JP2019138816A - Radar device and method for controlling radar device - Google Patents

Abstract

To reduce the influence of abnormalities if the abnormalities have generated.SOLUTION: The present invention includes: sending means (circuit 22) for sending an electric wave to a target; reception means (circuit 22) for receiving the electric wave emitted by the sending means and reflected by the target and converting the reflected wave into an electric signal; detection means (micro computer 11) and detecting information on the target based on the electric signal output from the reception means; and communication means (vehicle communication I/F12) for notifying a host device of the information on the target detected by the detection means. The detection means predicts and outputs information on the target based on the results of the detection if an abnormality has happened in the device. The notification means notifies the host device of the generation of the abnormality and notifies the host device of the information on the target predicted by the detection means.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a radar apparatus and a radar apparatus control method.

  In recent years, in order to support safe driving of a vehicle, a radar device that detects an object around the vehicle by irradiating a radio wave is often used.

  When such a radar device breaks down during driving and information about an object cannot be obtained, for example, information on vehicles and pedestrians present in the vicinity is lost, which causes a problem in safe driving. There is.

  Conventionally, as a technique for improving the reliability of a radar apparatus, for example, there is a technique disclosed in Patent Document 1.

  In the technique disclosed in Patent Document 1, in a chopper type power supply circuit having a constant switching control period for performing voltage conversion from a battery voltage to an internal circuit voltage in an in-vehicle radar device, internal circuit current consumption abnormality or power conversion efficiency Abnormal failure / performance degradation and impedance abnormality failure / performance degradation of the input capacitor of the chopper type power supply circuit are detected using a simple circuit regardless of the current detection resistor with heat generation and voltage drop. The object is to provide a high in-vehicle radar device.

JP 2012-220198 A

  By the way, since the technique disclosed in Patent Document 1 is a technique for detecting an abnormality, there is a problem that it is difficult to reduce the influence of the abnormality when an abnormality occurs.

  The present invention has been made in view of the above situation, and an object of the present invention is to provide a radar apparatus and a radar apparatus control method capable of reducing the influence of an abnormality when an abnormality occurs. Yes.

In order to solve the above-described problems, the present invention is a radar apparatus mounted on a vehicle and detecting an object around the vehicle, a transmission unit that transmits a radio wave toward the target, and the transmission unit that is transmitted by the transmission unit. Receiving means for receiving a reflected wave reflected by the object, converting it into an electrical signal and outputting it; detecting means for detecting information relating to the object based on the electrical signal output from the receiving means; and the detection Notification means for notifying the host device of information relating to the object detected by the means, and when the abnormality occurs in the device, the detection means is based on the detection result so far. Predicting and outputting information relating to the information, the notifying means notifying the host device that an abnormality has occurred, and information relating to the object predicted by the detecting means It notifies the serial host device, characterized in that.
According to such a configuration, when an abnormality occurs, the influence of the abnormality can be reduced.

Further, according to the present invention, the abnormality that occurs in the device is an abnormality in a power supply circuit that supplies power to the detection means. When an abnormality occurs in the power supply circuit, the detection is performed by controlling a switch. In addition to the means, there is provided control means for supplying power supply power from another power supply circuit that supplies power supply power to the detection means.
According to such a configuration, even when an abnormality occurs in the power supply circuit that supplies power to the detection unit, the influence of the abnormality can be reduced.

Further, according to the present invention, the abnormality that occurs in the device is an abnormality in a power supply circuit that supplies power to the notification means. When an abnormality occurs in the power supply circuit, the notification is performed by controlling a switch. In addition to the means, there is provided control means for supplying power supply power from another power supply circuit for supplying power supply power to the notification means.
According to such a configuration, even when an abnormality occurs in the power supply circuit that supplies power to the notification unit, the influence of the abnormality can be reduced.

According to the present invention, the other power supply circuit includes a changing unit that changes a voltage of the power supply power to be output, and the control unit supplies power to the detection unit or the notification unit from the other power supply circuit. In the case of supply, the change means is controlled to change to a voltage corresponding to the detection means or the notification means.
According to such a configuration, it is possible to supply power supply power having an optimum voltage to the detection unit or the notification unit.

