Electronic device, method for controlling electronic device, and program

Abstract

An electronic device comprises: a transmission antenna for transmitting a transmission wave; a reception antenna for receiving a reflected wave resulting from the reflection of the transmission wave; and a control unit for detecting a target with a certain false alarm probability on the basis of a transmission signal transmitted as the transmission wave and a reception signal received as the reflected wave. The control unit generates, on the basis of reference data, a group from a plurality of items of detection data generated on the basis of an object detection, and generates representative data on the basis of the detection data included in the group.

Description

Cross-reference to Related Applications 【0001】 This application claims the priority of Japanese Patent Application No. 2020-88213 filed in Japan on May 20, 2020, and incorporates the entire disclosure of the prior application herein by reference. 【Technical Field】 【0002】 The present disclosure relates to an electronic device, a method for controlling an electronic device, and a program. 【Background Art】 【0003】 For example, in fields such as industries related to automobiles, technologies for measuring the distance between a vehicle and a predetermined object are regarded as important. In particular, in recent years, technologies for measuring the distance to an object by transmitting radio waves such as millimeter waves and receiving the reflected waves reflected by an object such as an obstacle, i.e., RADAR (Radio Detecting and Ranging), have been variously studied. The importance of such technologies for measuring distances and the like is expected to increase further in the future with the development of technologies for assisting a driver's driving and technologies related to autonomous driving that automate part or all of the driving. 【0004】 In addition, various proposals have been made for technologies for detecting the presence of an object by receiving the reflected waves reflected by a transmitted radio wave from a predetermined object. In particular, some proposals have also been made for technologies for appropriately processing data generated based on the detection of an object. For example, Patent Document 1 discloses determining whether a detected object is the same object by comparing the results of grouping detection data. Patent Document 2 also discloses grouping detection data based on the speed difference of detected objects. 【Prior Art Documents】 【Patent Documents】 【0005】 【Patent Document 1】 Japanese Patent Application Laid-Open No. 2010-266225 [Patent Document 2] Japanese Patent Publication No. 2006-80761 [Overview of the project] 【0006】 An electronic device according to one embodiment includes a transmitting antenna that transmits a wave, a receiving antenna that receives a reflected wave from the transmitted wave, and a control unit. The control unit detects an object that reflects the transmitted wave based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave. The control unit, From multiple detection data at a predetermined time point, generated based on the detection of the object, a reference data at the predetermined time point Ta Based on the above predetermined time ru A loop is generated, and the previous at the predetermined time point. Record Based on the detection data included in the loop, representative data at the predetermined time point is generated. The control unit, The data selected from representative data at a point in time prior to the predetermined point in time is used as the first reference data at the predetermined point in time to generate the first group. Based on the detection data included in the first group at the predetermined time, representative data at the predetermined time is generated. From the detection data not included in the first group at the predetermined time, a second set of reference data is generated from the reference data at the predetermined time, and a second group at the predetermined time is generated based on the generated second set of reference data. 【0007】 A control method for electronic equipment according to one embodiment is: The steps include transmitting a wave from the transmitting antenna, The steps include receiving the reflected wave from the receiving antenna after the transmitted wave has been reflected, A step of detecting an object that reflects the transmitted wave based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave, From multiple detection data at a predetermined time point, generated based on the detection of the object, a reference data at the predetermined time point Ta Based on the above predetermined time ru The step of generating a loop, The preceding predetermined time point Record A step of generating representative data at a predetermined time based on detection data included in the loop, In a control method for electronic equipment having, A step of generating the first group using data selected from representative data at a time earlier than the predetermined time as the first reference data at the predetermined time; A step of generating representative data at a predetermined time based on the detection data included in the first group at the predetermined time; The steps include generating a second set of reference data from the reference data at the predetermined time from the detection data that is not included in the first group at the predetermined time, and generating a second group at the predetermined time based on the generated second set of reference data, Includes. 【0008】 A program according to one embodiment is: On the computer, The steps include transmitting a wave from the transmitting antenna, The steps include receiving the reflected wave from the receiving antenna after the transmitted wave has been reflected, A step of detecting an object that reflects the transmitted wave based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave, From multiple detection data at a predetermined time point, generated based on the detection of the object, a reference data at the predetermined time point Ta Based on the above predetermined time ru The step of generating a loop, The preceding predetermined time point Record A step of generating representative data at a predetermined time based on detection data included in the loop, A program that executes, To the aforementioned computer, A step of generating the first group using data selected from representative data at a time earlier than the predetermined time as the first reference data at the predetermined time; A step of generating representative data at a predetermined time based on the detection data included in the first group at the predetermined time; Generate second reference data among the reference data at the predetermined time point from the detection data not included in the first group at the predetermined time point, and generate a second group at the predetermined time point based on the generated second reference data; Cause to execute. 【Brief Description of the Drawings】 【0009】 [Figure 1] It is a diagram for explaining a usage mode of an electronic device according to an embodiment. [Figure 2] It is a functional block diagram schematically showing a configuration of an electronic device according to an embodiment. [Figure 3] It is a diagram for explaining a configuration of a transmission signal according to an embodiment. [Figure 4] It is a flowchart for explaining an operation of an electronic device according to a first embodiment. [Figure 5] It is a diagram for explaining processing in an electronic device according to a first embodiment. [Figure 6] It is a flowchart for explaining an operation of an electronic device according to a second embodiment. [Figure 7] It is a diagram for explaining processing in an electronic device according to a second embodiment. [Figure 8] It is a diagram for explaining processing in an electronic device according to a second embodiment. 【Modes for Carrying Out the Invention】 【0010】 In a technique for detecting an object by receiving a reflected wave obtained by reflecting a transmitted transmission wave from a predetermined object, it is desirable to improve the stability of detection. An object of the present disclosure is to provide an electronic device, a control method of an electronic device, and a program capable of stabilizing the detection of a target. According to an embodiment, an electronic device, a control method of an electronic device, and a program capable of stabilizing the detection of a target can be provided. Hereinafter, an embodiment will be described in detail with reference to the drawings. 【0011】 An electronic device according to one embodiment can be mounted on a vehicle (mobile object) such as an automobile, and can detect a predetermined object present in the vicinity of the mobile object as a target. To this end, the electronic device according to one embodiment can transmit a wave to the vicinity of the mobile object from a transmitting antenna installed on the mobile object. Furthermore, the electronic device according to one embodiment can receive reflected waves from the transmitted wave from a receiving antenna installed on the mobile object. At least one of the transmitting antenna and the receiving antenna may be provided, for example, on a radar sensor installed on the mobile object. 【0012】 The following describes a typical example in which an electronic device according to one embodiment is mounted on an automobile such as a passenger car. However, the electronic device according to one embodiment is not limited to being mounted on an automobile. The electronic device according to one embodiment may be mounted on various mobile vehicles such as autonomous vehicles, buses, taxis, trucks, motorcycles, bicycles, ships, aircraft, helicopters, agricultural equipment such as tractors, snowplows, street sweepers, police cars, ambulances, and drones. Furthermore, the electronic device according to one embodiment is not necessarily limited to being mounted on a mobile vehicle that moves under its own power. For example, the mobile vehicle on which the electronic device according to one embodiment is mounted may be a trailer towed by a tractor. The electronic device according to one embodiment can measure the distance between a sensor and an object in a situation in which at least one of the sensor and a predetermined object can move. Furthermore, the electronic device according to one embodiment can measure the distance between a sensor and an object even when both the sensor and the object are stationary. 