JP2021156713A - Radar device - Google Patents

Abstract

To provide radar equipment in which transmission electric power can be highly accurately feedback-controlled by simple structure.SOLUTION: Radar equipment 1 comprises: a local oscillator 2 outputting a high frequency signal S1; a modulation unit 3 modulating the high frequency signal S1 thereby generating a transmission signal S2; a transmit antenna 5 transmitting the transmission signal S2; a receive antenna 6 receiving a reception signal S3; a demodulation unit 7 demodulating the reception signal S3 thereby generating a demodulated signal S4; an A/D converter 8 digitally converting the modulated signal S4 to a received digital signal S5; a signal processing unit 4 controlling the modulation unit 3 and calculating measurement information on the basis of the received digital signal S5; a power sensor 9 acquiring the energy information I0 of the transmission signal S2 downstream of the modulation unit 3 in a prescribed period; and an A/D converter 10 digitally converting the energy information I0 to an energy signal S6. The signal processing unit 4 also functions as a control unit, and controls the modulation unit 3 on the basis of the energy signal S6.SELECTED DRAWING: Figure 1

Description

The present invention relates to a radar device.

In general, it is known that in a radar device that modulates and transmits a high-frequency signal, the transmission power of the transmission signal changes depending on usage conditions such as temperature and deterioration over time. Therefore, a transmission / reception device including a feedback means for capturing a part of a transmitted signal has been proposed (see, for example, Patent Document 1).

In the transmission / reception device described in Patent Document 1, a part of a predetermined signal generated by the high frequency transmission unit is taken in and output to the signal processing unit as a feedback signal. The signal processing unit adjusts the control signal output to the pulse generator (modulation unit) based on the demodulated feedback signal. This makes it possible to optimize the output high-frequency pulse.

Japanese Unexamined Patent Publication No. 2014-209110

However, in the transmission / reception device described in Patent Document 1, since the signal received by the receiving antenna and the feedback signal are demodulated by a common demodulation unit, these signals cannot be separated and it becomes difficult to control the feedback of the transmitted power. There is a possibility that it will end up. If an attempt is made to separate a plurality of superimposed signals or suppress the superposition of two signals, the information processing process may be complicated or the configuration of the device may be complicated.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a radar device capable of feedback-controlling transmission power with a simple configuration and with high accuracy.

In order to achieve the above object, the radar device according to the present invention includes an oscillation unit that outputs a high-frequency signal, a modulation unit that modulates the high-frequency signal to generate a transmission signal, and a transmission unit that transmits the transmission signal. , A receiving unit that receives the reflected wave of the transmitting signal as a receiving signal, a demodating unit that demolishes the received signal using the high-frequency signal to generate a demoted signal, and digitally converts the demodulated signal into a received digital signal. A first conversion unit, a processing unit that calculates measurement information based on the received digital signal, an energy acquisition unit that acquires energy information regarding the energy of the transmission signal in a predetermined period on the downstream side of the modulation unit, and an energy acquisition unit. It is characterized by including a second conversion unit that digitally converts the energy information into an energy signal, and a control unit that controls the modulation unit based on the energy signal.

In the radar device according to one aspect of the present invention, the modulation unit sets the amplification factor of the amplitude of the high frequency signal to a first predetermined value in the first modulation period, and is more than the first modulation period in the second modulation period. The high-frequency signal is pulse-modulated by reducing the amplification factor and repeating the first modulation period and the second modulation period at predetermined intervals.

In the radar device according to one aspect of the present invention, the modulation unit has a constant output period in which the amplification factor is a second predetermined value in addition to the first modulation period and the second modulation period. Pulse-modulates high-frequency signals.

In the radar device according to one aspect of the present invention, the energy acquisition unit acquires the energy information during the constant output period.

In the radar device according to one aspect of the present invention, a filter for attenuating a signal in a predetermined frequency band is provided between the demodulation unit and the first conversion unit, and the control unit is provided with a filter during the constant output period. The oscillating unit is also controlled so that the frequency of the high frequency signal is within the predetermined frequency band.