In addition, the present invention provides a communication unit that communicates information about the object with another radar apparatus, and when an abnormality occurs in the notification unit, controls the switch so that the communication unit It is connected to a device, and notifies the host device that an abnormality has occurred via the communication means, and notifies the host device of information related to the object predicted by the detection means. .
According to such a configuration, even when an abnormality occurs in the communication unit, the abnormality can be notified to the host device.

Further, the present invention is characterized in that the switch is constituted by a semiconductor switch or a relay, and a normally closed side of the semiconductor switch or relay is set to a side to be connected when an abnormality occurs.
According to such a configuration, the semiconductor switch or the relay can be connected to an appropriate one even when an initial setting abnormality or an abnormality in power supply power occurs.

In addition, the present invention includes another detection unit having the same function as the detection unit, and the other detection unit performs a process of detecting the object in parallel with the detection unit, and the detection unit When an abnormality occurs, the notification unit notifies the host device of information related to the object detected by the other detection unit.
According to such a configuration, resistance to abnormality can be improved by multiplexing the detection means.

In the present invention, the detection means and the other detection means are constituted by a microcomputer and function as the control means, and when the detection means and the other detection means are abnormal in one side, Is characterized in that the other executes control to switch the switch.
According to such a configuration, the switching control of the switches can be realized by the standby microcomputer by multiplexing the microcomputers.

According to another aspect of the present invention, there is provided a method for controlling a radar device mounted on a vehicle and detecting an object around the vehicle, a transmission step of transmitting a radio wave toward the object, and a transmission performed in the transmission step by the object. In the receiving step of receiving the reflected reflected wave, converting it into an electric signal and outputting it, in the detecting step of detecting information relating to the object based on the electric signal output in the receiving step, in the detecting step A notification step of notifying the host device of information relating to the detected object, and the detection step, when an abnormality occurs in the electrical signal, based on the detection result so far Predicting and outputting information on the information, and the notifying step notifies the host device that an abnormality has occurred and also detects the detection step. Information about the object that is expected in up to notify the host system, characterized in that.
According to such a method, when an abnormality occurs, the influence of the abnormality can be reduced.

  According to the present invention, it is possible to provide a radar apparatus and a radar apparatus control method capable of reducing the influence of the abnormality when an abnormality occurs.

It is a figure which shows the structural example of the system which has a radar apparatus which concerns on 1st Embodiment of this invention. It is a figure which shows the detailed structural example of the circuit power supply shown in FIG. It is a flowchart for demonstrating an example of the process performed in 1st Embodiment of this invention. It is a figure which shows the structure of a prior art example. It is a figure which shows the structural example of the system which has a radar apparatus which concerns on 2nd Embodiment of this invention. It is a flowchart for demonstrating an example of the process performed in 2nd Embodiment of this invention.

  Next, an embodiment of the present invention will be described.

(A) Description of Configuration of First Embodiment of the Present Invention FIG. 1 is a diagram illustrating a configuration example of a radar apparatus according to the first embodiment of the present invention. In this figure, a radar apparatus 10 includes a microcomputer (hereinafter simply referred to as “microcomputer”) 11, a vehicle communication I / F (Interface) 12, a local communication I / F 13, a communication power supply 15, a microcomputer power supply 17, and a circuit. Power sources 19-21, circuits 22-24, and switches 31-34.

  The radar apparatus 10 is supplied with power from a power source 1 (for example, a rechargeable battery mounted on a vehicle). The radar apparatus 10 is connected to another radar apparatus 40, a peripheral monitoring master ECU (Electric Control Unit) 50, a camera 60, a LIDAR (Light Detection and Ranging) 70, and the like via the network 80. Information can be exchanged between them. In addition to those shown in FIG. 1, for example, an ultrasonic sensor, an infrared sensor, or the like may be provided. Of course, sensors other than these may be provided.

  Here, the microcomputer 11 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an I / F (Interface), and the like, and is obtained by the circuits 22 to 24. Information obtained by inputting information related to an object, for example, processing for detecting the object, processing for detecting the orientation of the object, processing for correcting the position of the object, clustering processing, tracking processing, etc. Is notified to the periphery monitoring master ECU 50 via the vehicle communication I / F 12. Further, the microcomputer 11 receives information related to the object detected by the radar device 40 via the local communication I / F 13 and executes a process of integrating the information related to the object detected by itself. Further, the microcomputer 11 executes control for switching the connection of the switches 31 to 34.