【0013】 First, an example of object detection by an electronic device according to one embodiment will be described. 【0014】 Figure 1 illustrates a usage scenario of an electronic device according to one embodiment. Figure 1 shows an example in which a sensor equipped with a transmitting antenna and a receiving antenna according to one embodiment is installed on a mobile device. 【0015】 The mobile body 100 shown in Figure 1 is equipped with a sensor 5 that includes a transmitting antenna and a receiving antenna according to one embodiment. The mobile body 100 shown in Figure 1 is also assumed to be mounted (e.g., built-in) with an electronic device 1 according to one embodiment. The specific configuration of the electronic device 1 will be described later. The sensor 5 may include, for example, at least one of the transmitting antenna and the receiving antenna. The sensor 5 may also appropriately include at least one of other functional parts, such as at least a part of the control unit 10 (Figure 2) included in the electronic device 1. The mobile body 100 shown in Figure 1 may be a vehicle such as a passenger car, but it may be any type of mobile body. In Figure 1, the mobile body 100 may be moving (driving or moving slowly) in, for example, the positive Y-axis direction (direction of travel) as shown in the figure, or it may be moving in another direction, or it may be stationary without moving. 【0016】 As shown in Figure 1, the mobile body 100 is equipped with a sensor 5 that includes a transmitting antenna. In the example shown in Figure 1, only one sensor 5, which includes a transmitting antenna and a receiving antenna, is installed at the front of the mobile body 100. However, the location where the sensor 5 is installed on the mobile body 100 is not limited to the location shown in Figure 1, and may be at other locations as appropriate. For example, the sensor 5 shown in Figure 1 may be installed on the left side, right side, and / or rear of the mobile body 100. Furthermore, the number of such sensors 5 may be one or more, depending on various conditions (or requirements) such as the measurement range and / or accuracy of the mobile body 100. The sensor 5 may also be installed inside the mobile body 100. The inside of the mobile body 100 may be, for example, the space inside the bumper, the space inside the body, the space inside the headlight, or the space in the driver's compartment. 【0017】 Sensor 5 transmits electromagnetic waves as transmitted waves from its transmitting antenna. For example, if a predetermined object (for example, object 200 shown in Figure 1) is present around the mobile body 100, at least a portion of the transmitted waves from sensor 5 will be reflected by the object and become reflected waves. By receiving such reflected waves with, for example, the receiving antenna of sensor 5, the electronic device 1 mounted on the mobile body 100 can detect the object as a target. 【0018】 Sensor 5, equipped with a transmitting antenna, may typically be a radar (RADAR (Radio Detecting and Ranging)) sensor that transmits and receives radio waves. However, sensor 5 is not limited to a radar sensor. Sensor 5 according to one embodiment may be, for example, a sensor based on light wave-based LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) technology. Such sensors may be configured to include, for example, a patch antenna. Since technologies such as RADAR and LIDAR are already known, detailed explanations may be simplified or omitted as appropriate. 【0019】 The electronic device 1 mounted on the mobile body 100 shown in Figure 1 receives the reflected wave of the transmitted wave sent from the transmitting antenna of the sensor 5 via its receiving antenna. In this way, the electronic device 1 can detect a predetermined object 200 located within a predetermined distance from the mobile body 100 as a target. For example, as shown in Figure 1, the electronic device 1 can measure the distance L between the mobile body 100 (which is the vehicle) and the predetermined object 200. The electronic device 1 can also measure the relative speed between the mobile body 100 (which is the vehicle) and the predetermined object 200. Furthermore, the electronic device 1 can also measure the direction (arrival angle θ) in which the reflected wave from the predetermined object 200 arrives at the mobile body 100 (which is the vehicle). 【0020】 Here, object 200 may be at least one of the following: an oncoming vehicle traveling in a lane adjacent to the moving object 100, a vehicle traveling alongside the moving object 100, and vehicles traveling in front of or behind the moving object 100 in the same lane. Furthermore, object 200 may be any object present around the moving object 100, such as a motorcycle, bicycle, stroller, pedestrian or other human being, animal, plant, insect or other living organism, guardrail, median strip, road sign, sidewalk curb, wall, manhole, rock, or obstacle. Moreover, object 200 may be moving or stationary. For example, object 200 may be a vehicle parked or stopped around the moving object 100. In this disclosure, the objects detected by sensor 5 include not only inanimate objects but also living organisms such as people or animals. The objects detected by sensor 5 in this disclosure include targets including people, objects, plants, and animals detected by radar technology. 【0021】 In Figure 1, the ratio of the size of sensor 5 to the size of mobile body 100 does not necessarily represent the actual ratio. Also, in Figure 1, sensor 5 is shown installed on the outside of mobile body 100. However, in one embodiment, sensor 5 may be installed at various positions on mobile body 100. For example, in one embodiment, sensor 5 may be installed inside the bumper of mobile body 100 so that it is not visible from the outside of mobile body 100. 【0022】 In the following explanation, as a typical example, the transmitting antenna of sensor 5 will be described as transmitting radio waves in a frequency band such as millimeter waves (30 GHz or higher) or quasi-millimeter waves (e.g., around 20 GHz to 30 GHz). For example, the transmitting antenna of sensor 5 may transmit radio waves with a frequency bandwidth of 4 GHz, such as 77 GHz to 81 GHz. 【0023】 Figure 2 is a functional block diagram schematically showing an example of the configuration of the electronic device 1 according to one embodiment. An example of the configuration of the electronic device 1 according to one embodiment will be described below. 【0024】 When measuring distance and other parameters using millimeter-wave radar, frequency-modulated continuous wave radar (FMCW radar) is often used. FMCW radar generates its transmission signal by sweeping the frequency of the transmitted radio waves. Therefore, in a millimeter-wave FMCW radar using, for example, the 79 GHz frequency band, the radio wave frequencies used will have a frequency bandwidth of 4 GHz, such as 77 GHz to 81 GHz. Radar in the 79 GHz frequency band has the advantage of a wider usable frequency bandwidth than other millimeter-wave / sub-millimeter-wave radars, such as those in the 24 GHz, 60 GHz, and 76 GHz frequency bands. The following describes such an embodiment as an example. 【0025】 As shown in Figure 2, the electronic device 1 according to one embodiment consists of a sensor 5 and an ECU (Electronic Control Unit) 50. The ECU 50 controls various operations of the mobile body 100. The ECU 50 may be composed of at least one ECU. The electronic device 1 according to one embodiment includes a control unit 10. The electronic device 1 according to one embodiment may also include other functional units as appropriate, such as at least one of a transmitting unit 20, receiving units 30A to 30D, and a storage unit 40. As shown in Figure 2, the electronic device 1 may have multiple receiving units, such as receiving units 30A to 30D. Hereinafter, when receiving unit 30A, receiving unit 30B, receiving unit 30C, and receiving unit 30D are not distinguished, they will simply be referred to as "receiving unit 30". 【0026】 The control unit 10 may include a distance FFT processing unit 11, a velocity FFT processing unit 12, a distance-velocity detection and determination unit 13, an angle of arrival estimation unit 14, and an object detection unit 15. These functional units included in the control unit 10 will be described further later. 【0027】 As shown in Figure 2, the transmitting unit 20 may include a signal generation unit 21, a synthesizer 22, phase control units 23A and 23B, amplifiers 24A and 24B, and transmitting antennas 25A and 25B. Hereafter, when the phase control unit 23A and the phase control unit 23B are not distinguished, they will simply be referred to as "phase control unit 23". Similarly, when the amplifiers 24A and 24B are not distinguished, they will simply be referred to as "amplifier 24". Furthermore, when the transmitting antennas 25A and 25B are not distinguished, they will simply be referred to as "transmitting antenna 25". 【0028】 As shown in Figure 2, each receiving unit 30 may be equipped with corresponding receiving antennas 31A to 31D. Hereafter, when receiving antennas 31A, 31B, 31C, and 31D are not distinguished, they will simply be referred to as "receiving antenna 31". Furthermore, each of the multiple receiving units 30 may be equipped with an LNA 32, a mixer 33, an IF unit 34, and an AD converter 35, as shown in Figure 2. Receiving units 30A to 30D may each have a similar configuration. In Figure 2, a schematic representation of the configuration of only receiving unit 30A is shown as a representative example. 【0029】 The sensor 5 described above may include, for example, a transmitting antenna 25 and a receiving antenna 31. Furthermore, the sensor 5 may appropriately include at least one of other functional units, such as a control unit 10. 