In the radar device according to one aspect of the present invention, the second conversion unit has a lower sampling rate than the first conversion unit.

In order to achieve the above object, the control method of the radar device according to the present invention is the control method of the radar device, which is an oscillation step for outputting a high frequency signal and a modulation for modulating the high frequency signal to generate a transmission signal. A step, a transmission step of transmitting the transmission signal, a reception step of receiving the reflected wave of the transmission signal as a reception signal, and a demodulation step of demolishing the received signal using the high frequency signal to generate a demoted signal. A first conversion step of digitally converting the demodulated signal into a received digital signal, a processing step of calculating measurement information based on the received digital signal, and energy acquisition for acquiring energy information related to the energy of the transmitted signal in a predetermined period. It is characterized by including a step, a second conversion step of digitally converting the energy information into an energy signal, and a control step of controlling the modulation unit based on the energy signal.

According to the radar device according to the present invention, the transmission power can be feedback-controlled with high accuracy with a simple configuration.

It is a block diagram of the radar apparatus which concerns on embodiment of this invention. It is a graph of the high frequency signal output by the oscillating part of the radar apparatus which concerns on embodiment of this invention. It is a graph of the amplification factor of the modulation part of the radar apparatus which concerns on embodiment of this invention. It is a graph of the transmission signal transmitted by the transmission unit of the radar apparatus which concerns on embodiment of this invention. It is a graph of the energy acquired by the energy acquisition part of the radar apparatus which concerns on embodiment of this invention. It is a graph of the characteristic of the filter of the radar apparatus which concerns on embodiment of this invention. It is a timing chart which shows the measurement timing of the radar apparatus which concerns on embodiment of this invention. It is a flowchart which shows an example of the measurement adjustment processing executed by the signal processing unit of the radar apparatus which concerns on embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram of the radar device 1 according to the embodiment of the present invention, FIG. 2 is a graph of a high frequency signal S1 output by the local antenna 2 of the radar device 1, and FIG. 3 is a graph of the radar device 1. FIG. 4 is a graph of the amplification factor of the modulation unit 3 of the above, FIG. 4 is a graph of the transmission signal S2 transmitted by the transmission antenna 5 of the radar device 1, and FIG. 5 is a graph of the energy acquired by the power sensor 9 of the radar device 1. 6 is a graph showing the characteristics of the filter 11 of the radar device 1, and FIG. 7 is a timing chart showing the measurement timing of the radar device 1.

As shown in FIG. 1, the radar device 1 according to the embodiment of the present invention includes a local oscillator 2 as an oscillation unit that outputs a high-frequency signal S1 and a modulation unit that modulates the high-frequency signal S1 to generate a transmission signal S2. 3, a transmitting antenna 5 as a transmitting unit for transmitting the transmitting signal S2, a receiving antenna 6 as a receiving unit for receiving the reflected wave of the transmitting signal S2 as a receiving signal S3, and a receiving signal S3 using the high frequency signal S1. Measured based on the demodulator 7 that demolishes and generates the demodulated signal S4, the first A / D converter 8 as the first converter that digitally converts the demodulated signal S4 into the received digital signal S5, and the received digital signal S5. A signal processing unit 4 as a processing unit for calculating information, a power sensor 9 as an energy acquisition unit for acquiring energy information I0 regarding the energy of the transmission signal S2 in a predetermined period on the downstream side of the modulation unit 3, and energy information. It includes a second A / D converter 10 as a second conversion unit that digitally converts I0 into an energy signal S6. The signal processing unit 4 also functions as a control unit and controls the modulation unit 3 based on the energy signal S6. Hereinafter, the radar device 1 will be specifically described.

The radar device 1 is mounted on a moving body such as an automobile, and is used for measuring the distance to a surrounding target and estimating the shape of the surrounding target based on the distance information. The “target” includes, for example, surrounding moving objects, pedestrians, and features (guardrails, utility poles, roadside trees, etc.), and includes both dynamic and static objects. Alternatively, the radar device 1 may be mounted on a static object such as a feature to measure the distance between the radar device 1 and a dynamic target such as a moving object. The radar device 1 measures the distance from the transmission signal S2 transmitted from the transmission antenna 5 based on the elapsed time until the transmission signal S2 is reflected by the surrounding target and is received by the reception antenna 6, and the transmission signal is measured. Based on S2 and the Doppler frequency of the reflected wave, the relative speed of the surrounding target with respect to the radar device 1 is measured.

