radar equipment

Abstract

To provide a rader system adapted to be able to accurately determine the presence or absence of an interference even when a section in which time series signals have received the interference is relatively a long period time.SOLUTION: A rader device 10 according to the present disclosure includes: a section generation unit 131 that generates a section for dividing continuing time series signals into a plurality of ranges; a section representative value calculation unit 132 that calculates a section representative value as a representative value of the time series signals in each range of the sections; a separation unit 133 that separates the plurality of section representative values into a large-interference section representative value including a lot of interferences and a small-interference section representative value not including a lot of interferences; a threshold value calculation unit 134 that calculates an interference determination threshold value on the basis of the small-interference section representative value; and a determination value calculation unit 136 that calculates an interference determination value on the basis of the interference determination threshold value.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a radar device. [Background technology]

[0002] For example, in the field of vehicle technology, many technologies related to collision prevention and autonomous driving have been proposed, and as part of these, development is underway to utilize radar technology to measure the relative distance and relative speed of an object. A radar signal is a continuous signal in a time series, a so-called time-series signal, and some sections of the signal may be subject to interference, for example, from other radar signals. If signal processing is performed without taking any measures to address such interference, the processing performance of the radar signal will be degraded. Therefore, conventionally, techniques have been considered to eliminate the effects of interference by, for example, zero-filling, i.e., invalidating, the sections of the radar signal that are subject to interference.

[0003] Furthermore, as a technology for identifying an interfered section of a radar signal, which is a time-series signal, a technology utilizing the property that the signal strength increases in proportion to the amount of interference in an interfered section has been considered. That is, if the signal strength is an abnormal value exceeding a predetermined threshold, it can be determined that the section is interfered with. In this case, the threshold can be set based on a statistical representative value such as the average, mode, or median of the radar signal strength. However, if the interfered section lasts for a relatively long time, the calculated representative value will be strongly affected by the interference. This makes it difficult to set an appropriate threshold, which in turn makes it difficult to determine whether interference is occurring.

[0004] Furthermore, for example, Patent Document 1 discloses a technique in which a radar signal, which is a time-series signal, is divided into multiple ranges, an average value of the signal strength within each range is calculated, and the smallest value among the calculated average values ​​is set as a threshold value for determining whether interference is occurring. However, with this technique, there is a possibility that a value that is too low may be set as the threshold value, which may make it difficult to accurately determine whether interference is occurring. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Korean Patent Application Publication No. 101429361 Summary of the Invention [Problem to be solved by the invention]

[0006] Therefore, the present disclosure provides a radar device that can accurately determine whether or not interference exists even when the section of the time-series signal that is subject to interference is relatively long. [Means for solving the problem]

[0007] The radar device according to the present disclosure includes an interval generating unit 131 that generates intervals for dividing a continuous time-series signal into a plurality of ranges, an interval representative value calculating unit 132 that calculates an interval representative value that is a representative value of the time-series signal within each of the intervals, a separating unit 133 that separates the plurality of interval representative values ​​into high-interference interval representative values ​​that include a lot of interference and low-interference interval representative values ​​that do not include a lot of interference, a threshold calculating unit 134 that calculates an interference determination threshold based on the low-interference interval representative values, and a determination value calculating unit 136 that calculates an interference determination value based on the interference determination threshold. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating a schematic configuration example of a radar device according to an embodiment of the present disclosure. [Figure 2]FIG. 10 is a diagram illustrating an example of processing performed by a section generation unit according to an embodiment of the present disclosure. [Figure 3] FIG. 10 is a diagram illustrating an example of processing performed by a section representative value calculation unit according to an embodiment of the present disclosure. [Figure 4] FIG. 10 is a diagram illustrating an example of processing performed by a section representative value classification unit according to an embodiment of the present disclosure. [Figure 5] FIG. 10 is a diagram illustrating an example of processing performed by an interference determination threshold calculation unit according to an embodiment of the present disclosure. [Figure 6] FIG. 10 is a diagram illustrating an example of processing by an interference determination threshold correction unit according to an embodiment of the present disclosure. [Figure 7] FIG. 10 is a diagram schematically illustrating an example of processing by an interference determination value calculation unit according to an embodiment of the present disclosure. [Figure 8] FIG. 1 is a diagram illustrating an example of processing performed by an interference canceller according to an embodiment of the present disclosure. [Figure 9] 1 is a flowchart illustrating an example of an overall process performed by a radar device according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0009] An embodiment of a radar device according to the present disclosure will be described below with reference to the drawings. The radar device 10 shown in Fig. 1 includes a signal generating unit 11, a signal emitting unit 12, a signal receiving unit 13, a signal mixing unit 14, a filter 15, a control and arithmetic unit 16, and the like.