【0030】 In one embodiment, the control unit 10 of the electronic device 1 can control the operation of the entire electronic device 1, including the control of each functional unit constituting the electronic device 1. The control unit 10 may include at least one processor, such as a CPU (Central Processing Unit), to provide control and processing capabilities for executing various functions. The control unit 10 may be implemented as a single processor, as several processors, or as separate processors. The processor may be implemented as a single integrated circuit. An integrated circuit is also called an IC (Integrated Circuit). The processor may be implemented as a plurality of communicably connected integrated circuits and discrete circuits. The processor may be implemented based on various other known technologies. In one embodiment, the control unit 10 may be configured as, for example, a CPU and a program executed by the CPU. The control unit 10 may appropriately include memory necessary for the operation of the control unit 10. 【0031】 The storage unit 40 may store programs executed in the control unit 10, and the results of processes executed in the control unit 10. The storage unit 40 may also function as the work memory of the control unit 10. The storage unit 40 can be configured as, for example, a semiconductor memory or a magnetic disk, but is not limited to these, and can be any storage device. For example, the storage unit 40 may be a storage medium such as a memory card inserted into the electronic device 1 according to this embodiment. Furthermore, as described above, the storage unit 40 may be the internal memory of the CPU used as the control unit 10. 【0032】 In one embodiment, the storage unit 40 may store various parameters for setting the range in which an object is detected by the transmitted wave T transmitted from the transmitting antenna 25 and the reflected wave R received from the receiving antenna 31. 【0033】 In one embodiment of the electronic device 1, the control unit 10 can control at least one of the transmitting unit 20 and the receiving unit 30. In this case, the control unit 10 may control at least one of the transmitting unit 20 and the receiving unit 30 based on various information stored in the storage unit 40. Also, in one embodiment of the electronic device 1, the control unit 10 may instruct the signal generation unit 21 to generate a signal, or control the signal generation unit 21 to generate a signal. 【0034】 The signal generation unit 21 generates a signal (transmission signal) to be transmitted from the transmitting antenna 25 as a transmission wave T, under the control of the control unit 10. When generating the transmission signal, the signal generation unit 21 may assign a frequency to the transmission signal, for example, based on control by the control unit 10. Specifically, the signal generation unit 21 may assign a frequency to the transmission signal according to parameters set by the control unit 10, for example. For example, the signal generation unit 21 generates a signal of a predetermined frequency in a frequency band such as 77-81 GHz by receiving frequency information from the control unit 10 or the storage unit 40. The signal generation unit 21 may include a functional unit such as a voltage-controlled oscillator (VCO). 【0035】 The signal generation unit 21 may be configured as hardware having the function, or as a microcontroller, for example, or as a processor such as a CPU and a program executed by that processor. Each of the functional units described below may also be configured as hardware having the function, or, where possible, as a microcontroller, for example, or as a processor such as a CPU and a program executed by that processor. 【0036】 In one embodiment of the electronic device 1, the signal generation unit 21 may generate a transmission signal (transmission chirp signal), such as a chirp signal. In particular, the signal generation unit 21 may generate a signal whose frequency changes periodically linearly (linear chirp signal). For example, the signal generation unit 21 may generate a chirp signal whose frequency increases periodically linearly from 77 GHz to 81 GHz as time progresses. Alternatively, for example, the signal generation unit 21 may generate a signal whose frequency periodically repeats a linear increase (up chirp) and decrease (down chirp) from 77 GHz to 81 GHz as time progresses. The signal generated by the signal generation unit 21 may be pre-set in, for example, the control unit 10. The signal generated by the signal generation unit 21 may also be pre-stored in, for example, the memory unit 40. Since chirp signals used in technical fields such as radar are known, a more detailed explanation will be simplified or omitted as appropriate. The signal generated by the signal generation unit 21 is supplied to the synthesizer 22. 【0037】 Figure 3 illustrates an example of a chirp signal generated by the signal generation unit 21. 【0038】 In Figure 3, the horizontal axis represents elapsed time, and the vertical axis represents frequency. In the example shown in Figure 3, the signal generation unit 21 generates a linear chirp signal whose frequency changes linearly and periodically. In Figure 3, each chirp signal is shown as c1, c2, ..., c8. As shown in Figure 3, the frequency of each chirp signal increases linearly with the passage of time. 【0039】 In the example shown in Figure 3, eight chirp signals, such as c1, c2, ..., c8, are included in one subframe. That is, subframe 1 and subframe 2, etc., shown in Figure 3, are each composed of eight chirp signals, such as c1, c2, ..., c8. Also, in the example shown in Figure 3, 16 subframes, such as subframe 1 to subframe 16, are included in one frame. That is, frame 1 and frame 2, etc., shown in Figure 3, are each composed of 16 subframes. Furthermore, as shown in Figure 3, a frame interval of a predetermined length may be included between frames. One frame shown in Figure 3 may be, for example, about 30 to 50 milliseconds long. 【0040】 In Figure 3, frames 2 and beyond may have a similar configuration. Also, in Figure 3, frames 3 and beyond may have a similar configuration. In one embodiment of the electronic device 1, the signal generation unit 21 may generate the transmission signal as any number of frames. Also, in Figure 3, some chirp signals are omitted. Thus, the relationship between the time and frequency of the transmission signal generated by the signal generation unit 21 may be stored, for example, in a storage unit 40. 【0041】 Thus, the electronic device 1 according to one embodiment may transmit a transmission signal consisting of subframes containing multiple chirp signals. Alternatively, the electronic device 1 according to one embodiment may transmit a transmission signal consisting of frames containing a predetermined number of subframes. 【0042】 Hereinafter, the electronic device 1 will be described as transmitting a transmission signal with a frame structure as shown in Figure 3. However, the frame structure shown in Figure 3 is just one example, and the number of chirp signals included in one subframe is not limited to eight. In one embodiment, the signal generation unit 21 may generate subframes containing any number (e.g., any multiple) of chirp signals. Also, the subframe structure shown in Figure 3 is just one example, and the number of subframes included in one frame is not limited to 16. In one embodiment, the signal generation unit 21 may generate frames containing any number (e.g., any multiple) of subframes. The signal generation unit 21 may generate signals of different frequencies. The signal generation unit 21 may generate multiple discrete signals with different bandwidths and frequencies f. 【0043】 Returning to Figure 2, the synthesizer 22 increases the frequency of the signal generated by the signal generation unit 21 to a frequency in a predetermined frequency band. The synthesizer 22 may increase the frequency of the signal generated by the signal generation unit 21 to a frequency selected as the frequency of the transmission wave T transmitted from the transmitting antenna 25. The frequency selected as the frequency of the transmission wave T transmitted from the transmitting antenna 25 may be set, for example, by the control unit 10. Alternatively, the frequency selected as the frequency of the transmission wave T transmitted from the transmitting antenna 25 may be stored, for example, in the storage unit 40. The signal whose frequency has been increased by the synthesizer 22 is supplied to the phase control unit 23 and the mixer 33. If there are multiple phase control units 23, the signal whose frequency has been increased by the synthesizer 22 may be supplied to each of the multiple phase control units 23. Also, if there are multiple receiving units 30, the signal whose frequency has been increased by the synthesizer 22 may be supplied to each of the mixers 33 in the multiple receiving units 30. 【0044】 The phase control unit 23 controls the phase of the transmission signal supplied from the synthesizer 22. Specifically, the phase control unit 23 may adjust the phase of the transmission signal by appropriately advancing or delaying the phase of the signal supplied from the synthesizer 22, for example, based on control by the control unit 10. In this case, the phase control unit 23 may adjust the phase of each transmission signal based on the path difference of each transmission wave T transmitted from the multiple transmission antennas 25. By appropriately adjusting the phase of each transmission signal, the transmission waves T transmitted from the multiple transmission antennas 25 reinforce each other in a predetermined direction to form a beam (beamforming). In this case, the correlation between the direction of beamforming and the amount of phase to be controlled for each transmission signal transmitted by the multiple transmission antennas 25 may be stored, for example, in the memory unit 40. The transmission signal whose phase has been controlled by the phase control unit 23 is supplied to the amplifier 24. 【0045】 The amplifier 24 amplifies the power of the transmission signal supplied from the phase control unit 23, for example, based on control by the control unit 10. If the sensor 5 has multiple transmission antennas 25, the multiple amplifiers 24 may each amplify the power of the transmission signal supplied from the corresponding phase control unit 23, for example, based on control by the control unit 10. Since the technique for amplifying the power of the transmission signal is already known, a more detailed explanation will be omitted. The amplifier 24 is connected to the transmission antenna 25. 【0046】 The transmitting antenna 25 outputs (transmits) the transmission signal amplified by the amplifier 24 as the transmission wave T. If the sensor 5 has multiple transmitting antennas 25, each of the multiple transmitting antennas 25 may output (transmit) the transmission signal amplified by the corresponding amplifier 24 as the transmission wave T. The transmitting antenna 25 can be configured in the same way as transmitting antennas used in known radar technology, so a more detailed explanation is omitted. 