The local oscillator 2 continuously outputs the high frequency signal S1 as shown in FIG. The high frequency signal S1 may have a frequency of, for example, about 24 GHz. Further, the local oscillator 2 is controlled by the signal processing unit 4, so that the frequency of the high frequency signal S1 to be output is variable.

The modulation unit 3 pulse-modulates by appropriately changing the amplification factor x of the amplitude of the high-frequency signal S1 to a first predetermined value (for example, 1) and another predetermined value (for example, 0). That is, as shown as an example in FIG. 3, the modulation unit 3 sets the amplification factor x to another predetermined value (20 to t1) after the constant output period (0 to t1) T0 in which the amplification factor x is set to a second predetermined value. For example, the second modulation period (t1 to t2) T2 which is substantially equal to 0) and the first modulation in which the amplification factor x is increased to a first predetermined value (for example, 1) and then decreased again. The period (t2 to t3) T1 is repeated a predetermined number of times (alternately in this embodiment) at predetermined intervals. The constant output period T0 may be set after repeating the first modulation period T1 and the second modulation period T2, or may be set before and after repeating the first modulation period T1 and the second modulation period T2. Alternatively, the constant output period T0 may be set after repeating the first modulation period T1 and the second modulation period T2, and then the first modulation period T1 and the second modulation period T2 may be repeated again. The first predetermined value and the second predetermined value described above may be the same value. Although an example in which the amplification factor x is appropriately changed to 1 or less is shown, the amplification factor x may exceed 1. Further, the length of the constant output period T0 may be sufficiently longer than the modulation periods T1 and T2, and may be, for example, equal to or greater than the sum of the lengths of the first modulation period T1 and the second modulation period T2.

The amplitude of the transmission signal S2 modulated by the modulation unit 3 is represented by the product of the amplitude of the high frequency signal S1 and the amplification factor x. Therefore, since the transmission signal S2 having the waveform as shown in FIG. 2 is modulated by the modulation unit 3, the amplitude is substantially equal to 0 in the second modulation period T2, and a predetermined amplitude is obtained in the first modulation period T1. The pulsed transmission signal S3 as shown in FIG. 4 is generated.

The signal processing unit 4 has both a function of controlling the local oscillator 2 and the modulator 3 and a function of calculating measurement information based on the received digital signal S5 (for example, calculating the distance to the surrounding target). It is composed of a microcomputer having, for example, a CPU, a ROM, a RAM, and the like. The signal processing unit 4 transmits the first control signal S7 to the local oscillator 2 and transmits the second control signal S8 to the modulation unit 3. Depending on the type of the first control signal S7 and the local oscillator 2, a conversion unit such as a D / A converter may be provided between the local oscillator 2 and the signal processing unit 4.

The transmitting antenna 5 transmits the transmission signal S2 to the external space, is attached to an appropriate position, and emits an electromagnetic wave in an appropriate direction. For example, when the radar device 1 is mounted on a moving body and it is desired to detect a target located in front of the moving body, a transmitting antenna 5 is arranged on the front side portion of the moving body, and a transmission signal which is an electromagnetic wave toward the front is transmitted. S2 may be emitted.

The receiving antenna 6 receives the reflected wave reflected by the target by the transmitting signal S2 as the receiving signal S3, and may be arranged adjacent to the transmitting antenna 5 and directed in the same direction, for example. When the radar device 1 is mounted on a moving body and a target exists around the moving body, the transmission signal S2, which is an electromagnetic wave radiated from the transmitting antenna 5, is reflected by the target, and the receiving antenna 6 is subjected to this target. Receive the reflected wave.