  The vehicle communication I / F 12 is an I / F that operates based on, for example, a CAN (Controller Area Network) protocol, and exchanges information with the periphery monitoring master ECU 50 via the network 80.

  The local communication I / F 13 is, for example, an I / F that operates based on the CAN protocol, and exchanges information with the radar device 40.

  The communication power supply 15 is constituted by, for example, a series regulator or the like, and adjusts the DC power supplied from the power supply 1 to a predetermined voltage (for example, 5.0 V) to the vehicle communication I / F 12 and the local communication I / F 13. Supply.

  The microcomputer power supply 17 is configured by, for example, a series regulator or the like, and adjusts the DC power supplied from the power supply 1 to a predetermined voltage (for example, 3.3 V) and supplies it to the microcomputer 11.

  The circuit power supplies 19 to 21 are configured by, for example, a series regulator or the like, and adjust the DC power supplied from the power supply 1 to a predetermined voltage and supply it to the circuits 22 to 24, respectively.

  The circuit 22 is configured by, for example, an MMIC (Monolithic Microwave Integrated Circuit) or the like, transmits a radio wave toward an object, receives a reflected wave, converts it into an electric signal, and outputs the electric signal.

  The circuit 23 is configured by, for example, an A / D (Analog to Digital) conversion circuit or the like, and converts an electrical signal (analog signal) output from the MMIC into a digital signal and outputs the digital signal.

  The circuit 24 is configured by, for example, an FPGA (Field Programmable Gate Array) or the like, and performs, for example, presum processing, FFT (Fast Fourier Transform), or the like on the digital signal output from the A / D conversion circuit. Supply to the microcomputer 11.

  The circuit 22 may be an FPGA, the circuit 23 may be an A / D conversion circuit, and the circuit 24 may be an MMIC, or a combination other than this.

  The switches 31 and 32 are constituted by, for example, semiconductor switches, and connect the local communication I / F 13 and the peripheral monitoring master ECU 50 via the network 80 when controlled by the microcomputer 11 to be turned on. Note that the switches 31 and 32 are set to the off state on the normally closed side.

  The switch 33 is constituted by, for example, a semiconductor switch, is controlled by the microcomputer 11, and supplies power supplied from the circuit power supply 19 to either the microcomputer 11 or the circuit 22. The switch 34 is configured by, for example, a semiconductor switch, is controlled by the microcomputer 11, and supplies power supplied from the circuit power supply 20 to any one of the vehicle communication I / F 12, the local communication I / F 13, and the circuit 23. .

  The radar device 40 has the same configuration as the radar device 10, detects a target object by transmitting a radio wave, and supplies information related to the detection result to the radar device 10 via the local communication I / F 43. The radar device 10 and the radar device 40 are disposed, for example, at the left and right ends of the front or rear of the vehicle, and the radar device 10 operates as a master and the radar device 40 operates as a slave. Information relating to the object detected by the radar device 40 is supplied to the radar device 10 via the local communication I / F 43, and integration processing is executed by the microcomputer 11. Information subjected to the integration processing by the microcomputer 11 is supplied to the peripheral monitoring master ECU 50 via the vehicle communication I / F 12. In FIG. 1, only a part of the configuration of the radar device 40 is shown to simplify the drawing, but actually the configuration is the same as that of the radar device 10.

  Based on information supplied from the radar devices 10 and 40, the camera 60, the LIDAR 70, and the like, the surrounding monitoring master ECU 50 grasps the positional relationship between an object such as a vehicle, a pedestrian, an obstacle, and the own vehicle. If there is a possibility of collision or contact with the object, processing such as issuing a warning, operating the steering, operating the brake, etc. is executed.

  The camera 60 is configured by, for example, a visible light camera or an infrared camera, images an object existing around the vehicle, and supplies the obtained image to the periphery monitoring master ECU 50 via the network 80.

  The LIDAR 70, for example, irradiates the periphery of the vehicle with a laser beam in a pulsed manner, measures the scattered light from the object, detects the position and speed of the object, and supplies it to the periphery monitoring master ECU 50.

