CN103135105A - Vehicle-mounted radar device, object detection method and object detection procedure - Google Patents

Vehicle-mounted radar device, object detection method and object detection procedure Download PDF

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Publication number
CN103135105A
CN103135105A CN 201210596815 CN201210596815A CN103135105A CN 103135105 A CN103135105 A CN 103135105A CN 201210596815 CN201210596815 CN 201210596815 CN 201210596815 A CN201210596815 A CN 201210596815A CN 103135105 A CN103135105 A CN 103135105A
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orientation
orientation detection
mentioned
array antenna
present
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和泉到
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Nidec Elesys Corp
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Nidec Elesys Corp
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Priority claimed from JP2011241467A external-priority patent/JP2013096908A/en
Priority claimed from JP2011244367A external-priority patent/JP2013101025A/en
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Publication of CN103135105A publication Critical patent/CN103135105A/en
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Abstract

The invention provides a vehicle-mounted radar device, an object detection method and an object detection procedure. The vehicle-mounted radar device comprises: a plurality of receiving antennas and a direction detection part. The receiving antennas are used as reception array antennas for received wave from object reflection. The receiving antennas constitute more than two kinds of reception array antennas with an average interval in a non-integer multiple relationship. The direction detection part conducts direction detection process according to the signals of the reception array antennas. Under the circumstance that the received signals of the reception array antennas are identical with the direction of the object, the direction of the detected object is judged to be an actual direction, otherwise, the direction of the detected object is judged to be a fake direction.

Description

Trailer-mounted radar device, method for checking object and object detection program
Technical field
The present invention relates to the trailer-mounted radar device, method for checking object and object detection program.
Background technology
In recent years, in order to improve convenience, the security in the vehicle such as automobile, as sensing device, adopt the loading of the trailer-mounted radar device of millimetre-wave radar to become prevailing.
Particularly, as detection method longitudinally, general employing can side by side obtain and the distance of object (object) and the FMCW of relative velocity (Frequency Modulated Continuous Wave, Continuous Wave with frequency modulation) mode.In addition, as horizontal detection method, generally know that based on the be shaped orientation detection of object of (DBF:Digital Beam Forming) of digital beam, based on the mode of the separation of the object of MUSIC (MUltiple SIgnal Classification, multiple signal classification) etc.
Here, the trailer-mounted radar device such as, be arranged at the part in the place ahead of vehicle, in order to send electric wave (transmission ripple) in the place ahead of vehicle, detect (detections) about the information of the object in the place ahead of being positioned at this vehicle.
In this occasion, vertically represent the direction identical with the place ahead direction (direct of travel) of vehicle.In addition, in this occasion, laterally represent the direction in orientation (orientation angles) of the place ahead direction (direct of travel) of relative vehicle.
In the trailer-mounted radar device that adopts the FMCW mode, send modulating wave from transmitting antenna, by and show the array antenna received of receiving antenna from the reflection wave of reverberation (object), should receive the signal mixing by mixer, form thus Beat Signal.Then, this Beat Signal is passed through A/D (Analog to Digital, modulus) converter, obtain as digital signal, this digital signal is carried out FFT (Fast Fourier Transform, Fast Fourier Transform (FFT)) process, extract thus the frequency content of reverberation.Then, according to the combination of and the minimizing interval frequency content that extract interval in the increase of modulating frequency, the relative velocity of calculating object and distance.
In addition, in the trailer-mounted radar device, to the frequency content of reverberation, adopted the orientation detection of the signal processing of DBF, high resolution algorithm etc., thus the orientation of calculating object.
But, in prior art, the position of the scope (orientation detection scope) that can carry out orientation detection 180 ° of phase shifts in the element spacing at receiving array antenna can't judge that the orientation is right or the left zone of turning back in the situation that phase shifts more than 180 °, becomes.
In addition, in present specification, also the orientation detection scope is called FOV (Field Of View, visual field).
Figure 10 is the block scheme of the structure of the equally spaced receiving array antenna of expression.
Equally spaced receiving array antenna shown in Figure 10 consists of according to following configuration, in this configuration, according to interval (spacing) d0 that equates, by a row and show 5 receiving antennas (receiving element) 801-1～801-5.
In addition, the quantity of the receiving antenna of formation receiving array antenna also can be other quantity.
In prior art, to receive the Beat Signal of acquisition by each receiving element equidistant array antenna arranged side by side that so equally spaced makes array antenna, carrying out FFT processes, extract thus the frequency content of reverberation (object), the frequency content of this reverberation has been adopted the orientation detection of the signal processing of DBF, high resolution algorithm etc.In this occasion, when producing the phase differential more than specified degree in array antenna, can't distinguish to as if be positioned at the orientation detection scope and still be positioned at outside it, can't judge the orientation of object is positioned at which one of left and right.
Like this, in prior art, in the result of calculated orientation detection, have in the position of turning back in the orientation detection scope, detect the situation that is present in the object outside the orientation detection scope.
Relative this situation, equally in the past, people consider countermeasure.
Such as, as the structure of the scope that be used for to enlarge orientation detection, know the structure that has the element spacing that makes receiving array antenna to narrow down, or increase the structure of the quantity of receiving element.
But, in such structure, due in order to enlarge the orientation detection scope, make the element spacing of receiving array antenna narrow down or increase receiving element quantity, therefore adopt the device of more high price, have the problem of many realization property aspect.
As another example, people consider following method, in the method, judge the size of the reflective level of object, determine whether to belong to the object in the orientation detection scope.
But, in such method, have following problem, that is, although being positioned at the little object of orientation detection scope reflective level, existence is judged as mistakenly the situation that is positioned at the object outside the orientation detection scope.
In addition, as an example also, considers following method, in the method, judge having or not of peak value (peak) in the predicted position of turning back of orientation detection scope etc.
But, in such method, have the problem of the possibility that produces misinterpretation.
in addition, as a reference, the azimuth detecting apparatus of putting down in writing in TOHKEMY 2004-170371 document comprises a plurality of at least one in transmitting antenna and receiving antenna, according to this transmitting antenna and receiving antenna are made up and each channel transmission reception electric wave of formation, according to the phase differential between the reception signal that is received by each channel, detection of reflected the orientation of target of above-mentioned electric wave, according to the phase differential between this reception signal, be made as this phase differential-π～+ scope of π (rad) in, calculate the orientation of above-mentioned target, determine respectively with the π (rad) of scope (2m-1) π of above-mentioned phase differential～(2m+1) (wherein, m is integer) there is above-mentioned target in which orientation angles zone in corresponding orientation angles zone, according to this result of determining, the orientation of calculating by the calculating in above-mentioned orientation is compensated.
In addition, as a reference, be in the signal processing apparatus of the radar transmitter-receiver put down in writing in TOHKEMY 2010-71865 document, receive the transmitted signal that is reflected by target object by a plurality of antennas, formation is for the Beat Signal of each above-mentioned antenna, above-mentioned Beat Signal is synthesized and form synthetic Beat Signal, according to any person of above-mentioned Beat Signal and the position angle of the above-mentioned target object of above-mentioned synthetic Beat Signal detection.
As above, in the trailer-mounted radar device, when carrying out the orientation detection of object adopting the signals such as DBF, high resolution algorithm to process, there is the position in the orientation detection scope of turning back, the situation that is present in the object outside the orientation detection scope detected.
For this problem, also inquired in the past countermeasure, but wished the countermeasure that exploitation is better.
Summary of the invention
The present invention has considered that such situation draws, the object of the present invention is to provide to judge and the object that is present in the orientation detection scope detected, or the position probing in the orientation detection scope of turning back is to the trailer-mounted radar device that is present in the object outside the orientation detection scope, method for checking object and object detection program.
In addition, the object of the present invention is to provide the trailer-mounted radar device that can detect the object that is present in outside the orientation detection scope, method for checking object and object detection program.
(1) in order to solve above-mentioned problem, the trailer-mounted radar device of a mode of the present invention is characterised in that, this trailer-mounted radar device comprises: a plurality of receiving antennas, reflect the receiving array antenna of the reception ripple that arrives by object as receiving the transmission ripple, consist of the receiving array antenna of the average headway more than 2 kinds of the relation that is not in integral multiple; Orientation detection section, this orientation test section carries out the orientation detection that each reception signal according to above-mentioned receiving array antenna detects the orientation of above-mentioned object to be processed, the consistent occasion in orientation of the above-mentioned object that detects at each the reception signal that is judged to be according to above-mentioned receiving array antenna, the orientation that is judged to be this above-mentioned object that has detected is true bearing, the inconsistent occasion in orientation of the above-mentioned object that detects at each the reception signal that is judged to be according to above-mentioned receiving array antenna, the orientation that is judged to be this above-mentioned object that has detected is pseudo-orientation.
(2) as another way of the present invention, in above-mentioned (1) described trailer-mounted radar device can be also, the consistent occasion in orientation of the above-mentioned object that above-mentioned orientation detection section is detected at each the reception signal according to above-mentioned receiving array antenna, be judged to be above-mentioned object and be present in the above-mentioned orientation detection orientation detection scope in processing (in the narrowest orientation detection scope in the orientation detection scope processed of the orientation detection of carrying out according to each the reception signal in above-mentioned receiving array antenna), the inconsistent occasion in orientation of the above-mentioned object that detects at each the reception signal according to above-mentioned receiving array antenna, be judged to be above-mentioned object and be present in outside the above-mentioned orientation detection orientation detection scope in processing (outside the narrowest orientation detection scope in the orientation detection scope processed of the orientation detection of carrying out according to each the reception signal in above-mentioned receiving array antenna).
(3) as an also mode of the present invention, in above-mentioned (1) or (2) described trailer-mounted radar device can be also, also comprise form, store the position relationship in the orientation of the object that each the reception signal according to above-mentioned receiving array antenna detects in this form, with process take above-mentioned orientation detection in mutual corresponding between the orientation that in fact this object of prerequisite exists of turning back of 1 time of the narrowest orientation detection scope, the inconsistent occasion in orientation of the above-mentioned object that above-mentioned orientation detection section is detected at each the reception signal that is judged to be according to above-mentioned receiving array antenna, according to the mutual correspondence that is stored in above table, based on above-mentioned receiving array antenna each the reception signal and the correspondence in the orientation of the above-mentioned object that detects, the orientation of turning back and in fact existing as the above-mentioned object of prerequisite of 1 time of the narrowest orientation detection scope during detection is processed take above-mentioned orientation detection.
(4) in order to solve above-mentioned problem, the method for checking object of a mode of the present invention is characterised in that, the method adopts as receiving and sends receiving array antenna that ripple reflects by object the reception ripple that arrives and consist of a plurality of receiving antennas with the receiving array antenna of the average headway more than 2 kinds of the relation that is not in integral multiple, orientation detection section carries out the orientation detection that each reception signal according to above-mentioned receiving array antenna detects the orientation of above-mentioned object and processes, the consistent occasion in orientation of the above-mentioned object that detects at each the reception signal that is judged to be according to above-mentioned receiving array antenna, the orientation that is judged to be this above-mentioned object that has detected is true bearing, the inconsistent occasion in orientation of the above-mentioned object that detects at each the reception signal that is judged to be according to above-mentioned receiving array antenna, the orientation that is judged to be this above-mentioned object that has detected is pseudo-orientation.
(5) in order to solve above-mentioned problem, the object detection program of a mode of the present invention is for being used for carrying out at computing machine the object detection program of following method, the method adopts as receiving and sends a plurality of receiving antennas of receiving array antenna of the average headway more than 2 kinds that receiving array antenna that ripple reflects by object the reception ripple that arrives realizes not being in the relation of integral multiple, orientation detection section carries out the orientation detection that each reception signal according to above-mentioned receiving array antenna detects the orientation of above-mentioned object and processes, the consistent occasion in orientation of the above-mentioned object that detects at each the reception signal that is judged to be according to above-mentioned receiving array antenna, the orientation that is judged to be this above-mentioned object that has detected is true bearing, the inconsistent occasion in orientation of the above-mentioned object that detects at each the reception signal that is judged to be according to above-mentioned receiving array antenna, the orientation that is judged to be this above-mentioned object that has detected is pseudo-orientation.
As above-described, according to variety of way of the present invention, can provide and to judge and the object that is present in the orientation detection scope or the position probing in the orientation detection scope of turning back detected to the trailer-mounted radar device that is present in the object outside the orientation detection scope, method for checking object and object detection program.
(6) in order to solve above-mentioned problem, trailer-mounted radar device of the present invention is characterised in that, this trailer-mounted radar device comprises: a plurality of receiving antennas, reflect the receiving array antenna of the reception ripple that arrives by object as receiving the transmission ripple, consist of the receiving array antenna of the average headway more than 2 kinds of the relation that is not in integral multiple, orientation detection section, this orientation test section carries out carrying out phase shift for each reception signal of above-mentioned receiving array antenna according to the angle metric mode that changes regulation from apparent upper orientation with above-mentioned object, and the orientation detection that detects the orientation of above-mentioned object according to the result of having carried out this phase shift is processed, be judged to be the consistent occasion in orientation of having carried out the above-mentioned object that the result of above-mentioned phase shift detects according to each the reception signal for above-mentioned receiving array antenna, be judged to be above-mentioned object in the apparent the narrowest orientation detection scope that is present in above-mentioned orientation detection processing, be judged to be the inconsistent occasion in orientation of having carried out the above-mentioned object that the result of above-mentioned phase shift detects according to each the reception signal for above-mentioned receiving array antenna, be judged to be above-mentioned object outside the apparent the narrowest orientation detection scope that is present in above-mentioned orientation detection processing.
(7) as an also mode of the present invention, in above-mentioned (6) described trailer-mounted radar device can be also, above-mentioned orientation detection section is being judged to be the consistent occasion in orientation of having carried out the above-mentioned object that the result of above-mentioned phase shift detects according to each the reception signal for above-mentioned receiving array antenna, be judged to be above-mentioned object in the apparent the narrowest orientation detection scope that is present in above-mentioned orientation detection processing, the opposite angle metric result that will change described predetermined angular to the orientation of the above-mentioned above-mentioned object that has detected detects as the orientation of above-mentioned object.
(8) as a mode more of the present invention, in above-mentioned (6) or (7) described trailer-mounted radar device can be also, above-mentioned orientation detection section carries out the orientation detection that each reception signal according to above-mentioned receiving array antenna detects the orientation of above-mentioned object and processes, the consistent occasion in orientation of the above-mentioned object that detects at each the reception signal that is judged to be according to above-mentioned receiving array antenna, the orientation that is judged to be this above-mentioned object that has detected is true bearing, the inconsistent occasion in orientation of the above-mentioned object that detects at each the reception signal that is judged to be according to above-mentioned receiving array antenna, the orientation that is judged to be this above-mentioned object that has detected is pseudo-orientation, the inconsistent occasion in orientation of the above-mentioned object that detects at each the reception signal that is judged to be according to above-mentioned receiving array antenna, carry out carrying out phase shift for each reception signal of above-mentioned receiving array antenna according to the angle metric mode that changes regulation from apparent upper orientation with above-mentioned object, and the orientation detection that detects the orientation of above-mentioned object according to the result of having carried out this phase shift is processed, be judged to be the consistent occasion in orientation of having carried out the above-mentioned object that the result of above-mentioned phase shift detects according to each the reception signal for above-mentioned receiving array antenna, be judged to be above-mentioned object in the apparent the narrowest orientation detection scope that is present in above-mentioned orientation detection processing, be judged to be the inconsistent occasion in orientation of having carried out the above-mentioned object that the result of above-mentioned phase shift detects according to each the reception signal for above-mentioned receiving array antenna, be judged to be above-mentioned object outside the apparent the narrowest orientation detection scope that is present in above-mentioned orientation detection processing.
(9) as a mode more of the present invention, in above-mentioned (8) described trailer-mounted radar device can be also, above-mentioned orientation detection section carries out about as afore mentioned rules angle identical amount on negative direction and positive dirction, each reception signal for above-mentioned receiving array antenna carries out phase shift according to the angle metric mode that changes regulation from apparent upper orientation with above-mentioned object, and the above-mentioned orientation detection that detects the orientation of above-mentioned object according to the result of having carried out this phase shift is processed, be judged to be the consistent occasion in orientation of having carried out the above-mentioned object that the result of above-mentioned phase shift detects according to each the reception signal for above-mentioned receiving array antenna, be judged to be above-mentioned object in the apparent the narrowest orientation detection scope that is present in above-mentioned orientation detection processing, be judged to be the inconsistent occasion in orientation of having carried out the above-mentioned object that the result of above-mentioned phase shift detects according to each the reception signal for above-mentioned receiving array antenna, be judged to be above-mentioned object outside the apparent the narrowest orientation detection scope that is present in above-mentioned orientation detection processing.