The demodulation unit 7 demodulates the received signal S3 using the frequency of the high frequency signal S1 and generates the demodulated signal S4. The demodulation signal S4 is transmitted from the demodulation unit 7 to the first A / D converter 8.

The first A / D converter 8 digitally converts the demodulated signal S4 into the received digital signal S5 at an appropriate sampling rate. The received digital signal S5 is transmitted to the signal processing unit 4.

The power sensor 9 is provided between the modulation unit 3 and the transmission antenna 5, and acquires the energy of the transmission signal S2 in the constant output period T0. The power sensor 9 is configured to be able to measure a voltage by being connected to a signal line between the modulation unit 3 and the transmitting antenna 5 by, for example, a coupler. That is, the power sensor 9 acquires electric power (energy) based on the time change of the voltage of the transmission signal S2. Specifically, after detecting the time change of the voltage of the transmission signal S2 as shown in FIG. 5 (A), it is rectified by a rectifier as shown in FIG. 5 (B), and as shown in FIG. 5 (C). The voltage after rectification may be averaged. When the process as shown in FIG. 5 is executed, if the input of the power sensor is a short time signal such as a pulse signal, it is necessary to use a highly sensitive power sensor, which increases the device cost. On the other hand, in the present embodiment, the processing shown in FIG. 5 can be realized by the inexpensive power sensor 9 by setting the constant output period sufficiently long in time as the power sensor input. Based on this voltage, energy information I0 regarding the electric power (energy) of the transmission signal S2 can be acquired.

The power sensor 9 may acquire energy information I0 so that at least a change in energy can be detected, energy may be acquired based on a predetermined standard as described above, or total energy without rectification. Or the average value of the power of the transmission signal S2 within a predetermined period may be acquired. That is, the energy information I0 acquired based on the same standard may be compared with each other.

The second A / D converter 10 digitally converts the energy information I0 acquired by the power sensor 9 into the energy signal S6. At this time, since the acquired energy information I0 has a constant value without changing with time, it can be digitally converted at a sampling rate lower than that of the first A / D converter 8. Therefore, as the second A / D converter 10, a device that is cheaper than the first A / D converter 8 can be used.

The radar device 1 may further include a filter 11 for attenuating a signal in a predetermined frequency band between the demodulation unit 7 and the first A / D converter 8. The filter 11 may be, for example, a low-pass filter having the characteristics shown in FIG. The characteristic of the filter 11 is that the amplitude threshold value L is set at each frequency. The amplitude of the signal that has passed through the filter 11 at each frequency is equal to or less than this threshold value L.

Here, a specific example of the measurement method and the feedback control method of the radar device 1 will be described. In the following, it is assumed that the radar device 1 is mounted on the moving body and the distance to the surrounding target is calculated. First, when the moving body starts traveling, the signal processing unit 4 starts measurement. At this time, the radar device 1 repeats the measurement a plurality of times and calculates the distance to the surrounding target based on the plurality of measurement results.

In order for the receiving antenna 6 to receive the receiving signal S3 after the transmitting antenna 5 transmits the transmitting signal S2, a predetermined transmission / reception time Tm1 is required. That is, in one measurement, the transmission signal S2 is transmitted a plurality of times and the reception signal S3 is received a plurality of times. At this time, in one measurement, the first transmission signal S2 is transmitted and then the last. It takes a predetermined transmission / reception time Tm1 until the reception signal S3 of the above is received. Further, in order for the signal processing unit 4 to analyze the received digital signal S5 and execute the process of calculating the distance from the surrounding target, a predetermined processing time Tm2 is required. At this time, as shown in FIG. 7, after the signal transmission / reception in the first measurement is completed, when the signal processing in the first measurement is performed, the signal transmission / reception in the second measurement is also performed. That is, the transmission / reception of the signal in the nth measurement and the processing of the signal in the n + 1th measurement are performed in the same period.