  FIG. 2 is a diagram showing a detailed configuration example of the circuit power supplies 19 and 20 shown in FIG. Since the circuit power supply 19 and the circuit power supply 20 have the same configuration, FIG. 2 shows them together, and the circuit power supply 19 will be described below as an example. As shown in FIG. 2, the circuit power supply 19 includes a transistor 191, an operational amplifier 192, a reference voltage source 193, a resistance element 194, a switch 195, and resistance elements 196 and 197.

  The transistor 191 is a voltage control transistor and is controlled by the operational amplifier 192 to adjust the collector-emitter voltage so that the output voltage becomes constant.

  The operational amplifier 192 compares the voltage applied to the resistance element 196 or the resistance element 197 with the voltage of the reference voltage source 193, and controls the transistor 191 so that they match.

  The reference voltage source 193 is constituted by, for example, a Zener diode or the like, generates a constant voltage, and supplies it to the non-inverting input terminal of the operational amplifier 192.

  The resistance element 194 is a voltage dividing resistor, and the voltage output from the transistor 191 is divided by the resistance element 194 and the resistance element 196 or the resistance element 197 and supplied to the inverting input terminal of the operational amplifier 192.

  The switch 195 is controlled by the microcomputer 11 and selects one of the resistance element 196 and the resistance element 197.

  The resistance elements 196 and 197 are voltage dividing resistors, and the voltage output from the transistor 191 is divided by the resistance element 194 and the resistance element 196 or the resistance element 197 and supplied to the inverting input terminal of the operational amplifier 192. Note that when the resistance element 196 is selected by the switch 195 and the circuit 22 is selected by the switch 33, an optimum voltage is output from the transistor 191 to the circuit 22. Further, when the resistance element 197 is selected by the switch 195 and the microcomputer 11 is selected by the switch 33, an optimum voltage is output from the transistor 191 to the microcomputer 11.

  The circuit power supply 20 has the same configuration, but the values of the resistance element 204 and the resistance elements 206 and 207 are different. More specifically, in the circuit power supply 20, when the resistance element 206 is selected by the switch 205 and the circuit 23 is selected by the switch 34, an optimal voltage is output from the transistor 201 to the circuit 23. The voltage dividing ratio of the resistive element 204 and the resistive element 206 is set. In addition, when the resistance element 207 is selected by the switch 205 and the vehicle communication I / F 12 and the local communication I / F 13 are selected by the switch 34, the vehicle communication I / F 12 and the local communication I / F 13 from the transistor 201 are selected. The voltage dividing ratio of the resistive element 204 and the resistive element 207 is set so that an optimum voltage is output.

(B) Description of Operation of First Embodiment of the Invention Next, the operation of the first embodiment of the present invention will be described with reference to FIG. Note that the process shown in FIG. 3 is started, for example, when a vehicle engine (not shown) is started. When the processing of the flowchart shown in FIG. 3 is started, the following steps are executed.

  In step S10, the microcomputer 11 sets the switches 31 and 32 to an off state. As a result, the vehicle communication I / F 12 is connected to the periphery monitoring master ECU 50, and the local communication I / F 13 is connected to the radar device 40.

  In step S <b> 11, the microcomputer 11 causes the switch 33 to select the circuit 22. Further, the microcomputer 11 causes the switch 195 to select the resistance element 196. As a result, an optimum power supply voltage is output from the transistor 191 to the circuit 22 and supplied to the circuit 22 via the switch 33.

  In step S <b> 12, the microcomputer 11 causes the switch 34 to select the circuit 23. Further, the microcomputer 11 causes the switch 205 to select the resistance element 206. As a result, an optimal voltage is output from the transistor 201 to the circuit 23 and supplied to the circuit 23 via the switch 34.

  In step S <b> 13, the microcomputer 11 detects the state (normal / abnormal) of each part of the radar apparatus 10. In addition, as a method of determining normality or abnormality, for example, determination based on whether the output information is normal, determination based on whether the operating temperature is normal, or a normal response to an inquiry Judgment can be made based on whether or not there is. Of course, normal or abnormal may be determined by other methods.

  In step S14, the microcomputer 11 determines whether or not the vehicle communication I / F 12 is abnormal. When the vehicle communication I / F 12 is determined to be abnormal (step S14: Y), the microcomputer 11 proceeds to step S15. In (Step S14: N), the process proceeds to Step S16. As a method for determining whether or not the vehicle communication I / F 12 is abnormal, for example, when communication with the periphery monitoring master ECU 50 is not possible, it can be determined that there is an abnormality.

