Patent Publication Number: US-2021165088-A1

Title: Radar device, method of detecting failure of radar device, and method of operating radar device

Description:
FIELD 
     The present invention relates to a radar device that detects a target, a method of detecting a failure of the radar device, and a method of operating the radar device. 
     BACKGROUND 
     Patent Literature 1 below discloses a technique that detects the level of a reflected wave from a vehicle ahead and the level of a reflected wave from a road surface in front of a vehicle, and determines a failure of a radar device on the basis of the level of the reflected wave from the vehicle and the level of the reflected wave from the road surface. 
     CITATION LIST 
     Patent Literature 
     Patent Literature 1: Japanese Patent Application Laid-open No. 2006-250793 
     SUMMARY 
     Technical Problem 
     Such a conventional radar device as disclosed in Patent Literature 1 uses reflected waves from, for example, a vehicle ahead, a road surface, and a radome in determining a failure of the radar device. However, signals resulting from these reflected waves constantly change in level depending on the distance to the vehicle, the vehicular speed, the state of the road surface or radome, and the amount of reflection from the road surface or radome. It is thus highly likely that stable reflected waves are not obtained steadily depending on the condition or state. In order to detect a failure during operation, therefore, the conventional radar device needs to avoid false determination and/or impose limitation on the condition of the reflected waves. As a result, the conventional radar device is so limited in terms of the function that the radar device fails to function in a versatile manner. It is thus desired to stably detect a failure during operation without using the reflected waves. 
     The present invention has been made in view of the above, and an object of the present invention is to provide a radar device capable of stably detecting a failure during operation without using a reflected wave. 
     Solution to Problem 
     In order to solve the above problem and achieve the object, a radar device according to the present invention comprises at least one transmission module to generate a transmission chirp signal synchronized with a timing signal. The device also comprises at least two reception modules to each receive a reflected wave of the transmission chirp signal emitted from the transmission module, and a direct wave of the transmission chirp signal, and perform mixing on a received signal, using a reception chirp signal, the reflected wave being reflected from a target, the direct wave providing direct coupling without passing through the target, the reception chirp signal being synchronized with the timing signal and having the same slope as the transmission chirp signal. The device further comprises a signal processing unit to detect the target on the basis of a beat signal resulting from the mixing performed by the reception modules. The signal processing unit includes a function that detects a level of a direct wave component from the transmission module to the reception modules, the direct wave component being included in the beat signal, and determines a failure of the radar device by comparing the detected level with a threshold, the threshold being set on the basis of a beat signal level measurement under an environment that eliminates the reflected wave in advance. 
     ADVANTAGEOUS EFFECTS OF INVENTION 
     The radar device according to the present invention provides an effect of stably detecting the failure during the operation without using the reflected wave. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a block diagram illustrating an example of a radar device according to a first embodiment. 
         FIG. 2  is a set of graphs illustrating time-frequency waveforms of a transmitted chirp signal and a received chirp signal in the first embodiment. 
         FIG. 3  is a flowchart illustrating an operation process of failure determination in the first embodiment. 
         FIG. 4  is a diagram for explaining a measurement environment at the time a failure determination threshold table is prepared (at the time of shipping inspection) in the first embodiment. 
         FIG. 5  is a first graph provided for explaining the principle of failure determination in the first embodiment. 
         FIG. 6  is a second graph provided for explaining the principle of failure determination in the first embodiment. 
         FIG. 7  is a table illustrating an example of a threshold table used for failure determination in the first embodiment. 
         FIG. 8  is a set of timing diagrams illustrating changes in the frequencies of a transmitted chirp signal and a received chirp signal in a second embodiment. 
         FIG. 9  is a set of graphs provided for explaining an effect of a radar device in the second embodiment. 
         FIG. 10  is a block diagram illustrating a configuration of a radar device according to a third embodiment. 
         FIG. 11  is a block diagram illustrating a configuration of a radar device according to a fourth embodiment. 
         FIG. 12  is a first graph provided for explaining the principle of failure determination in a fifth embodiment. 
         FIG. 13  is a second graph provided for explaining the principle of failure determination in the fifth embodiment. 
         FIG. 14  is a timing diagram illustrating a change in the frequency of a chirp signal for target detection in a sixth embodiment. 
         FIG. 15  is a timing diagram illustrating a change in the frequency of a chirp signal for failure detection in the sixth embodiment. 
         FIG. 16  is a graph illustrating a time waveform of a beat signal when the chirp signal for target detection is transmitted/received in the sixth embodiment. 
         FIG. 17  is a graph illustrating a time waveform of a beat signal when the chirp signal for failure detection is transmitted/received in the sixth embodiment. 
         FIG. 18  is a block diagram illustrating a configuration of a main part of a radar device according to a seventh embodiment. 
         FIG. 19  is a graph illustrating a time waveform of a beat signal in a configuration for target detection in the seventh embodiment. 
         FIG. 20  is a graph illustrating a time waveform of a beat signal in a configuration for failure detection in the seventh embodiment. 
         FIG. 21  is a block diagram illustrating a mode of on/off control of a transmission unit of a radar device according to an eighth embodiment. 
         FIG. 22  is a first graph illustrating a time waveform of a direct wave observed by the off control of the transmission unit in the eighth embodiment. 
         FIG. 23  is a second graph illustrating a time waveform of a direct wave observed by the on control of the transmission unit in the eighth embodiment. 
         FIG. 24  is a timing diagram illustrating a change in the frequency of a chirp signal for failure detection (modulated signal) in a ninth embodiment. 
         FIG. 25  is a timing diagram illustrating a change in the frequency of the chirp signal for failure detection (unmodulated signal) in the ninth embodiment. 
         FIG. 26  is a graph illustrating a time waveform of a direct wave observed by the unmodulated signal illustrated in  FIG. 25 . 
         FIG. 27  is a graph illustrating a time waveform of a direct wave observed by the modulated signal illustrated in  FIG. 24 . 
         FIG. 28  is a graph illustrating a time waveform of a beat signal in a tenth embodiment. 
         FIG. 29  is a first diagram provided for explaining a method of operating a radar device according to an eleventh embodiment. 
         FIG. 30  is a second diagram provided for explaining a method of operating the radar device according to the eleventh embodiment. 
         FIG. 31  is a block diagram illustrating an example of a hardware configuration that implements the functions of a signal processing unit in the first to eleventh embodiments. 
         FIG. 32  is a block diagram illustrating another example of the hardware configuration that implements the functions of the signal processing unit in the first to eleventh embodiments. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     Hereinafter, a radar device, a method of detecting a failure in the radar device, and a method of operating the radar device according to embodiments of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the following embodiments. 