(10) as an also mode of the present invention, in above-mentioned (6) or (7) described trailer-mounted radar device can be also, above-mentioned orientation detection section carries out the orientation detection that each reception signal according to above-mentioned receiving array antenna detects the orientation of above-mentioned object and processes, the consistent occasion in orientation of the above-mentioned object that detects at each the reception signal that is judged to be according to above-mentioned receiving array antenna, the orientation that is judged to be this above-mentioned object that has detected is true bearing, the inconsistent occasion in orientation of the above-mentioned object that detects at each the reception signal that is judged to be according to above-mentioned receiving array antenna, the orientation that is judged to be this above-mentioned object that has detected is pseudo-orientation, the inconsistent occasion in orientation of the above-mentioned object that detects at each the reception signal that is judged to be according to above-mentioned receiving array antenna, carry out about the position relationship in the orientation of the above-mentioned object that detects based on each the reception signal according to above-mentioned receiving array antenna and the angle of one of them direction in definite positive and negative, each reception signal for above-mentioned receiving array antenna carries out phase shift according to the angle metric mode that changes regulation from apparent upper orientation with above-mentioned object, and the above-mentioned orientation detection that detects the orientation of above-mentioned object according to the result of having carried out this phase shift is processed, be judged to be the consistent occasion in orientation of having carried out the above-mentioned object that the result of above-mentioned phase shift detects according to each the reception signal for above-mentioned receiving array antenna, be judged to be above-mentioned object in the apparent the narrowest orientation detection scope that is present in above-mentioned orientation detection processing, be judged to be the inconsistent occasion in orientation of having carried out the above-mentioned object that the result of above-mentioned phase shift detects for each the reception signal according to above-mentioned receiving array antenna, be judged to be above-mentioned object outside the apparent the narrowest orientation detection scope that is present in above-mentioned orientation detection processing.
(11) in order to solve above-mentioned problem, the method for checking object of a mode of the present invention is characterised in that, the method adopts as receiving and sends a plurality of receiving antennas of receiving array antenna of the average headway more than 2 kinds that receiving array antenna that ripple reflects by object the reception ripple that arrives realizes not being in the relation of integral multiple, orientation detection section carries out carrying out phase shift for each reception signal of above-mentioned receiving array antenna according to the angle metric mode that changes regulation from apparent upper orientation with above-mentioned object, and the orientation detection that detects the orientation of above-mentioned object according to the result of having carried out this phase shift is processed, be judged to be the consistent occasion in orientation of having carried out the above-mentioned object that the result of above-mentioned phase shift detects according to each the reception signal for above-mentioned receiving array antenna, be judged to be above-mentioned object in the apparent the narrowest orientation detection scope that is present in above-mentioned orientation detection processing, be judged to be the inconsistent occasion in orientation of having carried out the above-mentioned object that the result of above-mentioned phase shift detects according to each the reception signal for above-mentioned receiving array antenna, be judged to be above-mentioned object outside the apparent the narrowest orientation detection scope that is present in above-mentioned orientation detection processing.
(12) in order to solve above-mentioned problem, the object detection program of a mode of the present invention is for being used for carrying out at computing machine the object detection program of following method, the method refers to adopt as receiving and sends a plurality of receiving antennas of receiving array antenna of the average headway more than 2 kinds that receiving array antenna that ripple reflects by object the reception ripple that arrives realizes not being in the relation of integral multiple, orientation detection section carries out carrying out phase shift for each reception signal of above-mentioned receiving array antenna according to the angle metric mode that changes regulation from apparent upper orientation with above-mentioned object, and the orientation detection that detects the orientation of above-mentioned object according to the result of having carried out this phase shift is processed, be judged to be the consistent occasion in orientation of having carried out the above-mentioned object that the result of above-mentioned phase shift detects according to each the reception signal for above-mentioned receiving array antenna, be judged to be above-mentioned object in the apparent the narrowest orientation detection scope that is present in above-mentioned orientation detection processing, be judged to be the inconsistent occasion in orientation of having carried out the above-mentioned object that the result of above-mentioned phase shift detects according to each the reception signal for above-mentioned receiving array antenna, be judged to be above-mentioned object outside the apparent the narrowest orientation detection scope that is present in above-mentioned orientation detection processing.
As described above, according to variety of way of the present invention, can provide the trailer-mounted radar that can detect the orientation that is present in the object outside orientation detection scope device, method for checking object and object detection program.
Description of drawings
Fig. 1 is the block scheme of the structure of the trailer-mounted radar device of expression the 1st embodiment of the present invention.
Fig. 2 (a) is the block scheme of the structure of the receiving array antenna of the unequal-interval of expression the 1st, the 2nd embodiment of the present invention, and Fig. 2 (b) is the block scheme of the part of the receiving antenna of the receiving array antenna of the unequal-interval of expression formation the 1st, the 2nd embodiment of the present invention.
Fig. 3 is the process flow diagram of an example that is illustrated in the step of the processing of carrying out in the orientation detection section of the 1st embodiment of the present invention.
Fig. 4 is the process flow diagram of another example that is illustrated in the step of the processing of carrying out in the orientation detection section of the 1st embodiment of the present invention;
Fig. 5 (a) is present in the figure of example of appearance of the object detection of the occasion in orientation detection scope (FOV) for being illustrated in object in the 1st, the 2nd embodiment, Fig. 5 (b) is present in the figure of the example of the appearance of the object detection of the occasion on (left side) outside orientation detection scope (FOV) for being illustrated in object in the 1st, the 2nd embodiment, Fig. 5 (c) is present in the figure of the example of the appearance of the object detection of the occasion on (right side) outside orientation detection scope (FOV) for being illustrated in object in the 1st, the 2nd embodiment.
Fig. 6 (a) is the figure of the relation of this car of the simulation of expression in the 1st, the 2nd embodiment and other car, and Fig. 6 (b) is the figure of the condition of expression simulation.
Fig. 7 is the figure of the result of the simulation of the radar installations of expression the 1st, the 2nd embodiment of the present invention;
Fig. 8 (a) is the figure of the relation of this car of simulation of the physical device of expression the 1st, the 2nd embodiment and CR (corner reflector, corner reflector), and Fig. 8 (b) is the figure of the condition of the simulation of expression physical device.
Fig. 9 is the figure of the result of the simulation of the physical device of the radar installations of expression the 1st, the 2nd embodiment of the present invention.
Figure 10 is the block scheme of the structure of the equally spaced receiving array antenna in expression the 1st, the 2nd embodiment.
Figure 11 is the block scheme of the structure of the trailer-mounted radar device of expression the 2nd embodiment of the present invention.
Figure 12 is the process flow diagram of an example that is illustrated in the step of the processing of carrying out in the orientation detection section of the 2nd embodiment of the present invention.
The figure of Figure 13 (a) example of the appearance of the object detection before the orientation of apparent upper change (mobile (shift)) object in the 2nd embodiment for expression, Figure 13 (b) is the figure of the example of the appearance of the object detection after the orientation of apparent upper change (movement) object in expression the 2nd embodiment.
Figure 14 (a) is present in the figure of the example of the appearance of the object detection of the occasion on (left side) outside orientation detection scope (FOV) for being illustrated in object in the 2nd embodiment, Figure 14 (b) is present in the figure of the example of the appearance of the object detection of the occasion on (left side) outside orientation detection scope (FOV) for being illustrated in object in the 2nd embodiment, Figure 14 (c) is the figure of the example of the appearance of the object detection of expression after the orientation of apparent upper change (movement) object, Figure 14 (d) is the figure of the example of the object detection result of expression after the orientation of apparent upper change (movement) object.
Embodiment
(the 1st embodiment)
The below describes the 1st embodiment of the present invention.Fig. 1 is the block scheme of the structure of the trailer-mounted radar device 100 of expression an embodiment of the invention.
In the present embodiment, as an example of trailer-mounted radar device, expression electron scanning type radar installations (the millimetre-wave radar device of FMCW mode).
The trailer-mounted radar device 100 of present embodiment is arranged at vehicle (in the present embodiment, be automobile as an example) the part in the place ahead, in order to send electric wave (transmission ripple) in the place ahead of vehicle, detect the information that (detection) relates to the object (target) in the place ahead that is present in this vehicle.
The radar installations 100 of present embodiment comprises: n (n is a plurality of) individual receiving antenna (receiving element) 1-1～1-n; N mixer 2-1～2-n; N wave filter 3-1～3-n; Switch (SW) 4; A/D converter (ADC) 5; Control part 6; Triangular wave generating unit 7; Voltage-controlled oscillator (VCO:Voltage Controlled Oscillator) 8; Divider 9; Transmitting antenna 10; Signal processing part 20.
In addition, the radar installations 100 of present embodiment comprises: n amplifier 41-1～41-n; Amplifier 42; Amplifier 43; Amplifier 44; N amplifier 45-1～45-n.
Here, the radar installations 100 of present embodiment comprises the receiving system of n the channel (Ch) that consists of receiving array antenna.By each channel each, comprise receiving antenna 1-1～1-n; Amplifier 41-1～41-n; Mixer 2-1～2-n; Wave filter 3-1～3-n; Amplifier 45-1～45-n.
In the present embodiment, as an example, provide the occasion of n=5.
Signal processing part 20 comprises storer 21; Frequency resolution handling part 22; Peak value test section 23; Peak value combination section 24; Apart from test section 25; Speed test section 26; Pairing determination portion 27; Correlation matrix calculating part 28; Eigenvalue calculating part 29; Judging part 30; Orientation detection section 31.
Example to the elemental motion carried out in the radar installations 100 of present embodiment describes.
Triangular wave generating unit 7 is controlled by control part 6, generates triangular wave, outputs it to amplifier 43.
43 pairs of triangular signals from 7 inputs of triangular wave generating unit of amplifier amplify, and output it to VCO8.
VCO8 will carry out warbled signal for this triangular signal and export to divider 9 as transmitted signal according to the triangular signal from amplifier 43 inputs.
Divider 9 will be distributed into 2 from the transmitted signal of VCO8 input, and a distributing signal is exported to amplifier 44, and another distributing signal is exported to each amplifier 45-1～45-n.
44 pairs of signals from divider 9 inputs of amplifier amplify, and output it to transmitting antenna 10.
Transmitting antenna 10 will from the signal of amplifier 44 input as sending ripple, send by wireless mode.
This transmission ripple is reflected by object.
Each receiving antenna 1-1～1-n receives the transmission ripple that sends from transmitting antenna 10 and reflects the reflection wave (that is, receiving ripple) that arrives by object, and the reception ripple that has received is exported to each amplifier 41-1～41-n.
Each amplifier 41-1～41-n amplifies the reception ripple from each receiving antenna 1-1～1-n input, outputs it to each mixer 2-1～2-n.
Each amplifier 45-1～45-n amplifies the signal (being assigned the signal of transmitted signal) from divider 9 inputs, outputs it to each mixer 2-1～2-n.
Each mixer 2-1～2-n mixes (mixing) from the signal of the reception ripple of each amplifier 41-1～41-n input with from the signal of each amplifier 45-1～45-n input (signal of the transmission ripple that sends from transmitting antenna 10), form the Beat Signal corresponding with each difference on the frequency, established Beat Signal is exported to each wave filter 3-1～3-n.
Each wave filter 3-1～3-n carries out frequency band limits to the Beat Signal (Beat Signal of the channel 1～n corresponding with each receiving antenna 1-1～1-n) from each mixer 2-1～2-n input, will carry out the Beat Signal of frequency band limits and export to switch 4.
Switch 4 with from control part 6 and the sampled signal of input accordingly, switch successively from the Beat Signal of each wave filter 3-1～3-n input and export to amplifier 42.
42 pairs of Beat Signals from switch 4 inputs of amplifier amplify, and output it to A/D converter 5.
A/D converter 5 with from control part 6 and the sampled signal of input accordingly, the Beat Signal synchronously inputted from switch 4 and sampled signal (with the Beat Signal of corresponding each channel 1～n of each receiving antenna 1-1～1-n) is synchronously carried out the A/D conversion process with sampled signal, thereby be transformed to digital signal from simulating signal, the digital signal that obtains therefrom be stored in successively the waveform memory area territory of the storer 21 in signal processing part 20.
Control part 6 consists of such as adopting microcomputer etc.
Control part 6 carries out the control of the integral body in radar installations 100 according to the control program that is stored in not shown ROM (Read Only Memory, ROM (read-only memory)) etc.
As object lesson, control part 6 is controlled the processing that generates triangular signal by triangular wave generating unit 7, generates in addition predetermined sampled signal and outputs it to switch 4 and A/D converter 5.
Then, the example of the elemental motion carried out in signal processing part 20 described.
Storer 21 in its waveform memory area territory corresponding to each receiving antenna 1-1～1-n, the digital signal (Beat Signal) that storage obtains by A/D converter 5.This digital signal is the time series data of rising part and sloping portion.
Such as, occasion of 256 values of sampling in each of rising part and sloping portion, the data of 2 * 256 * antenna amount are stored in the waveform memory area territory of storer 21.
Frequency resolution handling part 22 by frequency transformation (such as, Fourier transform, DTC, Hadamard transform, wavelet transformation etc.), will (the corresponding Beat Signal of each antenna 1-1～1-n) be frequency content according to predetermined resolution conversion respectively, and the complex data of the Frequency point of thus obtained expression difference frequency and this difference frequency is exported to peak value test section 23 and correlation matrix calculating part 28 and orientation detection section 31 with each channel 1～n.
This is specifically described.
In the radar installations 100 of present embodiment, with respect to transmitted signal, as postponing and receive in time delay direction (such as, the right of not shown chart) pro rata from the distance of the reception signal of the reflection wave of object and radar installations 100 and object.In addition, the relative velocity that receives signal and radar installations 100 and object pro rata with respect to transmitted signal in the upper variation of frequency direction (such as, the above-below direction of not shown chart).
At this moment, if Beat Signal is carried out frequency transformation, be the occasion of 1 at object, the rising part of triangular wave (elevated areas) and sloping portion (zone descends) have respectively 1 peak value.
Frequency resolution handling part 22 has carried out to Beat Signal the data that sampling is processed for being stored in storer 21, about the rising part (rising) of triangular wave and sloping portion (decline) respectively by frequency resolution (such as, Fourier transform etc.) in the enterprising line frequency conversion of discrete time.That is, frequency resolution handling part 22 is the difference frequency with predetermined bandwidth with the Beat Signal frequency resolution, calculates the complex data based on the Beat Signal that decomposes by each difference frequency.
Consequently, obtain respectively signal level through each difference frequency of frequency resolution at the rising part of triangular wave and sloping portion.This result is exported to peak value test section 23 and correlation matrix calculating part 28 and orientation detection section 31.
For example, have at each receiving antenna 1-1～1-n the occasion that rising part and sloping portion about triangular wave have carried out respectively the data of 256 samplings, form respectively 128 complex datas (data of 2 * 128 * antenna number) in the rising part of triangular wave and sloping portion.
, in the complex data of each receiving antenna 1-1～1-n, have the phase differential that depends on predetermined angular θ here, the absolute value on the complex plane of each complex data (such as, receiving intensity or amplitude etc.) be of equal value.
In addition, predetermined angular θ is described.
The occasion of considering receiving antenna 1-1～1-n to be array-like and arranging.
Input is injected from the direction that is angle θ with respect to the axle towards the vertical direction of the face that is arranged with antenna in receiving antenna 1-1～1-n, from the arrival ripple of object (incident wave is namely for the reflection wave from object of the transmission ripple that sends from transmitting antenna 10).
At this moment, this arrival ripple receives with same angle θ in receiving antenna 1-1～1-n.
The phase differential that the interval d of the receiving antenna 1-1～1-n of angle θ same as this and 2 adjacency obtains (to " dsin θ " the proportional value as path difference) occurs between the receiving antenna 1-1～1-n of these 2 adjacency.
The orientation detection of utilizing this phase differential to adopt the signal of DBF, high resolution algorithm etc. to process, but the orientation of detected object (angle θ) thus.
Peak value test section 23 is according to the information from 22 inputs of frequency resolution handling part, detect respectively in the rising part of triangular wave and sloping portion peak value with the complex data that surpasses predetermined numerical value (such as, the peak value of receiving intensity or amplitude etc.) difference frequency, detect thus the existence of (detection) object by each difference frequency, difference frequency that will be corresponding with the object that has detected is selected as target frequency.Peak value test section 23 is exported to peak value combination section 24 with the testing result of target frequency (difference frequency of target frequency and its peak value).