【0047】 In this way, the electronic device 1 according to one embodiment is equipped with a transmitting antenna 25 and can transmit a transmission signal (e.g., a transmitting chirp signal) as a transmitted wave T from the transmitting antenna 25. Here, at least one of the functional parts constituting the electronic device 1 may be housed in a single housing. In this case, the single housing may be constructed in a way that prevents it from being easily opened. For example, the transmitting antenna 25, the receiving antenna 31, and the amplifier 24 may be housed in a single housing, and this housing may be constructed in a way that prevents it from being easily opened. Furthermore, if the sensor 5 is installed on a mobile body 100 such as an automobile, the transmitting antenna 25 may transmit the transmitted wave T to the outside of the mobile body 100 via a cover member such as a radar cover. In this case, the radar cover may be made of a material that allows electromagnetic waves to pass through, such as synthetic resin or rubber. This radar cover may also serve as the housing for the sensor 5. By covering the transmitting antenna 25 with a member such as a radar cover, the risk of the transmitting antenna 25 being damaged or malfunctioning due to contact with the outside can be reduced. The radar cover and housing are also sometimes called radomes. 【0048】 Figure 2 shows an example of the electronic device 1 having two transmitting antennas 25. However, in one embodiment, the electronic device 1 may have any number of transmitting antennas 25. On the other hand, in one embodiment, the electronic device 1 may have multiple transmitting antennas 25 if the transmitted wave T transmitted from the transmitting antennas 25 forms a beam in a predetermined direction. In one embodiment, the electronic device 1 may have any multiple transmitting antennas 25. In this case, the electronic device 1 may also have multiple phase control units 23 and amplifiers 24 corresponding to the multiple transmitting antennas 25. The multiple phase control units 23 may each control the phase of multiple transmitted waves supplied from the synthesizer 22 and transmitted from the multiple transmitting antennas 25. The multiple amplifiers 24 may each amplify the power of multiple transmitted signals transmitted from the multiple transmitting antennas 25. In this case, the sensor 5 may be configured to include multiple transmitting antennas. Thus, when the electronic device 1 shown in Figure 2 has multiple transmitting antennas 25, it may also be configured to include multiple functional units necessary for transmitting the transmitted wave T from the multiple transmitting antennas 25. 【0049】 The receiving antenna 31 receives the reflected wave R. The reflected wave R may be the result of the transmitted wave T being reflected by a predetermined object 200. The receiving antenna 31 may be configured to include multiple antennas, for example, receiving antennas 31A to 31D. The receiving antenna 31 can be configured similarly to receiving antennas used in known radar technologies, so a more detailed explanation is omitted. The receiving antenna 31 is connected to the LNA 32. The received signal based on the reflected wave R received by the receiving antenna 31 is supplied to the LNA 32. 【0050】 In one embodiment, the electronic device 1 can receive reflected waves R, which are formed when a transmitted wave T, transmitted as a transmitted signal (transmitted chirp signal), such as a chirp signal, from a plurality of receiving antennas 31, is reflected by a predetermined object 200. When a transmitted chirp signal is transmitted as a transmitted wave T, the received signal based on the received reflected wave R is referred to as a received chirp signal. That is, the electronic device 1 receives a received signal (e.g., a received chirp signal) as a reflected wave R from the receiving antennas 31. Here, if the sensor 5 is installed on a moving body 100 such as an automobile, the receiving antennas 31 may receive reflected waves R from outside the moving body 100 via a cover member, such as a radar cover. In this case, the radar cover may be made of a material that allows electromagnetic waves to pass through, such as synthetic resin or rubber. This radar cover may also serve as the housing for the sensor 5. By covering the receiving antennas 31 with a member such as a radar cover, the risk of damage or malfunction of the receiving antennas 31 due to contact with the outside can be reduced. The radar cover and housing are also sometimes called radomes. 【0051】 Furthermore, if the receiving antenna 31 is installed near the transmitting antenna 25, they may be combined and configured as a single sensor 5. That is, a single sensor 5 may include, for example, at least one transmitting antenna 25 and at least one receiving antenna 31. For example, a single sensor 5 may include multiple transmitting antennas 25 and multiple receiving antennas 31. In such a case, the radar sensor may be covered with a cover member, such as a radar cover. 【0052】 The LNA32 amplifies the received signal based on the reflected wave R received by the receiving antenna 31 with low noise. The LNA32 functions as a low-noise amplifier, amplifying the received signal supplied from the receiving antenna 31 with low noise. The received signal amplified by the LNA32 is supplied to the mixer 33. 【0053】 Mixer 33 generates a beat signal by mixing (multiplying) the RF frequency received signal supplied from LNA 32 with the transmitted signal supplied from synthesizer 22. The beat signal mixed by mixer 33 is supplied to IF unit 34. 【0054】 The IF unit 34 performs frequency conversion on the beat signal supplied from the mixer 33, thereby reducing the frequency of the beat signal to an intermediate frequency (IF (Intermediate Frequency) frequency). The beat signal whose frequency has been reduced by the IF unit 34 is supplied to the AD conversion unit 35. 【0055】 The AD conversion unit 35 digitizes the analog beat signal supplied from the IF unit 34. The AD conversion unit 35 may be composed of any analog-to-digital converter (ADC). The beat signal digitized by the AD conversion unit 35 is supplied to the distance FFT processing unit 11 of the control unit 10. If there are multiple receiving units 30, the beat signals digitized by each of the multiple AD conversion units 35 may be supplied to the distance FFT processing unit 11. 【0056】 The distance FFT processing unit 11 estimates the distance between the mobile body 100, which is equipped with the electronic device 1, and the object 200, based on the beat signal supplied from the AD conversion unit 35. The distance FFT processing unit 11 may include, for example, a processing unit that performs a Fast Fourier Transform (FFT). In this case, the distance FFT processing unit 11 may be composed of any circuit or chip that performs a Fast Fourier Transform (FFT) process. 【0057】 The distance FFT processing unit 11 performs FFT processing on the beat signal digitized by the AD conversion unit 35 (hereinafter referred to as "distance FFT processing" as appropriate). For example, the distance FFT processing unit 11 may perform FFT processing on the complex signal supplied from the AD conversion unit 35. The beat signal digitized by the AD conversion unit 35 can be represented as a time change in signal strength (power). By performing FFT processing on such a beat signal, the distance FFT processing unit 11 can represent it as a signal strength (power) corresponding to each frequency. If the peak in the result obtained by the distance FFT processing is above a predetermined threshold, the distance FFT processing unit 11 may determine that a predetermined object 200 is located at the distance corresponding to that peak. For example, a method is known in which, such as detection processing using a constant false alarm rate (CFAR), if a peak value above a threshold is detected from the average power or amplitude of a disturbance signal, it is determined that an object that reflects the transmitted wave (reflecting object) exists. 【0058】 Thus, according to one embodiment, the electronic device 1 can detect an object 200 that reflects the transmitted wave T as a target, based on the transmitted signal transmitted as the transmitted wave T and the received signal received as the reflected wave R. 【0059】 The distance FFT processing unit 11 can estimate the distance to a predetermined object based on a single chirp signal (for example, c1 shown in Figure 3). That is, the electronic device 1 can measure (estimate) the distance L shown in Figure 1 by performing distance FFT processing. Since the technique of measuring (estimating) the distance to a predetermined object by performing FFT processing on a beat signal is well known, a more detailed explanation will be simplified or omitted as appropriate. The result of the distance FFT processing performed by the distance FFT processing unit 11 (for example, distance information) may be supplied to the velocity FFT processing unit 12. In addition, the result of the distance FFT processing performed by the distance FFT processing unit 11 may also be supplied to the distance-velocity detection and determination unit 13 and / or the object detection unit 15, etc. 【0060】 The velocity FFT processing unit 12 estimates the relative velocity between the mobile body 100, which is equipped with the electronic device 1, and the object 200, based on the beat signal that has undergone distance FFT processing by the distance FFT processing unit 11. The velocity FFT processing unit 12 may include, for example, a processing unit that performs a Fast Fourier Transform. In this case, the velocity FFT processing unit 12 may be composed of any circuit or chip that performs Fast Fourier Transform (FFT) processing. 