JP2005017112A - Active target detection system and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To detect detailed distance/velocity with respect to each target by transmitting a radar wave to receive a return signal from the object and to reduce wasteful consumption of electric power in the target. <P>SOLUTION: A controller 101 outputs a packet data PD containing station ID information specifying the active target device of the target. A modulation circuit 105 transmits the data by putting on the radar wave from an oscillator 104. The active target device activates return transmission in the case of receiving the station ID information of the self-station. A mixer 108 detects a beat signal during operation of radar functions by mixing a part of the transmission radar wave and the returned transmission radar wave. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an active target detection system that transmits a radar wave indoors or outdoors, receives a return signal from one or more targets, and detects a relative distance and a relative speed with respect to each target. The present invention relates to a communication integrated radar device and an active target device used in a system.
[0002]
[Prior art]
Conventionally, an FM-CW (Frequency Modulated-Continuous Wave) system has been used as a radar system having a simple configuration capable of detecting a relative distance and a relative speed with respect to a target. The FM-CW radar system modulates and transmits a millimeter wave band oscillation source with a triangular wave, and mixes the received wave reflected from the target and a part of the transmitted wave, thereby relative to the distance R to the target. A beat signal including a signal component of velocity V is obtained (for example, see Non-Patent Document 1). There is also a high-performance FM-CW radar that uses the millimeter wave band and is inexpensive and excellent in temperature stability (see, for example, Patent Document 1).
[0003]
There is also an obstacle detection system that can accurately identify the type of obstacle, particularly an obstacle with a danger such as a collision when the vehicle is running, using FM-CW radar (for example, patents). Reference 2).
[0004]
In this system, a transponder that amplitude-modulates and returns a radar wave received by an FM-CW radar with a modulation signal having a frequency fc is mounted on each vehicle, and an FM that detects an obstacle ahead of the vehicle by transmitting and receiving a radar wave. The -CW type radar apparatus receives a signal component near the frequency fc, that is, a signal Ifm modulated by a transponder, from an intermediate frequency (IF) signal obtained by mixing (mixing) a part of a transmission wave with a reception wave. A band pass filter (BPF) to be extracted, a mixer that generates a second beat signal by mixing the signal Ifm with a second local signal having a frequency fc, and an analog / digital (AD) conversion of this to an electronic control unit ( ECU) to be supplied to the ECU.
[0005]
Furthermore, an obstacle detection system capable of identifying a specific object using FM-CW radar is also proposed (see, for example, Patent Document 3). In this system, the on-vehicle radar device transmits a search wave that is frequency-modulated with a modulation signal representing a start command, and then transmits a search wave that is frequency-modulated into a triangular wave used in the FM-CW radar. A wireless card carried by a pedestrian or the like operates for a certain period of time when receiving a startup wave, and returns a response wave generated by modulating the received exploration wave with a modulation signal representing a response command.
[0006]
[Non-Patent Document 1]
“Basics and Applications of Millimeter-wave Technology”, Part 2 Chapter 2 4.5.2 FMCW Method, Issuer Realize Inc., pp. 233-234, 1998
[Patent Document 1]
JP-A-5-40169
[Patent Document 2]
JP 2000-19246 A
[Patent Document 3]
Japanese Patent Laid-Open No. 2001-21644
[0007]
[Problems to be solved by the invention]
However, the conventional radar system described above has the following problems. When detecting beat signals from multiple targets using FM-CW radar in an environment where there are complex structures in the surroundings, tunnels, indoor closed spaces, etc., clutter due to reflection from surrounding structures The influence is large, and it is difficult to detect the beat signal of the target that is originally required.
[0008]
The obstacle detection system of Patent Literature 2 is difficult to operate in the technical field to which the present invention belongs unless the following three problems are solved.
(1) There may be a case where an error occurs in the measured distance and relative speed due to the frequency deviation between the second local signal having the frequency fc installed in the radar device and the modulation signal fc installed in the transponder.
(2) When a plurality of transponders are crowded, it is conceivable that the individual transponders cannot be identified and it is determined that there is one vehicle even though a plurality of vehicles are stopped.
(3) When a portable transponder is carried by a person, if the frequency fc is always modulated, or every time an activation command without a station designation is received, the power consumption is large and the power supply is short. It is clear that there will be a situation that requires exchange.
[0009]
In the obstacle detection system disclosed in Patent Document 3, a similar problem may occur.
An object of the present invention is to provide an active target detection system that transmits a radar wave, receives a return signal from an active target device of a target, and detects a relative distance and / or a relative velocity with respect to the target. To provide a communication integrated radar device and an active target device capable of detecting a detailed relative distance and / or relative velocity.
[0010]
Another object of the present invention is to provide an active target device that can reduce wasteful power consumption.
[0011]
[Means for Solving the Problems]
The first active target device of the present invention includes a demodulating means, an amplifying means, and a control means, and receives a radar wave and transmits it back. The demodulating means extracts data from the received radar wave, and the amplifying means amplifies the received radar wave, modulates it with a predetermined frequency, and transmits it back. The control means analyzes the extracted data to detect station identification information (station ID information), and when the detected station identification information is station identification information designating the active target device, the amplification means is fixed. Operate for hours.
[0012]
If such an active target device is installed on a target, station identification information is detected even when clutter due to reflection from surrounding structures exists when detecting beat signals from a plurality of targets. Since only the active target device designated by Amplifies the radar wave and transmits it back, it becomes possible to detect a beat signal for each target.
[0013]
Further, when the active target device receives the station identification information of its own station, the active target device activates the return transmission by the amplifying means, so that it is possible to suppress wasteful power consumption of the active target device.
[0014]
The first active target device corresponds to, for example, the active target device of FIG. 2 described later.
The second active target device of the present invention includes a demodulating means, an amplifying means, and a control means, and receives a radar wave and transmits it back. The demodulating means extracts data from the received radar wave, and the amplifying means amplifies the received radar wave and transmits it back. The control means analyzes the extracted data to detect station identification information. When the detected station identification information is station identification information designating the active target device, the control means operates the amplification means for a certain period of time.
[0015]
According to such an active target device, as in the case of the first active target device, it becomes possible to detect a beat signal for each target, and wasteful power consumption can be suppressed.
[0016]
The second active target device corresponds to, for example, the active target device of FIG.
The third active target device of the present invention includes a reception level detection unit, an amplification unit, and a threshold determination unit, and receives a radar wave and transmits it back. The reception level detection means detects the reception level of the received radar wave, and the amplification means amplifies the received radar wave, modulates it with a predetermined frequency, and transmits it back. The threshold value determination unit operates the amplification unit for a certain time when the detected reception level exceeds a predetermined threshold value.
[0017]
If such an active target device is installed on a target, the reception level is detected even when there is clutter due to reflection from surrounding structures when detecting beat signals from a plurality of targets. Since only the active target device exceeding the threshold value amplifies the radar wave and transmits it back, the beat signal can be selectively detected.
[0018]
Further, since the active target device activates the return transmission by the amplifying means when the reception level exceeds the threshold value, it is possible to suppress wasteful power consumption of the active target device.
[0019]
The third active target device corresponds to, for example, the active target device of FIG.
The fourth active target device of the present invention includes a reception level detection unit, an amplification unit, and a threshold determination unit, and receives a radar wave and transmits it back. The reception level detection means detects the reception level of the received radar wave, and the amplification means amplifies the received radar wave and transmits it back. The threshold value determination unit operates the amplification unit for a certain time when the detected reception level exceeds a predetermined threshold value.
[0020]
According to such an active target device, as in the case of the third active target device, it becomes possible to selectively detect a beat signal, and wasteful power consumption can be suppressed.
[0021]
The fourth active target device corresponds to, for example, the active target device of FIG. 26 described later.
The communication integrated radar apparatus according to the present invention includes a control unit, a modulation unit, and a detection unit, and transmits a radar wave and receives the radar wave transmitted from the target. The control means outputs data including station identification information for designating the target, and the modulation means inputs the data to the transmission radar wave when the wireless communication function is in operation. The detecting means mixes a part of the transmitted radar wave and the received radar wave returned from the target specified by the station identification information when the radar function is operated after the wireless communication function is operated. Detect beat signals from objects.
[0022]
According to such a communication integrated radar device, when detecting beat signals from a plurality of targets, even if there is a clutter due to reflection from surrounding structures, a specific active target can be obtained by the wireless communication function. A device can be designated to instruct the return transmission of radar waves, and a beat signal can be detected for each target.