In addition, in peak value test section 23, such as according to the result of the complex data of receiving antenna 1-1～1-n of relating to any person being carried out frequency spectrum processing or the addition value of the complex data that relates to whole receiving antenna 1-1～1-n is carried out the result etc. of frequency spectrum processing, the difference frequency corresponding with each peak value in frequency spectrum can be detected as target frequency.Here, in the occasion of the addition value of the complex data that adopts whole receiving antenna 1-1～1-n, the noise composition is carried out homogenizing process, thereby expect the effect that S/N improves than (signal to noise ratio (S/N ratio)).
Peak value combination section 24 is for the information (difference frequency of target frequency and its peak value) from 23 inputs of peak value test section, difference frequency in each of rising part and sloping portion and its peak value are rectangular mode with the recycle ratio match rule to be made up, thereby the difference frequency in each of rising part and sloping portion is made up fully, the result of this combination is exported to successively apart from test section 25 and speed test section 26.
Apart from test section 25 according to the difference frequency (target frequency) from the combination of the rising part of peak value combination section 24 input successively and sloping portion is carried out the numerical value that additive operation obtains, to with object carry out computing apart from r, its result (in the present example, comprising peak value) is exported to pairing determination portion 27.
Represent by following formula (1) apart from r.
r＝{C·T/(2·Δf)}·{(fu+fd)/2} ……(1)
Here, C represents the light velocity, and T represents modulating time (rising part or sloping portion), and Δ f represents the frequency modulation (PFM) amplitude of triangular wave.In addition, fu represents that from the target frequency of the rising part of the triangular wave of peak value combination section 24 outputs, fd represents from the target frequency of the sloping portion of the triangular wave of peak value combination section 24 outputs.
Speed test section 26 is according to the numerical value of the difference of the difference frequency (target frequency) from the combination of the rising part of peak value combination section 24 input successively and sloping portion, relative velocity v with object is carried out computing, its result (in the present example, comprising peak value) is exported to pairing determination portion 27.
Relative velocity v through type (2) expression.
v＝{C/(2·f0)}·{(fu-fd)/2} ……(2)
Here, f0 represents the centre frequency of triangular wave.
Pairing determination portion 27 is according to the information of input from distance test section 25 and the information inputted from speed test section 26, judge each the suitable combination of peak value of the rising part corresponding with each object and sloping portion, determine each the pairing of peak value of rising part and sloping portion, to represent that fixed pairing is (apart from r, relative velocity v, Frequency point) target sets of numbers is exported to frequency resolution handling part 22.
In addition, here, owing to determining the orientation in each target group, therefore with respect to the Z-axis of the orientation of the receiving antenna array in the radar installations 100 of present embodiment, the horizontal position parallel with the orientation of receiving antenna 1-1～1-n do not determined.
Correlation matrix calculating part 28 calculates predetermined correlation matrix according to the information from 22 inputs of frequency resolution handling part, and its result is exported to eigenvalue calculating part 29.
Eigenvalue calculating part 29 calculates eigenvalue according to the information from 28 inputs of correlation matrix calculating part, and its result is exported to detection unit 30 and orientation detection section 31.
Detection unit 30 is judged number of times according to the information from 29 inputs of eigenvalue calculating part, and this result is exported to orientation detection section 31.
Orientation detection section 31 is according to the information from 22 inputs of frequency resolution handling part, from the information of eigenvalue calculating part 29 inputs, from the information that detection unit 30 is inputted, the orientation (orientation angles) of detection and object output.
Here, as for the method used by the orientation of orientation detection section 31 detected objects (such as, algorithm), except the unique point of the radar installations 100 of the present embodiment that relates to orientation detection described later, also can adopt the whole bag of tricks that comprises known method.
As object lesson, orientation detection section 31 can adopt AR spectrum estimation method as high resolution algorithm, MUSIC method etc. to carry out spectrum estimation and process, and the result of processing according to spectrum estimation is come the orientation of detected object.In addition, in the present embodiment, utilize improvement covariance method (MCOV method).
In addition, for with correlation matrix calculating part 28, eigenvalue calculating part 29, detection unit 30, the corresponding structure division of orientation detection section 31 is (in the present example, obtain correlation matrix, eigenvalue and number of times, the structure division in the orientation of detected object), according to the method for the orientation detection that adopts in signal processing part 20, adopt the structure, the action that are complementary with the method, also can adopt the structure, the action that are different from present embodiment.
In addition, as the method for orientation detection, also can adopt DBF etc. as another example.
Also have, about object, as the principle that detects distance, relative velocity, orientation (orientation angles), except the unique point of the radar installations 100 of the present embodiment that relates to orientation detection described later, such as adopting disclosed known technology in TOHKEMY 2011-163883 document etc.
The below describes the unique point of the radar installations 100 of the present embodiment that relates to orientation detection.
In the present embodiment, as the receiving array antenna that is consisted of by n receiving antenna, adopt the receiving array antenna of unequal-interval.
Fig. 2 (a) is the block scheme of the structure of the receiving array antenna of the unequal-interval of expression an embodiment of the invention.
Fig. 2 (b) is the block scheme of the part of the receiving antenna of the receiving array antenna of the unequal-interval of expression formation present embodiment.
As shown in Fig. 2 (a), the receiving array antenna of the unequal-interval of present embodiment is according to a row and show n (in the present embodiment, n=5) configuration of individual receiving antenna 1-1～1-5 consists of.
The interval (spacing) of the 1st receiving antenna 1-1 and the 2nd receiving antenna 1-2 is d2, the 2nd receiving antenna 1-2 and the 3rd receiving antenna 1-3 are spaced apart d1, the 3rd receiving antenna 1-3 and the 4th receiving antenna 1-4 are spaced apart d1, and the 4th receiving antenna 1-4 and the 5th receiving antenna 1-5 are spaced apart d2.
Here, interval d1 and interval d2 are respectively different value (d1 ≠ d2).In the present embodiment, d1 is greater than d2 (d1＞d2).
In addition, be not between interval d1 and interval d2 integral multiple relation (d1 ≠ pd2:p=1,2,3 ...).
In addition, about whole receiving antenna 1-1～1-5, the mean value at the interval of the receiving antenna of adjacency (average headway) is d0 (d0=(d2+d1+d1+d2)/4).
Also have, in the receiving array antenna that is consisted of by n receiving antenna 1-1～1-n, if be made as i=1,2, (n-1), and (n-1) interval of the receiving antenna of individual adjacency is expressed as respectively d (i), and equispaced (average headway) d0 of whole receiving antenna 1-1～1-n is represented by following formula (3).
d0＝∑d(i)/(n-1) ……(3)
(when ∑ is got i=1～(n-1) and)
As shown in Fig. 2 (b), can adopt the part of receiving antenna of the receiving array antenna of the unequal-interval that consists of present embodiment.
In the present example, adopt the 2nd receiving antenna 1-2, the 3rd receiving antenna 1-3, the 4th receiving antenna 1-4 as 3 receiving antennas.In this occasion, the interval of the receiving antenna of adjacency is equal interval d1.
In addition, about like this, only adopt the situation of the receiving antenna 1-2～1-4 of a part, as an example, can realize by the scheme of being controlled by control part 6 grades in the following manner, this following manner is: related to the processing of the signal that is received by the receiving antenna 1-2 that adopts～1-4 by signal processing part 20, and can't help signal processing part 20 and relate to the processing of the signal that is received by the receiving antenna 1-1, the 1-5 that do not adopt.
As another configuration example, about like this, only adopt the situation of the receiving antenna 1-2～1-4 of a part, can realize by following scheme, in this scheme, the connection of the receiving antenna 1-2～1-4 of employing is connected, and make by switch etc. the antenna 1-1 that does not adopt, the connection of 1-5 disconnects.
In the present embodiment, as shown in Fig. 2 (a), to adopt the receiving array antenna of the unequal-interval of whole receiving antenna 1-1～1-5 to be called " A type " (type of the unequal interval array A of 5 channels), in addition, as shown in Fig. 2 (b), with adopting the equally spaced receiving array antenna of the receiving antenna 1-2～1-4 of a part to be called " Type B " (kind of the uniformly-spaced array B of 3 channels), describe.
In the present embodiment, basically, employing Fig. 2 (a) (or, the configuration of the receiving antenna Fig. 2 (b)) receives the reflection wave from object (reverberation), by mixer 2-1～2-n, mix, thereby form Beat Signal.By A/D converter 5, make this Beat Signal be converted to digital signal and get in storer 21, the frequency resolution handling part 22 by signal processing part 20 carries out FFT to be processed, thereby extracts the frequency content for reverberation.In addition, according in the increase of modulating frequency interval (rising part) and reduce that interval (sloping portion) extract the combination of frequency content, the radar installations 100 of calculating book embodiment and distance and the relative velocity of object.
In addition, by orientation detection section 31, the frequency content of the relative reverberation that extracts for the frequency resolution handling part 22 by signal processing part 20, the orientation of detected object.
In this occasion, in the algorithm that orientation detection section 31 adopts, for the object that is present in the orientation detection scope, detect as this thing that is positioned at the orientation detection scope, but for the object that is present in outside the orientation detection scope, detect in the position of turning back in the orientation detection scope.
So, in the present embodiment, adopt with different interval d1 " A type " shown in Fig. 2 (a) resembling, under the occasion of the receiving array antenna of the unequal-interval that d2 is arranged side by side with receiving antenna, use the orientation detection of the object of whole channels, and resembling under the occasion that adopts " Type B " shown in Fig. 2 (b) with interval d1 equally spaced receiving array antenna arranged side by side with receiving antenna of equating, using the orientation detection of object of the channel of a part.
Here, in receiving array antenna, according to the mean value (average headway) at the interval of the receiving antenna of adjacency, the width of orientation detection scope is determined.In the present embodiment, be in the receiving array antenna of the receiving array antenna of " A type " of d0 (mean value of d1 and d2) and " Type B " that average headway is d1 at average headway, the width of orientation detection scope is different.thus, in the combination of the orientation detection result of the occasion of the receiving array antenna of the orientation detection result of the occasion of the receiving array antenna that adopts " A type " and employing " Type B ", within object is present in both orientation detection scope (namely, in the orientation detection scope of narrow one) occasion, mutual orientation detection result is consistent, object is present in outside at least one orientation detection scope (namely, at least outside the orientation detection scope of narrow one, outside the common ground of 2 orientation detection scopes) occasion, obtain the result of calculation that mutual orientation detection result produces difference (deviation).The difference of mutual orientation detection result like this is corresponding with the difference of mutual orientation detection scope.
Utilize this phenomenon.Specifically, in these 2 occasions that the orientation detection result is consistent, being judged to be is the object that is present in these 2 orientation detection scopes, true bearing namely detected, in these 2 inconsistent occasions of orientation detection result, be judged to be the object outside the orientation detection scope that is present at least one, pseudo-orientation namely detected.Thus, can judge that object is present in orientation detection scope (being the common ground of 2 orientation detection scopes) here, or outside it.
In addition, in the present embodiment, in above-mentioned 2 inconsistent occasions of orientation detection result, being judged to be is the object that is present in outside at least one orientation detection scope, suppose and turn back 1 time (in the present embodiment, suppose for narrow person's orientation detection scope and do not carry out turning back more than 2 times), can determine according to the relation of these 2 orientation detection results the orientation of this object.Thus, can in the situation that do not change receiving antenna 1-1～1-5 that radar installations 100 has, realize the wide-angle of the essence of orientation detection scope.
In addition, in the present example, for the object outside the orientation detection scope that is present at least one, because supposition is turned back 1 time, therefore have the occasion of turning back more than 2 times, the correctly orientation of decision objects in the orientation detection scope about narrow person.
Fig. 3 is the process flow diagram of an example that is illustrated in the step of the processing of carrying out in the orientation detection section 31 of an embodiment of the invention.
Orientation detection section 31 is from frequency resolution handling part 22 input data (in the present embodiment, relate to for the frequency content of reverberation data) (step S1).
Also have, in the present embodiment, orientation detection section 31 is the data, the data (step S1) of the number of times judged by detection unit 30 of the eigenvalue calculated by eigenvalue calculating part 29 of input also.
At first, orientation detection section 31 adopts the unequal interval array A as " A type " to carry out the processing of orientation detection, the orientation of detected object (position of orientation angles) (step S2).
Then, orientation detection section 31 adopts the uniformly-spaced array B as " Type B " to carry out the processing of orientation detection, the orientation of detected object (position of orientation angles) (step S3).
In addition, the order of the processing of the processing of step S2 and step S3 also can be opposite.
Also have, orientation detection section 31 is for each object, carries out respectively the processing (step S4～step S6) that the result to these 2 orientation detection compares.
Specifically, the result (position of orientation angles) of the orientation detection that obtains for " A type " is judged and whether the result (position of orientation angles) of the orientation detection that obtains for " Type B " has difference (step S4) by orientation detection section 31.
The result of this judgement, be judged to be the result (position of orientation angles) of the orientation detection that obtains for " A type " and the result (position of orientation angles) of the orientation detection that obtains for " Type B " does not have the occasion of difference in orientation detection section 31, be made as is to be present in the orientation detection scope (here, be the common part of 2 orientation detection scopes) in object (this thing), the result (position of orientation angles) of the orientation detection that for example will obtain for " A type " is set (step S5) as the data in the orientation of object.
In addition, in this occasion, also can replace the result (position of orientation angles) of the orientation detection that obtains for " A type ", the result (position of orientation angles) of the orientation detection that will obtain for " Type B " is set as the data in the orientation of object.
on the other hand, the result of above-mentioned judgement, the result (position of orientation angles) of the orientation detection that orientation detection section 31 obtains in the result (position of orientation angles) that is judged to be the orientation detection that obtains for " A type " with for " Type B " has the occasion of difference, be considered as being present in the orientation detection scope (here, be the common part of 2 orientation detection scopes) outside object in the orientation detection scope (here, be the common part of 2 orientation detection scopes) in the position of turning back detected, according to the mode that is not included in the data that relate to object, the result of these orientation detection is got rid of (step S6).
In addition, whether the result (position of orientation angles) of the orientation detection that obtains as the result (position of orientation angles) of judging the orientation detection that obtains for " A type " with for " Type B " has the method for difference, can adopt following method as an example, wherein, in the not identical occasion of the value (value of the position of expression orientation angles) of the result of these 2 orientation detection (namely, different occasions) be judged to be and have difference, in the identical occasion of value of the result of these 2 orientation detection, be judged to be and do not have difference.
As another example, also can adopt following method, wherein, when the error of the value of the result of these 2 orientation detection allows slightly, in the difference of the value of the result of these 2 orientation detection occasion greater than predetermined threshold value, be judged to be and have difference, in the difference of the value of the result of these 2 orientation detection occasion less than this threshold value, being judged to be does not have difference.
Like this, in the example of process flow diagram shown in Figure 3, the frequency content of 31 pairs of reverberations of orientation detection section, carrying out orientation detection for " A type " processes and the azimuth information of calculating object, and carrying out orientation detection for " Type B " processes and the azimuth information of calculating object, after the azimuth information for these 2 type calculating objects, respectively the azimuth information of the object that obtains for these 2 types is compared for each object.In addition, orientation detection section 31 is for each of each object, occasion in the azimuth information consistent (also permissible error) of the object that obtains for these 2 types, be judged to be is to belong to be present in the orientation detection scope (here, the common ground of 2 orientation detection scopes) object in is set this data.
in addition, in the example of process flow diagram shown in Figure 3, orientation detection section 31 is for the occasion of the azimuth information of the object that 2 types obtain inconsistent (but also permissible error), be judged to be is to belong to be present in the orientation detection scope (here, the common ground of 2 orientation detection scopes) object outside, not with this result of determination with preservations such as states, and get rid of from the data of object, as going back an example can be also, the occasion of the azimuth information at the object that obtains for 2 types inconsistent (but also permissible error), be judged to be is to belong to be present in the orientation detection scope (here, the common ground of 2 orientation detection scopes) object outside, with this result of determination with preservations such as states.
Fig. 4 is the process flow diagram of another example that is illustrated in the step of the processing of carrying out in the orientation detection section 31 of an embodiment of the invention.
Here, a series of processing shown in Figure 4 (processing of step S11～step S14) replaces the processing of step S6 shown in Figure 3 and carries out.
That is, processing as a whole forms following flow process,, in process flow diagram shown in Figure 3, carries out the processing of step S1～step S5 that is, then, replaces the processing of step S6, carries out the processing of step S11 shown in Figure 4～S14.
in process flow diagram shown in Figure 4, result in the judgement of the processing of step S4 shown in Figure 3, orientation detection section 31 is judged to be the result (position of orientation angles) of the orientation detection that obtains for " A type " and the result (position of orientation angles) of the orientation detection that obtains for " Type B " has the occasion of difference, be considered as being present in the orientation detection scope (here, the common ground of 2 orientation detection scopes) object outside is being turned back in the orientation detection scope (here, the common ground of 2 orientation detection scopes) position probing in, do not get rid of in this stage, turn back as prerequisite take 1 time, carry out the processing (step S11) in the orientation (position of orientation angles) of calculating object.