[0010] The signal generating unit 11 is a well-known device including, for example, a voltage-controlled oscillator and a control device, and is configured to generate a transmission signal Tw. The signal emitting unit 12 is, for example, called a signal emitting antenna, and is configured to radiate the transmission signal Tw into space as an electromagnetic wave Ew1. The electromagnetic wave Ew1 radiated by the signal emitting unit 12 is reflected by an object (not shown) and travels toward the radar device 10 as an electromagnetic wave Ew2. The signal receiving unit 13 is, for example, called a signal receiving antenna, and is configured to receive the electromagnetic wave Ew2 reflected from an object (not shown) as a reception signal Dw.

[0011] The signal mixer 14 is configured to mix the transmission signal Tw and the reception signal Dw to generate a bead signal Bw1. The filter 15 is configured to pass only a bead signal Bw2 in a required frequency band from the bead signal Bw1. The frequency band that the filter 15 passes can be changed and set as appropriate.

[0012] The control and arithmetic device 16 includes an analog-to-digital converter 17. In the drawings, the analog-to-digital converter 17 is referred to as an "A / D converter." The control and arithmetic device 16 is configured so that the analog-to-digital converter 17 can convert the bead signal Bw2 into a time-series signal T1. The time-series signal T1 is in the form of a signal that continues in time series over a predetermined period of time. The length of the time-series signal T1 can vary depending on, for example, the lengths of the transmission signal Tw and the reception signal Dw.

[0013] Furthermore, the control and arithmetic device 16 includes an interference signal processing unit 100 and a radar signal processing unit 18. The interference signal processing unit 100 and the radar signal processing unit 18 are virtually realized by software, for example. Note that the interference signal processing unit 100 and the radar signal processing unit 18 may be realized by hardware, or may be realized by a combination of software and hardware.

[0014] The interference signal processing unit 100, which will be described in detail later, is configured to be able to generate an interference-removed signal T2 by removing the influence of interference from the time-series signal T1. The radar signal processing unit 18 is also configured to be able to measure the relative distance and relative speed between the radar device 10 and an object (not shown) based on the interference-removed signal T2 generated by the interference signal processing unit 100.

[0015] Next, a more detailed description will be given of an example configuration of the interference signal processing unit 100. The interference signal processing unit 100 includes an interference determination unit 110 and an interference removal unit 120. The interference determination unit 110 and the interference removal unit 120 are virtually realized by software, for example. Note that the interference determination unit 110 and the interference removal unit 120 may be realized by hardware, or may be realized by a combination of software and hardware.

[0016] The interference determination unit 110 includes a section generation unit 131, a section representative value calculation unit 132, a section representative value classification unit 133, an interference determination threshold calculation unit 134, an interference determination threshold modification unit 135, and an interference determination value calculation unit 136. The section generation unit 131, the section representative value calculation unit 132, the section representative value classification unit 133, the interference determination threshold calculation unit 134, the interference determination threshold modification unit 135, and the interference determination value calculation unit 136 are virtually realized by software, for example. Note that the section generation unit 131, the section representative value calculation unit 132, the section representative value classification unit 133, the interference determination threshold calculation unit 134, the interference determination threshold modification unit 135, and the interference determination value calculation unit 136 may be realized by hardware or a combination of software and hardware.

