CN105301565B - The alignment control apparatus and method of vehicle radar - Google Patents
The alignment control apparatus and method of vehicle radar Download PDFInfo
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- CN105301565B CN105301565B CN201510347421.6A CN201510347421A CN105301565B CN 105301565 B CN105301565 B CN 105301565B CN 201510347421 A CN201510347421 A CN 201510347421A CN 105301565 B CN105301565 B CN 105301565B
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Abstract
The present invention relates to a kind of alignment control apparatus and method of vehicle radar, in order to carry out the alignment of vertical direction, can detect the vertical angle of target automatically.The alignment control apparatus may include：Substrate；Transmission antenna unit is configured in the side of the substrate；Reception antenna unit is configured in the other side of the substrate；Vertical angle detection unit, by from the reception antenna unit received signal, detecting the vertical angle of target, wherein the reception antenna unit may include：Multiple first antennas are arranged relative to the surface of the substrate along line direction；Multiple second antennas are arranged relative to the surface of the substrate along column direction.
Description
Technical field
It, can be automatic more particularly, in order to carry out the alignment of vertical direction the present invention relates to a kind of vehicle radar
Detect the alignment control apparatus and method of the vehicle radar of the vertical angle of target.
Background technology
Under normal circumstances, adaptive learning algorithms (the Adaptive Cruise Control of vehicle；ACC) system is one
Kind according to by the detections of radar mounted on front of the car to front vehicles position and distance, automatically control the throttling of vehicle
Valve, brake and speed changer etc., and suitably accelerate and slow down, thus make the vehicle of driving and front vehicles keep it is appropriate away from
From system.
The adaptive cruise control system of vehicle, radar are mounted on the front-end module (front end module) of vehicle,
Detect position and the distance of front vehicles, thus in adaptive cruise control system radar for the alignment of directionality and right
It can be important factor in the analysis (analysis) of analysis coordinate value.
However, for the directionality of the radar mounted on vehicle, when there is radar along vertical direction relative to ground
When (misalignment) phenomenon that misplaces, in order to adjust perpendicular alignmnet, motor had been used in the past or had been adjusted mounted on holder
The manually method such as method of screw.
For example, operating personnel's starter motor is logical come the vertical candle power angle or operating personnel for being directed at the antenna beam of radar
The screw mounted on holder is overregulated to be directed at the vertical beam angle of the antenna beam of radar.
However, above-mentioned manually method all there is a problem of inefficient in terms of expense and batch processing.
Invention content
(1) technical problems to be solved
One embodiment of the present of invention, its purpose is to provide a kind of alignment control apparatus of vehicle radar, will be multiple
It is arranged vertically along vertical direction while antenna is arranged along horizontal direction, and detects the vertical angle of target automatically, to
Perpendicular alignmnet can be carried out automatically.
(2) technical solution
The alignment control apparatus of the vehicle radar of one embodiment of the present of invention may include：Substrate；Transmitting antenna list
Member is configured in the side of the substrate；Reception antenna unit is configured in the other side of the substrate；Vertical angle detection unit,
By from the reception antenna unit received signal, detecting the vertical angle of target, wherein the reception antenna unit packet
It includes：Multiple first antennas are arranged relative to the surface of the substrate along line direction；Multiple second antennas, relative to the base
The surface of plate, arranges along column direction.
Here, the first antenna there can be the first spacing, and it is arranged side by side along the line direction；Described second day
Line can have the second spacing, and be arranged side by side along the column direction.
Also, the vertical angle detection unit may include：Phase value computing unit, will be from the reception antenna unit
Received signal calculates separately the phase value of signal according to each row；Phase difference calculating unit, will be from the phase value computing unit
The phase value of the signal of each row calculated is compared, and thus calculates the phase difference of each row；Detection unit is based on from the phase
The phase difference for each row that poor computing unit calculates, detects the vertical angle of the target.
According to different situations, the vertical angle detection unit may include：Signal strength calculates unit, will be from described
Reception antenna unit received signal calculates separately signal strength according to each row；First detection unit, will be from the signal strength
The signal strength for each row that computing unit calculates is compared, and detects the maximum row of signal strength；Second detection unit is based on
The row detected from the first detection unit, detects the vertical angle of the target.