Specifically, in advance in the storer of orientation detection section 31 grades, the data of store predetermined form (FOV turn back outward outgoing position form).
Turn back outside FOV in the outgoing position form, the relation (relation of mutual position) of the difference of the result (position of orientation angles) of the result (position of orientation angles) of the orientation detection that will obtain for " A type " and the orientation detection that obtains for " Type B ", with take 1 time turn back that in fact the orientation (position of orientation angles) that exists of object is mutual corresponding and store as the occasion of prerequisite.In this mutual correspondence, for example be stored in FOV as initial setting and turn back outward in the outgoing position form.
in addition, orientation detection section 31 is in the result as the judgement in the processing of step S4 shown in Figure 3, the result (position of orientation angles) of the orientation detection that is judged to be the result (position of orientation angles) of the orientation detection that obtains for " A type " and obtains for " Type B " has the occasion of difference, be considered as being present in the orientation detection scope (here, the common ground of 2 orientation detection scopes) object outside is being turned back the orientation detection scope (here, the common ground of 2 orientation detection scopes) position within is detected, the result (position of orientation angles) of retrieval and the orientation detection that obtains for " A type " the outgoing position form of turning back outside FOV and for the orientation of the corresponding object of the relation (relation of mutual position) of the difference of the result (position of orientation angles) of the orientation detection of " Type B " acquisition (take 1 time turn back as the occasion of prerequisite, the orientation that in fact object exists (position of orientation angles)) (step S11).
The result of this retrieval, the occasion (step S12) of orientation detection section 31 in the data in the orientation (position of orientation angles) that is judged to be this object that consists of searching object are stored in the outgoing position form of turning back outside FOV, turn back outside FOV and read the data in the orientation (position of orientation angles) of this object the outgoing position form, with the data of (position of orientation angles) in the orientation of the object that read as the data in the orientation of object and set (step S13).
In addition, in this occasion, be considered as this object and be present in the orientation detection scope (here, the common ground of 2 orientation detection scopes) the outside, the orientation (position of orientation angles) of this object of reading the outgoing position form of turning back outside FOV is the orientation in the outside of orientation detection scope (common ground of 2 orientation detection scopes) here.
On the other hand, the result of above-mentioned retrieval, the occasion (step S12) of orientation detection section 31 in the data in the orientation (position of orientation angles) that is judged to be this object that consists of searching object are not stored in the outgoing position form of turning back outside FOV, this the result of orientation detection is considered as unwanted data, gets rid of (step S14) according to the mode that is not included in the data that relate to object.
With reference to Fig. 5～Fig. 9, more specifically method for checking object is described.
Fig. 5 (a) is present in the figure of example of appearance of the object detection of the occasion in orientation detection scope (FOV) for indicated object.
Fig. 5 (b) is present in the figure of the example of the appearance of the object detection of the occasion on (left side) outside orientation detection scope (FOV) for indicated object.
Fig. 5 (c) is present in the figure of the example of the appearance of the object detection of the occasion on (right side) outside orientation detection scope (FOV) for indicated object.
Fig. 5 (a), Fig. 5 (b), the orientation detection scope (FOV) shown in Fig. 5 (c) is illustrated in the orientation detection scope (FOV) of narrower person in the orientation detection scope of the orientation detection scope of " A type " and " Type B ".In the present example, the orientation detection scope that is made as " Type B " is narrower than the orientation detection scope of " A type ".
In addition, outside orientation detection scope (FOV), (left side) is illustrated on the direction of negative direction in the orientation of object or the one in positive dirction, the zone of turning back except in the orientation detection scope (FOV).
In addition, outside orientation detection scope (FOV), (right side) is illustrated on the direction of negative direction in the orientation of object or the another one in positive dirction, the zone of turning back except in the orientation detection scope (FOV).
In the example of Fig. 5 (a), object (target) 101 is present in orientation detection scope (FOV).
In this occasion, the frequency spectrum in the orientation (orientation angles) that expression obtains as adopting " A type " to carry out the result of orientation detection (in the present example, be frequency spectrum 102) peak, the peak of the frequency spectrum (in the present example, being frequency spectrum 103) in the orientation (orientation angles) of carrying out the result of orientation detection with expression as employing " Type B " and obtaining is consistent.(the target detection position) 104, position of the orientation angles that peak that thus, will be consistent with this is corresponding is as the orientation of object 101 and detect.
In the example of Fig. 5 (b), object (target) 111 is present in outside orientation detection scope (FOV) (left side).
In this occasion, the frequency spectrum in the orientation (orientation angles) that expression obtains as adopting " A type " to carry out the result of orientation detection (in the present example, be frequency spectrum 112) peak, the peak of the frequency spectrum (in the present example, being frequency spectrum 113) in the orientation (orientation angles) of carrying out the result of orientation detection with expression as employing " Type B " and obtaining staggers inconsistent.In the present example, the peak of frequency spectrum 113 is positioned at the left side of the peak of frequency spectrum 112.
At this moment, at the peak of the corresponding frequency spectrum 114 in orientation (orientation when not turning back) of the reality of object 111, in processing, orientation detection as the position of turning back of 1 time, detects as the orientation of object 111 near target detection position 115.
Here, if with reference to the relation of 2 frequency spectrums 112,113 peak, can be judged to be is turning back of direction left.So being considered as is 1 time turn back, to turn back by consideration, the result of processing according to orientation detection (such as the relation of, 2 frequency spectrums 112,113 peak) can be determined the orientation of the reality of object 111.Thus, can obtain effect with the mode equivalence that in fact enlarges orientation detection scope (FOV).
In the example of Fig. 5 (c), object (target) 121 is present in outside orientation detection scope (FOV) (right side).
In this occasion, the frequency spectrum in the orientation (orientation angles) that expression obtains as adopting " A type " to carry out the result of orientation detection (in the present example, be frequency spectrum 122) peak, the peak of the frequency spectrum (in the present example, being frequency spectrum 123) in the orientation (orientation angles) of carrying out the result of orientation detection with expression as employing " Type B " and obtaining staggers inconsistent.In the present example, the peak of frequency spectrum 123 is positioned at the right side of the peak of frequency spectrum 122.
At this moment, at the peak of the corresponding frequency spectrum 124 in orientation (orientation when not turning back) of the reality of object 121, in processing, orientation detection as the position of turning back of 1 time, detects as the orientation of object 121 near target detection position 125.
Here, if with reference to the relation of 2 frequency spectrums 122,123 peak, can be judged to be is turning back to right.So, be considered as belonging to 1 time turn back, to turn back by consideration, the result of processing according to orientation detection (such as the relation of, 2 frequency spectrums 122,123 peak) can be determined the orientation of the reality of object 121.Thus, can obtain effect with the mode equivalence that in fact enlarges orientation detection scope (FOV).
By Fig. 6 and Fig. 7, expression relates to the result of simulation of the radar installations 100 of present embodiment.
Fig. 6 (a) is the figure of the relation of this car 201 in the expression simulation and other car 202.
In the present example, relatively loading the axle of the place ahead direction (direct of travel) of this car 201 of the radar installations 100 of present embodiment, at Y[m] there is other car 202 that consists of object in (Y is the value greater than 0) left.
Fig. 6 (b) is the figure of the condition of expression simulation.
In the present example, receiving antenna number (receiving element number) is N (N is such as being integer more than 3), the middle ware of receiving array antenna apart from d1 be d0+ α (α such as, for greater than 0 value), the two ends spacing d2 of receiving array antenna is d0-α, and the synthetic spacing (average headway) of receiving array antenna is d0.
Fig. 7 relates to the figure of result of the simulation of the radar installations 100 that is loaded into the present embodiment on this car 201 for expression.
In chart shown in Figure 7, transverse axis represent the radar installations 100 by present embodiment that detect with distance object (other car 202) (detecting distance [m]), the longitudinal axis represents the orientation angles (orientation detection angle [deg]) of the object (other car 202) that the radar installations 100 by present embodiment detects.
In Fig. 6 (a), the distance of automobile 201 and other car 202 gradually becomes near position from position far away situation is reflected in chart.
In chart shown in Figure 7, in the distance of this car 201 and other car 202 from about R2[m] (R2 be the value greater than 0) to about R1[m] (R1 is the value greater than 0, value less than R2) in scope, object (other car 202) is present in the orientation detection scope (here, the common ground of 2 orientation detection scopes) in, the result of the orientation detection of the result of the orientation detection of the unequal interval array A of employing " A type " and the uniformly-spaced array B of employing " Type B " is consistent.The result of the orientation detection that this is consistent is by curve 1001 expressions.Thus, the orientation angles of object in the detection orientation sensing range.
On the other hand, if the distance of this car 201 and other car 202 is less than about R1[m], object (other car 202) in the orientation detection scope (here, the common ground of 2 orientation detection scopes) outside, adopt " A type " unequal interval array A orientation detection result (by curve 1002 expressions) and adopt the result (being represented by curve 1003) of orientation detection of unequal interval array B of " Type B " inconsistent and stagger.In this occasion, detect the orientation angles of turning back.
By Fig. 8 and Fig. 9, expression relates to the result of simulation of physical device of the radar installations 100 of present embodiment.In addition, in the present example, in orientation detection is processed, adopt the MCOV method.
Fig. 8 (a) is the figure of the relation of this car 301 of simulation of expression physical device and CR (corner reflector, corner reflector) 302.
In the present example, relatively loading the axle of the place ahead direction (direct of travel) of this car 301 of the radar installations 100 of present embodiment, at Y[m] there is the CR302 that consists of object in left.In addition, this car 301 passes through the horizontal of CR302.
Fig. 8 (b) is the figure of the condition of the simulation of expression physical device.
In the present example, receiving antenna number (receiving element number) is N (N is such as the integer more than 3), the middle ware of receiving array antenna is d0+ α (α such as for greater than 0 value) apart from d1, the two ends spacing d2 of receiving array antenna is d0-α, and the synthetic spacing (average headway) of receiving array antenna is d0.
Fig. 9 relates to the figure of the result of the simulation in the physical device of radar installations 100 of an embodiment of the invention for expression.
In chart shown in Figure 9, transverse axis represents the distance apart from object (CR302) (detecting distance [m]) by radar installations 100 detections of present embodiment, and the longitudinal axis represents the orientation angles (orientation detection angle [deg]) by the object (CR302) of radar installations 100 detections of present embodiment.
In Fig. 8 (a), the distance of this car 301 and CR302 gradually becomes near position from position far away situation is reflected in chart.
in chart shown in Figure 9, in the distance of this car 301 and CR302 from about R2[m] (R2 is the value greater than 0) to about R1[m] (R1 is for greater than 0 value, value less than R2) scope, object (CR302) is present in the orientation detection scope (here, the common ground of 2 orientation detection scopes) in, the result (by curve 1102 expressions) of the orientation detection of the uniformly-spaced array B of the result of the orientation detection of the unequal interval array A of employing " A type " (by curve 1101 expressions) and employing " Type B " is consistent with the position (being represented by curve 1103) of the orientation angles of actual object.
In addition, if the distance of this car 301 and CR302 is R1[m] left and right, at first, and in the result (by curve 1104 expressions) of the orientation detection of the uniformly-spaced array B that adopts " Type B ", the beginning of turning back.
In addition, if the distance of this car 301 and CR302 is less than about R1[m], object (CR302) is in outside both orientation detection scopes, in the result (by curve 1111 expressions) of the orientation detection of the unequal interval array A that adopts " A type " with in adopting both of result (being represented by curve 1112) of orientation detection of unequal interval array B of " Type B ", generation is turned back.Thus, adopt " A type " unequal interval array A orientation detection result (by curve 1111 expressions) and adopt the result (being represented by curve 1112) of orientation detection of unequal interval array B of " Type B " inconsistent and stagger.In this occasion, detect the orientation angles of turning back.
As above, in the trailer-mounted radar device 100 of present embodiment, adopt the receiving array antenna of a plurality of receiving antenna 1-1～1-n unequal-interval arranged side by side according to different interval d1, d2, carry out respectively the orientation detection of object in the configuration of the antenna with 2 kinds of equispaceds (average headway) d0, d1, reciprocally confirm consistent the having or not of the result of each orientation detection, according to the result of this confirmation, differentiate to as if be present in the orientation detection scope, still be present in outside it.
So, trailer-mounted radar device 100 according to present embodiment, occasion in the position of turning back that detects the object outside any person who is present in the left and right with respect to the orientation detection scope, can judge this situation, such as, can get rid of the information of such position of turning back from the data of object or be considered as 1 time turn back and the orientation of detected object.
In the trailer-mounted radar device 100 of present embodiment, such as, can judge correctly and with good accuracy detection to be present in the orientation detection scope object or in the position probing in the orientation detection scope of turning back to the object that is present in outside the orientation detection scope.
Such as, in the orientation detection of present embodiment, enlarge in fact the orientation detection scope owing to processing by the signal of software, therefore need not the interval of the receiving antenna that consists of receiving array antenna is narrowed down or increase the quantity of the receiving antenna that consists of receiving array antenna with physics mode with physics mode.
In addition, in technology in the past, confirm (judgements) thus the judgement of the reflective level of object to as if be present in the orientation detection scope, still be present in the structure outside it, such as, will be present in mistakenly in the orientation detection scope but the little object of reflective level to be judged to be the object that is present in outside the orientation detection scope.Relative this situation is in the orientation detection of present embodiment, owing to can from judging in logic to as if being present in the orientation detection scope, still being present in outside it, therefore can not rely on the reflective level of object, judging reliably.
In addition, in technology in the past, has following structure, wherein, such as, being mounted with this car of trailer-mounted radar device or object (such as, other car etc.) must be mobile, the reflective level of confirming in the lump to be present in variation, the object of the relative position of the object outside the orientation detection scope reduce or in the position probing of turning back suddenly to object, thereby judge to as if be present in the orientation detection scope, still be present in outside it.Relative this situation, in the orientation detection of present embodiment, even be that halted state and object (such as, other car etc.) are in the situation of halted state at this car that is mounted with trailer-mounted radar device 100, still can judge to as if be present in the orientation detection scope, still be present in outside it.
, in the radar installations 100 of present embodiment, comprise the receiving array antenna of the unequal-interval shown in Fig. 2 (a) here, but also can possess other various receiving array antennas and use.
Such as, for the interval of the receiving antenna of the quantity of receiving array antenna, receiving antenna or corresponding adjacency etc. also adopting various modes.
As an example, as receiving array antenna, adopt following type, it is made of the receiving antenna more than 3, realizes the different above array antenna of 2 kinds of the mean value (average headway) at interval of the receiving antenna of adjacency.In addition, the average headway of this array antenna more than 2 kinds is not integral multiple.In addition, adopt each of configuration of this array antenna more than 2 kinds, carry out the orientation detection of object, whether consistent according to this result, take a decision as to whether and belong to the object that is present in orientation detection scope (common ground of 2 orientation detection scopes) here.
In addition, as preferred configuration example, for a plurality of receiving antennas that consist of receiving array antenna, interval about specified quantity from the centre, the receiving array antenna of adjacency be spaced apart the 1st interval, about be positioned at two ends the interval of volume residual, the receiving antenna of adjacency be spaced apart the 2nd interval (such as, being different from the 1st interval, is not the value of integral multiple with respect to the 1st interval).
In addition, consider if such as the difference of the part (quantity of receiving antenna) at the part (quantity of receiving antenna) at the 1st interval and the 2nd interval is little, adopt the difference of orientation detection result of respective antenna of 2 kinds of array antennas little, therefore consider moderately to set this 2 parts (quantity of receiving antenna).
Specifically, in consisting of 6 receiving antennas of receiving array antenna, only for each interval of 1 at two ends, the interval of the receiving antenna of adjacency is made as the 2nd interval, for remaining 3 intervals in the middle of approaching, the interval of the receiving antenna of adjacency is made as the 1st interval.
In addition, as object lesson, in 8 receiving antennas that consist of receiving array antenna, only for each interval of 2 at two ends, the interval of the receiving antenna of adjacency is made as the 2nd interval, for remaining 3 intervals in the middle of approaching, the interval of the receiving antenna of adjacency is made as the 1st interval.
Also have, as object lesson, in 8 receiving antennas that consist of receiving array antenna, only for each interval of 1 at two ends, the interval of the receiving antenna of adjacency is made as the 2nd interval, for remaining 5 intervals in the middle of approaching, the interval of the receiving antenna of adjacency is made as the 1st interval.