  In step S15, the microcomputer 11 turns on the switches 31 and 32. As a result, the local communication I / F 13 is connected to the periphery monitoring master ECU 50 via the network 80. The microcomputer 11 communicates with the periphery monitoring master ECU 50 using the local communication I / F 13 instead of the vehicle communication I / F 12 in which an abnormality has occurred. Thereby, even when abnormality occurs in the vehicle communication I / F 12, it is possible to communicate with the surrounding monitoring master ECU 50 using the local communication I / F 13.

  In step S16, the microcomputer 11 determines whether or not the microcomputer power supply 17 is abnormal. If it is determined that the microcomputer power supply 17 is abnormal (step S16: Y), the microcomputer 11 proceeds to step S17. In S16: N), the process proceeds to step S18. For example, when the voltage output from the microcomputer power supply 17 deviates from a predetermined range (for example, a predetermined voltage plus or minus 0.5 V), it can be determined that there is an abnormality.

  In step S17, the microcomputer 11 controls the switch 33 to select the microcomputer 11 side. Further, the microcomputer 11 controls the switch 195 to select the resistance element 197. As a result, an optimum voltage is output from the transistor 191 to the microcomputer 11 and is supplied to the microcomputer 11 via the switch 33. Therefore, even when the power supply 17 for the microcomputer is abnormal and the power supply power is not normally output. The power can be continuously supplied to the microcomputer 11.

  In step S18, the microcomputer 11 determines whether or not the communication power supply 15 is abnormal. If it is determined that the communication power supply 15 is abnormal (step S18: Y), the microcomputer 11 proceeds to step S19. In S18: N), the process proceeds to step S20. For example, when the voltage output from the communication power supply 15 deviates from a predetermined range (for example, a predetermined voltage plus or minus 0.5 V), it can be determined as abnormal.

  In step S19, the microcomputer 11 connects the switch 34 to the communication I / F (vehicle communication I / F 12 and local communication I / F 13) side. Further, the microcomputer 11 controls the switch 205 to select the resistance element 207. As a result, an optimum voltage is output from the transistor 201 to the vehicle communication I / F 12 and the local communication I / F 13 and is supplied to the vehicle communication I / F 12 and the local communication I / F 13 via the switch 34. Even when an abnormality occurs in the power supply 15 and the power supply power is not normally output, power can be continuously supplied to the vehicle communication I / F 12 and the local communication I / F 13.

  In step S20, the microcomputer 11 refers to the information supplied from the preceding circuit, determines whether the preceding circuit (for example, any one of the A / D conversion circuit, FPGA, MMIC, etc.) is abnormal, (Step S20: Y), the process proceeds to step S21. Otherwise (step S20: N), the process proceeds to step S25. For example, if the information supplied from the FPGA (for example, information obtained as a result of the FFT process) is abnormal, it is determined as Y and the process proceeds to step S21.

  In step S21, the microcomputer 11 informs the peripheral monitoring master ECU 50 via the vehicle communication I / F 12 (or the local communication I / F 13 if an abnormality has occurred in the vehicle communication I / F 12). Notice.

  In step S22, the microcomputer 11 notifies the peripheral monitoring master ECU 50 of the abnormal location via the vehicle communication I / F 12 (or the local communication I / F 13 when the vehicle communication I / F 12 is abnormal). More specifically, for example, when an abnormality occurs in the microcomputer power supply 17, the peripheral monitoring master ECU 50 is notified to that effect.

  In step S <b> 23, the microcomputer 11 notifies the periphery monitoring master ECU 50 of a prediction result related to the position and speed of the object. For example, if any abnormality occurs, normal information about the object cannot be obtained, so the microcomputer 11 performs a process of predicting the future position of the object based on the information obtained so far. To do. More specifically, since the power of the circuit power supply 20 is used when an abnormality occurs in the communication power supply 15, power is not supplied to the circuit 23, so that normal information is not output. Further, when an abnormality occurs in the microcomputer power supply 17, the power of the circuit power supply 19 is used, so that no power is supplied to the circuit 22, and normal information is not output. Further, when an abnormality occurs in the vehicle communication I / F 12, the local communication I / F 13 is used, so that information from the radar device 40 that is a slave cannot be obtained. For this reason, when an abnormality occurs, the microcomputer 11 cannot obtain normal information. In such a case, for example, clustering processing and tracking processing are performed based on past information already supplied from the FPGA. At the same time, information such as the future position and speed of the object is predicted from the information about the obtained object, and the obtained information is notified to the peripheral monitoring master ECU 50.