The alignment control method of the vehicle radar of one embodiment of the present of invention, may comprise steps of：Receive from
The signal of target reflection；Calculate the phase value of the reception antenna received signal of each row；By each row of the calculating
The phase value of signal is compared, and calculates the phase difference of each row；Based on the phase difference of the calculating, hanging down for the target is detected
Squareness, to carry out perpendicular alignmnet.
Also, the alignment control method of the vehicle radar of one embodiment of the present of invention, may comprise steps of：It connects
Receive the signal reflected from target；Calculate the reception antenna received signal intensity of each row；By each row of the calculating
Signal strength is compared, and detects the maximum row of signal strength；The maximum row of signal strength based on the detection detects institute
The vertical angle for stating target, to be aligned.
(3) advantageous effect
According to one embodiment of present invention, it hangs down along vertical direction while mutiple antennas arrangement along horizontal direction
In line row, and the vertical angle of target is detected automatically, therefore in the case of the manual operation of no motor or operating personnel, energy
Enough automatic progress perpendicular alignmnets, so as to provide accurate driving information, and travel in which can make vehicle safety.
Description of the drawings
Fig. 1 is the vertical view of the alignment control apparatus for the vehicle radar for showing the first embodiment of the present invention.
Fig. 2 is the mount structure figure for the vertical angle detection unit for showing Fig. 1.
Fig. 3 is the figure of the vertical angle testing principle of the vertical angle detection unit for definition graph 1.
Fig. 4 is the vertical view of the alignment control apparatus for the vehicle radar for showing the second embodiment of the present invention.
Fig. 5 is the mount structure figure for the vertical angle detection unit for showing Fig. 4.
Fig. 6 is the flow chart of the alignment control method of the vehicle radar for illustrating the first embodiment of the present invention.
Fig. 7 is the flow chart of the alignment control method of the vehicle radar for illustrating the second embodiment of the present invention.
Description of the drawings label
100：Substrate 200：Transmission antenna unit
300：Reception antenna unit 400：Vertical angle detection unit
410：Phase value computing unit 420：Phase difference calculating unit
430：Detection unit 450：Signal strength calculates unit
460：First detection unit 470：Second detection unit
Specific implementation mode
In the following, the present invention is described in more details with reference to attached drawing.
The suffix " module " about construction package and " unit " used in the following description is only to facilitate explanation
And assign, " module " can be mixed with " unit ".
Also, the content recorded with reference to the accompanying drawings and in the accompanying drawings, is described in detail the embodiment of the present invention, but
It is that the present invention is not limited to the embodiments.
On the basis of considering the function of the present invention, term used in the description has selected to be widely used at present as possible
Common term, these terms can be according to the appearance etc. of the intention of those skilled in the art either custom or new technology
And change.Also, the term that has used applicant arbitrarily selected on other occasions, in this case related invention say
Bright book part illustrates its meaning.Therefore, term used in the description cannot containing with simple term itself
Justice explains, but should be construed as these terms in the present invention possessed by substantive meaning and based in the whole instruction
It is explained on the basis of content.
Fig. 1 is the vertical view of the alignment control apparatus for the vehicle radar for showing the first embodiment of the present invention.
As shown in Figure 1, the present invention may include substrate 100, transmission antenna unit 200, reception antenna unit 300 and hang down
Squareness detection unit 400.
Here, transmission antenna unit 200 can be only fitted to the side of substrate 100, reception antenna unit 300 can be only fitted to
The other side of substrate 100.
Also, vertical angle detection unit 400 can be by detecting target from 300 received signal of reception antenna unit
Vertical angle, and carry out perpendicular alignmnet.
Then, reception antenna unit 300 may include multiple first antennas 310 and multiple second antennas 320, and described first
Antenna is arranged relative to the surface of substrate 100 along line direction, second antenna relative to substrate 100 surface along row side
To arrangement.
Here, there can be the first spacing dH between first antenna 310, and it is arranged side by side along line direction.