Have, general, if the quantity of the receiving antenna that consists of receiving array antenna is increased, horizontal resolution improves again.This point is same for the receiving array antenna of equally spaced receiving array antenna, unequal-interval.
In addition, general, the orientation detection scope is determined by the average headway of the receiving antenna that consists of receiving array antenna.Such as, if average headway is little, orientation detection expanded range, horizontal decrease resolution.
(the 2nd embodiment)
The below describes the 2nd embodiment of the present invention.In the following description, Fig. 2, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9 and the 1st embodiment are common.
Figure 11 is the block scheme of the structure of the trailer-mounted radar device 200 of expression the 2nd embodiment of the present invention.The difference of the radar installations 100 of radar installations 200 and the 1st embodiment is: replace the orientation detection section 31 in the radar installations 100 of the 1st embodiment and have orientation detection section 131, comprise the signal processing part 120 with orientation detection section 131.Other element is identical with radar installations 100.Element for identical with radar installations 100 adopts same label.
In the present embodiment, as an example of trailer-mounted radar device, expression electron scanning type radar installations (the millimetre-wave radar device of FMCW mode).
The trailer-mounted radar device 200 of present embodiment is arranged at vehicle (in the present embodiment, be automobile as an example) the part in the place ahead, in order to send electric wave (transmission ripple) in the place ahead of vehicle, detect the information that (detection) relates to the object (target) in the place ahead that is present in this vehicle.
The radar installations 200 of present embodiment comprises: n (n is a plurality of) individual receiving antenna (receiving element) 1-1～1-n; N mixer 2-1～2-n; N wave filter 3-1～3-n; Switch (SW) 4; A/D converter (ADC) 5; Control part 6; Triangular wave generating unit 7; Voltage-controlled oscillator (VCO:Voltage Controlled Oscillator) 8; Divider 9; Transmitting antenna 10; Signal processing part 120.
In addition, the radar installations 200 of present embodiment comprises: n amplifier 41-1～41-n; Amplifier 42; Amplifier 43; Amplifier 44; N amplifier 45-1～45-n.
Here, the radar installations 200 of present embodiment comprises the receiving system of n the channel (Ch) that consists of receiving array antenna.By each channel each, comprise receiving antenna 1-1～1-n; Amplifier 41-1～41-n; Mixer 2-1～2-n; Wave filter 3-1～3-n; Amplifier 45-1～45-n.
In the present embodiment, as an example, provide the occasion of n=5.
Signal processing part 120 comprises storer 21; Frequency resolution handling part 22; Peak value test section 23; Peak value combination section 24; Apart from test section 25; Speed test section 26; Pairing determination portion 27; Correlation matrix calculating part 28; Eigenvalue calculating part 29; Judging part 30; Orientation detection section 131.
Example to the elemental motion carried out in the radar installations 200 of present embodiment describes.
Triangular wave generating unit 7 is controlled by control part 6, generates triangular wave, outputs it to amplifier 43.
43 pairs of triangular signals from 7 inputs of triangular wave generating unit of amplifier amplify, and output it to VCO8.
VCO8 will carry out warbled signal for this triangular signal and export to divider 9 as transmitted signal according to the triangular signal from amplifier 43 inputs.
Divider 9 will be distributed into 2 from the transmitted signal of VCO8 input, and a distributing signal is exported to amplifier 44, and another distributing signal is exported to each amplifier 45-1～45-n.
44 pairs of signals from divider 9 inputs of amplifier amplify, and output it to transmitting antenna 10.
Transmitting antenna 10 will from the signal of amplifier 44 input as sending ripple, send by wireless mode.
This transmission ripple is reflected by object.
Each receiving antenna 1-1～1-n receives the transmission ripple that sends from transmitting antenna 10 and reflects the reflection wave (that is, receiving ripple) that arrives by object, and the reception ripple that has received is exported to each amplifier 41-1～41-n.
Each amplifier 41-1～41-n amplifies the reception ripple from each receiving antenna 1-1～1-n input, outputs it to each mixer 2-1～2-n.
Each amplifier 45-1～45-n amplifies the signal (being assigned the signal of transmitted signal) from divider 9 inputs, outputs it to each mixer 2-1～2-n.
Each mixer 2-1～2-n mixes (mixing) from the signal of the reception ripple of each amplifier 41-1～41-n input with from the signal of each amplifier 45-1～45-n input (signal of the transmission ripple that sends from transmitting antenna 10), form the Beat Signal corresponding with each difference on the frequency, established Beat Signal is exported to each wave filter 3-1～3-n.
Each wave filter 3-1～3-n carries out frequency band limits to the Beat Signal (Beat Signal of the channel 1～n corresponding with each receiving antenna 1-1～1-n) from each mixer 2-1～2-n input, will carry out the Beat Signal of frequency band limits and export to switch 4.
Switch 4 with from control part 6 and the sampled signal of input accordingly, switch successively from the Beat Signal of each wave filter 3-1～3-n input and export to amplifier 42.
42 pairs of Beat Signals from switch 4 inputs of amplifier amplify, and output it to A/D converter 5.
A/D converter 5 with from control part 6 and the sampled signal of input accordingly, the Beat Signal synchronously inputted from switch 4 and sampled signal (with the Beat Signal of corresponding each channel 1～n of each receiving antenna 1-1～1-n) is synchronously carried out the A/D conversion process with sampled signal, thereby be transformed to digital signal from simulating signal, the digital signal that obtains therefrom be stored in successively the waveform memory area territory of the storer 21 in signal processing part 120.
Control part 6 consists of such as adopting microcomputer etc.
Control part 6 carries out the control of the integral body in radar installations 200 according to the control program that is stored in not shown ROM (Read Only Memory, ROM (read-only memory)) etc.
As object lesson, control part 6 is controlled the processing that generates triangular signal by triangular wave generating unit 7, generates in addition predetermined sampled signal and outputs it to switch 4 and A/D converter 5.
Then, the example of the elemental motion carried out in signal processing part 120 described.
Storer 21 in its waveform memory area territory corresponding to each receiving antenna 1-1～1-n, the digital signal (Beat Signal) that storage obtains by A/D converter 5.This digital signal is the time series data of rising part and sloping portion.
Such as, occasion of 256 values of sampling in each of rising part and sloping portion, the data of 2 * 256 * antenna amount are stored in the waveform memory area territory of storer 21.
Frequency resolution handling part 22 by frequency transformation (such as, Fourier transform, DTC, Hadamard transform, wavelet transformation etc.), will (the corresponding Beat Signal of each antenna 1-1～1-n) be frequency content according to predetermined resolution conversion respectively, and the complex data of the Frequency point of thus obtained expression difference frequency and this difference frequency is exported to peak value test section 23 and correlation matrix calculating part 28 and orientation detection section 131 with each channel 1～n.
This is specifically described.
In the radar installations 200 of present embodiment, with respect to transmitted signal, as postponing and receive in time delay direction (such as, the right of not shown chart) pro rata from the distance of the reception signal of the reflection wave of object and radar installations 200 and object.In addition, the relative velocity that receives signal and radar installations 200 and object pro rata with respect to transmitted signal in the upper variation of frequency direction (such as, the above-below direction of not shown chart).
At this moment, if Beat Signal is carried out frequency transformation, be the occasion of 1 at object, the rising part of triangular wave (elevated areas) and sloping portion (zone descends) have respectively 1 peak value.
Frequency resolution handling part 22 has carried out to Beat Signal the data that sampling is processed for being stored in storer 21, about the rising part (rising) of triangular wave and sloping portion (decline) respectively by frequency resolution (such as, Fourier transform etc.) in the enterprising line frequency conversion of discrete time.That is, frequency resolution handling part 22 is the difference frequency with predetermined bandwidth with the Beat Signal frequency resolution, calculates the complex data based on the Beat Signal that decomposes by each difference frequency.
Consequently, obtain respectively signal level through each difference frequency of frequency resolution at the rising part of triangular wave and sloping portion.This result is exported to peak value test section 23 and correlation matrix calculating part 28 and orientation detection section 131.
For example, have at each receiving antenna 1-1～1-n the occasion that rising part and sloping portion about triangular wave have carried out respectively the data of 256 samplings, form respectively 128 complex datas (data of 2 * 128 * antenna number) in the rising part of triangular wave and sloping portion.
, in the complex data of each receiving antenna 1-1～1-n, have the phase differential that depends on predetermined angular θ here, the absolute value on the complex plane of each complex data (such as, receiving intensity or amplitude etc.) be of equal value.
In addition, predetermined angular θ is described.
The occasion of considering receiving antenna 1-1～1-n to be array-like and arranging.
Input is injected from the direction that is angle θ with respect to the axle towards the vertical direction of the face that is arranged with antenna in receiving antenna 1-1～1-n, from the arrival ripple of object (incident wave is namely for the reflection wave from object of the transmission ripple that sends from transmitting antenna 10).
At this moment, this arrival ripple receives with same angle θ in receiving antenna 1-1～1-n.
The phase differential that the interval d of the receiving antenna 1-1～1-n of angle θ same as this and 2 adjacency obtains (to " dsin θ " the proportional value as path difference) occurs between the receiving antenna 1-1～1-n of these 2 adjacency.
The orientation detection of utilizing this phase differential to adopt the signal of DBF, high resolution algorithm etc. to process, but the orientation of detected object (angle θ) thus.
Peak value test section 23 is according to the information from 22 inputs of frequency resolution handling part, detect respectively in the rising part of triangular wave and sloping portion peak value with the complex data that surpasses predetermined numerical value (such as, the peak value of receiving intensity or amplitude etc.) difference frequency, detect thus the existence of (detection) object by each difference frequency, difference frequency that will be corresponding with the object that has detected is selected as target frequency.Peak value test section 23 is exported to peak value combination section 24 with the testing result of target frequency (difference frequency of target frequency and its peak value).
In addition, in peak value test section 23, such as according to the result of the complex data of receiving antenna 1-1～1-n of relating to any person being carried out frequency spectrum processing or the addition value of the complex data that relates to whole receiving antenna 1-1～1-n is carried out the result etc. of frequency spectrum processing, the difference frequency corresponding with each peak value in frequency spectrum can be detected as target frequency.Here, in the occasion of the addition value of the complex data that adopts whole receiving antenna 1-1～1-n, the noise composition is carried out homogenizing process, thereby expect the effect that S/N improves than (signal to noise ratio (S/N ratio)).
Peak value combination section 24 is for the information (difference frequency of target frequency and its peak value) from 23 inputs of peak value test section, difference frequency in each of rising part and sloping portion and its peak value are rectangular mode with the recycle ratio match rule to be made up, thereby the difference frequency in each of rising part and sloping portion is made up fully, the result of this combination is exported to successively apart from test section 25 and speed test section 26.
Apart from test section 25 according to the difference frequency (target frequency) from the combination of the rising part of peak value combination section 24 input successively and sloping portion is carried out the numerical value that additive operation obtains, to with object carry out computing apart from r, its result (in the present example, comprising peak value) is exported to pairing determination portion 27.
Represent by following formula (1) apart from r.
r＝{C·T/(2·Δf)}·{(fu+fd)/2} ……(1)
Here, C represents the light velocity, and T represents modulating time (rising part or sloping portion), and Δ f represents the frequency modulation (PFM) amplitude of triangular wave.In addition, fu represents that from the target frequency of the rising part of the triangular wave of peak value combination section 24 outputs, fd represents from the target frequency of the sloping portion of the triangular wave of peak value combination section 24 outputs.
Speed test section 26 is according to the numerical value of the difference of the difference frequency (target frequency) from the combination of the rising part of peak value combination section 24 input successively and sloping portion, relative velocity v with object is carried out computing, its result (in the present example, comprising peak value) is exported to pairing determination portion 27.
Relative velocity v through type (2) expression.
v＝{C/(2·f0)}·{(fu-fd)/2} ……(2)
Here, f0 represents the centre frequency of triangular wave.
Pairing determination portion 27 is according to the information of input from distance test section 25 and the information inputted from speed test section 26, judge each the suitable combination of peak value of the rising part corresponding with each object and sloping portion, determine each the pairing of peak value of rising part and sloping portion, to represent that fixed pairing is (apart from r, relative velocity v, Frequency point) target sets of numbers is exported to frequency resolution handling part 22.
In addition, here, owing to determining the orientation in each target group, therefore with respect to the Z-axis of the orientation of the receiving antenna array in the radar installations 200 of present embodiment, the horizontal position parallel with the orientation of receiving antenna 1-1～1-n do not determined.
Correlation matrix calculating part 28 calculates predetermined correlation matrix according to the information from 22 inputs of frequency resolution handling part, and its result is exported to eigenvalue calculating part 29.
Eigenvalue calculating part 29 calculates eigenvalue according to the information from 28 inputs of correlation matrix calculating part, and its result is exported to detection unit 30 and orientation detection section 131.
Detection unit 30 is judged number of times according to the information from 29 inputs of eigenvalue calculating part, and this result is exported to orientation detection section 131.
Orientation detection section 131 is according to the information from 22 inputs of frequency resolution handling part, from the information of eigenvalue calculating part 29 inputs, from the information that detection unit 30 is inputted, the orientation (orientation angles) of detection and object output.
Here, as for the method used by the orientation of orientation detection section 131 detected objects (such as, algorithm), except the unique point of the radar installations 200 of the present embodiment that relates to orientation detection described later, also can adopt the whole bag of tricks that comprises known method.
As object lesson, orientation detection section 131 can adopt AR spectrum estimation method as high resolution algorithm, MUSIC method etc. to carry out spectrum estimation and process, and the result of processing according to spectrum estimation is come the orientation of detected object.In addition, in the present embodiment, utilize improvement covariance method (MCOV method).
In addition, for with correlation matrix calculating part 28, eigenvalue calculating part 29, detection unit 30, the corresponding structure division of orientation detection section 131 is (in the present example, obtain correlation matrix, eigenvalue and number of times, the structure division in the orientation of detected object), according to the method for the orientation detection that adopts in signal processing part 120, adopt the structure, the action that are complementary with the method, also can adopt the structure, the action that are different from present embodiment.
In addition, as the method for orientation detection, also can adopt DBF etc. as another example.
Also have, about object, as the principle that detects distance, relative velocity, orientation (orientation angles), except the unique point of the radar installations 200 of the present embodiment that relates to orientation detection described later, such as adopting disclosed known technology in TOHKEMY 2011-163883 document etc.
The below describes the unique point of the radar installations 200 of the present embodiment that relates to orientation detection.
In the present embodiment, as the receiving array antenna that is consisted of by n receiving antenna, adopt the receiving array antenna of unequal-interval.
Fig. 2 (a) is the block scheme of the structure of the receiving array antenna of the unequal-interval of expression an embodiment of the invention.
Fig. 2 (b) is the block scheme of the part of the receiving antenna of the receiving array antenna of the unequal-interval of expression formation present embodiment.
As shown in Fig. 2 (a), the receiving array antenna of the unequal-interval of present embodiment is according to a row and show n (in the present embodiment, n=5) configuration of individual receiving antenna 1-1～1-5 consists of.
The interval (spacing) of the 1st receiving antenna 1-1 and the 2nd receiving antenna 1-2 is d2, the 2nd receiving antenna 1-2 and the 3rd receiving antenna 1-3 are spaced apart d1, the 3rd receiving antenna 1-3 and the 4th receiving antenna 1-4 are spaced apart d1, and the 4th receiving antenna 1-4 and the 5th receiving antenna 1-5 are spaced apart d2.
Here, interval d1 and interval d2 are respectively different value (d1 ≠ d2).In the present embodiment, d1 is greater than d2 (d1＞d2).
In addition, be not between interval d1 and interval d2 integral multiple relation (d1 ≠ pd2:p=1,2,3 ...).
In addition, about whole receiving antenna 1-1～1-5, the mean value at the interval of the receiving antenna of adjacency (average headway) is d0 (d0=(d2+d1+d1+d2)/4).
Also have, in the receiving array antenna that is consisted of by n receiving antenna 1-1～1-n, if be made as i=1,2, (n-1), and (n-1) interval of the receiving antenna of individual adjacency is expressed as respectively d (i), and equispaced (average headway) d0 of whole receiving antenna 1-1～1-n is represented by following formula (3).
d0＝∑d(i)/(n-1) ……(3)
(when ∑ is got i=1～(n-1) and)
As shown in Fig. 2 (b), can adopt the part of receiving antenna of the receiving array antenna of the unequal-interval that consists of present embodiment.
In the present example, adopt the 2nd receiving antenna 1-2, the 3rd receiving antenna 1-3, the 4th receiving antenna 1-4 as 3 receiving antennas.In this occasion, the interval of the receiving antenna of adjacency is equal interval d1.