[0023]
Further, the detection means includes a first mixer means for mixing a part of the transmission radar wave and a reception radar wave transmitted from the target, and the first frequency from the output of the first mixer means as the center frequency. Band pass filter means for extracting a signal in the intermediate frequency band, and second mixer means for mixing the extracted intermediate frequency band signal and the second frequency signal, wherein the control means comprises a second mixer It is also possible to configure the communication integrated radar apparatus so as to extract the frequency difference between two sub-beat signals having high intensities from the output of the means and calculate half of the frequency difference as the frequency of the beat signal from the target. it can.
[0024]
In this case, the frequency of the modulation signal used in the active target device can be used as the first frequency that is the center frequency of the bandpass filter means, but the second frequency needs to match the first frequency. Therefore, a highly accurate frequency deviation is not required for the oscillator used to generate signals of these frequencies. For this reason, it becomes possible to detect a beat signal with high accuracy using an inexpensive member.
[0025]
The first frequency corresponds to, for example, a frequency fs2 in FIG. 2 described later, and the second frequency corresponds to, for example, a frequency fs3 in FIG. 1 described later.
[0026]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of an active target detection system of the present invention will be described in detail with reference to the drawings.
[0027]
FIG. 1 and FIG. 2 are configuration diagrams of the communication integrated radar device and the active target device in the first embodiment, respectively, and FIG. 3 shows the relationship between the frequencies of a plurality of signals used in this system. . The communication integrated radar device and the active target device have a wireless communication function and an FM-CW radar function. The active target device is a wireless device that analyzes the content of data received from the communication integrated radar device by the wireless communication function and dynamically activates the radar function.
[0028]
1 includes a control unit 101, a modulation unit 102, a triangular wave modulation oscillator 103, a radio frequency (RF) band voltage control oscillator 104, a modulation circuit 105, a transmission antenna 106, a reception antenna 107, mixers 108, 110, A band pass filter (BPF) 109, an IF oscillator 111, a low pass filter (LPF) 112, an AD converter (ADC) 113, and a fast Fourier transform (FFT) unit 114 are included.
[0029]
The active target device in FIG. 2 includes a control unit 201, a reception antenna 202, a demodulation circuit 203, a demodulation unit 204, an amplifier (AMP) 205, an IF oscillator 206, and a transmission antenna 207.
[0030]
The oscillator 104 of the communication integrated radar apparatus generates a millimeter-wave band signal (frequency fmt) modulated by the triangular wave signal generated by the oscillator 103. The control unit 101 operates the wireless communication function of the modulation unit 102 and the modulation circuit 105 by outputting the station ID information of the active target device and other information to the modulation unit 102 as one packet data PD. The modulation unit 102 is a circuit that generates an IF band subcarrier signal from the PD, for example, and the modulation circuit 105 is a millimeter wave band amplifier, for example.
[0031]
As a modulation method to be used, any method such as amplitude modulation (AM modulation), frequency modulation (FM modulation), PSK (Phase Shift Keying) modulation, or the like may be used. Depending on the modulation method to be used, the control unit 101 generates a triangular wave. A control signal CD for stopping the modulation signal is output to operate the wireless communication function at a fixed RF frequency.
[0032]
The active target device splits the received wave (frequency fmr) received from the communication integrated radar device into two and inputs it to the demodulation circuit 203 and the AMP 205. The radio communication function of the demodulation circuit 203 and the demodulation unit 204 is operated by the input of the received wave, and the packet data PD is output from the demodulation unit 204 to the control unit 201. The demodulation circuit 203 is, for example, a detection circuit, and the demodulation unit 204 is a circuit that generates a PD from the detection output.
[0033]
When the control unit 201 analyzes the packet data PD and detects station ID information designating the packet data PD in the packet data PD, the control unit 201 activates the IF oscillator 206 for a certain period of time to send the signal of the second frequency fs2 to the AMP 205. To input. The AMP 205 amplifies the received wave, modulates the amplitude with the frequency fs2, and transmits the signal back to the communication integrated radar apparatus.
[0034]
The radar function in the communication integrated radar apparatus is activated after the wireless communication function is operated. That is, the radar function and the wireless communication function are operated in a time division manner under the control of the control unit 101.
[0035]
In the radar function, a transmission wave (frequency fmt) that is not modulated by the modulation circuit 105 is transmitted, and the mixer 108 of the communication integrated radar apparatus receives a reception wave (frequency fr) that is turned back from the active target apparatus designated by the radio communication function. ) Is mixed with a part of the transmitted wave.
[0036]
As shown in FIG. 3, the difference between the frequencies fmt and fmr becomes the frequency Δfb of the beat signal. The signal is included.
[0037]
Next, the BPF 109 extracts an IF signal in a frequency band (IF band) including beat information with the second frequency fs2 used in the active target device as a center frequency, and the mixer 110 extracts the extracted IF signal. The signal of the third frequency fs3 generated by the oscillator 111 is mixed. The IF band extracted by the BPF 109 includes a signal having a frequency fs2−Δfb and a signal having a frequency fs2 + Δfb.
[0038]
Next, the LPF 112 extracts the signal of the beat signal band (BB band) and the sub beat signal band (BB2 band) from the signal output from the mixer 110, and the ADC 113 converts the extracted signal into a digital signal. Then, the FFT unit 114 extracts the peak frequency and outputs it to the control unit 101.
[0039]
Two sub-beat signals having high strength in the sub-beat signal band correspond to a signal of frequency (fs3-fs2) -Δfb and a signal of frequency (fs3-fs2) + Δfb included in the output of the mixer 110, and two sub-beats. The signal frequency difference Δfsb corresponds to twice the beat signal frequency Δfb. Therefore, the control unit 101 performs processing by setting half of the frequency Δfsb as Δfb, and calculates a relative distance and a relative speed with respect to the target.
[0040]
As the frequency fs2, a frequency far lower than the RF frequency fmt of the radar and more than twice the frequency Δfb of the beat signal is used. Further, as the frequency fs3, it is desirable to use a frequency whose frequency difference from the frequency fs2 is Δfb or more.
[0041]
According to such a system, the beat signal band (BB2 band) of the target can be separated from the beat signal band (BB band) due to the reflected wave from the surrounding structure, and the influence of clutter from the surrounding structure can be reduced. It is possible to detect the target without receiving it. Moreover, even when a plurality of targets (active target devices) are concentrated in one place by sequentially controlling the return function of the plurality of active target devices from the communication integrated radar device using the wireless communication function, each target The beat signal can be detected accurately.
[0042]
Further, since the third frequency fs3 used in the communication integrated radar device does not need to match the second frequency fs2 used in the active target device, the IF oscillator 206 used for generating signals of these frequencies and A highly accurate frequency deviation is not required for the 111 used members. For this reason, there is also an advantage that a device capable of obtaining a beat signal with high detection accuracy even in an environment where the temperature change is severe can be manufactured with an inexpensive member.
[0043]
Furthermore, since the high frequency device with high power consumption can be operated only when necessary by the control from the communication integrated radar apparatus, the power consumption can be suppressed as compared with the conventional apparatus.
[0044]
In the system described above, the packet data PD output from the control unit 101 of the communication integrated radar apparatus includes information on the frequency fs2 used in the active target apparatus, information on the time for operating the return transmission function (return transmission time information), and various types. Information on an application (for example, an application program) may be included.
[0045]
In this case, the control unit 201 of the active target device detects information on the frequency fs2 and return transmission time information from the packet data PD, and controls the oscillation frequency and return transmission operation time of the IF oscillator 206 according to the information. In addition, the control unit 201 detects information on the designated application from the packet data PD, and operates the corresponding application according to the information.
[0046]
The AMP 205 in FIG. 2 performs amplitude modulation with the frequency fs2, but may alternatively perform frequency modulation with the frequency fs2.
Next, a specific example of the calculation of Δfb will be described with reference to FIGS.
(1) First method
FIG. 4 shows an example of temporal changes in the frequencies of FM-CW transmission radar waves, reception radar waves, and beat signals. The frequency 401 of the transmission radar wave and the frequency 402 of the reception radar wave are repeatedly increased or decreased in accordance with the period of the triangular wave signal generated by the oscillator 103, and the beat signal obtained in the time interval in which the frequency of the triangular wave signal increases is an upbeat signal. The beat signal obtained during the time interval in which the frequency of the triangular wave signal decreases is called a downbeat signal. In general, when the target has a relative speed, the frequency of the upbeat signal (upbeat frequency) 403 and the frequency of the downbeat signal (downbeat frequency) 404 are different.
[0047]
In the case of obtaining the upbeat frequency 403, the time t when the received radar wave fmr is 60.5 GHz and the transmitted radar wave fmt is 60.5001 GHz will be described. fs2 is 10 MHz and fs3 is 10.3 MHz.