At this point, the first spacing dH can indicate the distance between the central shaft of first antenna adjacent to each other.
Also, the second antenna 320 can have the second spacing dV, and be arranged side by side along column direction.
At this point, the second spacing dV can indicate a distance between side end of the second antenna adjacent to each other.
According to the forming method of different antenna radial patterns, the first spacing dH and Ge between each first antenna 310
The second spacing dV between two antennas can be different, and as an example, the first spacing dH between first antenna 310 can be small
The second spacing dV between the second antenna 320.
Another situation is the second spacing dV between the first spacing dH and the second antenna 320 between first antenna 310
It can be identical.
Also, the quantity of the first antenna 310 of often row arrangement can be identical.
For example, when the quantity of the first antenna 310 of the first row is M, the quantity of the first antenna 310 of remaining row can also be
M。
However, according to different antenna radial pattern forming methods, when the quantity of the first antenna 310 of the first row is M,
The quantity of the first antenna 310 of remaining row can be more than M or be less than M.
Also, the quantity of the second antenna 320 of each column arrangement can be identical.
For example, when the quantity of the second antenna 320 of first row is L, the quantity of the second antenna 320 of remaining row can also be
L。
However, according to the forming method of different antenna radial patterns, when the quantity of the second antenna 320 of first row is L,
The quantity of second antenna 320 of remaining row can be more than L or be less than L.
On the other hand, transmission antenna unit 200 can arrange multiple transmitting days relative to 100 surface of substrate along line direction
Line 210.
Here, the length for being included in the antenna of transmission antenna unit 200 can be longer than first day of reception antenna unit 300
The length of line 310 and the second antenna 320.
Also, vertical angle detection unit 400 by from the phase value of 300 received signal of reception antenna unit according to each row
It is respectively calculated, and finds out the phase difference of each row, according to the vertical angle of the phase difference detection target, thus, it is possible to carry out
Alignment.
Fig. 2 is the mount structure figure for the vertical angle detection unit for showing Fig. 1.
As shown in Fig. 2, vertical angle detection unit 400 may include phase value computing unit 410, phase difference calculating unit
420 and detection unit 430.
Here, phase value computing unit 410 can will be distinguished from 300 received signal of reception antenna unit according to each row
Calculate the phase value of signal.
Also, the phase value of the signal for each row that phase difference calculating unit 420 calculates phase value computing unit 410 carries out
Compare, it is possible thereby to calculate the phase difference of each row.
Then, the ranks phase difference that detection unit 430 is calculated based on phase difference calculating unit 420, can detect target
Vertical angle.
If the vertical angle detection unit of Fig. 1 receives the signal reflected from target, each row institute of reception antenna is calculated
The phase value of received signal.
Also, the phase value of the signal of each row of calculating is compared, and calculates the phase difference of each row, is then based on meter
The phase difference of calculation can be easy the vertical angle of detection target, so as to carry out perpendicular alignmnet automatically.
Fig. 3 is the figure of the vertical angle testing principle of the vertical angle detection unit for definition graph 1.
As shown in figure 3, reception antenna unit receives the signal reflected from defined target.
Then, reception antenna unit calculates the phase value of the reception signal of each row by the reception antenna that each row arranges, and
The phase value of the signal of each row of calculating is compared, it is possible thereby to calculate the phase difference of each row.
As shown in figure 3, the electric wave reception range difference of each row can be d*cos θ ... ... (N-2) d*cos θ, (N-1) d*cos
θ.Also, the phase difference of each row can be calculated according to the electric wave reception range difference of each row.
Therefore, based on calculated phase difference, it can be easy the vertical angle of detection target, so as to hang down automatically
Straight alignment.
As described above, in the present invention by the antenna of reception antenna unit along horizontally and vertically arranging, because
This both horizontally and vertically all generates phase delay, so as to find out the vertical angle of target.
Fig. 4 is the vertical view of the alignment control apparatus for the vehicle radar for showing the second embodiment of the present invention.
As shown in figure 4, the present invention may include substrate 100, transmission antenna unit 200, reception antenna unit 300 and hang down
Squareness detection unit 400.