In addition, about like this, only adopt the situation of the receiving antenna 1-2～1-4 of a part, as an example, can realize by the scheme of being controlled by control part 6 grades in the following manner, this following manner is: related to the processing of the signal that is received by the receiving antenna 1-2 that adopts～1-4 by signal processing part 120, and can't help signal processing part 120 and relate to the processing of the signal that is received by the receiving antenna 1-1, the 1-5 that do not adopt.
As another configuration example, about like this, only adopt the situation of the receiving antenna 1-2～1-4 of a part, can realize by following scheme, in this scheme, the connection of the receiving antenna 1-2～1-4 of employing is connected, and make by switch etc. the antenna 1-1 that does not adopt, the connection of 1-5 disconnects.
In the present embodiment, as shown in Fig. 2 (a), to adopt the receiving array antenna of the unequal-interval of whole receiving antenna 1-1～1-5 to be called " A type " (type of the unequal interval array A of 5 channels), in addition, as shown in Fig. 2 (b), with adopting the equally spaced receiving array antenna of the receiving antenna 1-2～1-4 of a part to be called " Type B " (kind of the uniformly-spaced array B of 3 channels), describe.
In the present embodiment, basically, employing Fig. 2 (a) (or, the configuration of the receiving antenna Fig. 2 (b)) receives the reflection wave from object (reverberation), by mixer 2-1～2-n, mix, thereby form Beat Signal.By A/D converter 5, make this Beat Signal be converted to digital signal and get in storer 21, the frequency resolution handling part 22 by signal processing part 120 carries out FFT to be processed, thereby extracts the frequency content for reverberation.In addition, according in the increase of modulating frequency interval (rising part) and reduce that interval (sloping portion) extract the combination of frequency content, the radar installations 200 of calculating book embodiment and distance and the relative velocity of object.
In addition, by orientation detection section 131, the frequency content of the relative reverberation that extracts for the frequency resolution handling part 22 by signal processing part 120, the orientation of detected object.
In this occasion, in the algorithm that orientation detection section 131 adopts, for the object that is present in the orientation detection scope, detect as this thing that is positioned at the orientation detection scope, but for the object that is present in outside the orientation detection scope, detect in the position of turning back in the orientation detection scope.
So, in the present embodiment, adopt with different interval d1 " A type " shown in Fig. 2 (a) resembling, under the occasion of the receiving array antenna of the unequal-interval that d2 is arranged side by side with receiving antenna, use the orientation detection of the object of whole channels, and resembling under the occasion that adopts " Type B " shown in Fig. 2 (b) with interval d1 equally spaced receiving array antenna arranged side by side with receiving antenna of equating, using the orientation detection of object of the channel of a part.
Here, in receiving array antenna, according to the mean value (average headway) at the interval of the receiving antenna of adjacency, the width of orientation detection scope is determined.In the present embodiment, be in the receiving array antenna of the receiving array antenna of " A type " of d0 (mean value of d1 and d2) and " Type B " that average headway is d1 at average headway, the width of orientation detection scope is different.thus, in the combination of the orientation detection result of the occasion of the receiving array antenna of the orientation detection result of the occasion of the receiving array antenna that adopts " A type " and employing " Type B ", within object is present in both orientation detection scope (namely, in the orientation detection scope of narrow one) occasion, mutual orientation detection result is consistent, object is present in outside at least one orientation detection scope (namely, at least outside the orientation detection scope of narrow one, outside the common ground of 2 orientation detection scopes) occasion, obtain the result of calculation that mutual orientation detection result produces difference (deviation).The difference of mutual orientation detection result like this is corresponding with the difference of mutual orientation detection scope.
Utilize this phenomenon.Specifically, in these 2 occasions that the orientation detection result is consistent, being judged to be is the object that is present in these 2 orientation detection scopes, true bearing namely detected, in these 2 inconsistent occasions of orientation detection result, be judged to be the object outside the orientation detection scope that is present at least one, pseudo-orientation namely detected.Thus, can judge that object is present in orientation detection scope (being the common ground of 2 orientation detection scopes) here, or outside it.
In addition, in the present embodiment, the frequency content of reverberation is carried out the movement of phase place, carry out the orientation detection of object under the state in the orientation of apparent upper change (movement) object.In addition, that object is present in the orientation detection scope (here in differentiation under the state in the orientation of apparent change (movement) object, the common ground of 2 orientation detection scopes) in, still be present in outside it (position of turning back that is present in the left and right), only be present in the orientation detection scope (here at object, the common ground of 2 orientation detection scopes) occasion in, the orientation is returned to the amount of above-mentioned variation (movement), the orientation of detected object.In this occasion, under the state in the orientation of apparent change (movement) object, enter orientation detection scope (, the common ground of 2 orientation detection scopes) here from apparent the movement at this object when interior, can correctly detect the orientation of this object.
Figure 12 is the process flow diagram of an example that is illustrated in the step of the processing of carrying out in the orientation detection section 131 of the 2nd embodiment of the present invention.
Orientation detection section 31 is from frequency resolution handling part 22 input data (data that relate in the present embodiment, the frequency content of relative reverberation) (step S101).
Also have, in the present embodiment, in step S101, orientation detection section 131 is the data, the data of the number of times judged by detection unit 30 of the eigenvalue calculated by eigenvalue calculating part 29 of input also.
The 1st process (processing of step S102～step S106) and describe what carry out in orientation detection section 131.
In the 1st processes, judge detected to as if be present in orientation detection scope (common ground of 2 orientation detection scopes) here, still be present in (that is being, to turn back) outside it.
At first, orientation detection section 131 adopts the unequal interval array A as " A type " to carry out the processing of orientation detection, the orientation of detected object (position of orientation angles) (step S102).
Then, orientation detection section 131 adopts the uniformly-spaced array B as " Type B " to carry out the processing of orientation detection, the orientation of detected object (position of orientation angles) (step S103).
In addition, the order of the processing of the processing of step S102 and step S103 also can be opposite.
Also have, orientation detection section 131 is for each object, carries out respectively the processing (step S104～step S106) that the result to these 2 orientation detection compares.
Specifically, the result (position of orientation angles) of the orientation detection that obtains for " A type " is judged and whether the result (position of orientation angles) of the orientation detection that obtains for " Type B " has difference (step S104) by orientation detection section 131.
The result of this judgement, the result (position of orientation angles) of the orientation detection that orientation detection section 131 obtains in the result (position of orientation angles) that is judged to be the orientation detection that obtains for " A type " with for " Type B " does not have the occasion of difference, be made as is to be present in the orientation detection scope (here, be the common part of 2 orientation detection scopes) in object (this thing), set as the data in the orientation of object such as the result (position of orientation angles) of the orientation detection that will obtain for " A type " (step S105).
In addition, in this occasion, also can replace the result (position of orientation angles) of the orientation detection that obtains for " A type ", the result (position of orientation angles) of the orientation detection that will obtain for " Type B " is set as the data in the orientation of object.
on the other hand, the result of above-mentioned judgement, the result (position of orientation angles) of the orientation detection that orientation detection section 131 obtains in the result (position of orientation angles) that is judged to be the orientation detection that obtains for " A type " with for " Type B " has the occasion of difference, be considered as being present in the orientation detection scope (here, be the common part of 2 orientation detection scopes) outside object in the orientation detection scope (here, be the common part of 2 orientation detection scopes) in the position of turning back detected, being judged to be is the data (step S106) of turning back.
In addition, whether the result (position of orientation angles) of the orientation detection that obtains as the result (position of orientation angles) of judging the orientation detection that obtains for " A type " with for " Type B " has the method for difference, can adopt following method as an example, wherein, in the not identical occasion of the value (value of the position of expression orientation angles) of the result of these 2 orientation detection (namely, different occasions) be judged to be and have difference, be judged to be in the identical occasion of value of the result of these 2 orientation detection and do not have difference.
As another example, also can adopt following method, wherein, when the error of the value of the result of these 2 orientation detection allows slightly, in the difference of the value of the result of these 2 orientation detection occasion greater than predetermined threshold value, be judged to be and have difference, in the difference of the value of the result of these 2 orientation detection occasion less than this threshold value, being judged to be does not have difference.
Here, orientation detection section 131 is in the result (step S104) of above-mentioned judgement, and being judged to be is the occasion (step S106) of turning back, and then carries out the 2nd and processes (processing of step S107～step S112).
The 2nd process (processing of step S107～step S112) and describe what carry out in orientation detection section 131.
In the 2nd processes, detect the orientation that is present in the object outside orientation detection scope (common ground of 2 orientation detection scopes) here.
At first, 131 pairs, orientation detection section in the processing of step S101 from the data of frequency resolution handling part 22 inputs (in the present embodiment, the data that relate to the frequency content of reverberation), make the processing (step S107) of the predetermined value φ amount of the data phase shift of this frequency content.
In the complex data (data of frequency content) of each receiving antenna 1-1～1-n be input to orientation detection section 131 from frequency resolution handling part 22, has the phase differential of the orientation angles θ that depends on object here.
So, as the value φ of the phase shifts of the data that make frequency content, adopt the orientation angles θ that makes the object corresponding with the data of this frequency content to change the value of the value amount that predetermines.
In addition, as the value φ of the phase shift of the data that make frequency content, such as by each receiving antenna 1-1～1-n and difference.
Such as, carry out the phase shift of the data of frequency content if change the mode of predetermined value (θ 1) amount according to the orientation angles θ that makes the object corresponding with the data of frequency content, this object is present in the position of orientation angles (θ-θ 1) and is detected from apparent.
In contrast, carry out the phase shift of the data of frequency content if change the mode of predetermined value (+θ 1) amount according to the orientation angles θ that makes the object corresponding with the data of frequency content, this object is present in the position of orientation angles (θ+θ 1) and is detected from apparent.
Like this, employing is with the dephased data of the data of frequency content, at first orientation detection section 131 adopts the unequal interval array A as " A type " to carry out the processing of orientation detection, the orientation of detected object (position of orientation angles) (step S108).
Then, like this, adopt the dephased data of the data of frequency content, orientation detection section 131 adopts the uniformly-spaced array B as " Type B " to carry out the processing of orientation detection, the orientation of detected object (position of orientation angles) (step S109).
In addition, the order of the processing of step S108 and step S109 also can be opposite.
Then, orientation detection section 131 compares respectively the processing (step S110～step S112) of the result of these 2 orientation detection for each object.
Specifically, orientation detection section 131 judges in the result (position of orientation angles) of the result (position of orientation angles) of the orientation detection that obtains for " A type " and the orientation detection that obtains for " Type B " whether have difference (step S110).
the result of this judgement, orientation detection section 131 does not have the occasion of difference in the result (position of orientation angles) of the result (position of orientation angles) that is judged to be the orientation detection that obtains for " A type " and the orientation detection that obtains for " Type B ", to be present in the orientation detection scope (here from apparent being made as, the common ground of 2 orientation detection scopes) object in, such as, the result (position of orientation angles) of the orientation detection that obtains for " A type " is carried out the inverse move of movement of orientation angles θ of the processing of step S107, this result is set as the data (step S111) in the orientation of object.
In addition, in this occasion, also can replace the result (position of orientation angles) for the orientation detection of " A type " acquisition, and to the result (position of orientation angles) of the orientation detection that obtains for " Type B ", carry out the inverse move of movement of orientation angles θ of the processing of step S107, its result is set as the data in the orientation of object.
Here, in the 2nd of orientation detection section 131 processes, due to the orientation angles θ to object, carrying out orientation detection under the state of the fixed movement of apparent enterprising professional etiquette, therefore will carry out the result after the inverse move and obtain as the result of the orientation angles of reality detect detected result by this orientation.
on the other hand, the result of above-mentioned judgement, orientation detection section 131 has the occasion of difference in the result (position of orientation angles) of the result (position of orientation angles) that is judged to be the orientation detection that obtains for " A type " and the orientation detection that obtains for " Type B ", to be present in the orientation detection scope (here from apparent being considered as, the common ground of 2 orientation detection scopes) object outside is being turned back in the orientation detection scope (here, the common ground of 2 orientation detection scopes) position in and detecting, result for these orientation detection, get rid of according to not being included in the mode in the data that relate to object (step S112).
in addition, the method that whether has difference in the result (position of orientation angles) of the orientation detection that obtains as the result (position of orientation angles) of judging the orientation detection that obtains for " A type " with for " Type B ", can adopt the following method as an example, wherein, in the not identical occasion of the value (value of the position of expression orientation angles) of the result of these 2 orientation detection (namely, different occasions) be judged to be and have difference, identical occasion is judged to be does not have difference in the value (value of the position of expression orientation angles) of the result of these 2 orientation detection.
As another example, when the error of the value of the result that allows slightly these 2 orientation detection, also can adopt following method, wherein, the occasion that surpasses predetermined threshold value in the difference of the value of the result of these 2 orientation detection is judged to be has difference, is judged to be less than the occasion of predetermined threshold value in the difference of the value of the result of these 2 orientation detection not have difference.
Like this, in the 1st of the example of process flow diagram shown in Figure 12 is processed, the frequency content of 131 pairs of reverberations of orientation detection section, carrying out orientation detection about " A type " processes and the azimuth information of calculating object, and carrying out orientation detection about " Type B " processes and the azimuth information of calculating object, after the azimuth information about these 2 type calculating objects, compare respectively the azimuth information of the object that obtains for these 2 types for each object.Then, orientation detection section 131 is for each object, it is to be present in the orientation detection scope (here that the occasion of the azimuth information at the object that obtains about these 2 types consistent (but also permissible error) is judged to be, the common ground of 2 orientation detection scopes) object in is set this data.
in addition, in the 2nd of the example of process flow diagram shown in Figure 12 is processed, it is to be present in the orientation detection scope (here that 131 pairs, orientation detection section is judged to be in the 1st processes, the reverberation frequency content of the object the common ground of 2 orientation detection scopes), carry out the processing with the position angle tolerance of phase shifts regulation, adopt the data of this result, carrying out orientation detection about " A type " processes and the azimuth information of calculating object, and carrying out orientation detection about " Type B " processes and the azimuth information of calculating object, after the azimuth information for these 2 type calculating objects, for each object, the azimuth information that compares respectively the object that obtains about these 2 types.Then, orientation detection section 131 is for each object, the occasion of the azimuth information at the object that obtains about these 2 types consistent (but also permissible error) respectively, to be present in the orientation detection scope (here from apparent being judged to be, the common ground of 2 orientation detection scopes) object in, the opposite amount that moves the orientation angles of above-mentioned regulation is set this data.
in addition, in the 2nd of the example of process flow diagram shown in Figure 12 is processed, orientation detection section 131 is in the occasion of the azimuth information of the object that obtains for these 2 types inconsistent (but also permissible error), on apparent, be judged to be is to be present in the orientation detection scope (here, the common ground of 2 orientation detection scopes) object outside, not with this result of determination with maintenances such as states and get rid of from the data of object, and also can process like this as going back an example, namely, the occasion of the azimuth information at the object that obtains for 2 types inconsistent (but also permissible error), to be present in the orientation detection scope (here from apparent being judged to be, the common ground of 2 orientation detection scopes) object outside, with this result of determination with maintenances such as states.
For the amount of the movement of the orientation angles θ that relates to object in the processing of step S107, can adopt amount arbitrarily here.
As an example, amount as the movement of the orientation angles θ that relates to object in the processing of step S107, the amount less than the angle of the orientation detection scope that is equivalent to the narrower person in " A type " and " Type B " can be adopted, turning back of relative this orientation sensing range 1 time can be partly tackled in this occasion.
As another example, amount as the movement of the orientation angles θ that relates to object in the processing of step S107, the amount of q less than the angle of the orientation detection scope that is equivalent to the narrower person in " A type " and " Type B " (q for greater than 1 integer) angle doubly can be adopted, turning back of this orientation sensing range relatively q time can be partly tackled in this occasion.
In addition, also can for example, relate to the movement of the orientation angles θ of object according to same amount on positive dirction and negative direction in the processing of step S107, for the result of these 2 movements each, carry out the processing of step S108～step S112.As another example, also can adopt following scheme, wherein, the relation (mutual position relationship) of the difference of the result (position of orientation angles) of the orientation detection that obtains according to the result (position of orientation angles) of the orientation detection that obtains for " A type " in the 1st processes with for " Type B ", in the processing of step S107, determine to relate to the direction (positive dirction or negative direction) of movement of the orientation angles θ of object, only in fixed direction, relate to the movement of the orientation angles θ of object.