     First Embodiment 
       FIG. 1  is a block diagram illustrating an example of a radar device according to a first embodiment.  FIG. 2  is a set of graphs illustrating time-frequency waveforms of a transmitted chirp signal and a received chirp signal in the first embodiment. As illustrated in  FIG. 1 , a radar device  100  according to the first embodiment includes one transmission module  1 , two reception modules  2  and  3 , and a signal processing unit  4 . Note that the one transmission module is provided by way of example, and the radar device  100  may include a plurality of the transmission modules. Also, the two reception modules are provided by way of example, and the radar device  100  may include one or three or more of the reception modules. 
     The transmission module  1  is a module that emits, into space, a transmission chirp signal illustrated in the top diagram of  FIG. 2 . The transmission module  1  includes a radio frequency (RF) signal source  11 , an amplifier  12 , and a transmitting antenna  13 . The RF signal source  11 , which is a first signal source, generates the transmission chirp signal synchronized with a timing signal that is output from the signal processing unit  4 . The amplifier  12  amplifies the transmission chirp signal generated by the RF signal source  11 . The transmitting antenna  13  emits, into space, a transmission chirp signal  60  amplified by the amplifier  12 . The timing signal input to the RF signal source  11  is generated by a timing control unit  42 . The timing control unit  42  is provided in the signal processing unit  4 . 
     The RF signal source  11  includes a chirp generator circuit  11   a,  an oscillator  11   b , and an amplifier  11   c . The chirp generator circuit  11   a  generates a control signal for controlling the oscillation frequency of the oscillator  11   b  on the basis of chirp data. The oscillator  11   b  generates the transmission chirp signal whose frequency changes with time, in accordance with the control signal generated by the chirp generator circuit  11   a . The amplifier  11   c  amplifies the transmission chirp signal generated by the oscillator  11   b . Note that the amplifier  12  may be removed from the transmission module  1  when the amplifier  11   c  can obtain a sufficient output. Chirp parameters input to the chirp generator circuit  11   a  are generated by a chirp data generation unit  41 . The chirp data generation unit  41  is provided in the signal processing unit  4 . 
     The reception modules  2  and  3  are modules that each receive a reflected wave  64  of the transmission chirp signal  60  emitted into space, the reflected wave  64  being reflected from a target  50 . Also, as illustrated in  FIG. 1 , there exists a direct wave  62  for direct coupling from the transmission module  1  to the reception modules  2  and  3 , and thus the reception modules  2  and  3  each receive the direct wave  62  as well and perform the following processing. 
     The reception module  2  includes a receiving antenna  21 , an RF signal source  22 , and a reception unit  23 . The receiving antenna  21  receives the direct wave  62  from the transmission module  1  and the reflected wave  64  from the target  50 . The RF signal source  22 , which is a second signal source, generates a reception chirp signal. The reception chirp signal is synchronized with the timing signal output from the timing control unit  42  and has the same slope as the transmission chirp signal. The reception chirp signal functions as a received local (LO) signal for a mixer described later. As illustrated in  FIG. 2 , the reception chirp signal is a chirp signal whose frequency changes with time as in the transmission chirp signal. The reception unit  23  down-converts the received signal received via the receiving antenna  21  and converts the down-converted signal into a digital signal. The reception unit  23  outputs the down-converted signal to the signal processing unit  4  as received data. 
     The RF signal source  22  includes a chirp generator circuit  22   a,  an oscillator  22   b,  and an amplifier  22   c.  The chirp generator circuit  22   a  generates a control signal for controlling the oscillation frequency of the oscillator  22   b  on the basis of chirp data output from the chirp data generation unit  41 . The oscillator  22   b  generates a signal according to the control signal generated by the chirp generator circuit  22   a.  The amplifier  22   c  amplifies the signal generated by the oscillator  22   b.  The signal output from the amplifier  22   c  is the reception chirp signal described above. 
     The reception unit  23  includes a mixer  23   a,  a high-pass filter (HPF)  23   b,  an amplifier  23   c,  and an analog-to-digital converter (ADC)  23   d.  Using the reception chirp signal that is the received LO signal, the mixer  23   a  perform mixing on the received signal received via the receiving antenna  21 , thereby generating a frequency difference signal (i.e., a beat signal) between the received signal and the reception chirp signal. The HPF  23   b  filters the output of the mixer  23   a,  that is, the beat signal. To detect the target  50 , a direct current component and a predetermined low-frequency component included in the beat signal are suppressed by the HPF  23   b . The amplifier  23   c  amplifies the signal output from the HPF  23   b.  The ADC  23   d  converts the output of the amplifier  23   c  into a digital signal. Note that although not shown, sampling by the ADC  23   d  is controlled by the signal processing unit  4  as is the case with the chirp generator circuits  11   a,    22   a,  and  32   a,  and the sampling is performed in synchronization with the timing at which each chirp signal is generated. 
     The reception module  3  has a configuration similar to that of the reception module  2 . The reception module  3  includes a receiving antenna  31 , an RF signal source  32 , and a reception unit  33 . The RF signal source  32  includes the chirp generator circuit  32   a,  an oscillator  32   b,  and an amplifier  32   c.  The reception unit  33  includes a mixer  33   a,  an HPF  33   b,  an amplifier  33   c,  and an ADC  33   d . The functions of the RF signal source  32  and the reception unit  33  will not be described here as they are similar to the functions of the RF signal source  22  and the reception unit  23  of the reception module  2 , respectively. Note that while the amplifier  12  amplifies the transmission chirp signal generated by the RF signal source  11  in the illustrated example, the amplifier  12  may be defined by a combination of an N multiplier and an amplifier in which case the mixers  23   a  and  33   a  of the reception modules  2  and  3  are harmonic mixers. In this case, the frequencies of the transmission chirp signal and the reception chirp signal generated by the chirp generator circuits  11   a,    22   a , and  32   a  are set to 1/N of the transmission/reception frequencies of the transmitting antenna  13  and the receiving antennas  21  and  31 . With such a configuration, the RF signal sources  11 ,  22 , and  32  can be implemented at low cost and with high output, thereby achieving a high-performance radar device as the radar device includes more transmission/reception modules and thus provides a large number of transmission/reception channels. 
     The signal processing unit  4  controls the chirp parameters that are parameters of the chirp signals generated by the RF signal sources  11 ,  22 , and  32  and the timing, and performs signal processing on the digital signal obtained by the conversion in the ADCs  23   d  and  33   d . The chirp parameters include the frequency, the phase, and the delay time from a reference time when a chirp operation starts, the shape (such as the slope or the width of modulation) of the chirp signal, the time/frequency increments, the number of chirps, and the like. It is also possible to generate a combination of a plurality of different chirp signals. 