Here, transmission antenna unit 200 can be only fitted to the side of substrate 100, reception antenna unit 300 can be only fitted to
The other side of substrate 100.
Also, vertical angle detection unit 400 can be by detecting target from 300 received signal of reception antenna unit
Vertical angle, and carry out perpendicular alignmnet.
Then, reception antenna unit 300 may include multiple first antennas 310 and multiple second antennas 320, and described first
Antenna is arranged relative to the surface of substrate 100 along line direction, second antenna relative to substrate 100 surface along row side
To arrangement.
Here, there can be the first spacing dH between first antenna 310, and it is arranged side by side along line direction.
At this point, the first spacing dH may mean that the distance between the central shaft of first antenna adjacent to each other.
Also, the second antenna 320 can have the second spacing dV, and be arranged side by side along column direction.
At this point, the second spacing dV may mean that a distance between side end of the second antenna adjacent to each other.
According to the forming method of different antenna radial patterns, the first spacing dH and Ge between each first antenna 310
The second spacing dV between two antennas 320 can be mutually different, as an example, the first spacing between first antenna 310
DH can be less than the second spacing dV between the second antenna 320.
Another situation is the second spacing dV between the first spacing dH and the second antenna 320 between first antenna 310
It can be identical.
Also, the quantity of the first antenna 310 of often row arrangement can be identical.
For example, when the quantity of the first antenna 310 of the first row is M, the quantity of the first antenna 310 of remaining row can also be
M。
However, according to the forming method of different antenna radial patterns, when the quantity of the first antenna 310 of the first row is M,
The quantity of the first antenna 310 of remaining row can be more than M or be less than M.
Also, the quantity of the second antenna 320 of each column arrangement can be identical.
For example, when the quantity of the second antenna 320 of first row is L, the quantity of the second antenna 320 of remaining row can also be
L。
However, according to the forming method of different antenna radial patterns, when the quantity of the second antenna 320 of first row is L,
The quantity of second antenna 320 of remaining row can be more than L or be less than L.
On the other hand, transmission antenna unit 200 can arrange multiple transmitting days relative to 100 surface of substrate along line direction
Line 210.
Here, the length for being included in the antenna of transmission antenna unit 200 can be longer than first day of reception antenna unit 300
The length of line 310 and the second antenna 320.
Also, vertical angle detection unit 400 will be distinguished from 300 received signal intensity of reception antenna unit according to each row
It is calculated, and detects the maximum row of signal strength, from the vertical angle of the row detection target detected, be thus aligned.
Fig. 5 is the mount structure figure for the vertical angle detection unit for showing Fig. 4.
As shown in figure 5, vertical angle detection unit 400, which may include signal strength, calculates unit 450, first detection unit
460 and second detection unit 470.
It can will distinguish from 300 received signal of reception antenna unit according to each row here, signal strength calculates unit 450
Calculate signal strength.
Also, the signal strength that first detection unit 460 can calculate signal strength each row that unit 450 calculates carries out
Compare, and detects the maximum row of signal strength.
Then, second detection unit 470 can detect the vertical angle of target based on the row detected.
If the vertical angle detection unit of Fig. 4 receives the signal reflected from target, each row institute of reception antenna is calculated
Received signal intensity.
Also, the signal strength of each row of calculating is compared, and calculates the maximum row of signal strength, is then based on institute
The row of detection can detect the vertical angle of target, so as to carry out perpendicular alignmnet automatically.
As described above, in the present invention by the antenna of reception antenna unit along horizontally and vertically arranging, because
This both horizontally and vertically all generates phase delay, so as to find out the vertical angle of target.
Fig. 6 is the flow chart of the alignment control method of the vehicle radar for illustrating the first embodiment of the present invention.
As shown in fig. 6, reception antenna unit receives the signal (S11) reflected from target.
Also, vertical angle detection unit calculates the phase value (S13) of the reception antenna received signal of each row.
Then, the phase value of the signal of each row of calculating is compared by vertical angle detection unit, and calculates each row
Phase difference (S15).
Then, vertical angle detection unit detects the vertical angle of target based on the phase difference calculated, so as into
Row perpendicular alignmnet (S17).