  In addition, since the peripheral monitoring master ECU 50 is notified of the occurrence of the abnormality in step S22, the information related to the object notified in step S23 is based on the prediction and is not highly reliable information. Thus, for example, when another detection device (for example, the camera 60 or the LIDAR 70) is provided, the priority of information from the other device can be relatively increased as compared with the radar devices 10 and 40. In addition, since the information by the prediction process can be obtained only for a certain period, before the certain period elapses, a process for switching to information on the object detected by another detection device may be executed. .

  In step S24, the microcomputer 11 determines whether or not the prediction has been completed. If it is determined that the prediction has been completed (step S24: Y), the process ends. Otherwise (step S24: N). Returning to step S23, the same processing is repeated. More specifically, when an abnormality occurs, normal information is not input to the microcomputer 11, and therefore the prediction process can be executed only for a certain time. For this reason, when the said fixed period passes, it determines with Y and complete | finishes a process.

  In step S25, the microcomputer 11 determines whether or not to repeat the process. If it is determined that the process is to be repeated (step S25: Y), the microcomputer 11 returns to step S13 and repeats the same process as described above. In the case of (step S25: N), the process is terminated. For example, when the engine is stopped, it is determined as N and the process is terminated. In other cases, it is determined as Y and the process returns to step S13.

  As described above, in the first embodiment of the present invention, when an abnormality occurs in the radar apparatus 10, the position and speed of the target object based on the information obtained by the microcomputer 11 so far. Etc., and the predicted result is notified to the peripheral monitoring master ECU 50. For this reason, even when an abnormality occurs in the radar apparatus 10, it is possible to output information about the object until it becomes inoperable.

  In the first embodiment of the present invention, when an abnormality occurs in the vehicle communication I / F 12, the switches 31 and 32 are controlled to connect the local communication I / F 13 to the peripheral monitoring master ECU 50 and perform local communication. Information related to the object can be notified to the peripheral monitoring master ECU 50 via the I / F 13. Conventionally, for example, as shown in FIG. 4, a vehicle communication I / F 14 is provided separately, and when an abnormality occurs in the vehicle communication I / F 12 as the active system, the vehicle communication I / F 14 as the standby system is used. I was trying to replace it. For this reason, since the vehicle communication I / F 14 can be reduced as compared with the conventional example shown in FIG. 4, the manufacturing cost can be reduced.

  In the first embodiment of the present invention, the switch 33 is provided, and the switch 195 is provided inside the circuit power supply 19. For this reason, when an abnormality occurs in the microcomputer power supply 17, the switch 195 adjusts the power supply voltage to the optimum value for the microcomputer 11, and the switch 33 supplies the emergency supply destination from the circuit 22 as a normal supply destination. The microcomputer 11 can be switched to. Conventionally, for example, as shown in FIG. 4, a microcomputer power supply 18 is separately provided, and when an abnormality occurs in the microcomputer power supply 17 as the active system, the microcomputer power supply 18 is switched to the standby system. It was. For this reason, since the power source 18 for microcomputers can be reduced compared with FIG. 4, manufacturing cost can be reduced.

  In the first embodiment of the present invention, the switch 34 is provided, and the switch 205 is provided inside the circuit power supply 20. Therefore, when an abnormality occurs in the communication power supply 15, the switch 205 adjusts the power supply voltage to an optimum power supply voltage for the vehicle communication I / F 12 and the local communication I / F 13, and the switch 34 is a normal supply destination. The circuit 23 can be switched to the vehicle communication I / F 12 and the local communication I / F 13 which are supply destinations in an emergency. Conventionally, for example, as shown in FIG. 4, a communication power supply 16 is separately provided, and when an abnormality occurs in the communication power supply 15 as the active system, the communication power supply 16 as the standby system is switched. It was. For this reason, compared with FIG. 4, since the communication power supply 16 can be reduced, manufacturing cost can be reduced.