[0048]
First, in the calculation method based on the basic principle of the FM-CW system, an upbeat frequency of 100 kHz can be obtained by mixing a part of a reception radar wave (60.5 GHz) and a transmission radar wave (60.05001 GHz). The maximum beat frequency value Δfb_max is determined by factors based on the circuit configuration such as the frequency of the triangular wave signal, the maximum frequency transition width of the transmission radar wave, and the sampling frequency of the ADC.
[0049]
In the active target device of FIG. 2, after receiving the ID information of the local station from the communication integrated radar device, the received radar wave (60.5 GHz) is AM-modulated with the signal of fs2 (10 MHz). As a result, both side waves of 60.5 GHz ± 10 MHz are obtained, and radar waves having frequency components of fmr (60.5 GHz), 60.51 GHz, and 60.49 GHz are transmitted from the active target device.
[0050]
In the communication integrated radar apparatus of FIG. 1, as shown in FIG. 5, a radar wave including frequency components of fmr (60.5 GHz), 60.51 GHz, and 60.49 GHz received from the active target apparatus, and one of the transmission radar waves. Part (fmt = 60.5001 GHz) is mixed by the mixer 108 to obtain an IF signal including frequency components of 9.9 MHz and 10.1 MHz.
[0051]
The frequency component of the clutter of about several hundred kHz output from the mixer 108 is removed by the BPF 109 in the IF band. Here, a filter circuit having a center frequency fs2 (10 MHz) and a passband width twice as large as Δfb_max is used as the BPF 109.
[0052]
Next, the 9.9 MHz and 10.1 MHz IF signals output from the BPF are mixed with the signal of the frequency fs3 (10.3 MHz) by the mixer 110, and the signal of the BB2 band including the frequency components of 200 kHz and 400 kHz is obtained. can get. Note that the signal output from the mixer 110 is subjected to fast Fourier transform signal processing in the FFT unit 114 through the ADC 113 after high frequency components are removed by the LPF 112. Here, a filter circuit that removes high frequency components equal to or higher than fs3−fs2 + Δfb_max is used as the LPF 112.
[0053]
The FFT unit 114 outputs 200 kHz and 400 kHz as the frequencies of the two sub upbeat signals having a high amplitude level, and the control unit 101 uses the following equations from the two sub upbeat frequencies fsb1 (200 kHz) and fsb2 (400 kHz). The frequency Δfb (100 kHz) of the positive upbeat signal is obtained.
Δfb = Δfsb / 2 = (fsb2−fsb1) / 2 (1)
According to the first method, as described above, an accurate beat signal Δfb can be obtained even if inexpensive components are used as the IF oscillators 206 and 111 regardless of the accuracy of the frequency deviation.
(2) Second method
In the second calculation method of Δfb, a frequency capable of directly obtaining a BB2 band signal from the output of the mixer 108 is used as fs2, and instead of the configuration of FIG. 1, a communication integrated radar apparatus as shown in FIG. 6 is used. Use. In the communication integrated radar apparatus of FIG. 6, the IF oscillator 111, the BPF 109, and the mixer 110 are not used.
[0054]
In the case of obtaining the upbeat frequency, the time t when the received radar wave fmr is 60.5 GHz and the transmitted radar wave fmt is 60.5001 GHz will be described. fs2 is set to 300 kHz.
[0055]
In the active target device of FIG. 2, after receiving the ID information of the local station from the communication integrated radar device, the received radar wave (60.5 GHz) is AM-modulated with a signal of fs2 (300 kHz). As a result, 60.5 GHz ± 300 kHz double-sided waves are obtained, and radar waves having frequency components of fmr (60.5 GHz), 60.5003 GHz, and 60.4997 GHz are transmitted from the active target device.
[0056]
In the communication integrated radar apparatus of FIG. 6, as shown in FIG. 7, a radar wave including fmr (60.5 GHz), 60.5003 GHz, and 60.4997 GHz frequency components received from the active target apparatus, and one of the transmission radar waves Part (fmt = 60.5001 GHz) is mixed by the mixer 108 to obtain a BB2 band signal including frequency components of 200 kHz and 400 kHz.
[0057]
It should be noted that the signal output from the mixer 108 is subjected to fast Fourier transform signal processing in the FFT unit 114 via the ADC 113 after high frequency components are removed by the LPF 112. Here, a filter circuit that removes high frequency components equal to or higher than fs2 + Δfb_max is used as the LPF 112.
[0058]
The FFT unit 114 outputs 200 kHz and 400 kHz as the frequencies of the two sub upbeat signals having a high amplitude level, and the control unit 101 outputs the positive upbeat signal from the two sub upbeat frequencies fsb1 (200 kHz) and fsb2 (400 kHz). Frequency [Delta] fb (100 kHz) is obtained.
[0059]
Since a beat signal based on the basic principle of the FM-CW method can be obtained in the BB band, the control unit 101 may process the output value of the FFT unit 114 as the frequency of the conventional beat signal.
[0060]
Next, a method for detecting beat signals from a plurality of targets will be described with reference to FIGS.
FIG. 8 is an operation flowchart of the integrated communication radar apparatus when detecting beat signals from three targets for which station ID information is set in advance. The communication integrated radar device first designates ID1 as the station ID information of the active target device of the first target, and transmits it by the wireless communication function (step 901). Then, it is checked whether or not there is a response from the designated active target device (step 902). If there is a response, the beat signal is detected by the radar function, and the relative distance and relative speed with the first target are calculated. And stored in the memory in the control unit 101 (step 903).
[0061]
Next, ID2 is transmitted as the station ID information of the active target device of the second target (step 904). Then, it is checked whether or not there is a response from the designated active target device (step 905). If there is a response, the relative distance and relative speed with the second target are calculated from the beat signal and stored in the memory ( Step 906).
[0062]
Next, ID3 is transmitted as the station ID information of the active target device of the third target (step 907). Then, it is checked whether or not there is a response from the designated active target device (step 908). If there is a response, the relative distance and relative speed with the third target are calculated from the beat signal and stored in the memory ( Step 909). The same operation is performed when detecting beat signals from four or more targets.
[0063]
FIG. 9 is an operation flowchart of the communication integrated radar apparatus in the case of detecting beat signals from a plurality of targets while dynamically generating target identification information. First, the communication integrated radar device searches for an active target device of a peripheral target by broadcast transmission not specifying specific station ID information (step 1001).
[0064]
Next, target identification information is set based on the search result (step 1002). For example, when a plurality of active target devices respond to the broadcast transmission, the relative distance and the relative speed are obtained from the beat signals of the active target devices, and identification information including distance information and / or speed information is generated.
[0065]
Here, assuming that the first, second, and third identification information are generated, each identification information is used in place of the station ID information, and the same operation as in FIG. 8 is performed. Beat signals are individually detected from the active target device corresponding to the information (steps 1003 to 1011).
[0066]
According to such a detection method, a beat signal is detected by designating only a target that is separated by a specific distance or moving at a specific speed among a large number of targets existing in the vicinity. It becomes possible.
[0067]
Below, the example which uses speed information as identification information of a target object is demonstrated. The configuration diagrams of the communication integrated radar device and the active target device in this case are as shown in FIGS. 10 and 11, respectively.
[0068]
The active target device of FIG. 11 has a configuration in which a modulation unit 1201 and a modulation circuit 1202 are added to the active target device of FIG. 2, and uses a passive method as a communication method. When the modulation operation using the packet data PD2 is not performed, the modulation circuit 1202 functions as a simple amplifier, or is configured to bypass the modulation circuit 1202 with a switch circuit.
[0069]
The communication integrated radar apparatus in FIG. 10 has a configuration in which a demodulation circuit 1101 and a demodulation unit 1102 are added to the communication integrated radar apparatus in FIG. 1, and the received wave is branched to the demodulation circuit 1101 at the subsequent stage of the reception antenna 101. Packet data PD2 is extracted. Note that a switch circuit may be inserted at the branch point, and the received wave may be switched to the demodulation circuit 1101 side only when the demodulation operation is performed. Further, a branch point or a switch circuit may be installed at the subsequent stage of the mixer 108.
[0070]
The radar function and the wireless communication function operate in a time-sharing manner under the control of the control unit 101 of the communication integrated radar apparatus. As shown in FIG. 12, the radar function operates after the wireless communication function operates. In the wireless communication function, after the packet PD1 is transmitted from the communication integrated radar device to the active target device, the packet PD2 is transmitted from the active target device to the communication integrated radar device.