[0017] 2, the interval generation unit 131 is configured to be able to generate intervals D for dividing a continuous original time-series signal T1 into a plurality of ranges. Note that the interval generation unit 131 does not divide the continuous original time-series signal T1 into a plurality of physically separated fragment signals, but merely virtually sets a plurality of intervals D in a single continuous time-series signal T1. However, the interval generation unit 131 may also divide the continuous original time-series signal T1 into a plurality of physically separated fragment signals.

[0018] 3, the section representative value calculation unit 132 is configured to be able to calculate a section representative value P that is a representative value of the time-series signal T1 within the range of each section D. That is, the section representative value calculation unit 132 calculates statistical values ​​such as the average, median, mode, maximum, and minimum values ​​for the intensities of partial time-series signals T1 included in each section D, and calculates the calculated statistical values ​​as the section representative value P that indicates a representative value of the intensities of the time-series signal T1 in that section D.

[0019] 4, the section representative value classification unit 133 is configured to be able to classify the multiple section representative values ​​P calculated by the section representative value calculation unit 132 into a high-interference section representative value Pa that contains a lot of interference and a low-interference section representative value Pb that does not contain much interference. More specifically, the section representative value classification unit 133 calculates a classification threshold K1 based on the multiple section representative values ​​P calculated by the section representative value calculation unit 132.

[0020] In this case, the interval representative value classification unit 133 sorts the multiple interval representative values ​​P calculated by the interval representative value calculation unit 132 in ascending or descending order.The interval representative value classification unit 133 then sets the interval representative value P at a predetermined rank among the multiple interval representative values ​​P sorted in ascending or descending order as a reference interval representative value.The interval representative value classification unit 133 is then configured to calculate a classification threshold K1 based on the reference interval representative value.

[0021] In this case, the interval representative value classification unit 133 is configured to calculate a value obtained by adding or subtracting a predetermined offset value to or from the reference interval representative value as the classification threshold K1. The rank of the interval representative value P to be set as the reference interval representative value can be changed and set as appropriate. The predetermined offset value can also be changed and set as appropriate. The interval representative value classification unit 133 may also set the reference interval representative value itself as the classification threshold K1. The method for calculating the classification threshold K1 is not limited to the above-mentioned method, and various methods can be applied as long as they are methods for calculating the classification threshold K1 based on multiple interval representative values ​​P.

[0022] Then, the section representative value classification unit 133 classifies the multiple section representative values ​​P into high-interference section representative values ​​Pa and low-interference section representative values ​​Pb based on the calculated classification threshold K1. In this case, the section representative value classification unit 133 classifies the section representative value P greater than the classification threshold K1 into the high-interference section representative value Pa, and classifies the section representative value P smaller than the classification threshold K1 into the low-interference section representative value Pb. Note that if a section representative value P equal to the classification threshold K1 exists, the section representative value P may be classified into either the high-interference section representative value Pa or the low-interference section representative value Pb.

[0023] 5, the interference determination threshold calculation unit 134 is configured to calculate the interference determination threshold K2 based on the value of the section representative value P classified into low-interference section representative values ​​Pb by the section representative value classification unit 133. In this case, the interference determination threshold calculation unit 134 calculates statistical values ​​such as the average, median, mode, maximum, and minimum values ​​for the values ​​of the multiple low-interference section representative values ​​Pb. The interference determination threshold calculation unit 134 then calculates the calculated statistical value as the interference determination threshold K2. The interference determination threshold calculation unit 134 is then configured to store the calculated interference determination threshold K2 in a storage medium (not shown) provided in the radar device 10.

[0024] The interference determination threshold calculation unit 134 may calculate the interference determination threshold K2 based on the values ​​of all low-interference interval representative values ​​Pb, or may calculate the interference determination threshold K2 based on at least any two or more of the plurality of low-interference interval representative values ​​Pb, or may calculate the interference determination threshold K2 based on at least any one of the plurality of low-interference interval representative values ​​Pb. Furthermore, the interference determination threshold calculation unit 134 may calculate the interference determination threshold K2 based on a representative value of the original time-series signal T1 in the interval D in which the interval representative value P classified into the low-interference interval representative value Pb from among the plurality of interval representative values ​​P is calculated.