(C) Description of Configuration of Second Embodiment of Present Invention Next, a configuration example of the second embodiment of the present invention will be described with reference to FIG. In FIG. 5, parts corresponding to those in FIG. In FIG. 5, compared with FIG. 1, a microcomputer 81 is added. Other configurations are the same as those in FIG.

  Here, the microcomputer 81 has the same configuration as the microcomputer 11. That is, the microcomputer 81 has a CPU, a ROM, a RAM, an I / F, and the like. The microcomputer 81 has the same function as the microcomputer 11. That is, the microcomputer 81 inputs information on the object obtained by the circuits 22 to 24 and, for example, a process for detecting the object, a process for detecting the orientation of the object, a process for correcting the position of the object, and clustering Processing and tracking processing are executed, and the obtained information is notified to the surrounding monitoring master ECU 50 via the vehicle communication I / F 12. Further, the microcomputer 81 receives information related to the object detected by the radar device 40 via the local communication I / F 13 and executes processing for integrating with information related to the object detected by itself. Further, the microcomputer 81 executes control for switching the connection of the switches 31 to 34.

(D) Description of Operation of Second Embodiment of Present Invention Next, the operation of the second embodiment of the present invention will be described. In the second embodiment, the microcomputer 11 is an active system and the microcomputer 81 is a standby system. In addition, even when the microcomputer 81 operates as a standby system, the microcomputer 81 executes processing related to the object in parallel with the microcomputer 11. For this reason, when an abnormality occurs in the microcomputer 11 that is the active system, the microcomputer 81 outputs the processing result up to that time to the peripheral monitoring master ECU 50 via the vehicle communication I / F 12, so that the object can be detected without interruption. Can be detected.

  Moreover, since the microcomputer 81 has the same function as the microcomputer 11, even when an abnormality occurs in the microcomputer 11, the microcomputer 81 can execute the same operation as in the first embodiment.

  FIG. 6 is a flowchart for explaining an example of processing executed in the second embodiment. In FIG. 6, parts corresponding to those in FIG. In FIG. 6, the process of step S30-step S31 is added compared with FIG. The rest is the same as FIG.

  In step S30, the microcomputer 81 determines whether or not the microcomputer 11 is abnormal. If it is determined that the microcomputer 11 is abnormal (step S30: Y), the microcomputer 81 proceeds to step S31, and otherwise (step S30: N). Proceed to S13. For example, the microcomputer 11 and the microcomputer 81 monitor the operation of each other, and if the microcomputer 81 determines that an abnormality has occurred in the microcomputer 11, it can determine Y in step S30 and proceed to step S31. .

  In step S31, the microcomputer 81 operates as an active system and the microcomputer 11 operates as a standby system (or stops operating). When the microcomputer 81 becomes the active system, the processing after step S13 is performed mainly by the microcomputer 81 that has newly become the active system.

  As described above, in the second embodiment of the present invention, the standby microcomputer 81 is provided in addition to the active microcomputer 11, so that even if an abnormality occurs in the microcomputer 11, The detection operation can be continued.

  In the second embodiment, since the standby microcomputer 81 can control the switches 31 to 34 and the switches 195 and 205 in the same manner as the active microcomputer 11, an abnormality occurs in the active microcomputer 11. Even in this case, the standby microcomputer 81 can execute the same operation as in the first embodiment. For this reason, the effect similar to 1st Embodiment can be anticipated.

(E) Description of Modified Embodiment The above embodiment is an example, and it is needless to say that the present invention is not limited to the case as described above. For example, in each of the above embodiments, when an abnormality occurs in the vehicle communication I / F 12, the local communication I / F 13 is connected to the peripheral monitoring master ECU 50 via the network 80 by the switches 31 and 32. However, the switches 31 and 32 may be alternative switches, and the local communication I / F 13 may be connected to either the radar device 40 or the surrounding monitoring master ECU 50.

  Further, in each of the above embodiments, in the circuit power supplies 19 and 20 shown in FIG. 2, the output voltage is changed by the switches 195 and 205. For example, the voltage of the reference voltage source 193 and 203 is changed. In this case, the output voltage may be changed. Alternatively, the switches 195 and 205 do not need to be provided when the power supply voltage suitable for the supply destination circuit is the same.

  In FIG. 2, the series regulator has been described as an example, but a shunt regulator, a switching regulator, or the like may be used.