The signal processing unit 4 can receive the energy signal S6 at the time of transmitting and receiving the signal in each measurement. After repeating the transmission and reception of the signal a predetermined number of times (for example, eight times), the modulation unit 3 is feedback-controlled by changing the second control signal S8 based on the average value of the energy signal S6 and the like. At this time, a reference value is set in advance for the acquired energy, and the relationship between the change in the characteristics of the transmission signal S2 and the change in the actual acquired energy (difference, ratio, etc.) with respect to the reference value is determined by experiments, simulations, etc. Ask in advance. That is, it is based on the acquired energy by grasping in advance how much the amplification factor x and the like in the modulator 3 should be changed to obtain the transmission signal S2 having the desired characteristics when the acquired energy changes. Feedback control can be performed. More specifically, for example, a data table in which the strength of the energy signal S6 acquired by the signal processing unit 4 and the second control signal S8 are associated with each other is stored in a storage unit (not shown) and stored in the storage unit. The modulator 3 can be feedback-controlled by referring to the generated data table.

Further, the signal processing unit 4 can receive the energy signal S6 before or after transmitting / receiving the signal in the plurality of measurements. More specifically, for example, as shown in FIG. 7, in one measurement, for example, one measurement for transmitting and receiving a signal k times (for example, eight times) during Tm1 is performed n times (for example). For example, when repeating (8 times), the signal processing unit 4 may acquire the energy signal S6 after the nth measurement of the measurement is completed, or the first measurement of the first measurement of the measurement may be performed. The transmission signal S2 may be acquired before being transmitted. In this way, the radar device 1 can acquire the energy signal S6 when transmitting the measurement information obtained in the above-mentioned one measurement to another device (for example, an ECU of an automobile). In such a case, the constant output period T0 can be set within the time allowed by one measurement, and for example, T0 ≧ s × Tm1 (s is an integer of 1 or more) can be set. On the other hand, when the time taken for one measurement of the radar device 1 is TA, T0 and Tm1 so as to satisfy T0 + n × Tm1 ≦ TA (n is the number of times the above-mentioned measurement is repeated in one measurement). Can be set.

It is preferable that the radar device 1 constantly measures the distance to the surrounding target while the moving body is traveling, and outputs the obtained measurement information to another device. Further, the feedback control may be always performed during the measurement by the radar device 1, or may be performed only when the external environment of the radar device 1 (for example, the outside air temperature) changes. Further, when the modulation unit 3 is feedback-controlled, it may be controlled based only on the energy signal S6, or the energy signal S6 and the information about the external environment may be combined and controlled.

Further, the signal processing unit 4 controls the local oscillator 2 so that the frequency of the high frequency signal S1 in the constant output period T0 becomes a different value from the frequency in the other period when transmitting and receiving the signal as described above. do. For example, the frequency F0 is set to 24 GHz in the first modulation period T1 and the second modulation period T2, and the frequency F1 is set to 26 GHz in the constant output period T0. As a result, when the transmission signal S2 in the constant output period T0 is reflected by the target around the moving body, received as a reception signal by the reception antenna 6, and demodulated by the demodulation unit 7, it is removed by the filter 11. Can be done. That is, as shown in FIG. 6, the threshold value L of the filter 11 is set extremely low at the frequency F1 with respect to the frequency F0, and the amplitude of the signal at the frequency F0 becomes extremely small after passing through the filter 11. The frequency shift amount of the high frequency signal S1 between the modulation periods T1 and T2 and the constant output period T0 may be set according to the function of the filter 11, and the demodulated signal corresponding to the constant output period T0 is removed. You can do it like this. Further, a high-pass filter may be used as the filter, and the frequency of the high-frequency signal S1 in the constant output period T0 may be lower than the modulation period.

By changing the frequency of the high frequency signal S1 in the constant output period T0 as described above, when a plurality of radar devices 1 of the same type are arranged close to each other, the transmission signal S2 in the constant output period T0 of a certain radar device 1 Alternatively, when the reflected wave is received by another radar device 1, the demodulated signal of the received signal can be removed by the filter 11.