【0061】 The velocity FFT processing unit 12 performs further FFT processing on the beat signal that has undergone distance FFT processing by the distance FFT processing unit 11 (hereinafter referred to as "velocity FFT processing" as appropriate). For example, the velocity FFT processing unit 12 may perform FFT processing on the complex signal supplied from the distance FFT processing unit 11. The velocity FFT processing unit 12 can estimate the relative velocity with a predetermined object based on a subframe of the chirp signal (for example, subframe 1 shown in Figure 3). As described above, performing distance FFT processing on the beat signal can generate multiple vectors. By determining the phase of the peak in the result of performing velocity FFT processing on these multiple vectors, the relative velocity with a predetermined object can be estimated. That is, the electronic device 1 can measure (estimate) the relative velocity between the moving body 100 shown in Figure 1 and the predetermined object 200 by performing velocity FFT processing. The technique of measuring (estimating) the relative velocity with a predetermined object by performing velocity FFT processing on the result of distance FFT processing is known, so a more detailed explanation will be simplified or omitted as appropriate. The results of the velocity FFT processing performed by the velocity FFT processing unit 12 (e.g., velocity information) may be supplied to the angle of arrival estimation unit 14. Furthermore, the results of the velocity FFT processing performed by the velocity FFT processing unit 12 may also be supplied to the distance-velocity detection and determination unit 13 and / or the object detection unit 15, etc. 【0062】 The distance-velocity detection and determination unit 13 performs a determination process regarding distance and / or relative velocity based on the results of distance FFT processing performed by the distance FFT processing unit 11 and / or velocity FFT processing performed by the velocity FFT processing unit 12. The distance-velocity detection and determination unit 13 determines whether or not a target has been detected at a predetermined distance and / or a predetermined relative velocity. The distance-velocity detection and determination unit 13 will be described further later. 【0063】 The angle of arrival estimation unit 14 estimates the direction from which the reflected wave R arrives from a predetermined object 200 based on the results of velocity FFT processing performed by the velocity FFT processing unit 12. Here, the angle of arrival estimation unit 14 may perform direction estimation based on data other than the results of velocity FFT processing performed by the velocity FFT processing unit 12. For example, the estimation of the direction from which the reflected wave R arrives from a predetermined object 200 may be performed based on the results of a determination by the distance-velocity detection determination unit 13. The electronic device 1 can estimate the direction from which the reflected wave R arrives by receiving the reflected wave R from a plurality of receiving antennas 31. For example, the plurality of receiving antennas 31 are arranged at predetermined intervals. In this case, the transmitted wave T transmitted from the transmitting antenna 25 is reflected by the predetermined object 200 to become the reflected wave R, and the plurality of receiving antennas 31 arranged at predetermined intervals each receive the reflected wave R. The arrival angle estimation unit 14 can estimate the direction in which the reflected wave R arrives at the receiving antenna 31 based on the phase of the reflected wave R received by each of the multiple receiving antennas 31, and the path difference of each reflected wave R. In other words, the electronic device 1 can measure (estimate) the arrival angle θ shown in Figure 1 based on the results of the velocity FFT processing. Here, the measurement (estimation) of the arrival angle θ may be performed by estimating the direction based on data other than the results of the velocity FFT processing performed by the velocity FFT processing unit 12. For example, the measurement (estimation) of the arrival angle θ may be performed based on the results of the determination by the distance-velocity detection determination unit 13. 【0064】 Various techniques have been proposed for estimating the direction from which the reflected wave R arrives based on the results of velocity FFT processing. For example, known algorithms for estimating the direction of arrival include MUSIC (Multiple Signal Classification) and ESPRIT (Estimation of Signal Parameters via Rotational Invariance Technique). Therefore, more detailed explanations of known techniques will be simplified or omitted as appropriate. The information on the angle of arrival θ (angle information) estimated by the angle of arrival estimation unit 14 may be supplied to the object detection unit 15. 【0065】 The object detection unit 15 detects objects within the range to which the transmitted wave T is transmitted, based on information supplied from at least one of the distance FFT processing unit 11, the velocity FFT processing unit 12, and the angle of arrival estimation unit 14. The object detection unit 15 may perform object detection by, for example, clustering processing based on the supplied distance information, velocity information, and angle information. An algorithm known to be used when clustering data is DBSCAN (Density-based spatial clustering of applications with noise). In the clustering processing, for example, the average power of the points constituting the detected object may be calculated. The distance information, velocity information, angle information, and power information of the object detected by the object detection unit 15 may be supplied to, for example, an ECU 50. In this case, if the mobile body 100 is an automobile, communication may be performed using a communication interface such as CAN (Controller Area Network). 【0066】 As described above, the electronic device 1 may include a transmitting antenna 25, a receiving antenna 31, and a control unit 10. The transmitting antenna 25 transmits a transmission wave T. The receiving antenna 31 receives a reflected wave R which is the transmission wave T reflected. The control unit 10 then detects an object (for example, object 200) that reflects the transmission wave T, based on the transmission signal transmitted as the transmission wave T and the received signal received as the reflected wave R. 【0067】 An ECU 50 provided in an electronic device 1 according to one embodiment can control the operation of the mobile body 100 as a whole, including the control of each functional part constituting the mobile body 100. The ECU 50 may include at least one processor, such as a CPU (Central Processing Unit), in order to provide control and processing capabilities for executing various functions. The ECU 50 may be implemented as a single processor, as several processors, or as separate processors. The processor may be implemented as a single integrated circuit. An integrated circuit is also called an IC (Integrated Circuit). The processor may be implemented as a plurality of communicably connected integrated circuits and discrete circuits. The processor may be implemented based on various other known technologies. In one embodiment, the ECU 50 may be configured as, for example, a CPU and a program executed by the CPU. The ECU 50 may appropriately include memory necessary for the operation of the ECU 50. Furthermore, at least a part of the functions of the control unit 10 may be functions of the ECU 50, or at least a part of the functions of the ECU 50 may be functions of the control unit 10. 【0068】 The electronic device 1 shown in Figure 2 is equipped with two transmitting antennas 25 and four receiving antennas 31. However, in one embodiment, the electronic device 1 may be equipped with any number of transmitting antennas 25 and any number of receiving antennas 31. For example, by being equipped with two transmitting antennas 25 and four receiving antennas 31, the electronic device 1 can be considered to be equipped with a virtual antenna array consisting of virtually eight antennas. In this way, the electronic device 1 may receive the reflected waves R of the 16 subframes shown in Figure 3 by using, for example, eight virtual antennas. 【0069】 (First Embodiment) The operation of the electronic device 1 according to the first embodiment will be described below. The operation of the electronic device 1 according to the first embodiment generates data groups independently at each point in time when detected data is detected, and is therefore also referred to as "point-of-time independent grouping". 【0070】 Figure 4 is a flowchart illustrating the operation of the electronic device 1 according to the first embodiment. Figure 5 is a diagram illustrating the processing in the electronic device 1 according to the first embodiment. The operation of the electronic device 1 according to the first embodiment will be described below with reference to Figures 4 and 5. 【0071】 When the operation shown in Figure 4 begins, the control unit 10 will be described as detecting an object that reflects the transmitted wave T based on the transmitted signal transmitted as the transmitted wave T and the received signal received as the reflected wave R. Hereinafter, when the operation shown in Figure 4 begins, the control unit 10 will be described as detecting the distance between the object 200 and the electronic device 1 as detection data based on the detection of the object 200 that reflects the transmitted wave T. In this case, the distance between the object 200 and the electronic device 1 may be detected by the control unit 10, the distance FFT processing unit 11, or the distance-velocity detection determination unit 13. On the other hand, the detection data based on the detection of the object 200 that reflects the transmitted wave T is not limited to the distance between the object 200 and the electronic device 1, but may be, for example, the relative velocity between the object 200 and the electronic device 1. In this case, the relative velocity between the object 200 and the electronic device 1 may be detected by the control unit 10, the velocity FFT processing unit 12, or the distance-velocity detection determination unit 13. Thus, the control unit 10 may use the distance between the object 200 and the electronic device 1, or the relative velocity between the object 200 and the electronic device 1, which are generated based on the detection of the object 200, as multiple detection data. 【0072】 When the operation shown in Figure 4 begins, the control unit 10 detects the distance between the object 200 and the electronic device 1 as detection data at a predetermined time (e.g., t0) (step S11). 