| CPC G01S 7/356 (2021.05) [G01S 13/42 (2013.01); G01S 13/584 (2013.01); G01S 13/931 (2013.01)] | 15 Claims |
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1. A radar apparatus mounted on a mobile body comprising:
a spectrum generation unit configured to use one or more modulation types, and analyze a signal acquired by transmitting and receiving modulation waves of respective modulation types as radar waves so as to generate at least one of a one-dimensional spectrum and a two-dimensional spectrum;
a peak extracting unit configured to extract a peak from at least one of the one-dimensional spectrum and the two-dimensional spectrum generated for the respective modulation types;
a feature quantity calculation unit configured to calculate one or more predetermined types of feature quantities using information correlated to respective peaks extracted by the peak extracting unit;
a distribution storing unit that stores a positive distribution and a negative distribution generated in advance for respective feature quantities, the positive distribution expressing, for the feature quantities given, a probability of an environment when acquiring the feature quantity being a specific environment set in advance, the negative distribution expressing, for the feature quantities given, a probability of an environment when acquiring the feature quantity being a non-specific environment other than the specific environment set in advance; and
an environment determination unit configured to calculate a specific environment probability from a calculation result of the feature quantity calculation unit using the positive distribution and a non-specific environment probability from a calculation result of the feature quantity calculation unit using the negative distribution, and determine whether the mobile body is in the specific environment or the non-specific environment in accordance with a result of integration of the specific environment probability and the non-specific environment probability, which are calculated for respective feature quantities,
wherein
the feature quantities show distribution shapes, which are different between a case when calculated corresponding to the specific environment and a case when calculated corresponding to the non-specific environment.
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