[0071]
As shown in FIG. 13, the packet PD1 includes a header part 1401 and a data part 1402. The header part 1401 is a destination ID (station ID information), a transmission source ID, and a speed designation set in step 1002 of FIG. Information 1413 is included. As shown in FIG. 14, the packet PD2 includes a header part 1501 and a data part 1502, and the header part 1501 includes a destination ID and a transmission source ID.
[0072]
When the active target device receives the PD1 including the destination ID 1411 indicating the broadcast (not specifying the specific station ID information) and not specifying the speed specifying information 1413, the active target device does not transmit the PD2. When receiving the PD1 including the destination ID 1411 indicating the broadcast and having the designation of the speed designation information 1413, the control unit 201 checks whether the speed information of the own station corresponds to the speed designation information 1413. If the speed information of the own station corresponds to the speed designation information 1413, the PD2 is transmitted.
[0073]
In addition, the control unit 101 of the communication integrated radar apparatus transmits PD1 in which a destination ID 1411 indicating broadcast is set as station ID information, and acquires the frequencies of a plurality of positive beat signals.
[0074]
For example, a case will be described in which broadcast transmission is performed from the communication integrated radar apparatus using the first method in the specific example of the calculation of Δfb described above.
As shown in FIG. 15, the communication integrated radar device 1601 and the active target device (A) 1602 are stationary, and the moving active target device (B) 1604 approaches the communication integrated radar device 1601 at a speed of Sm per hour. Assume that the communication integrated radar device 1601 broadcasts PD1 when it is in communication.
[0075]
At this time, since the contents of the destination ID 1411 of PD1 indicate broadcast, the active target devices 1602 and 1604 modulate the received radar wave (frequency fmr) by AM modulation of the frequency fs2 and transmit it back.
[0076]
Then, from the FFT unit 114 of the communication integrated radar device 1601, the frequency components of four sub beat signals having high amplitude levels as shown in FIG. 16 are obtained. The control unit 101 pairs the highest frequency sub-beat signal and the lowest frequency sub-beat signal to obtain a difference Δfsb_ (B) between the frequencies, and then determines the second highest frequency sub-beat signal and the second highest frequency sub-beat signal. A sub-beat signal having a low frequency is paired to obtain a difference Δfsb_ (A) between the frequencies.
[0077]
As a result, Δfb_ (A) and Δfb_ (B) can be calculated as the frequency of the positive beat signal from Δfsb_ (A) and Δfsb_ (B), respectively.
In addition, after calculating the frequency of the positive beat signal, the control unit 101 performs pairing processing of the upbeat signal and the downbeat signal, and extracts speed information of Δfb_ (A) and Δfb_ (B).
[0078]
Thus, the communication integrated radar apparatus 1601 can generate the speed designation information 1413 using the speed of any one of the active target apparatuses. The active target devices 1602 and 1604 obtain the moving speed of the own station from the speedometers 1603 and 1605, respectively, and check whether the speed corresponds to the speed designation information 1413 received from the communication integrated radar apparatus 1601. .
[0079]
FIG. 17 is an operation flowchart of such a communication integrated radar apparatus. The communication integrated radar apparatus first broadcasts PD1 having a destination ID 1411 indicating broadcast and no speed designation information 1413 input (step 1801), and the FFT unit 114 and the control unit 101 respond to the received wave. Processing is performed (step 1802).
[0080]
The control unit 101 checks whether or not a positive beat signal is detected (step 1803), and if a positive beat signal is not detected, repeats the operations from step 1801. If a positive beat signal is detected, then speed information is extracted from the detected positive beat signal, and it is checked whether or not there is a beat signal having desired speed information (step 1804). If there is no such positive beat signal, the operations after step 1801 are repeated.
[0081]
If there is a beat signal having the desired speed information, the communication integrated radar apparatus next broadcasts PD1 having a destination ID 1411 indicating broadcast and input of speed designation information 1413 for designating the speed information. (Step 1805), the processing by the FFT unit 114 and the control unit 101 is performed on the received wave (Step 1806).
[0082]
The control unit 101 checks whether or not the PD2 is normally received (step 1807), and if the PD2 is normally received, next checks whether or not only one positive beat signal is detected. (Step 1808). If only one positive beat signal is detected, the transmission source ID 1512 of the PD 2 and the frequency or speed information of the positive beat signal are associated with each other and stored in the memory (step 1809), and the operations after step 1801 are repeated.
[0083]
When PD2 is not normally received in step 1807 and when a plurality of positive beat signals are detected in step 1808, it is determined whether or not to retransmit PD1 (step 1810). If the PD1 is retransmitted, the operations after Step 1805 are repeated. If the PD1 is not retransmitted, the operations after Step 1801 are repeated.
[0084]
Even when the distance information is used as target identification information, the beat signal can be detected by the same method.
When a conventional beat signal detection circuit is added to the communication integrated radar apparatus of FIG. 1, the configuration is as shown in FIG. In the communication integrated radar apparatus of FIG. 18, an LPF 1901, an ADC 1902, and an FFT unit 1903 are added, the output from the mixer 108 is branched into two, one is used for sub beat signal detection, and the other is a conventional beat signal. Used for detection. In the conventional beat signal detection circuit, the frequency of the beat signal is directly extracted from the output of the mixer 108. Further, the beat signal processing after detection of the sub beat signal and the conventional beat signal processing may be made common and the processing may be performed in a time division manner.
[0085]
Further, if a communication integrated radar device as shown in FIG. 19 is used, it is possible to receive the return signals from two active target devices having different values of the second frequency fs2 and simultaneously detect the sub beat signal. Become.
[0086]
In the communication integrated radar apparatus of FIG. 19, a BPF 2001, a mixer 2002, an LPF 2003, an ADC 2004, and an FFT unit 2005 are added to the communication integrated radar apparatus of FIG. Then, the output from the mixer 108 is branched into two, one is used for sub beat signal detection (BB2-1 band) from one active target device, and the other is sub beat signal detection from another active target device. Used for (BB2-2 band). However, in the two sub beat signal detection circuits, a common value is used as the third frequency fs3.
[0087]
Next, a second embodiment will be described. 20 and 21 are configuration diagrams of the communication integrated radar device and the active target device in the second embodiment, respectively. Also in the second embodiment, as in the first embodiment, the wireless communication function and the radar function operate in a time division manner.
[0088]
20 includes a control unit 2101, a modulation unit 2102, a triangular wave modulation oscillator 2103, an RF band voltage control oscillator 2104, a modulation circuit 2105, a transmission antenna 2106, a reception antenna 2107, a mixer 2108, an LPF 2109, an ADC 2110, and an FFT. Part 2111.
[0089]
The active target device in FIG. 21 includes a control unit 2201, a reception antenna 2202, a demodulation circuit 2203, a demodulation unit 2204, an AMP 2205, and a transmission antenna 2206.
[0090]
The oscillator 2104 of the communication integrated radar apparatus generates a millimeter wave band signal (frequency fmt) modulated by the triangular wave signal generated by the oscillator 2103. The control unit 2101 operates the wireless communication function of the modulation unit 2102 and the modulation circuit 2105 by outputting the station ID information of the active target device and other information to the modulation unit 2102 as one packet data PD.
[0091]
The active target device divides the received wave (frequency fmr) received from the communication integrated radar device into two and inputs it to the demodulation circuit 2203 and the AMP 2205. The radio communication function of the demodulation circuit 2203 and the demodulation unit 2204 operates by the input of the received wave, and the packet data PD is output from the demodulation unit 2204 to the control unit 2201.
[0092]
When the control unit 2201 analyzes the packet data and detects the station ID information specifying the own station in the packet data, the control unit 2201 outputs the AMP control signal CD2 for a predetermined time to operate the AMP 2205. The AMP 2205 amplifies the received wave and transmits it to the communication integrated radar device.
[0093]
In addition, when detecting the return transmission time information from the packet data PD, the control unit 2201 controls the return transmission operation time according to the information, and when detecting information of various applications from the packet data PD, Run the corresponding application according to the information.
[0094]
The mixer 2108 of the communication integrated radar apparatus mixes the reception wave (frequency fr) returned from the active target apparatus with a part of the transmission wave (frequency fmt). The LPF 2109 extracts the signal of the beat signal band (BB band) from the signal output from the mixer 2108, the ADC 2110 converts the extracted signal into a digital signal, and the FFT unit 2111 extracts the peak frequency. To the control unit 2101.
[0095]
When the PD is transmitted without specifying the station ID information, the return transmission from the active target device is not performed. In this case, as shown in FIG. 22, the BB band includes the beat signal (frequency fbt) of the reflected wave from the active target device together with the clutter signal from the surrounding structure.
