic observation data, which is observation data of the target corresponding to the actual transmission / reception result of a basic signal that is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; Causing to obtain divided observation data, which is observation data of the target according to the transmission / reception result assumed for a divided signal in which the transmission time and the frequency bandwidth per one chirp signal, which can be generated by dividing the basic signal, are smaller than those of the basic signal. Determining a detection result of the target based on at least one of the basic observation data and the divided observation data. Including The causing to obtain the divided observation data Is a target detection program including causing to obtain the divided observation data according to the transmission / reception result assumed for each divided signal in which the chirp signal is decimated such that the decimated locations are different between the divided signal corresponding to a specific chirp signal in the basic signal and the divided signal corresponding to at least one other chirp signal in the basic signal. A target detection program stored in a storage medium (101) and causing a processor (102) to execute, for detecting a target around a host mobile body (A) based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target. The instructions Causing to obtain basic observation data, which is observation data of the target according to the actual transmission / reception result of a basic signal, which is an electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time. Causing to obtain divided observation data, which is observation data of the target according to the transmission / reception result assumed for a divided signal in which the transmission time and the frequency bandwidth per one chirp signal, which can be generated by dividing the basic signal, are smaller than those of the basic signal. Determining a detection result of the target based on at least one of the basic observation data and the divided observation data. Including The causing to obtain the divided observation data Is a target detection program including changing at least one of the frequency bandwidth, the number of chirp signals, and the total modulation time in the divided signal according to the speed of the host mobile body. A target detection program stored in a storage medium (101) and causing a processor (102) to execute, for detecting the target based on a transmission / reception result in which an electromagnetic wave signal is transmitted and received by reflection from the target. The instructions acquiring basic observation data, which is observation data of the target according to an actual transmission / reception result of a basic signal that is the electromagnetic wave signal including a plurality of chirp signals whose frequencies change over time; acquiring divided observation data, which is observation data of the target according to an assumed transmission / reception result of a divided signal that can be generated by dividing the basic signal, where a transmission time and a frequency bandwidth per chirp signal are smaller than those of the basic signal; determining a detection result of the target based on at least one of the basic observation data and the divided observation data; including; The acquiring of the divided observation data includes acquiring a plurality of divided observation data according to assumed transmission / reception results of a plurality of divided signals where the transmission time and the frequency bandwidth per chirp signal are different from each other. A target detection program.

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