【0073】 Here, for example, as shown in step S11 of Figure 5, suppose the control unit 10 detects N data points as detection data at a predetermined time t0, such as d1(t0), d2(t0), d3(t0), ..., dN(t0). As described above, these values ​​may each represent the distance between object 200 and electronic device 1 at time t0. Hereafter, the data detected by electronic device 1 (or its control unit 10) (in this example, representing distance) will also be referred to as "detection data" for convenience. 【0074】 These detection data may be detected as multiple data points, for example, if multiple objects 200 are present around the electronic device 1. Furthermore, even if these data actually represent the distance between a single object 200 and the electronic device 1, they may be detected as multiple data points due to the effects of so-called multipath. 【0075】 As shown in Figure 4, once detection data is detected in step S11, the control unit 10 selects reference data from that detection data (step S12). Here, the reference data is data selected from the detection data detected in step S11, and may be used as the reference when generating a group of detection data. 【0076】 For example, in step S12, the control unit 10 may select the data showing the smallest value from among the detected data as reference data. Alternatively, for example, in step S12, the control unit 10 may select the data showing a value close to the value obtained by adding a predetermined value to the smallest value from among the detected data as reference data. Here, the predetermined value may be, for example, a threshold value, as described later. In this way, the control unit 10 may select the data showing a value close to the value obtained by adding a predetermined value to the smallest value among a plurality of detected data at a predetermined time (e.g., t0) as reference data at a predetermined time (e.g., t0). In addition, in step S12, the control unit 10 may select any data from among the detected data as reference data. In this way, the control unit 10 may use data selected from a plurality of detected data at a predetermined time (e.g., t0) as reference data at a predetermined time (e.g., t0). 【0077】 As shown in Figure 4, once reference data is selected in step S12, the control unit 10 generates a group of detection data based on the selected reference data (step S13). In step S13, the control unit 10 may generate a group of detection data in which, for example, detection data corresponding to values ​​within a predetermined difference from the value indicated by the reference data are grouped together. That is, in step S13, the control unit 10 may include multiple detection data in the same group if the absolute value of the difference between the values ​​indicated by the values ​​indicated by the reference data is within a predetermined threshold. Here, the predetermined threshold may be, for example, a value indicating a distance of 5m in the case of an in-vehicle radar. In this way, the control unit 10 may group together multiple detection data at a predetermined time (e.g., t0) that correspond to values ​​within a predetermined difference from the value indicated by the reference data at that predetermined time (e.g., t0). 【0078】 For example, as shown in step S11 of Figure 5, suppose the control unit 10 detects N data points, such as d1(t0), d2(t0), d3(t0), ..., dN(t0), as detection data at a predetermined time t0. Then, as shown in step S12 of Figure 5, suppose the control unit 10 selects dr1(t0) as reference data from among the N detection data points shown in step S11 of Figure 5. In this case, the control unit 10 generates groups of detection data by grouping together, for example, detection data points whose difference from the reference data dr1(t0) is within a predetermined threshold from among the N detection data points shown in step S11 of Figure 5. 【0079】 Here, let's assume that among the N detection data shown in step S11 of Figure 5, the M1 detection data whose difference from the reference data dr1(t0) is within a predetermined threshold are, for example, da1(t0), db1(t0), dc1(t0), ... In this case, the control unit 10 considers these M1 detection data da1(t0), db1(t0), dc1(t0), ... to be included in the same group G1(t0). That is, the difference between the values ​​indicated by the M1 detection data da1(t0), db1(t0), dc1(t0), ... which are included in group G1(t0), and the value indicated by the reference data dr1(t0) will all be within the predetermined threshold. 【0080】 In the example described above, the control unit 10 grouped detection data that showed a value within a predetermined difference from the value indicated by the reference data. However, in one embodiment, the control unit 10 may generate groups based on other rules. 【0081】 As shown in Figure 4, once a group of detection data is generated in step S13, the control unit 10 generates representative data based on the detection data included in that group (step S14). 【0082】 For example, as shown in step S13 of Figure 5, suppose that the detection data included in group G1(t0) consists of M1 data points: da1(t0), db1(t0), dc1(t0), ... In this case, the control unit 10 generates representative data g1(t0) for group G1(t0) based on these M1 detection data points, as shown in step S14 of Figure 5. In step S14, the control unit 10 may calculate, for example, the average value of the detection data included in group G1(t0) as the representative data g1(t0). Alternatively, in step S14, the control unit 10 may select, for example, the maximum or minimum value among the detection data included in group G1(t0) as the representative data g1(t0). Thus, the control unit 10 may use the average, minimum, or maximum value of the detection data included in the same group (e.g., G1(t0)) at a predetermined time (e.g., t0) as the representative data (e.g., g1(t0)) at that predetermined time (e.g., t0). In one embodiment, the control unit 10 may use the median of the detection data included in the same group at a predetermined time, or the average value within the median range, as representative data at that predetermined time. Alternatively, if there is only one reference data in a group, the control unit 10 may use that reference data as representative data. In this case, the single detection data constituting the group is both the reference data and the representative data. In the first embodiment (time-independent grouping), since reference data is selected from the detection data at the current time, there is at least one reference data in each group. 【0083】 If representative data for the group is generated in step S14, the control unit 10 performs the processing in step S15. In step S15, the control unit 10 determines whether all of the detection data at a predetermined time (e.g., t0) has been selected. That is, in step S15, the control unit 10 determines whether a group has been generated such that all of the detection data shown in step S11 of Figures 4 and 5 are included in one of the groups. 【0084】 If not all detection data has been selected in step S15, that is, if there is still detection data that does not belong to any group, the control unit 10 may return to step S12 and select reference data from the remaining detection data. 【0085】 For example, when the control unit 10 returns to step S12, it may select the next reference data (e.g., dr2(t0)) from the detection data shown in step S11 of Figures 4 and 5. Next, in step S13, the control unit 10 may generate a group of detection data (e.g., G2(t0)) by grouping detection data that correspond to values ​​within a predetermined difference from the value indicated by the reference data (e.g., dr2(t0)) together. Here, suppose that of the remaining detection data shown in step S11 of Figures 4 and 5, the M2 detection data that have a difference from the reference data dr2(t0) within a predetermined threshold are, for example, da2(t0), db2(t0), dc2(t0), ... In this case, the control unit 10 includes these M2 detection data, da2(t0), db2(t0), dc2(t0), ... in the same group G2(t0). In other words, the difference between the values ​​of the M2 detection data points da2(t0), db2(t0), dc2(t0), ... included in group G2(t0) and the value of the reference data dr2(t0) is always within a predetermined threshold. 【0086】 By repeating the above operations, the electronic device 1 can obtain the following results, as shown in Figure 5. 【0087】 Group G1(t0) is a group of detection data generated based on the reference data dr1(t0), and includes M1 detection data points: da1(t0), db1(t0), dc1(t0), ... In group G1(t0), representative data g1(t0) is generated based on the above M1 detection data points. 【0088】 Group G2(t0) is a group of detection data generated based on the reference data dr2(t0), and includes M2 detection data: da2(t0), db2(t0), dc2(t0), ... In group G2(t0), representative data g2(t0) is generated based on the above M2 detection data. 【0089】 Group G3(t0) is a group of detection data generated based on the reference data dr3(t0), and includes M3 detection data: da3(t0), db3(t0), dc3(t0), ... In group G3(t0), representative data g3(t0) is generated based on the above M3 detection data. 【0090】 Group GL(t0) is a group of detection data generated based on the reference data drL(t0), and includes ML detection data such as daL(t0), dbL(t0), dcL(t0), ... In group GL(t0), representative data gL(t0) is generated based on the above ML detection data. 【0091】 Thus, the control unit 10 may generate a group from a plurality of detection data generated based on object detection, based on reference data, and generate representative data based on the detection data included in the group. More specifically, the control unit 10 may generate a group at a predetermined time (e.g., t0) from a plurality of detection data at a predetermined time (e.g., t0) generated based on object detection, based on reference data at the predetermined time (e.g., t0). The control unit 10 may also generate representative data at a predetermined time (e.g., t0) based on the detection data included in the group at the predetermined time (e.g., t0). 【0092】 As described above, the electronic device 1 can generate representative data (L items) at time t0 from the detected data (N items) at time t0. In this way, the control unit 10 of the electronic device 1 may output representative data at a predetermined time (e.g., t0) as the detection result of an object at a predetermined time (e.g., t0). 