     The signal processing unit  4  includes a detection unit  43  and a failure determination unit  44  in addition to the chirp data generation unit  41  and the timing control unit  42  described above. The detection unit  43  includes a distance detection unit  43   a,  a speed detection unit  43   b , and an amplitude detection unit  43   c.  The failure determination unit  44  includes a failure determination threshold table  44   a.  The failure determination threshold table  44   a  stores a threshold. 
     In the detection unit  43 , the distance detection unit  43   a  detects the distance from the radar device  100  to the target  50  on the basis of the received data output from the reception units  23  and  33 . The speed detection unit  43   b  detects the relative speed between the radar device  100  and the target  50  on the basis of the received data. The amplitude detection unit  43   c  detects the level of the received data. The failure determination unit  44  determines a failure in the radar device  100  on the basis of the values detected by the detection unit  43 . The failure determination threshold table  44   a  is used for the failure determination of the radar device  100 . 
     Next, a method and a principle of the failure determination in the radar device  100  according to the first embodiment will be described with reference to  FIGS. 1 to 7 .  FIG. 3  is a flowchart illustrating an operation process of the failure determination in the first embodiment.  FIG. 4  is a diagram for explaining a measurement environment at the time the failure determination threshold table  44   a  is prepared (at the time of shipping inspection) in the first embodiment.  FIG. 5  is a first graph provided for explaining the principle of the failure determination in the first embodiment.  FIG. 6  is a second graph provided for explaining the principle of the failure determination in the first embodiment.  FIG. 7  is a table illustrating an example of a threshold table used for the failure determination in the first embodiment. 
     The first embodiment determines the presence/absence of a failure in the radar device  100  by comparing the level of a direct wave component described later with a threshold. Specifically, a process illustrated in the flowchart of  FIG. 3  is used. The process of  FIG. 3  is executed at every predetermined cycle of transmission and reception during operation. Note that the failure determination is performed between one transmission module and one reception module on a per transmission-module basis. A transmission/reception coupling path defined by a combination of one transmission module and one reception module is called a “transmission/reception path” for convenience. Hereinafter, the transmission/reception path defined by a combination of the transmission module  1  and the reception module  2  will be described by way of example. 
     In  FIG. 3 , the radar device  100  emits the transmission chirp signal  60  from the transmission module  1  (step S 101 ). Most of the transmission chirp signal  60  is beamed at the target  50 , and the reflected wave  64  thereof is received by the reception module  2  via the receiving antenna  21 . The direct wave  62 , which is a part of the transmission chirp signal  60 , is directly received by the reception module  2 . The received data output from the reception module  2  is sent to the signal processing unit  4 . The signal processing unit  4  detects the level of the direct wave component (step S 102 ). The failure determination unit  44  of the signal processing unit  4  compares the level of the direct wave component with a threshold (step S 103 ). If the level of the direct wave component is higher than the threshold (Yes in step S 103 ), the failure determination unit  44  determines that the radar device  100  is normal (step S 104 ), and ends the process of  FIG. 3 . On the other hand, if the level of the direct wave component is lower than or equal to the threshold (No in step S 103 ), it is determined that an abnormality exists in the transmission/reception path between the transmission module  1  and the reception module  2 , and the radar device  100  determines that a failure has occurred (step S 105 ) and ends the process of  FIG. 3 . 
     Note that while the process of  FIG. 3  goes to “No” if the level of the direct wave component is equal to the threshold in step S 103  above, the process may go to “Yes”. That is, if the level of the direct wave component is equal to the threshold, the radar device  100  may be determined as being normal. 
     The threshold shown in the flowchart of  FIG. 3  is set using a measurement in the measurement environment of  FIG. 4 .  FIG. 1  is the diagram illustrating the measurement environment at the time of operation, while  FIG. 4  is the diagram illustrating the measurement environment at the time of shipping inspection. In the measurement environment at the time of shipping inspection, as illustrated in  FIG. 4 , a radio wave absorption band  52  is disposed in front of and around the radar device  100 . The purpose for which the radio wave absorption band  52  is disposed in front of the radar device  100  is to eliminate the level of the reflected wave  64  of the transmission chirp signal  60  that attempts to return to the side of the reception modules  2  and  3  from the area in front of and around the radar device. Meanwhile, the direct wave  62  of a predetermined level from the transmission module  1  to each of the reception modules  2  and  3  provides coupling between the modules, or between the antennas. Thus, at the time of shipping inspection, the measurement environment under which the reflected wave  64  received by the receiving antennas  21  and  31  is eliminated is established so that only the direct wave  62  is measured. In addition, the threshold is set through a reception analysis of the direct wave  62 . Note that in the following description, the measurement environment of  FIG. 4  or one equivalent to that of  FIG. 4  may be referred to as a “no reflected wave input state”. 
     In  FIG. 5 , a solid line indicates a spectrum of the beat signal at the time of shipping inspection, and a broken line indicates a spectrum of the beat signal at the time of operation. In  FIG. 5 , the horizontal axis represents the frequency, and the vertical axis represents the level of the frequency component. The spectral waveform at the time of operation includes a reflected wave component from the target  50  in addition to the direct wave component. In  FIG. 5 , a component appearing at the frequency of “0” is a direct current (DC) component, and a component appearing immediately on the right side of the DC component is the direct wave component. 
     As described above, the reflected wave from the target  50  is eliminated in the no reflected wave input state that is the measurement environment at the time of shipping inspection. The threshold can thus be set easily on the basis of a result of measurement of the level of the direct wave component obtained by extracting only the frequency component of the direct wave  62 . Note that in  FIG. 5 , a broken line indicates an example of the threshold set for the direct wave component. 
     Note that as illustrated in  FIG. 5 , the direct wave component and the DC component are close to each other in the frequency domain. Therefore, a function that can separate the direct wave component and the DC component in the frequency domain is required. Note that a method of implementing the function that separates the direct wave component and the DC component in the frequency domain will be described later. 
     When the threshold illustrated in  FIG. 5  is used, the level of the frequency component of the direct wave is detected in step S 102  of  FIG. 3 . Also, in step S 103  of  FIG. 3 , the processing of comparing the level of the frequency component of the direct wave with the threshold is performed. 