[0096]
On the other hand, when the station ID information is designated and the PD is transmitted, as shown in FIG. 23, the BB band includes a radar wave beat signal (frequency fbt) transmitted from the active target device. . In this case, the intensity of the beat signal is larger than the intensity of the beat signal in FIG. Therefore, it is possible to discriminate between the beat signal of the desired target and the clutter signal by using together the PD for which the station ID information is designated and the PD for which the station ID information is not designated.
[0097]
Therefore, the control unit 2101 matches the transmission pattern of the station ID information with the intensity change pattern of each beat signal detected by the FFT unit 2111, and sets the frequency of the beat signal indicating the same intensity change pattern as the transmission pattern, The frequency of the beat signal of the active target device designated by the station ID information is determined.
[0098]
FIG. 24 shows an example of pattern matching by the control unit 2101. The description of each row in FIG. 24 is as follows.
(1) Type of radio communication function and radar function that operate alternately in time division
(2) Type of whether or not specific station ID information is specified in the wireless communication function
(3) Transmission pattern of the station ID information held by the control unit 2101 (logic “1” if the station ID information is specified, and logic “0” if the station ID information is not specified)
(4) Intensity change of beat signal (frequency fbt) in radar function
(5) Intensity change pattern of the beat signal (frequency fbt) (logic “1” when increased from the previous beat signal (when + X dB), logic “0” when decreased from the previous beat signal (when −X dB) ”)
The control unit 2101 compares the transmission pattern (3) of the station ID information when the wireless communication function is operated with the intensity change pattern (5) when the radar function is immediately operated, and if both match, the designated station ID The frequency of the beat signal of the active target device having information is determined to be fbt.
[0099]
According to such a system, it becomes possible to detect the beat signal of the target from the beat signal band (BB band) affected by clutter from surrounding structures. Moreover, even when a plurality of targets (active target devices) are concentrated in one place by sequentially controlling the return function of the plurality of active target devices from the communication integrated radar device using the wireless communication function, each target The beat signal can be detected accurately.
[0100]
In addition, since the high-frequency device with high power consumption can be operated only when necessary by the control from the communication integrated radar apparatus, the power consumption can be suppressed as compared with the conventional apparatus.
[0101]
Incidentally, in order to suppress the power consumption of the active target device as much as possible with a simpler configuration, it is also possible to adopt circuit configurations as shown in FIGS. 25 and 26, respectively, instead of the circuit configurations of FIGS. is there.
[0102]
The active target device of FIG. 25 includes a reception antenna 202, an AMP 205, an IF oscillator 206, a transmission antenna 207, a reception level detection circuit 2601, and a threshold determination circuit 2602, and receives two reception waves received from the communication integrated radar device. One is input to the reception level detection circuit 2601 and the other is input to the AMP 205.
[0103]
The reception level detection circuit 2601 detects the level of the received wave, and the threshold value determination circuit 2602 performs ON / OFF control of the IF oscillator 206 by comparing the detected level of the received wave with the threshold value. The threshold determination circuit 2602 activates the IF oscillator 206 when the level of the received wave exceeds the threshold, and inputs a signal of the frequency fs2 to the AMP 205 for a certain time. The AMP 205 amplifies the received wave, modulates the amplitude with the frequency fs2, and transmits the signal back to the communication integrated radar apparatus.
[0104]
The active target device of FIG. 26 includes a reception antenna 2202, an AMP 2205, a transmission antenna 2206, a reception level detection circuit 2701, and a threshold determination circuit 2702, and branches the reception wave received from the communication integrated radar device into two, One is input to the reception level detection circuit 2701, and the other is input to the AMP 2205.
[0105]
The reception level detection circuit 2701 detects the level of the received wave, and the threshold value determination circuit 2702 compares the detected level of the received wave with the threshold value and performs ON / OFF control of the AMP 2205. The threshold determination circuit 2702 activates the AMP 2205 when the level of the received wave exceeds the threshold. The AMP 2205 amplifies the received wave for a predetermined time and transmits it to the communication integrated radar device.
[0106]
By adopting such a simple circuit configuration, it is possible to provide an inexpensive active target device with reduced power consumption.
Next, a specific application example of the above-described active target detection system will be described.
[0107]
First, an application example of the in-stop train stop monitoring system will be described with reference to FIGS.
FIG. 27 shows a train stop monitoring system using an active target detection system. The communication integrated radar device 2801 is installed in a stop provided in the vicinity of a station or the like, and detects the beat signal of the active target device 2802 installed in the train 2803 that is a target, so that the behavior (stop etc.) of the train 2803 is detected. ) Is monitored and control is performed to change the state of the stop signal 2804.
[0108]
The communication integrated radar apparatus 2801 associates the distance to the active target apparatus 2802 acquired from the beat signal and the speed thereof with the station ID information transmitted from the active target apparatus 2802 so that the behavior of a specific train can be accurately performed. Can be recognized.
[0109]
For example, when the circuit configurations of FIGS. 1 and 2 are adopted, the configurations of the communication integrated radar device 2801 and the active target device 2802 are as shown in FIGS. 10 and 11, respectively.
[0110]
FIG. 28 and FIG. 29 are operation flowcharts of the communication integrated radar apparatus 2801. The communication integrated radar apparatus 2801 constantly monitors whether or not the train 2803 has entered the stop (steps 3101 and 3102 in FIG. 28).
[0111]
At the time of monitoring, first, the station ID information is specified to search the active target device 2802, and when a beat signal is detected, the distance and speed are measured (step 3101). In the search of the active target device 2802, for example, known station ID information is sequentially specified in the procedure as shown in FIG.
[0112]
Then, it is checked whether or not a packet from the active target device 2802 has been received (step 3102). If no packet is received, it is determined that there is no train 2803 corresponding to the designated station ID information, another station ID information is designated, and the operations in and after step 3101 are repeated.
[0113]
When the packet is received, the presence of the train 2803 is recognized, and the control unit 101 determines the train type from the station ID information (step 3103). The station ID information of the active target device 2802 represents unique information of the train 2803 (ordinary train, limited express train, express train, etc.), and the train type can be determined using this. Then, based on the determination result, control such as instructing the traffic light 2804 to indicate stop (switch to a red signal) is performed (step 3107).
[0114]
Next, the station ID information is stored in the memory in association with the measured distance and speed (step 3104), and processing such as notifying the management center of the information on the approaching train is performed (step 3108).
[0115]
Next, it is determined from the station ID information whether or not the train 2803 is a train that stops at the station (step 3105). If the train 2803 is not a train that stops at the station, another station ID information is designated and the operations after step 3101 are performed. repeat. If the train 2803 is a train that stops at a station, it is next determined whether or not it can be safely stopped based on the distance and speed (step 3106). If it is determined that the vehicle cannot be stopped safely, control such as starting emergency braking or instructing the traffic signal 2804 to indicate stoppage is performed (step 3109).
[0116]
If it is determined that the vehicle can be safely stopped, it is next determined whether or not the train 2803 has stopped based on the speed (step 3201 in FIG. 29). If the train 2803 has stopped, the predetermined stop position is determined. It is determined whether or not the vehicle is in the range (step 3202). If the train 2803 is not stopped in the predetermined range, a process of sending an alarm to the train is performed (step 3204). If the train 2803 is stopped in the predetermined range, control such as unlocking the train door is performed. Perform (step 3203).
[0117]
In such a train stop monitoring system, it is possible to perform failure diagnosis of the communication integrated radar device 2801 using an active target device different from the active target device 2802 installed in the train 2803.
[0118]
FIG. 30 shows an active target device used for such failure diagnosis. The active target device 3301 is, for example, fixed at a predetermined position on the platform of the station, and has the same configuration as FIG. The station ID information of the active target device 3301 and the distance to the communication integrated radar device 2801 are stored in the control unit 101 in advance.
[0119]
The communication integrated radar device 2801 monitors the radar measurement accuracy by measuring the distance to the active target device 3301 at a predetermined timing, and determines that the device has failed when the measurement accuracy exceeds a certain threshold. .
[0120]
FIG. 31 is an operation flowchart of such a failure diagnosis. The communication integrated radar apparatus 2801 first specifies the station ID information of the active target apparatus 3301 and measures the distance to the active target apparatus 3301 (step 3401). Then, the control unit 101 checks whether or not the measurement distance exceeds the allowable range of the specified distance value between the active target device 3301 and the communication integrated radar device 2801 (step 3402).