In addition, also can adopt following scheme, wherein, in the 2nd processes, for example the result of the judgement of the processing of step S110 is judged to be for " A type " and obtains the result (position of orientation angles) of orientation detection and the result (position of orientation angles) of the orientation detection that obtains for " Type B " has the occasion of difference, orientation detection section 131 does not carry out the deletion of the object data in the processing of step S112, turn back to the processing of step S107, change the amount of the movement of the orientation angles θ that relates to object, carry out the processing of step S107～step S112.
In such scheme, as an example, can adopt following mode, wherein, amount as the movement of the orientation angles θ that relates to object in the processing of step S107, employing is equivalent to the amount of q (q for greater than 1 integer) angle doubly of angle of the orientation detection scope of the narrower person in " A type " and " Type B ", with the value of this q from initial value 1 increase progressively 1 when turning back to the processing of step S107.Thus, the 1st process after, can according to turn back for 1 time, turn back for 2 times, turn back for 3 times ... order, carry out the 2nd and process.
Here, in the example of process flow diagram shown in Figure 12, carry out the 1st process after, carry out the 2nd and process, as another example, also can not carry out the 1st and process and carry out the 2nd and process.That is, also can not judge to as if be present in orientation detection scope (, the common ground of 2 orientation detection scopes) here, still be present in outside it, process and carry out the 2nd.
Method for checking object is carried out more specific description.
Fig. 5 (a) is present in the figure of example of appearance of the object detection of the occasion in orientation detection scope (FOV) for indicated object.
Fig. 5 (b) is present in the figure of the example of the appearance of the object detection of the occasion on (left side) outside orientation detection scope (FOV) for indicated object.
Fig. 5 (c) is present in the figure of the example of the appearance of the object detection of the occasion on (right side) outside orientation detection scope (FOV) for indicated object.
Fig. 5 (a), Fig. 5 (b), the orientation detection scope (FOV) shown in Fig. 5 (c) is illustrated in the orientation detection scope (FOV) of narrower person in the orientation detection scope of the orientation detection scope of " A type " and " Type B ".In the present example, the orientation detection scope that is made as " Type B " is narrower than the orientation detection scope of " A type ".
In addition, outside orientation detection scope (FOV), (left side) is illustrated on the direction of negative direction in the orientation of object or the one in positive dirction, the zone of turning back except in the orientation detection scope (FOV).
In addition, outside orientation detection scope (FOV), (right side) is illustrated on the direction of negative direction in the orientation of object or the another one in positive dirction, the zone of turning back except in the orientation detection scope (FOV).
In the example of Fig. 5 (a), object (target) 101 is present in orientation detection scope (FOV).
In this occasion, the frequency spectrum in the orientation (orientation angles) that expression obtains as adopting " A type " to carry out the result of orientation detection (in the present example, be frequency spectrum 102) peak, the peak of the frequency spectrum (in the present example, being frequency spectrum 103) in the orientation (orientation angles) of carrying out the result of orientation detection with expression as employing " Type B " and obtaining is consistent.(the target detection position) 104, position of the orientation angles that peak that thus, will be consistent with this is corresponding is as the orientation of object 101 and detect.
In the example of Fig. 5 (b), object (target) 111 is present in outside orientation detection scope (FOV) (left side).
In this occasion, the frequency spectrum in the orientation (orientation angles) that expression obtains as adopting " A type " to carry out the result of orientation detection (in the present example, be frequency spectrum 112) peak, the peak of the frequency spectrum (in the present example, being frequency spectrum 113) in the orientation (orientation angles) of carrying out the result of orientation detection with expression as employing " Type B " and obtaining staggers inconsistent.In the present example, the peak of frequency spectrum 113 is positioned at the left side of the peak of frequency spectrum 112.
At this moment, at the peak of the corresponding frequency spectrum 114 in orientation (orientation when not turning back) of the reality of object 111, in processing, orientation detection as the position of turning back of 1 time, detects as the orientation of object 111 near target detection position 115.
Here, if with reference to the relation of 2 frequency spectrums 112,113 peak, can be judged to be is turning back of direction left.So being considered as is 1 time turn back, to turn back by consideration, the result of processing according to orientation detection (such as the relation of, 2 frequency spectrums 112,113 peak) can be determined the orientation of the reality of object 111.Thus, can obtain effect with the mode equivalence that in fact enlarges orientation detection scope (FOV).
In the example of Fig. 5 (c), object (target) 121 is present in outside orientation detection scope (FOV) (right side).
In this occasion, the frequency spectrum in the orientation (orientation angles) that expression obtains as adopting " A type " to carry out the result of orientation detection (in the present example, be frequency spectrum 122) peak, the peak of the frequency spectrum (in the present example, being frequency spectrum 123) in the orientation (orientation angles) of carrying out the result of orientation detection with expression as employing " Type B " and obtaining staggers inconsistent.In the present example, the peak of frequency spectrum 123 is positioned at the right side of the peak of frequency spectrum 122.
At this moment, at the peak of the corresponding frequency spectrum 124 in orientation (orientation when not turning back) of the reality of object 121, in processing, orientation detection as the position of turning back of 1 time, detects as the orientation of object 121 near target detection position 125.
Here, if with reference to the relation of 2 frequency spectrums 122,123 peak, can be judged to be is turning back to right.So, be considered as belonging to 1 time turn back, to turn back by consideration, the result of processing according to orientation detection (such as the relation of, 2 frequency spectrums 122,123 peak) can be determined the orientation of the reality of object 121.Thus, can obtain effect with the mode equivalence that in fact enlarges orientation detection scope (FOV).
By Fig. 6 and Fig. 7, expression relates to the result of simulation of the radar installations 200 of present embodiment.
Fig. 6 (a) is the figure of the relation of this car 201 in the expression simulation and other car 202.
In the present example, relatively loading the axle of the place ahead direction (direct of travel) of this car 201 of the radar installations 200 of present embodiment, at Y[m] there is other car 202 that consists of object in (Y is the value greater than 0) left.
Fig. 6 (b) is the figure of the condition of expression simulation.
In the present example, receiving antenna number (receiving element number) is N (N is such as being integer more than 3), the middle ware of receiving array antenna apart from d1 be d0+ α (α such as, for greater than 0 value), the two ends spacing d2 of receiving array antenna is d0-α, and the synthetic spacing (average headway) of receiving array antenna is d0.
Fig. 7 relates to the figure of result of the simulation of the radar installations 200 that is loaded into the present embodiment on this car 201 for expression.
In chart shown in Figure 7, transverse axis represent the radar installations 200 by present embodiment that detect with distance object (other car 202) (detecting distance [m]), the longitudinal axis represents the orientation angles (orientation detection angle [deg]) of the object (other car 202) that the radar installations 200 by present embodiment detects.
In Fig. 6 (a), the distance of automobile 201 and other car 202 gradually becomes near position from position far away situation is reflected in chart.
In chart shown in Figure 7, in the distance of this car 201 and other car 202 from about R2[m] (R2 be the value greater than 0) to about R1[m] (R1 is the value greater than 0, value less than R2) in scope, object (other car 202) is present in the orientation detection scope (here, the common ground of 2 orientation detection scopes) in, the result of the orientation detection of the result of the orientation detection of the unequal interval array A of employing " A type " and the uniformly-spaced array B of employing " Type B " is consistent.The result of the orientation detection that this is consistent is by curve 1001 expressions.Thus, the orientation angles of object in the detection orientation sensing range.
On the other hand, if the distance of this car 201 and other car 202 is less than about R1[m], object (other car 202) in the orientation detection scope (here, the common ground of 2 orientation detection scopes) outside, adopt " A type " unequal interval array A orientation detection result (by curve 1002 expressions) and adopt the result (being represented by curve 1003) of orientation detection of unequal interval array B of " Type B " inconsistent and stagger.In this occasion, detect the orientation angles of turning back.
By Fig. 8 and Fig. 9, expression relates to the result of simulation of physical device of the radar installations 200 of present embodiment.In addition, in the present example, in orientation detection is processed, adopt the MCOV method.
Fig. 8 (a) is the figure of the relation of this car 301 of simulation of expression physical device and CR (corner reflector, corner reflector) 302.
In the present example, relatively loading the axle of the place ahead direction (direct of travel) of this car 301 of the radar installations 200 of present embodiment, at Y[m] there is the CR302 that consists of object in left.In addition, this car 301 passes through the horizontal of CR302.
Fig. 8 (b) is the figure of the condition of the simulation of expression physical device.
In the present example, receiving antenna number (receiving element number) is N (N is such as the integer more than 3), the middle ware of receiving array antenna is d0+ α (α such as for greater than 0 value) apart from d1, the two ends spacing d2 of receiving array antenna is d0-α, and the synthetic spacing (average headway) of receiving array antenna is d0.
Fig. 9 relates to the figure of the result of the simulation in the physical device of radar installations 200 of an embodiment of the invention for expression.
In chart shown in Figure 9, transverse axis represents the distance apart from object (CR302) (detecting distance [m]) by radar installations 200 detections of present embodiment, and the longitudinal axis represents the orientation angles (orientation detection angle [deg]) by the object (CR302) of radar installations 200 detections of present embodiment.
In Fig. 8 (a), the distance of this car 301 and CR302 gradually becomes near position from position far away situation is reflected in chart.
in chart shown in Figure 9, in the distance of this car 301 and CR302 from about R2[m] (R2 is the value greater than 0) to about R1[m] (R1 is for greater than 0 value, value less than R2) scope, object (CR302) is present in the orientation detection scope (here, the common ground of 2 orientation detection scopes) in, the result (by curve 1102 expressions) of the orientation detection of the uniformly-spaced array B of the result of the orientation detection of the unequal interval array A of employing " A type " (by curve 1101 expressions) and employing " Type B " is consistent with the position (being represented by curve 1103) of the orientation angles of actual object.
In addition, if the distance of this car 301 and CR302 is R1[m] left and right, at first, and in the result (by curve 1104 expressions) of the orientation detection of the uniformly-spaced array B that adopts " Type B ", the beginning of turning back.
In addition, if the distance of this car 301 and CR302 is less than about R1[m], object (CR302) is in outside both orientation detection scopes, in the result (by curve 1111 expressions) of the orientation detection of the unequal interval array A that adopts " A type " with in adopting both of result (being represented by curve 1112) of orientation detection of unequal interval array B of " Type B ", generation is turned back.Thus, adopt " A type " unequal interval array A orientation detection result (by curve 1111 expressions) and adopt the result (being represented by curve 1112) of orientation detection of unequal interval array B of " Type B " inconsistent and stagger.In this occasion, detect the orientation angles of turning back.
By Figure 13 and Figure 14, the variation (movement) in the orientation of object (target) is described.
Figure 13 (a) is the figure of expression from the example of the orientation appearance before of apparent upper change (movement) object (target) 401.
Figure 13 (b) is the figure of the example of the appearance of expression after the orientation of apparent upper change (movement) object (target) 401.
Orientation detection scope (FOV) shown in Figure 13 (a), Figure 13 (b) is illustrated in the orientation detection scope (FOV) of narrower person in the orientation detection scope of the orientation detection scope of " A type " and " Type B ".In this example, the orientation detection scope that is made as " Type B " is narrower than the orientation detection scope of " A type ".
In addition, outside orientation detection scope (FOV), (left side) is illustrated on the negative direction in orientation of object or a direction in positive dirction the zone of turning back of getting rid of in the orientation detection scope (FOV).
In addition, outside orientation detection scope (FOV), (right side) is illustrated on the negative direction in orientation of object or another direction in positive dirction the zone of turning back of getting rid of in the orientation detection scope (FOV).
Here, in the example of Figure 13 (a) and Figure 13 (b), be illustrated in object and be present in the occasion on (left side) outside orientation detection scope (FOV) from the processing in the orientation of apparent upper this object of change, as another example, the occasion that is present in (right side) outside orientation detection scope (FOV) at object is same from the processing in the orientation of apparent upper this object of change.
In the example of Figure 13 (a), object (target) 401 is present in outside orientation detection scope 451 (FOV) (left side).
In this occasion, the frequency spectrum in the orientation (orientation angles) that expression obtains as adopting " A type " to carry out the result of orientation detection (in the present example, formation frequency spectrum 402) peak, the peak of the frequency spectrum (in the present example, forming frequency spectrum 403) in the orientation (orientation angles) that obtains as adopting " Type B " to carry out the result of orientation detection with expression staggers and inconsistent.In the present example, the peak of frequency spectrum 403 is positioned at the left side of the peak of frequency spectrum 402.
At this moment, at the peak of the corresponding frequency spectrum 404 in orientation (orientation when not turning back) of the reality of object 401, but in orientation detection is processed, as the position of turning back of 1 time, detect as the orientation of object 401 near target detection position 405.
Here, if with reference to the relation of 2 frequency spectrums 402,403 peak, can be judged to be is turning back of direction left.That is, grasp position 406 outside the left side that the position of the orientation angles of object 401 in fact is orientation detection scope (FOV) 451.
So, such as, corresponding to 1 time turn back, change the amount of predetermined angle to right from apparent upper orientation with object 401.In this occasion, orientation detection scope (FOV) 451 on apparent left direction change the amount of identical angle, become orientation detection scope (FOV) 452.
Here, in the present example, by the variation in the orientation on such object 401 apparent, under the state after variation, object 401 is present in orientation detection scope (FOV) 452.
In the example of Figure 13 (b), the variation because of the orientation of object 401 as described above is present in orientation detection scope (FOV) 452 from apparent upper object (target) 401.
In this occasion, the frequency spectrum in the orientation (orientation angles) that expression obtains as adopting " A type " to carry out the result of orientation detection (in the present example, formation frequency spectrum 412) peak, the peak of the frequency spectrum (in the present example, forming frequency spectrum 413) in the orientation (orientation angles) of carrying out the result of orientation detection with expression as adopting " Type B " and obtaining is consistent.Thus, detect the position (target detection position) 414 of the corresponding orientation angles of the peak consistent with this, will apply to the position 414 of the orientation angles that detected result after the variation (being equivalent to the variation in opposite orientation of variation in the orientation of above-mentioned object 401) in opposite orientation as the orientation of the object 401 of reality and detect.
Can by such processing, determine the orientation of the reality of object 401.Thus, can obtain and the effect that in fact enlarges orientation detection scope (FOV) and be equal to.
Figure 14 (a) is present in the figure of the example of the appearance of the occasion on (left side) outside orientation detection scope (FOV) for indicated object.
Figure 14 (b) is present in the figure of the example of the appearance of the occasion on (left side) outside orientation detection scope (FOV) for indicated object.
Figure 14 (c) is the figure of the example of the appearance of expression after the orientation of apparent upper change (movement) object.
Figure 14 (d) is the figure of the example of the orientation detection result of expression after the orientation of apparent upper change (movement) object.
Orientation detection scope (FOV) shown in Figure 14 (a), Figure 14 (c) is illustrated in the orientation detection scope (FOV) of narrower person in the orientation detection scope of the orientation detection scope of " A type " and " Type B ".
In this example, the orientation detection scope that is made as " Type B " is narrower than the orientation detection scope of " A type ".
In addition, outside orientation detection scope (FOV), (left side) is illustrated on the negative direction in orientation of object or a direction in positive dirction the zone of turning back of getting rid of in the orientation detection scope (FOV).
In addition, outside orientation detection scope (FOV), (right side) is illustrated on the negative direction in orientation of object or the other direction in positive dirction the zone of turning back of getting rid of in the orientation detection scope (FOV).
Here, in the example of Figure 14 (a)～Figure 14 (d), indicated object is present in the occasion on (left side) outside orientation detection scope (FOV) from the processing in the orientation of apparent upper this object of change, as another example, the occasion that is present in (right side) outside orientation detection scope (FOV) at object is same from the processing in the orientation of apparent upper this object of change.
In the example of Figure 14 (a), object (target) 501 is present in outside orientation detection scope (FOV) (left side).
In the present example, the orientation angles of the centre of orientation detection scope (FOV) is 0 °, object 501 be present in left make progress θ 1 (°) the position of orientation angles.
In this occasion, as shown in Figure 14 (b), the frequency spectrum in the orientation (orientation angles) that expression obtains as adopting " A type " to carry out the result of orientation detection (in the present example, formation frequency spectrum 1201) peak, the peak of the frequency spectrum (in the present example, forming frequency spectrum 1202) in the orientation (orientation angles) that obtains as adopting " Type B " to carry out the result of orientation detection with expression staggers and inconsistent.In the present example, the peak of frequency spectrum 1202 is positioned at the left side of the peak of frequency spectrum 1201.
Here, if with reference to the relation of 2 frequency spectrums 1201,1202 peak, can be judged to be is turning back of direction left.That is, grasp position outside the left side that the position of the orientation angles of object 501 in fact is orientation detection scope (FOV).