     Although  FIG. 5  illustrates an example of setting the threshold on the basis of the level of the frequency component of the direct wave, the threshold may be set on the basis of the level of the amplitude of the direct wave.  FIG. 6  illustrates a time waveform of the beat signal at the time of shipping inspection and a time waveform of the beat signal at the time of operation. In  FIG. 6 , the horizontal axis represents time, and the vertical axis represents the level of the beat signal. 
     In  FIG. 6 , a thick solid line indicates the time waveform of the beat signal at the time of shipping inspection, and a thin solid line indicates the time waveform of the beat signal at the time of operation. As illustrated in  FIG. 6 , the time waveform of the beat signal at the time of operation is a waveform in which the component of the reflected wave from the target  50  is superimposed on a low-frequency undulating component, and the amplitude of the beat signal fluctuates. It is thus difficult to set an accurate threshold, using the beat signal at the time of operation. On the other hand, in the time waveform of the beat signal at the time of shipping inspection, only the low-frequency undulating component due to the direct wave is observed so that an accurate threshold can be set. Note that in  FIG. 6 , a broken line indicates an example of the threshold being set. Alternatively, a frequency analysis result obtained by extracting the direct wave component may be restored to the time (amplitude) waveform by inverse Fourier transform or the like, and the waveform can be compared with the threshold. 
     When the threshold illustrated in  FIG. 6  is used, in step S 102  of  FIG. 3 , the amplitude detection unit  43   c  of the signal processing unit  4  detects the level of the amplitude of the direct wave. Also, in step S 103  of  FIG. 3 , the failure determination unit  44  performs the processing of comparing the level of the amplitude of the direct wave with the threshold. 
       FIG. 7  illustrates an example of the threshold table in the first embodiment. In the example illustrated in  FIG. 7 , thresholds corresponding to the amplitude and the frequency are set for a plurality of transmission units (#1, #2, . . . ) and reception units (#11, #12, . . . , #21, #22, . . . ) corresponding to each of the transmission units, and for each ambient temperature at which the radar device  100  operates. 
     In  FIG. 7 , “T 1 ” and “T 2 ” indicate the ambient temperatures, “T min ” is the minimum value of the estimated ambient temperature, and “T max ” is the maximum value of the estimated ambient temperature. Note that temperature values detected by, for example, a thermistor provided in the radar device, which correspond to actual ambient temperatures, may be set as ambient temperatures in the threshold table and consulted. 
     The thresholds for the ambient temperatures can be set by measuring thresholds at a plurality of ambient temperatures at the time of shipping inspection described above. Alternatively, the thresholds for the ambient temperatures can also be predicted and set from temperature characteristics of the transmission output and reception gain of the transmission module  1  and the reception modules  2  and  3 . The thresholds obtained are stored in the table of  FIG. 7 . 
     A threshold between the ambient temperatures T 1  and T 2  can be interpolated by linear approximation or the like. For example, the threshold at the ambient temperature “T” (T 1 ≤T≤T 2 ) can be obtained by interpolation calculation using the threshold at the ambient temperature “T 1 ” and the threshold at the ambient temperature “T 2 ”. Moreover, the thresholds for the ambient temperatures T min  and T max  may be measured in an actual environment, or may be obtained by prediction as described above or extrapolation calculation. 
     According to the first embodiment, during the operation of the radar device, the level of the direct wave from the transmission module to the reception module is detected, and the failure determination is performed by comparing the detected level with the threshold. This enables the failure determination of the radar device during the operation without using the reflected wave. 
     Second Embodiment 
     Next, a radar device according to a second embodiment will be described with reference to  FIGS. 8 and 9 .  FIG. 8  is a set of timing diagrams illustrating changes in the frequencies of a transmission chirp signal and a reception chirp signal in the second embodiment.  FIG. 9  is a set of graphs provided for explaining an effect of the radar device in the second embodiment. Note that the functions of the radar device according to the second embodiment can be implemented by a configuration identical or equivalent to that of the first embodiment illustrated in  FIG. 1 . 
     In the top diagram of  FIG. 8 , a solid line indicates a time-frequency waveform of the transmission chirp signal output from the transmission module  1 . In the middle diagram of  FIG. 8 , a broken line indicates a time-frequency waveform of the reception chirp signal output from the RF signal sources  22  and  32  at the time of target detection. In the bottom diagram of  FIG. 8 , a broken line indicates a time-frequency waveform of the reception chirp signal output from the RF signal sources  22  and  32  at the time of failure detection. 
     As illustrated in the middle and bottom diagrams of  FIG. 8 , the waveform of the reception chirp signal in the second embodiment is different between the time of target detection and the time of failure detection. Specifically, the output timing of the reception chirp signal at the time of failure detection is shifted so as to be delayed by time τ with respect to the reception chirp signal at the time of target detection. This shift of the output timing is controlled by the timing control unit  42  of the signal processing unit  4 . Note that the output timing of the reception chirp signal at the time of target detection matches the output timing of the transmission chirp signal. Therefore, the reception chirp signal at the time of failure detection is delayed by the time τ also with respect to the transmission chirp signal. 
     The left side of  FIG. 9  illustrates a spectrum of the received signal when the output timing of the reception chirp signal is the same as that of the transmission chirp signal. Also, the right side of  FIG. 9  illustrates a spectrum of the received signal when the output timing of the reception chirp signal is shifted from that of the transmission signal. In these graphs, solid lines indicate the direct wave component and the reflected wave component from the target  50 , and broken lines indicate the DC component, the lines being illustrated in a simulated manner. 
     As illustrated in  FIG. 9 , the direct wave component is a low frequency component close to the DC component, and it is therefore difficult to separate the two in terms of frequency. On the other hand, when the output timing of the reception chirp signal is shifted from that of the transmission chirp signal as in the second embodiment, the frequency of the direct wave component increases. This as a result makes the frequency separation relatively easy, and thus can obtain an effect of improving the accuracy of failure detection. 
     Third Embodiment 
     Next, a radar device according to a third embodiment will be described with reference to  FIG. 10 .  FIG. 10  is a block diagram illustrating a configuration of a radar device according to the third embodiment. The radar device  100  according to the first embodiment has the configuration in which each reception module includes the signal source generating the reception chirp signal, whereas a radar device  100 A according to the third embodiment has a configuration in which a transmission chirp signal distributed from the transmission module is used as a reception chirp signal. 