[0121]
The allowable range of the specified distance value is defined by, for example, a threshold value (upper limit) larger than the specified distance value and a threshold value (lower limit) smaller than the specified distance value, and the control unit 101 compares the measured distance with these threshold values. Check whether the measurement distance exceeds the allowable range.
[0122]
If the measurement distance does not exceed the permissible range, the operation after step 3401 is repeated. If the measurement distance exceeds the permissible range, it is determined that a failure has occurred, and processing such as notifying the management center is performed. (Step 3403).
[0123]
It is also conceivable to perform failure diagnosis based on the number of times the measurement distance exceeds the allowable range of the specified distance value. FIG. 32 is an operation flowchart of such a failure diagnosis.
[0124]
The communication integrated radar device 2801 first measures the distance to the active target device 3301 (step 3501), and the control unit 101 checks whether or not the measured distance exceeds the allowable range of the specified distance value (step 3502). .
[0125]
If the measured distance does not exceed the allowable range, the event count N is set to 0 (step 3506), and the operations after step 3501 are repeated. If the measured distance exceeds the allowable range, N = N + 1 is set (step 3503), and it is checked whether N exceeds the specified number of times (step 3504).
[0126]
If N does not exceed the specified number of times, the operation after step 3501 is repeated, and if N exceeds the specified number of times, it is determined that a failure has occurred and processing such as notifying the management center is performed (step). 3505). According to such a failure diagnosis method, it is determined that a failure has occurred when the measurement distance exceeds the allowable range continuously for a certain number of times.
[0127]
It is also possible to perform failure diagnosis by changing the station ID information of the local station every time the active target device 3301 receives the station ID information from the communication integrated radar device 2801. In this case, the communication integrated radar device 2801 holds a plurality of station ID information used by the active target device 3301 in advance. Then, a radar beam (antenna) is scanned in a range of a certain azimuth angle in the direction in which the active target device 3301 exists, and a change in the received station ID information is monitored to diagnose the failure of the device.
[0128]
Note that the communication integrated radar apparatus 2801 is provided with an antenna driving unit, and continuously scans an antenna with a narrow beam width in the horizontal direction in the horizontal direction to obtain continuously changing angle information as the active target apparatus 3301. Shall be associated with the sensing results of.
[0129]
FIG. 33 is an operation flowchart of such a failure diagnosis. The communication integrated radar apparatus 2801 first searches for the active target apparatus 3301 by designating station ID information, and when a beat signal is detected, measures the distance, speed, and beam angle (step 3601). In the search for the active target device 3301, for example, a plurality of station ID information is specified in order according to the procedure shown in FIG. Then, it is checked whether or not a packet from the active target device 3301 has been received (step 3602).
[0130]
If a packet has not been received, the control unit 101 checks whether or not the beam has been scanned a specified number of times (step 3608), and if it has not been scanned the specified number of times, the operation from step 3601 is repeated. If the beam has been scanned a specified number of times, it is determined that a failure has occurred (step 3609).
[0131]
If a packet is received, it is next checked whether or not the beam at the time of receiving the packet has a specified angle (step 3603). If the beam is not at a prescribed angle, it is determined that the received packet is not from the active target device 3301, and another station ID information is designated, and the operations in and after step 3601 are repeated.
[0132]
If the beam has a specified angle, it is determined that the received packet is a packet from the active target device 3301, and the designated station ID information is compared with the station ID information when the previous packet was received from the active target device 3301. Then, it is checked whether or not the station ID information has changed (step 3604).
[0133]
If the station ID information has changed, it is determined that the apparatus is operating normally, the number of events N is set to 0 (step 3610), another station ID information is designated, and the steps after step 3601 Repeat the operation.
[0134]
If the station ID information has not changed, N = N + 1 is set (step 3605), and it is checked whether N has exceeded the specified number of times (step 3606). If N does not exceed the specified number of times, another station ID information is designated and the operations in and after step 3601 are repeated. If N exceeds the specified number of times, it is determined that a failure has occurred (step 3607).
[0135]
FIG. 34 is an operation flowchart of the active target device 3301 in this case. The control unit 201 of the active target device 3301 first checks whether or not a packet designating its own station ID information has been received (step 3701). When such a packet is received, the station ID information of the own station is changed by a predetermined method after returning the received wave (step 3702), and the operations after step 3701 are repeated.
[0136]
According to such a failure diagnosis method, when a packet from the active target device 3301 cannot be received even after scanning the beam a specified number of times, or the communication integrated radar device 2801 continues the predetermined number of times in the active target device 3301. If the change in the station ID information cannot be recognized, it is determined that a failure has occurred.
[0137]
In the train stop monitoring system described above, it is also possible to perform control for opening and closing the safety fence door at the optimum position for each vehicle based on the station ID information from the active target device installed for each vehicle.
[0138]
FIG. 35 and FIG. 36 show the positional relationship between the communication integrated radar device that performs such safety fence door control and the active target device. FIG. 35 is a view of the train and the safety fence as seen from above, and FIG. 36 is a view as seen from the side.
[0139]
The vehicles 3801 and 3802 are respectively provided with active target devices 3803 and 3804 having the same configuration as in FIG. 11, and the communication integrated radar device 2801 transmits a radar beam from the side of the stopped train. Doors 3806, 3807, and 3808 are provided on the safety fence 3805 on the platform.
[0140]
The distance between the active target device 3803 and the communication integrated radar device 2801 when the vehicle is stopped is associated with the station ID information of the active target device 3803 as the specified distance value D1. In addition, the distance between the active target device 3804 and the communication integrated radar device 2801 when the vehicle is stopped is associated with the station ID information of the active target device 3804 as the specified distance value D2.
[0141]
Further, the station ID information of the active target device 3803 is associated with the open door information of the door 3806, and the station ID information of the active target device 3804 is associated with the open door information of the doors 3807 and 3808.
[0142]
FIG. 37 is an operation flowchart of the communication integrated radar device 2801 and a safety fence control device (not shown) in this case. The communication integrated radar apparatus 2801 scans the radar beam in the range of an angle θ formed by the direction of the active target apparatus 3803 and the direction of the active target apparatus 3804 when the vehicle is stopped, and performs a detection operation for each active target apparatus.
[0143]
The communication integrated radar apparatus 2801 constantly monitors whether or not a train has entered the stop (steps 4001 and 4002). At the time of monitoring, first, the station ID information is designated to search for an active target device, and when a beat signal is detected, the distance and speed are measured (step 4001).
[0144]
Then, it is checked whether or not a packet from the active target device has been received (step 4002). If no packet is received, it is determined that there is no vehicle corresponding to the designated station ID information, another station ID information is designated, and the operations in and after step 4001 are repeated.
[0145]
When the packet is received, the presence of the vehicle is recognized, and the control unit 101 checks whether or not the measured distance to the active target device is within the allowable range of the specified distance value (step 4003). When a packet from the active target device 3803 is received, D1 is used as the specified distance value, and when a packet from the active target device 3804 is received, D2 is used as the specified distance value. If the measured distance is not within the allowable range, another station ID information is designated and the operations after step 4001 are repeated.
[0146]
If the measured distance is within an allowable range, the door opening information corresponding to the station ID information of the active target device associated with the specified distance value is output (step 4004), and the safety fence control device is opened and closed. An instruction is given (step 4005). In response to this, the safety fence control device opens and closes the corresponding door of the safety fence 3805 (step 4006).
[0147]
When a packet from the active target device 3803 is received, the door 3806 is opened and closed, and when a packet from the active target device 3804 is received, the doors 3807 and 3808 are opened and closed.
[0148]
According to such a safety fence door control method, it is possible to set station ID information for each train vehicle and selectively open and close the door at the position specified by the station ID information when the train stops. It becomes.
[0149]
Instead of the prescribed distance values D1 and D2, the safety fence door control can be performed by defining the angle of the beam indicating the direction of the active target devices 3803 and 3804 when the vehicle is stopped.
[0150]
In this case, the angle of the beam indicating the direction of the active target device 3803 when the vehicle is stopped is associated with the station ID information of the active target device 3803 as the specified angle value A1. Further, the angle of the beam indicating the direction of the active target device 3804 when the vehicle is stopped is associated with the station ID information of the active target device 3804 as the specified angle value A2.
[0151]
The communication integrated radar device 2801 measures the angle of the beam in step 4001, and the control unit 101 detects the active target device 3803 (or 3804) in step 4003, and the measured angle is the specified angle value A 1 (or A 2). Check whether it is within the allowable range. If the measured angle is within the allowable range, in step 4004, the open door information corresponding to the station ID information of the active target device 3803 (or 3804) associated with the specified angle value A1 (or A2) is output.