[0025] As illustrated in FIG. 6 , the interference detection threshold correction unit 135 is configured to correct the interference detection threshold K2 calculated by the interference detection threshold calculation unit 134 based on previously calculated interference detection thresholds K2. More specifically, the interference detection threshold correction unit 135 calculates statistical values, such as the average, median, mode, maximum, and minimum values, for multiple previously calculated interference detection thresholds K2, and sets the calculated statistical value as a representative value of the past interference detection thresholds K2. The interference detection threshold correction unit 135 then adds or subtracts a predetermined offset value to the calculated representative value of the past interference detection thresholds K2, and sets the resulting value as the abnormality detection threshold K3. The predetermined offset value can be changed as appropriate. Alternatively, the interference detection threshold correction unit 135 may set the calculated representative value of the past interference detection thresholds K2 itself as the abnormality detection threshold K3.

[0026] When the interference determination threshold K2 is calculated by the interference determination threshold calculation unit 134, the interference determination threshold correction unit 135 compares the interference determination threshold K2 with the abnormality determination threshold K3. When the interference determination threshold K2 is greater than the abnormality determination threshold K3, the interference determination threshold correction unit 135 corrects the value of the interference determination threshold K2 to a predetermined correction value K4 and outputs the corrected value to the interference determination value calculation unit 136. The predetermined correction value K4 can be changed and set as appropriate.

[0027] Furthermore, when the interference determination threshold K2 is smaller than the abnormality determination threshold K3, the interference determination threshold correction unit 135 does not correct the interference determination threshold K2, and outputs the interference determination threshold K2 as is to the interference determination value calculation unit 136. Note that, if the interference determination threshold K2 is equal to the abnormality determination threshold K3, the interference determination threshold correction unit 135 may be configured to correct the interference determination threshold K2, or may not be configured to correct it.

[0028] Furthermore, the interference detection threshold correction unit 135 may correct the interference detection threshold K2 based on, for example, a moving average value of the past interference detection threshold K2, or may correct the interference detection threshold K2 based on the most frequent value of the past interference detection threshold K2. Additionally, the interference detection threshold correction unit 135 may correct the interference detection threshold K2 based on various statistical values ​​regarding the past interference detection threshold K2.

[0029] 7, the interference determination value calculation unit 136 is configured to be able to calculate the interference determination value K5 based on the interference determination threshold K2 calculated by the interference determination threshold calculation unit 134 or the interference determination threshold K2 corrected by the interference determination threshold correction unit 135. More specifically, the interference determination value calculation unit 136 compares the intensity of the original time-series signal T1 with the interference determination threshold K2. The interference determination value calculation unit 136 then assigns a determination value of "0" to a range of the original time-series signal T1 where the intensity is greater than the interference determination threshold K2, and assigns a determination value of "1" to a range of the original time-series signal T1 where the intensity is less than the interference determination threshold K2. In this way, the interference determination value calculation unit 136 calculates the interference determination value K5 consisting of the determination values ​​"0" and "1" from the time-series signal T1. If there is a range in the time series signal T1 where the intensity is equal to the interference judgment threshold K2, the interference judgment value calculation unit 136 may be configured to assign a judgment value of "1" or "0" to that range.

[0030] As illustrated in FIG. 8 , the interference removal unit 120 is configured to generate an interference-removed signal T2 from the original time-series signal T1 using the interference determination value K5 calculated by the interference determination value calculation unit 136. More specifically, the interference removal unit 120 compares the intensity of the original time-series signal T1 with the interference determination value K5. The interference removal unit 120 then removes portions of the original time-series signal T1 whose intensity is greater than the interference determination value K5, leaving only portions whose intensity is less than the interference determination value K5, thereby generating the interference-removed signal T2. The interference removal signal T2 generated in this manner can be defined as a signal that retains only portions of the original continuous time-series signal T1 whose intensity is less than the interference determination value K5. Note that, if there is a portion of the original time-series signal T1 whose intensity is equal to the interference determination value K5, the interference removal unit 120 may or may not include that portion in the interference-removed signal T2.