【0093】 On the other hand, as shown in Figure 4, if all detection data has been selected in step S15, the control unit 10 may terminate the operation shown in Figure 4. In this case, the control unit 10 may restart the operation shown in Figure 4 for the next predetermined time (e.g., t1). Thereafter, the control unit 10 may sequentially repeat the operation shown in Figure 4 for each predetermined time. In this way, the control unit 10 may generate representative data for a predetermined time (e.g., t0) based on the detection data included in the group at that time. After generating representative data for a predetermined time (e.g., t0), the control unit 10 may generate representative data for a time after the predetermined time (e.g., t1) based on the detection data included in the group at that time. 【0094】 For example, in technologies such as millimeter-wave radar, by transmitting radio waves and receiving reflected waves reflected by an object, the distance or relative velocity to the object can be detected by determining the frequency change and / or time difference of the reflected waves. In recent years, so-called on-board radar technology, which involves mounting electronic devices using technologies such as millimeter-wave radar on vehicles such as automobiles to detect objects around the vehicle, is becoming widespread. However, if the vehicle equipped with on-board radar is traveling through a tunnel, or if there are many vehicles traveling alongside it, or if the surrounding terrain is complex, the reflection becomes complex. In this case, it is expected that the on-board radar will be affected by so-called multipath, which may prevent accurate detection or make detection unstable. According to the electronic device 1 of the first embodiment, the effects of multipath, for example, can be reduced. Therefore, according to the electronic device 1 of the first embodiment, the detection of objects such as targets can be stabilized. 【0095】 (Second Embodiment) Next, the operation of the electronic device 1 according to the second embodiment will be described. The operation of the electronic device 1 according to the second embodiment generates a group of data consecutively at each point in time when detected data is detected, and is therefore also referred to as "continuous grouping". 【0096】 Figure 6 is a flowchart illustrating the operation of the electronic device 1 according to the second embodiment. Figures 7 and 8 are diagrams illustrating the processing in the electronic device 1 according to the second embodiment. The operation of the electronic device 1 according to the second embodiment will be described below with reference to Figures 6 to 8. 【0097】 The second embodiment described below modifies some of the operations of the first embodiment described above. Therefore, the second embodiment can be implemented with the same configuration as the electronic device 1 according to the first embodiment described above. Accordingly, a more detailed description of the configuration of the electronic device 1 according to the second embodiment will be omitted. In addition, in the following description, explanations that are the same as those of the first embodiment described above will be simplified or omitted as appropriate. 【0098】 In the following explanation, as shown in step S11 of Figure 7, the control unit 10 has detected N' data points, such as d1(t1), d2(t1), d3(t1), ..., dN'(t1), as detection data at a predetermined time t1. Furthermore, at the start of the operation shown in Figure 6, the control unit 10 has already generated representative data points g1(t0), g2(t0), g3(t0), ..., gL(t0) at time t0 based on the detection data at time t0. Here, the generation of representative data points at time t0 may be assumed to be the result of the operation shown in the flowchart of Figure 6 having been performed at least once (before the time t1 when the current detection data is detected). Alternatively, the generation of representative data points at time t0 may be assumed to be the result of the operation of time-independent grouping shown in the flowchart of Figure 4 having been performed at least once (before the time t1 when the current detection data is detected). 【0099】 In the operation shown in Figure 4, after detection data at a predetermined time (t0) is detected (step S11), reference data at the predetermined time (t0) is selected from the detected data (step S12). On the other hand, in the operation shown in Figure 6, after detection data at a predetermined time (t1) is detected (step S11), reference data is selected from representative data generated at a time earlier than the predetermined time (t1) (for example, t0) (step S22). That is, as shown in step S12 of Figure 5, in time-independent grouping, reference data dr1(t0), dr2(t0), etc. at a predetermined time (t0) are selected from the detected data at that predetermined time (t0). In contrast, as shown in step S22 of Figure 7, in continuous grouping, reference data g1(t0), g2(t0), etc. at a predetermined time (t1) are selected from the detected data at a time earlier than the predetermined time (t1) (t0). Thus, the control unit 10 may select data from representative data at a time earlier than a predetermined time (e.g., t0) to use as reference data at the predetermined time (e.g., t1). 【0100】 As shown in step S22 of Figure 6, once reference data is selected from the representative data generated at the previous time (t0), the control unit 10 generates a group of detection data based on the selected reference data (step S13). The processing in step S13 may be carried out in the same manner as in the first embodiment described above. The group of detection data generated in this manner can be shown, for example, as in step S13 of Figure 7. 【0101】 In the second embodiment (continuous grouping), since the reference data is selected from representative data at a previous point in time, it is possible that there is no current detection data that satisfies the conditions for reference data. In this case, the representative data at a previous point in time cannot be used as the reference data for that group, and no detection data will exist for that group. 【0102】 Therefore, as shown in Figure 6, once a group of detection data is generated in step S13, the control unit 10 determines whether or not there is detection data included in that group (step S23). If there is detection data included in that group in step S23, the control unit 10 generates representative data based on the detection data included in that group (step S14). The processing in step S14 may be carried out in the same manner as in the first embodiment described above. On the other hand, if there is no detection data included in that group in step S23, the control unit 10 may skip the processing in step S14. That is, for example, if there is no detection data included in group G1(t1) shown in Figure 7, the control unit 10 may proceed to step S24 without generating representative data g1(t1). 【0103】 As shown in Figure 6, if representative data for the group is generated in step S14, or if the processing of step S14 is skipped after step S23, the control unit 10 performs the processing of step S24. As shown in Figure 6, in step S24, the control unit 10 determines whether all of the representative data at the previous time point (t0) has been selected as reference data. 【0104】 If, in step S24, there is any representative data from the previous time point (t0) that has not yet been selected as reference data, the control unit 10 may return to step S22 and select reference data from the remaining representative data. On the other hand, if, in step S24, all of the representative data from the previous time point (t0) has been selected as reference data, the control unit 10 then proceeds to the process in step S15. In step S15, the control unit 10 determines whether all of the detection data at a predetermined time point (e.g., t1) has been selected. That is, in step S15, the control unit 10 determines whether a group has been generated such that all of the detection data shown in step S11 of Figures 6 and 7 are included in one of the groups. 【0105】 If all detection data has been selected in step S15, the control unit 10 may terminate the operation shown in Figure 6. In this case, the control unit 10 may restart the operation shown in Figure 6 for the next predetermined time point (e.g., t2). Thereafter, the control unit 10 may sequentially repeat the operation shown in Figure 6 for each predetermined time point. 【0106】 By repeating the above operations, the electronic device 1 can obtain the following results, as shown in Figure 7. 【0107】 Group G1(t1) is a group of detection data generated based on the reference data g1(t0), and includes M'1 detection data such as da1(t1), db1(t1), dc1(t1), ... (Step S13 in Figure 7). In group G1(t1), representative data g1(t1) is generated based on the above M'1 detection data (Step S14 in Figure 7). 【0108】 Group G2(t1) is a group of detection data generated based on the reference data g2(t0), and includes M'2 detection data such as da2(t1), db2(t1), dc2(t1), ... (Step S13 in Figure 7). In group G2(t1), representative data g2(t1) is generated based on the above M'2 detection data (Step S14 in Figure 7). 【0109】 Group G3(t1) is a group of detection data generated based on the reference data g3(t0), and includes M' three detection data points: da3(t1), db3(t1), dc3(t1), ... (Step S13 in Figure 7). In group G3(t1), representative data g3(t1) is generated based on the above M' three detection data points (Step S14 in Figure 7). 【0110】 Group GL'(t1) is a group of detection data generated based on the reference data gL'(t0), and contains M'L' detection data such as daL'(t1), dbL'(t1), dcL'(t1), ... (Step S13 in Figure 7). In group GL'(t1), representative data gL'(t1) is generated based on the above M'L' detection data (Step S14 in Figure 7). 【0111】 On the other hand, if not all detection data is selected in step S15, that is, if there is still detection data that does not belong to any group, the control unit 10 may perform the operations from step S25 onward as shown in Figure 6. 