[0152]
Further, the communication integrated radar apparatus 2801 may be installed in front of (or behind) a train that is stopped, and a radar beam may be transmitted from the front (or behind) of the train.
38 and 39 show the positional relationship between the communication integrated radar device and the active target device in this case. FIG. 38 is a view of the train and the safety fence as seen from above, and FIG. 39 is a view as seen from the side. In this case, it is not necessary to scan the beam.
[0153]
The distance between the active target device 3803 and the communication integrated radar device 2801 when the vehicle is stopped is associated with the station ID information of the active target device 3803 as the specified distance value D3. In addition, the distance between the active target device 3804 and the communication integrated radar device 2801 when the vehicle is stopped is associated with the station ID information of the active target device 3804 as the specified distance value D4. The operation flow of the communication integrated radar device 2801 and the safety fence control device is the same as that in FIG.
[0154]
In the above-described safety fence door control, one active target device is installed for each vehicle, but the same control can be realized even when one active target device is installed for each train formation unit. In this case, the station ID information of the active target device is associated with open door information for all vehicles on the train.
[0155]
Furthermore, it is possible to install an active target device for each vehicle door. In this case, the station ID information of each active target device is associated with the open door information of the corresponding safety fence door. Therefore, the safety fence door located at the same distance as the active target device can be selectively opened and closed based on the information obtained by the distance measurement by the radar wave.
[0156]
Next, an application example of a ship berthing system used in a harbor or the like will be described. As shown in FIG. 40, a communication integrated radar device 4302 is installed on a ship 4301, and a plurality of active target devices 4304 are installed on a quay 4303 at regular intervals (predetermined intervals).
[0157]
The communication integrated radar device 4302 scans the radar beam in the communication area 4305 to detect the active target device 4304 when the ship 4301 comes in contact with the berth. Thus, the distance between the ship 4301 and the quay 4303 and the berthing angle can be detected without being affected by clutter, and the hull can be controlled to be parallel to the quay. Also in this case, continuously changing angle information is associated with the sensing result of the active target device 4304.
[0158]
Next, an application example of a security system used at a doorway of a building will be described. As shown in FIG. 41, a monitoring device 4402, a communication integrated radar device 4403, a reflector 4404, and a permanent active target device 4405 are installed in order to check a passing person of a building gate 4401.
[0159]
Outside the gate 4401, a notice area 4411, an active target device non-carried person detection area 4412, and a gate control area 4413 are set in advance, and the active target device 4405 is installed in the area 4412. The communication integrated radar device 4403 transmits a radar wave to the active target device 4405 through the reflector 4404.
[0160]
Persons 4421 and 4423 carry active target devices 4431 and 4432, respectively, and person 4422 does not carry an active target device.
[0161]
For example, when the circuit configurations of FIGS. 1 and 2 are adopted, the configuration of the communication integrated radar device 4403 is as shown in FIG. 42, and the configurations of the active target devices 4405, 4431, and 4432 are as shown in FIG. The communication integrated radar apparatus in FIG. 42 has the same configuration as the communication integrated radar apparatus in FIG. 10, and a monitoring apparatus 4402 is connected to the control unit 101 as an external interface.
[0162]
The active target device of FIG. 43 has a configuration in which a voice application unit 4601, a voice data unit 4602, and a speaker 4603 are connected as an external interface of the active target device of FIG. The voice application unit 4601 receives an instruction included in the data part of the packet PD1 received from the communication integrated radar apparatus from the control unit 201. Then, according to the instruction, appropriate audio data is extracted from the audio data unit 4602, and the audio is output from the speaker 4603.
[0163]
The control unit 101 of the communication integrated radar device transfers the position information (distance) of the active target device associated with the station ID information to the monitoring device 4402. As an access method between radio stations, in addition to the method of dynamically specifying the target identification information shown in FIG. 9 and detecting a beat signal, anti-collision (used in an RF-ID tag or the like), ID circulation A method such as (polling / selecting) can be used in combination.
[0164]
The monitoring device 4402 is configured using, for example, a computer and performs the following processing.
Management of location information associated with station ID information.
Control of the voice application unit 4601 of the active target device.
・ Control of gate opening and closing.
[0165]
If the monitoring device 4402 detects a person 4421 carrying the active target device 4431 in the notice area 4411 based on information sent from the communication integrated radar device, the monitoring device 4402 has an authority to pass through the gate 4401 based on the station ID information. To check. For an unauthorized person, the active target device is controlled via the communication integrated radar device to output a voice guidance for calling attention.
[0166]
In this example, the authentication levels of the active target devices 4431 and 4432 are set to level B and level A, respectively. A person 4423 carrying an active target device 4432 at level A is allowed to pass through the gate 4401, but a person 4421 carrying an active target device 4431 at level B is not allowed to pass through the gate 4401.
[0167]
Therefore, when the person 4421 enters the advance notice area 4411, the active target device 4431 outputs a voice guidance such as “From now on, the person at the authentication level B is prohibited from entering.”
[0168]
In the active target device non-carried person detection area 4412, the monitoring device 4402 monitors the passage of a person by the active target device 4405 and the reflector 4404. When the signal from the active target device 4405 toward the reflector 4404 is cut off, the communication integrated radar device checks whether or not there is a person carrying the active target device at that position.
[0169]
When a person who does not carry the active target device is detected, the active target device 4405 outputs a voice guidance such as “No one other than the related party is allowed to enter.”
[0170]
In the gate control area 4413, the monitoring device 4402 monitors the distance and speed of the person 4423 to the gate 4401 via the active target device 4432 having the authenticated station ID information. Then, the timing of opening the gate 4401 and the opening / closing time are controlled to prevent the active target device non-carrying person from joining.
[0171]
(Supplementary note 1) An active target device that receives and returns a radar wave,
Demodulation means for extracting data from the received radar wave;
Amplifying means for amplifying the received radar wave and modulating and modulating the received radar wave with a predetermined frequency;
Control means for analyzing the extracted data to detect station identification information, and when the detected station identification information is station identification information designating the active target device, operating the amplifying means for a predetermined time;
An active target device comprising:
[0172]
(Additional remark 2) The said control means analyzes the extracted data, detects the information of the said predetermined frequency, and controls the said amplification means based on the detected information, The additional description 1 characterized by the above-mentioned Active target device.
[0173]
(Additional remark 3) The said control means changes the station identification information which designates the said active target apparatus, after operating the said amplification means for a fixed time and performing return transmission, The active target apparatus of Additional remark 1 characterized by the above-mentioned .
[0174]
(Additional remark 4) It further has an audio | voice output means which outputs the audio | voice guidance which alerts the person who enters the monitoring area, and the said control means is a said audio | voice output means according to the instruction | indication contained in the said extracted data. The active target device according to appendix 1, characterized in that it outputs a guidance output.
[0175]
(Supplementary Note 5) An active target device that receives and transmits a radar wave,
Demodulation means for extracting data from the received radar wave;
Amplifying means for amplifying and returning the received radar wave;
Control means for analyzing the extracted data to detect station identification information, and when the detected station identification information is station identification information designating the active target device, operating the amplifying means for a predetermined time;
An active target device comprising:
[0176]
(Supplementary Note 6) An active target device that receives a radar wave and transmits it back,
Reception level detection means for detecting the reception level of the received radar wave;
Amplifying means for amplifying the received radar wave and modulating and modulating the received radar wave with a predetermined frequency;
Threshold detecting means for operating the amplifying means for a predetermined time when the detected reception level exceeds a predetermined threshold;
An active target device comprising:
[0177]
(Supplementary note 7) An active target device that receives and returns a radar wave,
Reception level detection means for detecting the reception level of the received radar wave;
Amplifying means for amplifying and returning the received radar wave;
Threshold detecting means for operating the amplifying means for a predetermined time when the detected reception level exceeds a predetermined threshold;
An active target device comprising:
[0178]
(Supplementary Note 8) A communication integrated radar device that transmits a radar wave and receives a radar wave transmitted from a target object,
Control means for outputting data including station identification information for designating a target;
Modulation means for inputting the data to a transmission radar wave during operation of a wireless communication function;
When the radar function is operated after the wireless communication function is operated, a part of the transmitted radar wave is mixed with the received radar wave transmitted from the target specified by the station identification information. Detecting means for detecting the beat signal of
A communication integrated radar apparatus comprising:
[0179]
(Supplementary Note 9) The detection means includes
A first mixer means for mixing a part of the transmission radar wave with a reception radar wave transmitted from the target;
Bandpass filter means for extracting an intermediate frequency band signal centered on a first frequency from the output of the first mixer means;
A second mixer means for mixing the extracted intermediate frequency band signal and the second frequency signal;
The control means extracts a frequency difference between two sub beat signals having a high intensity from the output of the second mixer means, and calculates half of the frequency difference as a frequency of the beat signal from the target. The communication integrated radar device according to appendix 8, wherein
[0180]
(Additional remark 10) The said detection means is further provided with the low-pass filter means which extracts the signal of a beat signal band from the output of the said 1st mixer means, The said control means is from the said target from the output of this low-pass filter means. The communication integrated radar device according to appendix 9, wherein the frequency of the beat signal is extracted.