  When an abnormality occurs, power is supplied from the circuit power source 19 to the microcomputer 11 and power is supplied from the circuit power source 20 to the vehicle communication I / F 12 and the local communication I / F 13. However, the present invention is not limited to such a case. What is necessary is just to supply power supply to the microcomputer 11, vehicle communication I / F12, and local communication I / F13 from any two of the circuit power supplies 19-21.

  Further, the flowcharts shown in FIGS. 3 and 6 are examples, and the present invention is not limited only to the processes of these flowcharts.

1 Power supply 10 Radar device 11 Microcomputer 12 Vehicle communication I / F
13 Local communication I / F
14 Vehicle communication I / F
15 Communication Power Supply 16 Communication Power Supply 17-18 Microcomputer Power Supply 19-21 Circuit Power Supply 22-24 Circuit 31-34 Switch 40 Radar Device 43 Local Communication I / F
50 Perimeter monitoring master ECU
60 Camera 80 Network 81 Microcomputer

Claims (9)

In a radar device mounted on a vehicle and detecting an object around the vehicle,
Transmitting means for transmitting radio waves toward the object;
Receiving means for receiving a reflected wave transmitted by the transmitting means and reflected by the object, converting the received wave into an electrical signal, and outputting the electric signal;
Detecting means for detecting information on the object based on an electrical signal output from the receiving means;
Notification means for notifying the host device of information relating to the object detected by the detection means;
When the abnormality occurs in the device, the detection means predicts and outputs information on the object based on the detection result so far,
The notification means notifies the host device that an abnormality has occurred, and notifies the host device of information related to the object predicted by the detection means.
Radar apparatus characterized by the above. The abnormality that occurs in the device is an abnormality in a power supply circuit that supplies power to the detection means,
When an abnormality occurs in the power supply circuit, the power supply circuit includes a control unit that controls the switch to supply power supply power from the other power supply circuit that supplies power other than the detection unit.
The radar apparatus according to claim 1. The abnormality that occurs in the device is an abnormality in a power supply circuit that supplies power to the notification means,
When an abnormality occurs in the power supply circuit, the power supply circuit includes a control unit that controls the switch to supply the power supply power from the other power supply circuit that supplies power other than the notification unit.
The radar apparatus according to claim 1 or 2, wherein The other power supply circuit has changing means for changing the voltage of the power supply power to be output,
The control means controls the changing means to change to a voltage corresponding to the detecting means or the notifying means when supplying power to the detecting means or notifying means from the other power supply circuit. ,
The radar apparatus according to claim 2 or 3, wherein Communication means for communicating information about the object with other radar devices;
When an abnormality occurs in the notification means, the switch is controlled, the communication means is connected to the host device, and the host device is notified that an abnormality has occurred via the communication means. Notifying the host device of information related to the object predicted by the detection means;
The radar apparatus according to any one of claims 1 to 4, wherein the radar apparatus is characterized in that:   6. The switch according to claim 2, wherein the switch is constituted by a semiconductor switch or a relay, and a normally closed side of the semiconductor switch or relay is set to a side to be connected when an abnormality occurs. The radar apparatus according to item 1. Other detection means having the same function as the detection means,
The other detection means executes a process of detecting the object in parallel with the detection means, and when an abnormality occurs in the detection means, the notification means is detected by the other detection means. Notifying the host device of information related to the object
The radar apparatus according to claim 1, wherein The detection means and the other detection means are constituted by a microcomputer and function as the control means,
The radar apparatus according to claim 7, wherein the detection unit and the other detection unit execute control to switch the switch when the abnormality occurs in one of the detection unit and the other detection unit. In a control method of a radar device that is mounted on a vehicle and detects an object around the vehicle,
A transmission step of transmitting radio waves toward the object;
A reception step of receiving a reflected wave transmitted in the transmission step and reflected by the object, converting the received wave into an electrical signal, and outputting the electrical signal;
A detection step of detecting information on the object based on the electrical signal output in the reception step;
A notification step of notifying the host device of information related to the object detected in the detection step,
In the detection step, when an abnormality occurs in the electrical signal, information on the object is predicted and output based on the detection result so far,
The notification step notifies the host device that an abnormality has occurred, and notifies the host device of information related to the object predicted in the detection step.
A control method of a radar apparatus characterized by the above.

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