The vertical angle detection unit of the first embodiment of the present invention will be from the phase of reception antenna unit received signal
Value is respectively calculated according to each row, and finds out the phase difference of each row, according to the vertical angle of the phase difference detection target, from
And it can be aligned.
Fig. 7 is the flow chart of the alignment control method of the vehicle radar for illustrating the second embodiment of the present invention.
As shown in fig. 7, reception antenna unit receives the signal (S21) reflected from target.
Also, vertical angle detection unit calculates the vertical antenna received signal intensity (S23) of each row.
Then, the signal strength of each row calculated is compared by vertical angle detection unit, and detects signal strength
Maximum row (S25).
Then, vertical angle detection unit detects the vertical angle of target based on the row detected, so as to carry out pair
Accurate (S27).
The vertical angle detection unit of the second embodiment of the present invention will be from the signal of reception antenna unit received signal
Intensity is respectively calculated according to each row, and detects the maximum row of signal strength, then according to the row detection target detected
Vertical angle, so as to be aligned.
As described above, in the present invention, by the antenna of reception antenna unit along horizontally and vertically arranging, because
This both horizontally and vertically all generates phase delay, so as to find out the vertical angle of target, and to letter in the ranks
Number size is compared, so as to find out the vertical angle of target.
Therefore, the present invention can detect the vertical angle of target automatically, in the manual operation of no motor or operating personnel
In the case of, perpendicular alignmnet can be carried out automatically, therefore be capable of providing accurate driving information, and with can making vehicle safety capable
It sails.
The preferred embodiment of the present invention is explained above, but the present invention is not limited to above-mentioned specific embodiment, this hairs
Bright person of an ordinary skill in the technical field required in without departing from claims the present invention purport in the case of,
Various modifications can be carried out, and such deformation cannot separate to understand from the technological thought or foreground of the present invention.
Claims (12)
1. a kind of alignment control apparatus of vehicle radar, which is characterized in that including：
Substrate；
Transmission antenna unit is configured in the side of the substrate；
Reception antenna unit is configured in the other side of the substrate；And
Vertical angle detection unit, by from the reception antenna unit received signal, detecting the vertical angle of target,
Wherein, the reception antenna unit includes：
Multiple first antennas are arranged relative to the surface of the substrate along line direction；
Multiple second antennas are arranged relative to the surface of the substrate along column direction；
Wherein, the vertical angle detection unit will from the reception antenna unit received signal intensity according to each row respectively into
Row calculates, and detects the maximum row of the signal strength, and the vertical angle of the target is detected by the row of the detection.
2. the alignment control apparatus of vehicle radar according to claim 1, which is characterized in that the first antenna has
First spacing, and be arranged side by side along the line direction；Second antenna has the second spacing, and simultaneously along the column direction
Row's arrangement.
3. the alignment control apparatus of vehicle radar according to claim 2, which is characterized in that first spacing and institute
State the second spacing difference.
4. the alignment control apparatus of vehicle radar according to claim 1, which is characterized in that described the of often row arrangement
The quantity of one antenna is identical, and the quantity of second antenna of each column arrangement is identical.
5. the alignment control apparatus of vehicle radar according to claim 1, which is characterized in that the vertical angle detection
Unit will be respectively calculated from the phase value of the reception antenna unit received signal according to each row, and find out the phase of each row
Potential difference, according to the vertical angle of target described in the phase difference detection.
6. the alignment control apparatus of vehicle radar according to claim 5, which is characterized in that the vertical angle detection
Unit includes：
Phase value computing unit will calculate separately the phase of signal from the reception antenna unit received signal according to each row
Value；
The phase value of the signal of each row calculated from the phase value computing unit is compared by phase difference calculating unit, by
This calculates the phase difference of each row；And
Detection unit, the phase difference based on each row that the phase difference calculating unit calculates, detects the vertical of the target
Angle.
7. the alignment control apparatus of vehicle radar according to claim 1, which is characterized in that the vertical angle detection
Unit includes：
Signal strength calculates unit, will calculate separately signal strength according to each row from the reception antenna unit received signal；
The signal strength that each row that unit calculates is calculated from the signal strength is compared, and detects by first detection unit
The maximum row of signal strength；And
Second detection unit detects the vertical angle of the target based on the row detected from the first detection unit.