     The radar device  100 A according to the third embodiment illustrated in  FIG. 10  differs from the configuration of the first embodiment illustrated in  FIG. 1  in that reception modules  2 A and  3 A replace the reception modules  2  and  3 , respectively, and a delay circuit  5  is provided between the transmission module  1  and the reception modules  2 A and  3 A. In the reception module  2 A, the RF signal source  22  is omitted, and the output of the delay circuit  5  is input as the reception chirp signal to the mixer  23   a.  In the reception module  3 A, the RF signal source  32  is omitted, and the output of the delay circuit  5  is input as the reception chirp signal to the mixer  33   a . Note that the other configurations are identical or equivalent to those of the first embodiment and are thus denoted by the same reference numerals as those in the first embodiment, whereby a description of the overlapping configurations will be omitted. 
     In the configuration of the third embodiment, the delay time of the delay circuit  5  is controlled by the timing control unit  42  of the signal processing unit  4 . A timing signal output from the timing control unit  42  to the delay circuit  5  provides the transmission chirp signal with the delay time τ as illustrated in the bottom diagram of  FIG. 8 , thereby obtaining the reception chirp signal for failure detection. Needless to say, the transmission time due to the electrical wiring between the transmission module  1  and the reception modules  2 A and  3 A is taken into consideration in providing the delay time τ for the transmission chirp signal. 
     There exists the transmission time due to the electrical wiring between the transmission module  1  and the reception modules  2 A and  3 A. Thus, the timing control unit  42  to each of the chirp generator circuit  11   a  and the delay circuit  5  outputs the timing signal at a timing that takes the transmission time due to the electrical wiring into consideration. This allows the signal output from the delay circuit  5  to be synchronized with the transmission chirp signal as illustrated in the top and middle diagrams of  FIG. 8 , so that the output of the delay circuit  5  can be used as the reception chirp signal for target detection. 
     Note that when the value of the transmission time due to the electrical wiring between the transmission module  1  and the reception modules  2 A and  3 A is so small that the transmission time does not need to be taken into consideration, the function of the delay circuit  5  may be enabled or disabled by the control signal from the timing control unit  42 . For example, when the function of the delay circuit  5  is enabled by the control signal from the timing control unit  42 , the signal output from the delay circuit  5  can be used as the reception chirp signal for failure detection as illustrated in the bottom diagram of  FIG. 8 . When the function of the delay circuit  5  is disabled, the signal output from the delay circuit  5  can be used as the reception chirp signal for target detection as illustrated in the middle diagram of  FIG. 8 . 
     According to the configuration of the third embodiment, the function equivalent to that of the first embodiment can be achieved without providing the reception module with the signal source that generates the reception chirp signal. This can simplify the configuration and reduce the manufacturing cost. Moreover, the reduction in the number of parts can improve the reliability of the device. 
     Fourth Embodiment 
     Next, a radar device according to a fourth embodiment will be described with reference to  FIG. 11 .  FIG. 11  is a block diagram illustrating a configuration of a radar device  100 B according to the fourth embodiment. In the third embodiment, the delay circuit  5  is provided between the transmission module  1  and the reception modules  2 A and  3 A as illustrated in  FIG. 10  to set a time difference between the transmission chirp signal and the reception chirp signal. On the other hand, when a time difference need not be set between the transmission chirp signal and the reception chirp signal as in the first embodiment, a configuration without the delay circuit  5  can be adopted as illustrated in  FIG. 11 . The configuration of the fourth embodiment can also obtain an effect similar to that of the first embodiment. 
     Note that  FIG. 11  illustrates the configuration in which the transmission chirp signal is distributed from the one transmission module  1  to the two reception modules  2 A and  3 A, but the configuration is also applicable to a case where a plurality of the transmission modules  1  is provided. In the case where a plurality of the transmission modules  1  is provided, the transmission chirp signal may be distributed from each of the plurality of the transmission modules  1  to a plurality of corresponding reception modules  2 . Alternatively, the transmission chirp signal may be distributed from one of the plurality of the transmission modules  1  to each of all the reception modules  2 . Yet alternatively, when the number of the transmission modules  1  is “N” (“N” is an integer of 2 or more), the transmission chirp signal may be distributed from “N−M” (“M” is an integer of “N−1” or less) of the transmission modules  1  to each of a plurality of corresponding reception modules  2 . Note that this concept is also applicable to the radar device of the third embodiment. 
     Fifth Embodiment 
     Next, a radar device according to a fifth embodiment will be described with reference to  FIGS. 12 and 13 .  FIG. 12  is a first graph provided for explaining the principle of failure determination in the fifth embodiment.  FIG. 13  is a second graph provided for explaining the principle of failure determination in the fifth embodiment. Note that the functions of the radar device according to the fifth embodiment can be implemented by the configuration in any of  FIGS. 1, 10, and 11 . 
       FIG. 12  illustrates a distance-speed map created on the basis of detection results obtained by the distance detection unit  43   a  and the speed detection unit  43   b  of the signal processing unit  4 . In the distance-speed map, the horizontal axis represents a speed frequency, and the vertical axis represents a distance frequency. Note that although not illustrated in  FIG. 12 , the intensity of each received signal is typically represented in a z-axis direction corresponding to a direction perpendicular to the surface of paper on which the figure is drawn. In  FIG. 12 , a part K 1  indicated by an arrow represents the direct wave component having no speed component. Also, parts K 2  and K 3  indicated by arrows represent the reflected wave components from the target  50  having speed components. 
       FIG. 13  illustrates an analysis result of fast Fourier transform (FFT) in the direction of the distance frequency axis at the relative speed=0 in the distance-speed map illustrated in  FIG. 12 . In  FIG. 13 , the DC component and the direct wave component are extracted, but the reflected wave component from the target does not appear. The reason why the reflected wave component from the target does not appear is that only the component at the relative speed=0 is extracted. 
     Once the analysis result illustrated in  FIG. 13  is obtained, the level of the direct wave component obtained is compared with the threshold as in the first embodiment. If the level of the direct wave component obtained is higher than the threshold, the radar device is determined as being normal. If the level of the direct wave component obtained is lower than or equal to the threshold, the radar device is determined as failing. 
     According to the fifth embodiment, the reflected wave component from a target having a relative speed with respect to the radar device is mainly separated even when the radar device is in operation, whereby the direct wave component from the transmission module to the reception module can be detected. This can obtain the direct wave component not affected by the reflected wave components from a plurality of targets around the radar device, so that the accuracy of failure determination in the radar device can be improved. 
     Sixth Embodiment 
     Next, a radar device according to a sixth embodiment will be described with reference to  FIGS. 14 to 17 .  FIG. 14  is a timing diagram illustrating a change in the frequency of a chirp signal for target detection in the sixth embodiment.  FIG. 15  is a timing diagram illustrating a change in the frequency of a chirp signal for failure detection in the sixth embodiment.  FIG. 16  is a graph illustrating a time waveform of a beat signal when the chirp signal for target detection is transmitted/received in the sixth embodiment.  FIG. 17  is a graph illustrating a time waveform of a beat signal when the chirp signal for failure detection is transmitted/received in the sixth embodiment. Note that the functions of the radar device according to the sixth embodiment can be implemented by the configuration in any of  FIGS. 1, 10, and 11 . 