[0031] Through the processing of each unit exemplified above, the interference signal processing unit 100 finally generates an interference-removed signal T2 from the time-series signal T1. Then, the interference signal processing unit 100 outputs the generated interference-removed signal T2 to the radar signal processing unit 18. The radar signal processing unit 18 is configured to be able to measure the relative distance and relative speed between the radar device 10 and an object (not shown) based on the interference-removed signal T2 obtained from the interference signal processing unit 100. Note that various processing methods can be applied to the measurement processing by the radar signal processing unit 18 as long as the processing is able to measure the relative distance and relative speed between the radar device 10 and an object (not shown).

[0032] Next, the above-described processing by the radar device 10 will be described with reference to a flowchart. As illustrated in Fig. 9, the radar device 10 generates sections D for dividing a continuous original time-series signal T1 into multiple ranges (step S1). The radar device 10 then calculates a section representative value P, which is a representative value of the time-series signal T1 within each section D (step S2). The radar device 10 then classifies the multiple section representative values ​​P into high-interference section representative values ​​Pa, which contain a lot of interference, and low-interference section representative values ​​Pb, which do not contain much interference (step S3). The radar device 10 then calculates an interference determination threshold K2 based on the section representative value P classified into the low-interference section representative values ​​Pb (step S4).

[0033] The radar device 10 then corrects the calculated interference determination threshold K2, as necessary, based on a previously calculated interference determination threshold K2 (step S5). The radar device 10 then calculates an interference determination value K5 based on the calculated interference determination threshold K2 or the corrected interference determination threshold K2 (step S6). The radar device 10 then uses the calculated interference determination value K5 to generate an interference-removed signal T2 by removing the influence of interference from the original time-series signal T1 (step S7). The radar device 10 then measures the relative distance and relative speed to an object (not shown) based on the interference-removed signal T2 (step S8).

[0034] In the radar device 10 illustrated above, the interval generation unit 131 generates intervals D for dividing a continuous original time-series signal T1 into multiple ranges. The interval representative value calculation unit 132 then calculates an interval representative value P, which is a representative value of the original time-series signal T1 within each interval D. The interval representative value classification unit 133 then classifies the multiple interval representative values ​​P into high-interference interval representative values ​​Pa, which contain a lot of interference, and low-interference interval representative values ​​Pb, which do not contain much interference. The interference determination threshold calculation unit 134 then calculates an interference determination threshold K2 based on the low-interference interval representative values ​​Pb. The interference determination value calculation unit 136 then calculates an interference determination value K5 based on the interference determination threshold K2.

[0035] That is, the radar device 10 is configured to generate an interference determination value K5 for removing the interference portion from the original time-series signal T1 by utilizing a representative value of a section D of the continuous original time-series signal T1 that does not include much interference. According to this configuration example, even if the section of the original time-series signal T1 that is affected by interference is relatively long, it is possible to accurately determine the presence or absence of the interference, and ultimately to accurately measure the relative distance and relative speed to an object (not shown) based on the signal from which the interference has been removed.

[0036] Furthermore, according to the radar device 10, the section representative value classification unit 133 calculates a classification threshold K1 based on the multiple section representative values ​​P, and classifies the multiple section representative values ​​P into high-interference section representative values ​​Pa and low-interference section representative values ​​Pb based on the classification threshold K1. According to this configuration example, the multiple section representative values ​​P can be accurately classified into high-interference section representative values ​​Pa and low-interference section representative values ​​Pb based on the clear reference value of the classification threshold K1.

[0037] Furthermore, according to the radar device 10, the interference determination threshold calculation unit 134 can calculate the interference determination threshold K2 based on at least one of the plurality of low-interference interval representative values ​​Pb. In this way, by calculating the interference determination threshold K2 based on at least one of the low-interference interval representative values ​​Pb, it is possible to calculate the interference determination threshold K2 that reflects the intensity of a range of the original time-series signal T1 that is not subjected to interference or a range that is subjected to little interference.