8. the alignment control apparatus of vehicle radar according to claim 1, which is characterized in that the transmission antenna unit
Relative to the surface of the substrate, mutiple antennas is arranged along line direction.
9. the alignment control apparatus of vehicle radar according to claim 1, which is characterized in that be included in the transmitting day
The length of the antenna of line unit is longer than the length of the first antenna and the second antenna of the reception antenna unit.
10. the alignment control apparatus of vehicle radar according to claim 1, which is characterized in that the vertical angle inspection
Survey unit detection level angle and vertical angle simultaneously.
11. the alignment control apparatus of vehicle radar according to claim 1, which is characterized in that the vertical angle inspection
Survey the signal strength that unit detects the phase difference and each row of each row simultaneously, and at least one in detection level angle and vertical angle
It is a.
12. a kind of alignment control method of vehicle radar, the vehicle radar include multiple reception antennas along line direction
With the reception antenna unit of column direction arrangement, the alignment control method of the vehicle radar includes the following steps：
Receive the signal reflected from target；
Calculate the phase value of the reception antenna received signal of each row；
The phase value of the signal of each row of the calculating is compared, and calculates the phase difference of each row；And
Based on the phase difference of the calculating, the vertical angle of the target is detected, to carry out perpendicular alignmnet；
Wherein, the method further includes：
Calculate the reception antenna received signal intensity of each row；
The signal strength of each row of the calculating is compared to detect the maximum row of signal strength；And
The maximum row of signal strength based on the detection, detects the vertical angle of the target, to be aligned.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020140075806A KR102055160B1 (en) | 2014-06-20 | 2014-06-20 | Apparatus and method for controlling alignment of vehicle radar |
| KR10-2014-0075806 | 2014-06-20 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105301565A CN105301565A (en) | 2016-02-03 |
| CN105301565B true CN105301565B (en) | 2018-08-31 |
Family
ID=
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| CN101788659A (en) * | 2009-01-22 | 2010-07-28 | 株式会社万都 | Adjust vertically aligned device of sensor and sensor |
| CN102116860A (en) * | 2009-12-31 | 2011-07-06 | 株式会社万都 | Apparatus and sensor for adjusting sensor vertical alingment |
| CN102571242A (en) * | 2012-02-24 | 2012-07-11 | 华为技术有限公司 | Method and system used for aligning antennas |
| CN102680952A (en) * | 2011-03-17 | 2012-09-19 | 现代摩比斯株式会社 | Alignment method and system for radar of vehicle |
| CN103287347A (en) * | 2012-03-02 | 2013-09-11 | 万都株式会社 | Alignment system and method of radar apparatus |
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101788659A (en) * | 2009-01-22 | 2010-07-28 | 株式会社万都 | Adjust vertically aligned device of sensor and sensor |
| CN102116860A (en) * | 2009-12-31 | 2011-07-06 | 株式会社万都 | Apparatus and sensor for adjusting sensor vertical alingment |
| CN102680952A (en) * | 2011-03-17 | 2012-09-19 | 现代摩比斯株式会社 | Alignment method and system for radar of vehicle |
| CN102571242A (en) * | 2012-02-24 | 2012-07-11 | 华为技术有限公司 | Method and system used for aligning antennas |
| CN103287347A (en) * | 2012-03-02 | 2013-09-11 | 万都株式会社 | Alignment system and method of radar apparatus |
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| Date | Code | Title | Description |
|---|---|---|---|
| TR01 | Transfer of patent right |
Effective date of registration: 20211201 Address after: Gyeonggi Do, South Korea Patentee after: Wandu Mobile System Co.,Ltd. Address before: Gyeonggi Do, South Korea Patentee before: MANDO Corp. |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20220915 Address after: Inchon, Korea Patentee after: Halla Creedong Electronics Co.,Ltd. Address before: Gyeonggi Do, South Korea Patentee before: Wandu Mobile System Co.,Ltd. |