【0112】 In step S25, the control unit 10 may use the remaining detection data to generate representative data by time-independent grouping as shown in Figures 4 and 5. For example, in step S15 shown in Figure 6, suppose that the remaining detection data at time t1, as shown in Figure 8, consist of K pieces: du1(t1), du2(t1), du3(t1), ..., duK(t1). In this case, the control unit 10 may select reference data from the remaining detection data according to time-independent grouping, generate groups of detection data based on the reference data, and generate representative data for each group. That is, the control unit 10 selects reference data for each group from the remaining detection data du1(t1), du2(t1), du3(t1), ..., duK(t1) shown in Figure 8. Then, the control unit 10 generates groups of detection data from the remaining detection data du1(t1), du2(t1), du3(t1), ..., duK(t1) shown in Figure 8, based on the selected reference data. Furthermore, the control unit 10 may generate representative data for each group based on the detection data included in the generated groups. 【0113】 Thus, the control unit 10 may generate a group at a predetermined time (e.g., t1) based on reference data at a predetermined time (e.g., t1) from detection data that is not included in any group at a predetermined time (e.g., t1). 【0114】 Through the time-independent grouping described above, the electronic device 1 can be obtained to produce the following results, as shown in Figure 8. 【0115】 Group G'1(t1) is a group of detection data generated based on the reference data dur1(t1), and contains M'1 detection data such as dua1(t1), dub1(t1), ... In group G'1(t1), representative data gL'+1(t1) is generated based on the above M'1 detection data (step S25 in Figure 8). 【0116】 Group G'2(t1) is a group of detection data generated based on the reference data dur2(t1), and includes M'2 detection data such as dua2(t1), dub2(t1), ... In group G'2(t1), representative data gL'+2(t1) is generated based on the above M'2 detection data (step S25 in Figure 8). 【0117】 Group G'L"(t1) is a group of detection data generated based on the reference data durL"(t1), and contains M'L" detection data such as duaL"(t1), dubL"(t1), ... In group G'L"(t1), representative data gL'+L"(t1) is generated based on the above M'L" detection data (step S25 in Figure 8). 【0118】 In step S25 shown in Figure 6, time-independent grouping is performed using the remaining detection data, and representative data at time t1, such as gL'+1(t1), gL'+2(t1), ..., gL'+L”(t1), are generated, as shown in Figure 8. 【0119】 If time-independent grouping is performed in step S25 as shown in Figure 6, the control unit 10 may add the representative data generated in step S25 to the representative data generated in step S14 and output it (step S26). For example, the control unit 10 may add the representative data gL'+1(t1), gL'+2(t1), ..., gL'+L”(t1) generated in step S25 of Figure 8 to the representative data g1(t1), g2(t1), ..., gL'(t1) generated in step S14 of Figure 7. As a result, the control unit 10 may generate g1(t1), g2(t1), ..., gL'(t1), gL'+1(t1), gL'+2(t1), ..., gL'+L”(t1) as all representative data at time t1, for example, as shown in step S26 of Figure 8. 【0120】 As explained above, the electronic device 1 according to the second embodiment can also reduce the effects of, for example, multipath interference. Therefore, according to the electronic device 1 according to the second embodiment, the detection of objects such as targets can be stabilized. 【0121】 The embodiments described above are not limited to implementation as electronic device 1. For example, the embodiments described above may be implemented as a control method for a device such as electronic device 1. Furthermore, for example, the embodiments described above may be implemented as a program executed by a device such as electronic device 1. 【0122】 In one embodiment, the electronic device 1 may, as its minimum configuration, include, for example, at least a part of either the sensor 5 or the control unit 10. On the other hand, in addition to the control unit 10, the electronic device 1 in one embodiment may appropriately include at least one of the signal generation unit 21, synthesizer 22, phase control unit 23, amplifier 24, and transmitting antenna 25, as shown in Figure 2. Furthermore, in place of, or together with, the above-mentioned functional units, the electronic device 1 in one embodiment may appropriately include at least one of the receiving antenna 31, LNA 32, mixer 33, IF unit 34, and AD conversion unit 35. Moreover, the electronic device 1 in one embodiment may include a storage unit 40. Thus, the electronic device 1 in one embodiment can take various configurations. Furthermore, when the electronic device 1 in one embodiment is mounted on a mobile body 100, for example, at least one of the above-mentioned functional units may be installed in a suitable location such as inside the mobile body 100. On the other hand, in one embodiment, for example, at least one of the transmitting antenna 25 and the receiving antenna 31 may be installed outside the mobile body 100. 【0123】 Those skilled in the art can make various modifications and alterations based on this disclosure. Therefore, these modifications and alterations are included within the scope of this disclosure. For example, in each embodiment, each functional part, each means, each step, etc., can be added to or replaced with each functional part, each means, each step, etc., in other embodiments in a logically consistent manner. Also, in each embodiment, multiple functional parts, each means, each step, etc., can be combined into one or divided into two. Furthermore, each embodiment of this disclosure described above is not limited to being implemented strictly according to the respective embodiments, but can be implemented by combining or omitting some features as appropriate. [Explanation of symbols] 【0124】 1 Electronic equipment 5 sensors 10 Control Unit 11 Distance FFT Processing Unit 12 Speed ​​FFT Processing Unit 13 Distance-speed detection and determination unit 14 Arrival angle estimator 15 Object detection unit 20 Transmitter 21 Signal generation unit 22 Synthesizers 23 Phase Control Unit 24 Amplifiers 25 Transmitting antenna 30 Receiver 31 Receiving antenna 32 LNA 33 Mixer 34 IF section 35 AD Conversion Unit 40 Storage section 50 ECU 100 Mobile Units 200 objects

Claims

[Claim 1] A transmitting antenna that transmits the signal, A receiving antenna that receives the reflected wave that has been reflected from the transmitted wave, A control unit that detects an object reflecting the transmitted wave based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave, Electronic equipment equipped with, The control unit, Based on the detection of the object, a group is generated at a predetermined time from a plurality of detection data at a predetermined time based on reference data at the predetermined time, and representative data at the predetermined time is generated based on the detection data included in the group at the predetermined time. The control unit, The data selected from representative data at a point in time prior to the predetermined point in time is used as the first reference data at the predetermined point in time to generate the first group. Based on the detection data included in the first group at the predetermined time, representative data at the predetermined time is generated. An electronic device that generates a second reference data from reference data at a predetermined time from detection data not included in the first group at a predetermined time, and generates a second group at a predetermined time based on the generated second reference data. [Claim 2] The electronic device according to claim 1, wherein the control unit uses data selected from a plurality of detection data at a predetermined time as reference data at the predetermined time. [Claim 3] The steps include transmitting a wave from the transmitting antenna, The steps include receiving the reflected wave from the receiving antenna after the transmitted wave has been reflected, A step of detecting an object that reflects the transmitted wave based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave, A step of generating a group at a predetermined time based on reference data at a predetermined time from a plurality of detection data at a predetermined time generated based on the detection of the object, A step of generating representative data at a predetermined time based on the detection data included in the group at the predetermined time, In a control method for electronic equipment having, The steps include generating the first group using data selected from representative data at a point in time prior to the predetermined time as the first reference data at the predetermined time, A step of generating representative data at a predetermined time based on the detection data included in the first group at the predetermined time; The steps include generating a second set of reference data from the reference data at the predetermined time from the detection data that is not included in the first group at the predetermined time, and generating a second group at the predetermined time based on the generated second set of reference data, A method for controlling electronic devices, including... [Claim 4] On the computer, The steps include transmitting a wave from the transmitting antenna, The steps include receiving the reflected wave from the receiving antenna after the transmitted wave has been reflected, A step of detecting an object that reflects the transmitted wave based on the transmitted signal transmitted as the transmitted wave and the received signal received as the reflected wave, A step of generating a group at a predetermined time based on reference data at a predetermined time from a plurality of detection data at a predetermined time generated based on the detection of the object, A step of generating representative data at a predetermined time based on the detection data included in the group at the predetermined time, A program that executes, To the aforementioned computer, The steps include generating the first group using data selected from representative data at a point in time prior to the predetermined time as the first reference data at the predetermined time, A step of generating representative data at a predetermined time based on the detection data included in the first group at the predetermined time; The steps include generating a second set of reference data from the reference data at the predetermined time from the detection data that is not included in the first group at the predetermined time, and generating a second group at the predetermined time based on the generated second set of reference data, A program that executes something.

Images