Here, an example of the measurement adjustment process executed by the signal processing unit 4 of the radar device 1 will be described with reference to the flowchart of FIG. First, the signal processing unit 4 executes measurement adjustment processing at the same time as the start of traveling of the moving body, sets K = 0 (step ST1), and controls the local oscillator 2 and the modulator 3 to send the transmission signal S2 to the transmission antenna 5. (Step ST2; oscillation step and modulation step). Next, the signal processing unit 4 receives the received digital signal S5 (step ST3; reception step, demodulation step, and first conversion step), and processes the received digital signal S5 to calculate information about surrounding targets. (Step ST4; processing step). In step ST4, the signal processing unit 4 may detect, for example, a target as a target and calculate the relative angle (position) where the target exists.

Next, the signal processing unit 4 increases K by 1 (step ST5) and determines whether or not K = 7 (step ST6). The numerical value (number of repetitions) of the determination in step ST6 may be appropriately set. If K = 7 (N in step ST6), the signal processing unit 4 returns to step ST2 again. On the other hand, when K = 7 (Y in step ST6), the signal processing unit 4 determines whether or not the degree of state change of the radar device 1 is equal to or greater than the reference value (step ST7). In step ST7, the signal processing unit 4 may determine whether or not the temperature change of the radar device 1 is equal to or greater than the threshold value, and whether or not the change of the power supply voltage of the radar device 1 is equal to or greater than the threshold value. Whether or not it may be determined, or both the temperature change and the power supply voltage change may be determined.

When the state change degree of the radar device 1 is less than the reference value (N in step ST7), the signal processing unit 4 returns to step ST1 again. On the other hand, when the state change degree of the radar device 1 is equal to or higher than the reference value (Y in step ST7), the signal processing unit 4 changes the signal pattern of the second control signal S8 for controlling the modulator 3 (Y in step ST7). Step ST8). In step ST8, the second control signal S8 may be changed from a signal suitable for obtaining target information to a signal suitable for obtaining information for feedback control in the modulation unit 3.

Next, the signal processing unit 4 acquires the energy signal S6 (step ST9; energy acquisition step and second conversion step), and whether the power based on the energy signal S6 is within the reference range (absolute difference from the reference value). Whether or not the value is within the threshold value) is determined (step ST10). When the power based on the energy signal S6 is within the reference range (Y in step ST10), the signal processing unit 4 changes the signal pattern of the second control signal S8 (changes to the state before step ST8) (step). ST11), the process returns to step ST1 again. When the power based on the energy signal S6 is out of the reference range (N in step ST10), the signal processing unit 4 changes the signal pattern of the second control signal S8 (changes to the state before step ST8) and the second. The amplification factor of the control signal S8 of 2 is adjusted (step ST12; control step), and the process returns to step ST2 again. When adjusting the amplification factor of the second control signal S8 in step ST12, the amplification factor may be determined based on the difference or ratio between the energy signal S6 and the reference value.

The signal processing unit 4 may end the measurement adjustment process, for example, when the moving body stops. In the above measurement adjustment process, after the target is measured (steps ST1 to ST6), the degree of state change of the radar device 1 is determined in step ST7, and then the feedback control of the modulator 3 is performed (step ST8). ~ ST12) However, step ST7 may be omitted, and the feedback control of the modulator 3 may always be performed after the target is measured.

According to the radar device 1 according to the embodiment of the present invention as described above, the first A / D converter 8 that digitally converts the demodulated signal S4 based on the reflected wave of the transmitted signal S2 and the energy information I0 of the transmitted signal S2. By providing both the second A / D converter 10 that digitally converts the signal and the signal for feedback, it is possible to suppress the superposition of the signal for measurement and the signal for feedback. Further, since the second A / D converter 10 converts the energy information I0 of the transmission signal S2, an inexpensive one having a low sampling rate can be used, and the transmission power can be accurately configured with a simple configuration. Feedback control can be performed.

Further, the power sensor 9 acquires the energy information I0 in the constant output period T0, so that the energy information I0 can be stably acquired.

Further, a filter 11 is provided between the demodulator 7 and the first A / D converter 8, and the signal processing unit 4 causes the local oscillator 2 so that the high-frequency signal S1 in the constant output period T0 is attenuated by the filter 11. By controlling the above, it is possible to prevent the transmission signal S2 in the constant output period from being input to the signal processing unit 4 as a signal for measurement.