       FIG. 14  illustrates the waveform of the chirp signal for target detection in the sixth embodiment. Also,  FIG. 15  illustrates the waveform of the chirp signal for failure detection in the sixth embodiment. Note that the transmitting side and the receiving side use the chirp signal of the same frequency modulated waveform. 
     In  FIGS. 14 and 15 , the horizontal axes have the same scale, and the chirp signal for failure detection has the waveform with one chirp cycle being shorter than the waveform of the chirp signal for target detection, and with the frequency modulation width being set larger than the waveform of the chirp signal for target detection. That is, in the sixth embodiment, the chirp signal for failure detection is set such that the slope of the chirp signal is larger than that of the chirp signal for target detection. 
       FIG. 16  illustrates the time waveform of the beat signal when the chirp signal for target detection is transmitted/received. In  FIG. 16 , a curve indicated by a solid line illustrates the time waveform of the signal that is received by the receiving antenna and the reception module in actual operation and output as the beat signal, and the time waveform is a combination of the reflected wave from the target and the direct wave coupled from the transmission module or the transmitting antenna. Moreover, a curve indicated by a broken line represents only the direct wave component in a simulated manner. As illustrated in  FIG. 16 , the direct wave has a low-frequency undulating component and has a longer cycle than the reflected wave from the target. 
       FIG. 17  illustrates the time waveform of the beat signal when the chirp signal for failure detection is transmitted/received. Note that in  FIGS. 16 and 17 , the vertical axes and the horizontal axes have the same scales. Although the characteristics of the waveform are the same between the chirp signals, the amplitude of the signal waveform is larger when the chirp signal for failure detection is used. Accordingly, when the chirp signal for failure detection is used, the amplitude of the direct wave is easily distinguished from the amplitude of the reflected wave from the target so that the accuracy of threshold determination can be improved. In addition, the cycle of undulation is shorter when the chirp signal for failure detection is used. This makes it easy to grasp one cycle of the direct wave, so that the failure determination can be reliably performed even in a receiving environment under which there are many reflected waves from targets. 
     As described above, according to the sixth embodiment, a failure in the radar device is determined by using the chirp signal for failure detection set to have a larger slope than the chirp signal for target detection, whereby the failure determination can be reliably performed with the improved accuracy of the failure determination. Moreover, in the sixth embodiment, the chirp signal for target detection and the chirp signal for failure detection are individually assigned, but the chirp signal for failure detection set to have the large slope may be used for target detection depending upon the operating conditions of the radar device. 
     Seventh Embodiment 
     Next, a radar device according to a seventh embodiment will be described with reference to  FIGS. 18 to 20 .  FIG. 18  is a block diagram illustrating a configuration of a main part of a reception unit of the radar device according to the seventh embodiment.  FIG. 19  is a graph illustrating a time waveform of a beat signal in a configuration for target detection in the seventh embodiment.  FIG. 20  is a graph illustrating a time waveform of a beat signal in a configuration for failure detection in the seventh embodiment. 
     The radar device according to the seventh embodiment is obtained by replacing the reception unit  23  in  FIG. 1, 10 , or  11  with a reception unit  23 A illustrated in  FIG. 18 . In the reception unit  23 A, for example, the HPF  23   b  in the configuration of the reception unit  23  illustrated in  FIG. 1  is replaced with an HPF  23   b   1  and an HPF  23   b   2 . The HPF  23   b   1  is an HPF for target detection, and the HPF  23   b   2  is an HPF for failure detection. Note that a cut-off frequency fc of the HPF  23   b   2  for failure detection is set lower than that of the HPF  23   b   1  for target detection. Thus, in the seventh embodiment, the HPF of the reception unit  23 A is switched to the HPF  23   b   1  having the relatively high cut-off frequency fc at the time of target detection, and is switched to the HPF  23   b   2  having the relatively low cut-off frequency fc at the time of failure detection. 
       FIG. 19  illustrates the time waveform of the beat signal when the HPF  23   b   1  for target detection is used, and  FIG. 20  illustrates the time waveform of the beat signal when the HPF  23   b   2  for failure detection is used. In each of  FIGS. 19 and 20 , a curve indicated by a broken line represents the direct wave component, and a curve indicated by a solid line represents the waveform of an actual beat signal that is a combined wave of the reflected wave component from the target and the direct wave component. 
     When the HPF  23   b   1  for target detection is used, as illustrated in  FIG. 19 , a low-frequency undulating component representing the direct wave is blocked by the HPF  23   b   1  and is decreased in level, so that it is difficult to detect the component. Meanwhile, the target is easily detected because the low-frequency undulating component is small. On the other hand, when the HPF  23   b   2  for failure detection is used, the low-frequency undulating component representing the direct wave is not blocked by the HPF  23   b   2  and is increased in level. Accordingly, at the time of failure detection, the HPF  23   b   2  for failure detection is used to detect the level of the beat signal, and the presence or absence of a failure in the radar device can be determined by comparing the detected level with a threshold. 
     As described above, according to the seventh embodiment, the HPF for target detection and the HPF for failure detection with the cut-off frequency fc being set lower than that of the HPF for target detection are prepared, and, at the time of failure detection, the HPF for failure detection is used to determine a failure in the radar device, so that the failure determination can be reliably performed while preventing a decrease in the accuracy of target detection. 
     Eighth Embodiment 
     Next, a radar device according to an eighth embodiment will be described with reference to  FIGS. 21 to 23 .  FIG. 21  is a block diagram illustrating a mode of on/off control of the transmission unit of the radar device according to the eighth embodiment.  FIG. 22  is a first graph illustrating a time waveform of a direct wave observed by the off control of the transmission unit in the eighth embodiment.  FIG. 23  is a second graph illustrating a time waveform of the direct wave observed by the on control of the transmission unit in the eighth embodiment.  FIGS. 22 and 23  both illustrate the beat signal in the no reflected wave input state for convenience, and thus the reflected wave from the target is not included in the beat signal. Note that the functions of the radar device according to the eighth embodiment can be implemented by the configuration in any of  FIGS. 1, 10, and 11 . 