So, such as, corresponding to 1 time turn back, change the amount of predetermined angle to right from apparent upper orientation with object 501.In this occasion, orientation detection scope (FOV) on apparent left direction change the amount of equal angular.
In the present example, with the orientation of object 501 from apparent upper to right change β (°).In this occasion, orientation detection scope (FOV) on apparent left direction change β (°).
Here, in the present example, by the variation in the orientation on such object 501 apparent, under the state after variation, object 501 is present in orientation detection scope (FOV).
In the example of Figure 14 (c), by the variation in the orientation on such object 501 apparent, object (target) 501 upward exists as the object 502 in orientation detection scope (FOV) from apparent.
In the present example, the orientation angles that is made as the centre of orientation detection scope (FOV) is 0 °, detect object 502 left upwards be present in θ 2 (°) position of the orientation angles of (θ 2=θ 1-β).
In this occasion, as shown in Figure 14 (d), the frequency spectrum in the orientation (orientation angles) that expression obtains as adopting " A type " to carry out the result of orientation detection (in the present example, formation frequency spectrum 1211) peak, the peak of the frequency spectrum (in the present example, forming frequency spectrum 1212) in the orientation (orientation angles) of carrying out the result of orientation detection with expression as adopting " Type B " and obtaining is consistent.Thus, detect the corresponding orientation angles of the peak consistent with this position (left to, θ 2 (°)), the variation that will apply to the position of the orientation angles that detected opposite orientation (is the variation in the opposite orientation of the variation in the orientation that is equivalent to above-mentioned object 501, in the present example, for the result after β (°) the variation of direction left) (at left to, θ 1 (°)) as the orientation of the object 501 of reality and detect.
Can by such processing, determine the orientation of the reality of object 501.Thus, can obtain to be equivalent to the effect that in fact enlarges orientation detection scope (FOV).
As above, in the trailer-mounted radar device 200 of present embodiment, adopt the receiving array antenna of a plurality of receiving antenna 1-1～1-n unequal-interval arranged side by side according to different interval d1, d2, carry out respectively the orientation detection of object in the configuration of the antenna with 2 kinds of equispaceds (average headway) d0, d1, reciprocally confirm consistent the having or not of the result of each orientation detection, according to the result of this confirmation, differentiate to as if be present in the orientation detection scope, still be present in outside it.
In addition, in the trailer-mounted radar device 200 of present embodiment, differentiating the occasion that is present in for object outside the orientation detection scope, carry out the phase shift corresponding with the orientation angles of regulation for the data of the frequency content of object, again carry out the orientation detection of object by each of configuration of antenna with average interval (average headway) d0, d1 of 2 kinds, reciprocally confirm consistent the having or not of the result of each orientation detection, differentiate to as if be present in the orientation detection scope, still be present in outside it according to the result of this confirmation.In addition, differentiate the occasion that is present in for object in the orientation detection scope, considering to change on the contrary the orientation angles (turning back to virgin state) of afore mentioned rules, the orientation of detected object.
So in the trailer-mounted radar device 200 of present embodiment, the occasion of the position of turning back of the object outside any person who the left and right that is present in the orientation detection scope detected can be judged this situation.In addition, in this occasion, can by the orientation from apparent upper change object, detect the orientation that is present in the object outside the orientation detection scope.
Like this, such as, for the orientation detection scope, can not be also the end that the orientation of 180 ° is defined as sensing range with phase place, and with the orientation detection expanded range.
In the trailer-mounted radar device 200 of present embodiment, such as, can judge correctly and with good accuracy detection to be present in the orientation detection scope object or in the position probing in the orientation detection scope of turning back to the object that is present in outside the orientation detection scope.
In addition, in the trailer-mounted radar device 200 of present embodiment, such as, can be correctly and be present in the orientation of the object outside the orientation detection scope with good accuracy detection.
as another configuration example, in the trailer-mounted radar device 200 of present embodiment, do not judge to as if be present in the orientation detection scope, still be present in outside it, and carry out the phase shift corresponding with the orientation angles of regulation for the data of the frequency content of object, by having average interval (average headway) d0 of 2 kinds, each of the configuration of the antenna of d1 carries out the orientation detection of object, reciprocally confirm consistent the having or not of the result of each orientation detection, judge to as if be present in the orientation detection scope according to the result of this confirmation, still be present in outside it.In addition, judging that object is present in the occasion in the orientation detection scope, considers to change on the contrary the orientation angles (turning back to virgin state) of afore mentioned rules, the orientation of detected object.
Same in such scheme, such as, can be correctly and be present in the orientation of the object outside the orientation detection scope with good accuracy detection.
Such as, in the orientation detection of present embodiment, enlarge in fact the orientation detection scope owing to processing by the signal of software, therefore need not the interval of the receiving antenna that consists of receiving array antenna is narrowed down or increase the quantity of the receiving antenna that consists of receiving array antenna with physics mode with physics mode.
In addition, in technology in the past, confirm (judgements) thus the judgement of the reflective level of object to as if be present in the orientation detection scope, still be present in the structure outside it, such as, will be present in mistakenly in the orientation detection scope but the little object of reflective level to be judged to be the object that is present in outside the orientation detection scope.Relative this situation is in the orientation detection of present embodiment, owing to can from judging in logic to as if being present in the orientation detection scope, still being present in outside it, therefore can not rely on the reflective level of object, judging reliably.
In addition, in technology in the past, has following structure, wherein, such as, being mounted with this car of trailer-mounted radar device or object (such as, other car etc.) must be mobile, the reflective level of confirming in the lump to be present in variation, the object of the relative position of the object outside the orientation detection scope reduce or in the position probing of turning back suddenly to object, thereby judge to as if be present in the orientation detection scope, still be present in outside it.Relative this situation, in the orientation detection of present embodiment, even be that halted state and object (such as, other car etc.) are in the situation of halted state at this car that is mounted with the trailer-mounted radar device, still can judge to as if be present in the orientation detection scope, still be present in outside it.
, in the radar installations 200 of present embodiment, comprise the receiving array antenna of the unequal-interval shown in Fig. 2 (a) here, but also can possess other various receiving array antennas and use.
Such as, for the interval of the receiving antenna of the quantity of receiving array antenna, receiving antenna or corresponding adjacency etc. also adopting various modes.
As an example, as receiving array antenna, adopt following type, it is made of the receiving antenna more than 3, realizes the different above array antenna of 2 kinds of the mean value (average headway) at interval of the receiving antenna of adjacency.In addition, the average headway of this array antenna more than 2 kinds is not integral multiple.In addition, adopt each of configuration of this array antenna more than 2 kinds, carry out the orientation detection of object, whether consistent according to this result, take a decision as to whether and belong to the object that is present in orientation detection scope (common ground of 2 orientation detection scopes) here.
In addition, as preferred configuration example, for a plurality of receiving antennas that consist of receiving array antenna, interval about specified quantity from the centre, the receiving array antenna of adjacency be spaced apart the 1st interval, about be positioned at two ends the interval of volume residual, the receiving antenna of adjacency be spaced apart the 2nd interval (such as, being different from the 1st interval, is not the value of integral multiple with respect to the 1st interval).
In addition, consider if such as the difference of the part (quantity of receiving antenna) at the part (quantity of receiving antenna) at the 1st interval and the 2nd interval is little, adopt the difference of orientation detection result of respective antenna of 2 kinds of array antennas little, therefore consider moderately to set this 2 parts (quantity of receiving antenna).
Specifically, in consisting of 6 receiving antennas of receiving array antenna, only for each interval of 1 at two ends, the interval of the receiving antenna of adjacency is made as the 2nd interval, for remaining 3 intervals in the middle of approaching, the interval of the receiving antenna of adjacency is made as the 1st interval.
In addition, as object lesson, in 8 receiving antennas that consist of receiving array antenna, only for each interval of 2 at two ends, the interval of the receiving antenna of adjacency is made as the 2nd interval, for remaining 3 intervals in the middle of approaching, the interval of the receiving antenna of adjacency is made as the 1st interval.
Also have, as object lesson, in 8 receiving antennas that consist of receiving array antenna, only for each interval of 1 at two ends, the interval of the receiving antenna of adjacency is made as the 2nd interval, for remaining 5 intervals in the middle of approaching, the interval of the receiving antenna of adjacency is made as the 1st interval.
Have, general, if the quantity of the receiving antenna that consists of receiving array antenna is increased, horizontal resolution improves again.This point is same for the receiving array antenna of equally spaced receiving array antenna, unequal-interval.
In addition, general, the orientation detection scope is determined by the average headway of the receiving antenna that consists of receiving array antenna.Such as, if average headway is little, orientation detection expanded range, horizontal decrease resolution.
Above with reference to accompanying drawing, embodiments of the present invention are specifically described, still, concrete structure is not limited to these embodiments, also comprises the design alteration of the scope that does not break away from essence of the present invention.
In addition, also can be used for realizing the radar installations 100 of above-mentioned embodiment, 200 function (such as, signal processing part 20, orientation detection section 13,131 in 120 or the function of the handling part more than 1 in other handling part 22～30) program be recorded in the recording medium of embodied on computer readable, the program in this recording medium of being recorded in read in computing machine and carry out, processing thus.In addition, here said " computer system " also can comprise the hardware of OS (Operation System, operating system), external unit etc.
In addition, " recording medium of embodied on computer readable " refers to floppy disk, photomagneto disk, ROM (Read Only Memory, ROM (read-only memory)), the removable media of the writeable nonvolatile memory of flash memory etc., DVD (Digital Versatile Disk, digitizing multi-usage CD) etc., be built in the memory storage of hard disk in computer system etc.
In addition, " recording medium of embodied on computer readable " also comprise the communication line of the network that resembles via internet etc., telephone wire etc. and send the occasion of program server, consist of the inside computer system of client (client) volatile memory (such as, DRAM (Dynamic Random Access Memory, dynamic RAM)) such type with the certain hour save routine.
Also have, said procedure also can from the computer system of this procedure stores in memory storage etc., send other computer system to via transmission medium or by the transmission ripple in transfer medium.Here, " transmission medium " of convey program refers to the medium that has the function of transmission information the communication line (order wire) of network (communication network), telephone line etc. as internet etc.
Have, said procedure also can be used for realizing the part of above-mentioned functions again.In addition, for can with aforesaid function be recorded in the so-called differential file (difference program) that the suite in computer system is realized.

Claims (5)

1. trailer-mounted radar device, this trailer-mounted radar device comprises:
A plurality of receiving antennas reflect the receiving array antenna of the reception ripple that arrives as receiving the transmission ripple by object, consist of the receiving array antenna of the average headway more than 2 kinds with the relation that is not in integral multiple;
Orientation detection section, carrying out the orientation detection that each reception signal according to above-mentioned receiving array antenna detects the orientation of above-mentioned object processes, in the situation that it is consistent to be judged to be the orientation of the above-mentioned object that each the reception signal according to above-mentioned receiving array antenna detects, the orientation that is judged to be this above-mentioned object that has detected is true bearing, in the inconsistent situation in orientation of the above-mentioned object that each the reception signal that is judged to be according to above-mentioned receiving array antenna detects, the orientation that is judged to be this above-mentioned object that has detected is pseudo-orientation.
2. trailer-mounted radar device according to claim 1, wherein,
Above-mentioned orientation detection section is in the situation that the orientation of the above-mentioned object that detects according to each reception signal of above-mentioned receiving array antenna is consistent, being judged to be above-mentioned object is present in the above-mentioned orientation detection orientation detection scope in processing, in the inconsistent situation in orientation of the above-mentioned object that each the reception signal according to above-mentioned receiving array antenna detects, be judged to be above-mentioned object and be present in outside the orientation detection scope of above-mentioned orientation detection in processing.
3. trailer-mounted radar device according to claim 1 and 2, wherein,
Also comprise form, store in this form the orientation of the object that each the reception signal according to above-mentioned receiving array antenna detects position relationship, with process take above-mentioned orientation detection in mutual corresponding between the orientation that in fact this object of prerequisite exists of turning back of 1 time of the narrowest orientation detection scope;
Above-mentioned orientation detection section is in the inconsistent situation in orientation of the above-mentioned object that each the reception signal that is judged to be according to above-mentioned receiving array antenna detects, based on the mutual correspondence that is stored in above table, the position relationship in the orientation of the above-mentioned object that detects according to each reception signal of above-mentioned receiving array antenna detects the orientation of turning back and in fact existing as the above-mentioned object of prerequisite of 1 time of the narrowest orientation detection scope in processing take above-mentioned orientation detection.
4. method for checking object, wherein,
The method adopts as receiving and sends a plurality of receiving antennas that receiving array antenna that ripple reflects by object the reception ripple that arrives consists of the receiving array antenna of the average headway more than 2 kinds with the relation that is not in integral multiple,
Orientation detection section carries out the orientation detection that each reception signal according to above-mentioned receiving array antenna detects the orientation of above-mentioned object and processes, in the situation that it is consistent to be judged to be the orientation of the above-mentioned object that each the reception signal according to above-mentioned receiving array antenna detects, the orientation that is judged to be this above-mentioned object that has detected is true bearing, in the inconsistent situation in orientation of the above-mentioned object that each the reception signal that is judged to be according to above-mentioned receiving array antenna detects, the orientation that is judged to be this above-mentioned object that has detected is pseudo-orientation.
5. object detection program, this object detection program are used for carrying out following method at computing machine, wherein,
The method refers to adopt as receiving and sends a plurality of receiving antennas that receiving array antenna that ripple reflects by object the reception ripple that arrives consists of the receiving array antenna of the average headway more than 2 kinds with the relation that is not in integral multiple,
Orientation detection section carries out the orientation detection that each reception signal according to above-mentioned receiving array antenna detects the orientation of above-mentioned object and processes, in the situation that it is consistent to be judged to be the orientation of the above-mentioned object that each the reception signal according to above-mentioned receiving array antenna detects, the orientation that is judged to be this above-mentioned object that has detected is true bearing, in the inconsistent situation in orientation of the above-mentioned object that each the reception signal that is judged to be according to above-mentioned receiving array antenna detects, the orientation that is judged to be this above-mentioned object that has detected is pseudo-orientation.
CN 201210596815 2011-11-02 2012-11-01 Vehicle-mounted radar device, object detection method and object detection procedure Pending CN103135105A (en)

Applications Claiming Priority (4)

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JP2011241467A JP2013096908A (en) 2011-11-02 2011-11-02 Radar apparatus for on-vehicle use, method for on-vehicle radar operation, and program for on-vehicle radar operation
JP2011-241467 2011-11-02
JP2011-244367 2011-11-08
JP2011244367A JP2013101025A (en) 2011-11-08 2011-11-08 Radar apparatus for on-vehicle use, method for on-vehicle radar operation, and program for on-vehicle radar operation

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109490889A (en) * 2017-09-12 2019-03-19 比亚迪股份有限公司 Trailer-mounted radar and judge the method, apparatus whether trailer-mounted radar is blocked
CN110927696A (en) * 2018-08-29 2020-03-27 罗伯特·博世有限公司 Device for receiving light for detecting an object
CN110967674A (en) * 2018-09-29 2020-04-07 杭州海康威视数字技术股份有限公司 Vehicle-mounted radar array antenna failure detection method and device and vehicle-mounted radar
CN113140130A (en) * 2020-01-20 2021-07-20 三星电子株式会社 Object detection apparatus and vehicle control system including the same
CN114390989A (en) * 2019-09-09 2022-04-22 万都移动系统股份公司 Vehicle control apparatus and control method thereof

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109490889A (en) * 2017-09-12 2019-03-19 比亚迪股份有限公司 Trailer-mounted radar and judge the method, apparatus whether trailer-mounted radar is blocked
CN109490889B (en) * 2017-09-12 2023-11-17 比亚迪股份有限公司 Vehicle-mounted radar and method and device for judging whether vehicle-mounted radar is shielded or not
CN110927696A (en) * 2018-08-29 2020-03-27 罗伯特·博世有限公司 Device for receiving light for detecting an object
CN110967674A (en) * 2018-09-29 2020-04-07 杭州海康威视数字技术股份有限公司 Vehicle-mounted radar array antenna failure detection method and device and vehicle-mounted radar
CN110967674B (en) * 2018-09-29 2022-03-01 杭州海康威视数字技术股份有限公司 Vehicle-mounted radar array antenna failure detection method and device and vehicle-mounted radar
CN114390989A (en) * 2019-09-09 2022-04-22 万都移动系统股份公司 Vehicle control apparatus and control method thereof
CN114390989B (en) * 2019-09-09 2024-03-29 汉拿科锐动电子股份公司 Vehicle control apparatus and control method thereof
CN113140130A (en) * 2020-01-20 2021-07-20 三星电子株式会社 Object detection apparatus and vehicle control system including the same

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