The present invention is not limited to the above-described embodiment, and includes other configurations and the like that can achieve the object of the present invention, and the following modifications and the like are also included in the present invention. For example, in the above embodiment of the present invention, the power sensor 9 acquires the energy information I0 in the constant output period T0, but if the energy information can be acquired accurately in the modulation period, the energy in the modulation period. Information may be obtained. In this case, it is not necessary to set the constant output period, and it is not necessary to control the local oscillator 2. Further, if the constant output period is not set, the transmission signal in the constant output period will not be recognized as a signal for measurement, and the filter between the demodulation unit 7 and the first A / D converter 8 will be omitted. can do.

Although the embodiment of the present invention has been described above, the present invention is not limited to the radar device according to the embodiment of the present invention, and includes all aspects included in the concept of the present invention and the scope of claims. In addition, each configuration may be selectively combined as appropriate so as to achieve at least a part of the above-mentioned problems and effects. For example, the shape, material, arrangement, size, etc. of each component in the above embodiment can be appropriately changed depending on the specific usage mode of the present invention.

1 ... radar device, 2 ... local oscillator (oscillator), 3 ... modulator, 4 ... signal processing unit (control unit, processing unit), 5 ... transmitting antenna (transmitting unit), 6 ... receiving antenna (receiving unit), 7 ... Demodulation unit, 8 ... A / D converter (first conversion unit), 9 ... Power sensor, 10 ... A / D converter (second conversion unit), 11 ... Filter

Claims (7)

An oscillator that outputs high-frequency signals and
A modulator that modulates the high-frequency signal to generate a transmission signal,
A transmitter that transmits the transmission signal and
A receiver that receives the reflected wave of the transmission signal as a reception signal, and
A demodulation unit that demodulates the received signal using the high-frequency signal to generate a demodulated signal,
A first conversion unit that digitally converts the demodulated signal into a received digital signal,
A processing unit that calculates measurement information based on the received digital signal,
An energy acquisition unit that acquires energy information regarding the energy of the transmission signal in a predetermined period on the downstream side of the modulation unit, and an energy acquisition unit.
A second conversion unit that digitally converts the energy information into an energy signal,
A radar device including a control unit that controls the modulation unit based on the energy signal. In the first modulation period, the modulation unit sets the amplification factor of the amplitude of the high-frequency signal to a first predetermined value, makes the amplification factor smaller than the first modulation period in the second modulation period, and makes the amplification factor smaller than the first modulation period. The radar device according to claim 1, wherein the high-frequency signal is pulse-modulated by repeating the second modulation period and the second modulation period at predetermined intervals. The modulation unit is characterized in that, in addition to the first modulation period and the second modulation period, the modulation unit has a constant output period in which the amplification factor is a second predetermined value, and pulse-modulates the high-frequency signal. The radar device according to claim 2. The radar device according to claim 3, wherein the energy acquisition unit acquires the energy information during the constant output period. A filter for attenuating a signal in a predetermined frequency band is provided between the demodulation unit and the first conversion unit.
The radar device according to claim 4, wherein the control unit also controls the oscillation unit so that the frequency of the high-frequency signal is within the predetermined frequency band during the constant output period. The radar device according to any one of claims 1 to 5, wherein the second conversion unit has a lower sampling rate than the first conversion unit. It is a control method for radar equipment.
Oscillation step to output high frequency signal and
A modulation step that modulates the high-frequency signal to generate a transmission signal, and
The transmission step of transmitting the transmission signal and
A reception step of receiving the reflected wave of the transmission signal as a reception signal, and
A demodulation step of demodulating the received signal using the high frequency signal to generate a demodulated signal, and
The first conversion step of digitally converting the demodulated signal into a received digital signal, and
A processing step of calculating measurement information based on the received digital signal, and
An energy acquisition step for acquiring energy information regarding the energy of the transmission signal in a predetermined period, and
A second conversion step of digitally converting the energy information into an energy signal,
A control step that controls the modulation unit based on the energy signal, and
A method for controlling a radar device, which comprises.

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