     In the eighth embodiment, the signal processing unit  4  performs on/off control on the amplifier  12  of the transmission module  1 , that is, controls the output of the transmitted chirp signal.  FIG. 22  illustrates the time waveform of the beat signal when the amplifier  12  is controlled to be off, and  FIG. 23  illustrates the time waveform of the beat signal when the amplifier  12  is controlled to be on. Note that  FIGS. 22 and 23  both illustrate the waveform of the beat signal in the no reflected wave input state, that is, the waveform of the direct wave. 
     When the amplifier  12  is controlled to be off, the transmission chirp signal is not emitted from the transmission module  1 , so that the amplitude of the direct wave component of the beat signal is almost zero as illustrated in  FIG. 22 , and the direct wave component is not observed. On the other hand, when the amplifier  12  is controlled to be on, the transmission chirp signal is emitted from the transmission module  1  unless the radar device fails. At this time, the beat signal of the direct wave traveling from the transmission module  1  to the reception module has a large amplitude value as illustrated in  FIG. 23 . On the other hand, when the radar device fails, a predetermined decrease in the level from the amplitude value illustrated in  FIG. 23  is observed. 
     Accordingly, in the eighth embodiment, a difference between the amplitude value of the direct wave component of the beat signal when the amplifier  12  is controlled to be on and the amplitude value of the direct wave component of the beat signal when the amplifier  12  is controlled to be off is defined as a threshold. The similar amplitude difference during actual operation is obtained and compared with the threshold. If the difference is larger than the threshold, the radar device is determined as being normal. On the other hand, if the difference is less than or equal to the threshold, the radar device is determined as failing. Note that the threshold is set on the basis of the measurement result in the no reflected wave input state, as in the first embodiment. 
     According to the eighth embodiment, the difference between the amplitude value of the direct wave component of the beat signal when the transmitted chirp signal is emitted and the amplitude value of the direct wave component of the beat signal when the transmitted chirp signal is not emitted is defined as the threshold. The similar amplitude difference during the actual operation is obtained compared with the threshold, so that the presence or absence of a failure in the radar device is determined. As a result, the failure determination of the radar device can be performed more accurately. 
     Note that although the signal waveform in the no reflected wave input state is illustrated in the above description, the failure determination of the radar device can be performed by a similar method even at the time of operation in the presence of the reflected wave from the target. 
     Ninth Embodiment 
     Next, a radar device according to a ninth embodiment will be described with reference to  FIGS. 24 to 27 .  FIGS. 24 and 25  are timing diagrams each illustrating a change in the frequency of the chirp signal for failure detection (modulated signal) in the ninth embodiment.  FIG. 24  illustrates a chirp signal at the time of modulation (a modulated chirp signal) that is one of the chirp signals for failure detection, and  FIG. 25  illustrates a signal at the time of no modulation (an unmodulated signal) that is another one of the chirp signals for failure detection.  FIG. 26  is a graph illustrating a time waveform of the direct wave observed by the unmodulated signal illustrated in  FIG. 25 .  FIG. 27  is a graph illustrating a time waveform of the direct wave observed by the modulated signal illustrated in  FIG. 24 .  FIGS. 26 and 27  both illustrate the beat signal in the no reflected wave input state for convenience, and thus the reflected wave from the target is not included in the beat signal. Note that the functions of the radar device according to the ninth embodiment can be implemented by the configuration in any of  FIGS. 1, 10, and 11 . 
     The chirp signal for failure detection (modulated signal) illustrated in  FIG. 24  is the same as that illustrated in  FIG. 15 . Here, when a state in which the frequency of the chirp signal for failure detection changes with time is defined as a “state of modulation”, a state termed “state of no modulation” is defined in the ninth embodiment. In the state of no modulation, as illustrated in  FIG. 25 , the signal of a specific frequency without frequency modulation is output. In the ninth embodiment, the signal processing unit  4  performs control for switching between the state of no modulation and the state of modulation, that is, control for switching between the unmodulated signal and the modulated chirp signal. 
       FIG. 26  illustrates the waveform of the beat signal when the unmodulated signal illustrated in  FIG. 25  is output. Also,  FIG. 27  illustrates the waveform of the beat signal when the modulated chirp signal illustrated in  FIG. 24  is output. Note that  FIGS. 26 and 27  both illustrate the waveform of the beat signal in the no reflected wave input state. In  FIGS. 26 and 27 , the vertical axes and the horizontal axes have the same scales. 
     As described above, at the time of failure detection, the ninth embodiment switches between the state of no modulation in which the unmodulated signal is output and the state of modulation in which the modulated chirp signal subjected to frequency modulation is output. In the state of no modulation, as illustrated in  FIG. 26 , the amplitude of the low-frequency undulating component of the direct wave in the beat signal is almost zero, and thus the level of the direct wave component in the beat signal is low. On the other hand, in the state of modulation, the modulated chirp signal illustrated in  FIG. 24  is emitted from the transmission module  1  unless the radar device fails. At this time, the beat signal of the direct wave traveling from the transmission module  1  to the reception module has a large amplitude value as illustrated in  FIG. 27 . On the other hand, when the radar device fails, a predetermined decrease in the level from the amplitude value illustrated in  FIG. 27  is observed. 
     Accordingly, in the ninth embodiment, a difference between the amplitude value of the direct wave component of the beat signal when the modulated chirp signal is emitted and the amplitude value of the direct wave component of the beat signal when the unmodulated signal is emitted is defined as a threshold. The similar amplitude difference during the actual operation is obtained and compared with the threshold. If the difference is larger than the threshold, the radar device is determined as being normal. On the other hand, if the difference is less than or equal to the threshold, the radar device is determined as failing. Note that the threshold is set on the basis of the measurement result in the no reflected wave input state, as in the first embodiment. 
     According to the ninth embodiment, the difference between the amplitude value of the direct wave component of the beat signal in the state of no modulation that is not subjected to frequency modulation and the amplitude value of the direct wave component of the beat signal in the state of modulation that is subjected to frequency modulation is defined as the threshold. The similar amplitude difference during the actual operation is obtained and compared with the threshold, so that the presence or absence of a failure in the radar device is determined. As a result, the failure determination of the radar device can be performed more accurately. 
     Note that although the signal waveform in the no reflected wave input state is illustrated in the above description, the failure determination of the radar device can be performed by a similar method even at the time of operation in the presence of the reflected wave from the target. 
     Tenth Embodiment 
     Next, a radar device according to a tenth embodiment will be described with reference to  FIG. 28 .  FIG. 28  is a graph illustrating a time waveform of the beat signal in the tenth embodiment. The first to ninth embodiments have been described focusing on the beat signal in one reception unit. In the tenth embodiment, the failure determination of the radar device performed on a plurality of reception channels will be described. 