[0038] Furthermore, according to the radar device 10, the section representative value classification unit 133 can calculate the classification threshold value K1 based on a section representative value P of a predetermined rank among a plurality of section representative values ​​P sorted in ascending or descending order, thereby making it possible to calculate a more optimal classification threshold value K1.

[0039] Furthermore, according to the radar device 10, the interference determination threshold calculation unit 134 can calculate the interference determination threshold K2 based on the representative value of the time-series signal T1 in the section D in which the section representative value P classified as the low-interference section representative value Pb among the multiple section representative values ​​P is calculated. This makes it possible to calculate the interference determination threshold K2 that better reflects the intensity of the range of the original time-series signal T1 that is not interfered with or is slightly interfered with.

[0040] Furthermore, according to the radar device 10, the interference determination threshold calculation unit 134 can calculate the interference determination threshold K2 based on a statistical value calculated based on a plurality of low-interference interval representative values ​​Pb. By using such statistical processing, it is possible to calculate the interference determination threshold K2 that accurately reflects the intensity of a range of the original time-series signal T1 that is not subjected to interference or a range that is subjected to little interference.

[0041] Furthermore, according to the radar device 10, the interference determination threshold correction unit 135 can correct the interference determination threshold K2 calculated by the interference determination threshold calculation unit 134 based on the previously obtained interference determination threshold K2. According to this configuration example, it is possible to set a more optimal interference determination threshold K2 that also reflects the previously obtained value of the interference determination threshold K2.

[0042] Furthermore, according to the radar device 10, the interference determination threshold correction unit 135 can correct the interference determination threshold K2 based on a representative value of past interference determination thresholds K2, thereby making it possible to correct the interference determination threshold K2 to a more optimal value while also reflecting the values ​​of the interference determination threshold K2 obtained in the past.

[0043] Furthermore, according to the radar device 10, the interference determination threshold correction unit 135 can correct the current interference determination threshold K2 based on, for example, a moving average value of past interference determination thresholds K2, or based on the most frequent value of past interference determination thresholds K2, thereby making it possible to statistically correct the interference determination threshold K2 to a more optimal value.

[0044] The present disclosure is not limited to the above-described embodiment, and modifications and extensions may be made as appropriate without departing from the spirit of the present disclosure. For example, the radar device 10 may be configured to include a processing unit downstream of the analog-to-digital converter 17 that performs predetermined processing on the time-series signal T1. The predetermined processing may include, for example, filtering out signal differences or noise.

[0045] Furthermore, although the present disclosure has been described with reference to the embodiments, it is understood that the present disclosure is not limited to the embodiments or structures. The present disclosure also encompasses various modifications and modifications within the scope of equivalents. In addition, various combinations and forms, as well as other combinations and forms including only one element, more than one element, or less than one element, are also within the scope and spirit of the present disclosure.

[0046] The control unit and the method described herein may be implemented by a special-purpose computer configured by configuring a processor and memory programmed to perform one or more functions embodied in a computer program. Alternatively, the control unit and the method described herein may be implemented by a special-purpose computer configured by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit and the method described herein may be implemented by one or more special-purpose computers configured by combining a processor and memory programmed to perform one or more functions with a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored in a computer-readable non-transitory tangible storage medium as instructions executed by a computer.