       FIG. 28  illustrates, by way of example, the waveforms of beat signals in seven transmission/reception paths (ch1 to ch7). One transmission/reception path is formed by a combination of one transmission module and one reception module. Therefore, in the case of providing two transmission modules and six reception modules, for example, twelve transmission/reception paths are formed. 
     As the scale of the radar device increases, the number of the transmission/reception paths also increases. When the radar device includes a plurality of transmission modules, the failure determination of the radar device is performed by switching the transmission modules. Display of the beat signal can be controlled using any of the methods described in the sixth to ninth embodiments. 
     According to the tenth embodiment, the failure determination is performed on the plurality of transmission/reception paths to determine which transmission/reception path has an abnormality, thereby identifying which transmission/reception module fails. Moreover, when a combination of a plurality of failure results of the transmission/reception paths demonstrates that the failure depends on a specific transmission module or reception module, it is possible to further identify, from the transmission/reception paths, which of the transmission module and the reception module fails. 
     Eleventh Embodiment 
     Next, a method of operating a radar device according to an eleventh embodiment will be described with reference to  FIGS. 29 and 30 .  FIG. 29  is a first diagram provided for explaining the method of operating the radar device according to the eleventh embodiment.  FIG. 30  is a second diagram provided for explaining the method of operating the radar device according to the eleventh embodiment. Note that the eleventh embodiment can be implemented by the configuration in any of  FIGS. 1, 10, and 11 . 
       FIG. 29  illustrates a basic form of a transmission chirp signal and a reception chirp signal in the eleventh embodiment, where the chirp signal of the same waveform within one frame that is one operation cycle of the radar device is used for both detecting the target and detecting the failure. Moreover,  FIG. 30  illustrates another example of operation of the transmission chirp signal and the reception chirp signal in the eleventh embodiment, where the chirp signal for target detection and the chirp signal for failure detection having different waveforms are transmitted and received in a time division manner within one frame that is one operation cycle of the radar device. 
     Here, the chirp signal for target detection is referred to as a “first chirp signal” while the chirp signal for failure detection is referred to as a “second chirp signal”. The method for operating the radar device by the waveforms of  FIG. 30  can be deemed as a mode of operation that includes first and second radar operation times within the operation cycle of the radar device. The first radar operation time is the time provided for detecting the target on the basis of the beat signal from the first chirp signal. The second radar operation time is the time provided for transmitting/receiving the second chirp signal and determining a failure of the radar device on the basis of the beat signal from the second chirp signal. 
     Note that an alternative form to the basic form illustrated in  FIG. 29  and the time-division form illustrated in  FIG. 30  may provide “P” frames (“P” is an integer of 2 or more) that is “P” times the one operation cycle, in which case one frame of the P frames may be operated for failure detection, and the remaining “P−1” frames may be operated for target detection. For this operation, either the chirp signal illustrated on the right side of  FIG. 30  or the chirp signal subjected to normal modulation illustrated on the left side of  FIG. 30  may be used as the chirp signal for failure detection. Note that the frame for target detection and the frame for failure detection can be switched by the control of the signal processing unit  4 . 
     Lastly, a hardware configuration for implementing the functions of the signal processing unit  4  in the first to eleventh embodiments will be described with reference to the  FIGS. 31 and 32 .  FIG. 31  is a block diagram illustrating an example of the hardware configuration that implements the functions of the signal processing unit  4  in the first to eleventh embodiments.  FIG. 32  is a block diagram illustrating another example of the hardware configuration that implements the functions of the signal processing unit  4  in the first to eleventh embodiments. 
     When the functions of the signal processing unit  4  in the first to eleventh embodiments are implemented by software, as illustrated in  FIG. 31 , the signal processing unit can include a processor  200  that performs an arithmetic operation, a memory  202  in/from which programs and threshold/temperature table values to be read by the processor  200  are saved and read, an interface  204  that inputs and outputs signals, and a display  206  that displays a detection result. 
     The processor  200  may be arithmetic means such as an arithmetic unit, a microprocessor, a microcomputer, a central processing unit (CPU), or a digital signal processor (DSP). The memory  202  can include, for example, a non-volatile or volatile semiconductor memory such as a random access memory (RAM), a read only memory (ROM), a flash memory, an erasable programmable ROM (EPROM), or an electrically EPROM (EEPROM (registered trademark)), a magnetic disk, a flexible disk, an optical disk, a compact disc, a mini disc, or a digital versatile disc (DVD). 
     The memory  202  stores (saves) the programs for executing the functions of the signal processing unit  4 , the threshold/temperature table values, and the like. The processor  200  transmits and receives necessary information via the interface  204 , executes the programs stored in the memory  202 , and refers to the threshold/temperature table values stored in the memory  202 , thereby being able to perform the failure determination processing and the processing of detecting the target  50  described above. A result of arithmetic operation by the processor  200  can be stored in the memory  202 . A result of processing by the processor  200  can also be displayed on the display  206 . Note that the display  206  may be included outside the signal processing unit  4 . 
     Moreover, the processor  200  and the memory  202  illustrated in  FIG. 31  may be replaced with a processing circuit  203  as in  FIG. 32 . The processing circuit  203  corresponds to a single circuit, a complex circuit, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or a combination of those. 
     Note that the configuration illustrated in the aforementioned embodiment merely illustrates an example of the content of the present invention, and can thus be combined with another known technique or partially omitted and/or modified without departing from the scope of the present invention. 
     REFERENCE SIGNS LIST 
       1  transmission module;  2 ,  2 A,  3 ,  3 A reception module;  4  signal processing unit;  5  delay circuit;  11 ,  22 ,  32  RF signal source;  11   a,    22   a,    32   a  chirp generator circuit;  11   b,    22   b,    32   b  oscillator;  11   c,    12 ,  22   c,    23   c,    32   c ,  33   c  amplifier;  13  transmitting antenna;  21 ,  31  receiving antenna;  23 ,  23 A,  33  reception unit;  23   a,    33   a  mixer;  23   b ,  23   b   1 ,  23   b   2 ,  33   b  HPF;  23   d,    33   d  ADC;  41  chirp data generation unit;  42  timing control unit;  43  detection unit;  43   a  distance detection unit;  43   b  speed detection unit;  43   c  amplitude detection unit;  44  failure determination unit;  44   a  failure determination threshold table;  50  target;  52  radio wave absorption band;  60  transmitted chirp signal;  62  direct wave;  64  reflected wave;  100 ,  100 A,  100 B radar device;  200  processor;  202  memory;  203  processing circuit;  204  interface;  206  display.