[0047] Furthermore, the present disclosure includes the following inventions in addition to the inventions described in the claims. [Claim 1] an interval generation unit (131) that generates intervals for dividing a continuous time-series signal into a plurality of ranges; a section representative value calculation unit (132) that calculates a section representative value that is a representative value of the time-series signal within each of the sections; a classification unit (133) that classifies the plurality of section representative values ​​into a high-interference section representative value that includes a lot of interference and a low-interference section representative value that does not include a lot of interference; a threshold calculation unit (134) that calculates an interference determination threshold based on the low-interference section representative value; a judgment value calculation unit (136) that calculates an interference judgment value based on the interference judgment threshold; A radar device comprising: [Claim 2] 2. The radar device according to claim 1, wherein the classification unit calculates a classification threshold based on the plurality of section representative values, and classifies the plurality of section representative values ​​into the high-interference section representative value and the low-interference section representative value based on the classification threshold. [Claim 3] 3. The radar device according to claim 2, wherein the threshold calculation unit calculates the interference determination threshold based on at least one of the plurality of low-interference interval representative values. [Claim 4] 4. The radar device according to claim 3, wherein the classifying unit calculates the classification threshold based on the section representative value at a predetermined rank among the plurality of section representative values ​​sorted in ascending or descending order. [Claim 5] 5. The radar device according to claim 1, wherein the threshold calculation unit calculates the interference determination threshold based on a representative value of a time-series signal within a section in which the section representative value classified as the low-interference section representative value is calculated from among the plurality of section representative values. [Claim 6] 6. The radar device according to claim 1, wherein the threshold calculation unit calculates the interference determination threshold based on a statistical value calculated based on a plurality of the low-interference interval representative values. [Claim 7] 7. The radar device according to claim 1, further comprising a threshold correction unit (135) that corrects the interference determination threshold calculated by the threshold calculation unit based on a past interference determination threshold. [Claim 8] 8. The radar device according to claim 7, wherein the threshold correction unit corrects the interference determination threshold based on a representative value of past interference determination thresholds. [Claim 9] 9. The radar device according to claim 8, wherein the threshold correction unit corrects the interference determination threshold based on a moving average value of past interference determination thresholds. [Claim 10] 9. The radar device according to claim 8, wherein the threshold correction unit corrects the interference determination threshold based on a most frequent value of past interference determination thresholds. [Explanation of symbols]

[0048] In the drawing, 10 indicates a radar device, 131 indicates a section generation unit, 132 indicates a section representative value calculation unit, 133 indicates a section representative value classification unit (classification unit), 134 indicates an interference judgment threshold calculation unit (threshold calculation unit), 135 indicates an interference judgment threshold correction unit (threshold correction unit), and 136 indicates an interference judgment value calculation unit (judgment value calculation unit).

Claims

1. a section generation unit (131) that generates sections for dividing a continuous time-series signal into a plurality of ranges; a section representative value calculation unit (132) that calculates a section representative value that is a representative value of the time-series signal within each of the sections; a classification unit (133) that classifies the plurality of section representative values ​​into a high-interference section representative value that includes a lot of interference and a low-interference section representative value that does not include a lot of interference; a threshold calculation unit (134) for calculating an interference determination threshold based on the low-interference section representative value; a judgment value calculation unit (136) that calculates an interference judgment value based on the interference judgment threshold; Equipped with The judgment value calculation unit calculates the interference judgment value by comparing the intensity of the time-series signal with the interference judgment threshold.

2. 2. The radar device according to claim 1, wherein the classification unit calculates a classification threshold based on the plurality of section representative values, and classifies the plurality of section representative values ​​into the high-interference section representative value and the low-interference section representative value based on the classification threshold.

3. The radar device according to claim 2 , wherein the threshold calculation unit calculates the interference determination threshold based on at least one of the plurality of low-interference interval representative values.

4. The radar device according to claim 3 , wherein the classifying unit calculates the classification threshold based on the section representative value at a predetermined rank among the plurality of section representative values ​​sorted in ascending or descending order.

5. 2. The radar device according to claim 1, wherein the threshold calculation unit calculates the interference determination threshold based on a representative value of a time-series signal within a section in which the section representative value classified as the low-interference section representative value is calculated from the plurality of section representative values.

6. The radar device according to claim 1 , wherein the threshold calculation unit calculates the interference determination threshold based on a statistical value calculated based on a plurality of the low-interference interval representative values.

7. The radar device according to claim 1, further comprising a threshold correction unit (135) that corrects the interference determination threshold calculated by the threshold calculation unit based on a past interference determination threshold.

8. The radar device according to claim 7 , wherein the threshold correction unit corrects the interference determination threshold based on a representative value of past interference determination thresholds.

9. The radar device according to claim 8 , wherein the threshold correction unit corrects the interference determination threshold based on a moving average value of past interference determination thresholds.

10. The radar device according to claim 8 , wherein the threshold correction unit corrects the interference determination threshold based on a most frequent value of past interference determination thresholds.

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