[0181]
(Supplementary Note 11) The detection means includes
Mixer means for mixing a part of the transmission radar wave and a reception radar wave transmitted from the target,
Low pass filter means for extracting a signal in the beat signal band from the output of the mixer means,
The control means performs control to alternately operate the wireless communication function and the radar function in a time division manner, and outputs data including the station identification information or data not including the station identification information when the wireless communication function operates. Or a transmission pattern indicating the presence or absence of the station identification information is generated, and the intensity change pattern of each beat signal in the beat signal band detected during operation of the radar function is compared with the transmission pattern. The communication integrated radar device according to appendix 8, wherein a frequency of a beat signal showing an intensity change pattern similar to the transmission pattern is extracted as a frequency of a beat signal from the target.
[0182]
(Supplementary Note 12) The control means associates the information of the beat signal detected when the data including the station identification information is output with the station identification information, so that the target distance information and / or Alternatively, the communication integrated radar device according to appendix 8, which manages speed information.
[0183]
(Supplementary note 13) A train stop monitoring system for monitoring the behavior of a train in a stop,
Transmitting means for transmitting radar waves;
Receiving means for receiving a radar wave transmitted back from the target;
Modulation means for inputting data including station identification information for designating the train as a target to a transmission radar wave;
Detection means for detecting a beat signal from the train by mixing a part of the transmission radar wave and a received radar wave transmitted from the train specified by the station identification information;
Control means for extracting the train distance information and / or speed information from the frequency of the detected beat signal and recognizing the behavior of the train by associating the distance information and / or speed information with the station identification information;
A train stop monitoring system comprising:
[0184]
(Additional remark 14) The said modulation | alteration means inputs the data containing the station identification information of the active target apparatus fixed to the predetermined position to a transmission radar wave, The said detection means detects the beat signal from this active target apparatus, The control means extracts the distance information of the active target device from the frequency of the detected beat signal and compares it with distance information stored in advance, thereby performing failure diagnosis of the train stop monitoring system. The train stop monitoring system according to appendix 13.
[0185]
(Supplementary Note 15) The transmission means transmits a radar wave toward an active target device that changes the station identification information of the local station when receiving the station identification information that is fixed at a predetermined position and designates the local station, and that modulates the modulation The means inputs the data including the station identification information used by the active target device to the transmission radar wave, and the control means compares the station identification information returned from the active target device with the previously received station identification information. The train stop monitoring system according to appendix 13, wherein a failure diagnosis of the train stop monitoring system is performed by detecting a change in station identification information.
[0186]
(Additional remark 16) When the said control means recognizes the stop of the said train, it outputs the control information which selectively opens the door of the position designated by the said station identification information among the safety fence doors of the said stop. The train stop monitoring system according to appendix 13.
[0187]
(Supplementary Note 17) By operating the wireless communication function, the data including the station identification information specifying the target is input to the radar wave and transmitted,
After operating the wireless communication function, operate the radar function to transmit radar waves,
Receiving a radar wave transmitted from the target specified by the station identification information;
A beat signal from the target is detected by mixing a part of the transmitted radar wave and the received radar wave.
The target object detection method characterized by the above-mentioned.
[0188]
【The invention's effect】
According to the present invention, when detecting beat signals from a plurality of targets using an FM-CW radar in an environment where there are complex structures around, a tunnel, an indoor closed space, or the like, Even when there is a clutter due to reflection from an object, it is possible to separate beat signals from a plurality of targets on the time axis and perform detailed beat signal detection. Thereby, the detailed relative distance and / or relative speed with each target can be detected.
[0189]
Moreover, when the active target device receives wireless information from the communication integrated radar device or detects the reception of the radar wave, it activates the return transmission to suppress unnecessary power consumption of the active target device. Can do.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a first communication integrated radar apparatus.
FIG. 2 is a configuration diagram of a first active target device.
FIG. 3 is a diagram illustrating a relationship between a plurality of frequencies.
FIG. 4 is a diagram illustrating a change in frequency over time.
FIG. 5 is a diagram showing a frequency relationship in the first method.
FIG. 6 is a configuration diagram of a second communication integrated radar apparatus.
FIG. 7 is a diagram illustrating a frequency relationship in the second method.
FIG. 8 is a first operation flowchart of the communication integrated radar apparatus.
FIG. 9 is a second operation flowchart of the communication integrated radar apparatus.
FIG. 10 is a configuration diagram of a third communication integrated radar apparatus.
FIG. 11 is a configuration diagram of a second active target device.
FIG. 12 is a diagram illustrating a time division operation.
FIG. 13 is a diagram showing a packet structure of PD1.
FIG. 14 is a diagram illustrating a packet structure of PD2.
FIG. 15 shows a plurality of active target devices.
FIG. 16 is a diagram showing four sub beat signals.
FIG. 17 is a third operation flowchart of the communication integrated radar apparatus.
FIG. 18 is a configuration diagram of a fourth communication integrated radar apparatus.
FIG. 19 is a configuration diagram of a fifth communication integrated radar apparatus.
FIG. 20 is a configuration diagram of a sixth communication integrated radar apparatus.
FIG. 21 is a block diagram of a third active target device.
FIG. 22 is a diagram showing an intensity distribution when no station ID is specified.
FIG. 23 is a diagram showing an intensity distribution when a station ID is designated.
FIG. 24 is a diagram showing pattern matching.
FIG. 25 is a block diagram of a fourth active target device.
FIG. 26 is a block diagram of a fifth active target device.
FIG. 27 is a diagram showing a train stop monitoring system.
FIG. 28 is a first operation flowchart (part 1) of the train stop monitoring system;
FIG. 29 is a first operation flowchart (part 2) of the train stop monitoring system;
FIG. 30 is a diagram showing an active target device fixed at a predetermined position.
FIG. 31 is a second operation flowchart of the train stop monitoring system.
FIG. 32 is a third operation flowchart of the train stop monitoring system.
FIG. 33 is a fourth operation flowchart of the train stop monitoring system.
FIG. 34 is an operation flowchart of the active target device.
FIG. 35 is a first diagram showing the first safety fence door control;
FIG. 36 is a diagram (part 2) illustrating the first safety fence door control;
FIG. 37 is a fifth operation flowchart of the train stop monitoring system.
FIG. 38 is a diagram (No. 1) illustrating a second safety fence door control;
FIG. 39 is a second diagram illustrating the second safety fence door control;
FIG. 40 is a diagram showing a ship berthing system.
FIG. 41 is a diagram showing a security system.
FIG. 42 is a configuration diagram of a seventh communication integrated radar apparatus.
FIG. 43 is a block diagram of a sixth active target device.
[Explanation of symbols]
101, 201, 2101, 2201 Control unit
102, 1201, 1022 Modulator
103, 2103 triangular wave modulation oscillator
104, 2104 RF band voltage controlled oscillator
105, 1202, 2105 modulation circuit
106, 207, 2106, 2202 Transmitting antenna
107, 202, 2107, 2206 receiving antenna
108, 110, 2002, 2108 Mixer
109, 2001 Bandpass filter
111, 206 IF oscillator
112, 1901, 2003, 2109 Low-pass filter
113, 1902, 2004, 2110 AD converter
114, 1903, 2005, 2111 Fast Fourier transform unit
203, 1101, 2033 Demodulator
204, 1102, 2204 Demodulator
205, 2205 amplifier
401 Frequency of transmission radar wave
402 Frequency of received radar wave
403 Upbeat signal frequency
404 Frequency of downbeat signal
1401, 1501 Header part
1402, 1502 Data part
1411, 1511 Destination ID
1412, 1512 Source ID
1601, 2801, 4302, 4403 Communication integrated radar device
1602, 1604, 2802, 3301, 3803, 3804, 4304, 4405, 4431, 4432 Active target device
1603, 1605 Speedometer
2601, 2701 Reception level detection circuit
2602, 2702 Threshold judgment circuit
2803 train
2804 Stop signal
3801, 3802 Vehicle
3805 Safety fence
3806, 3807, 3808 Door
4301 Ship
4303 Quay
4305 Communication area
4401 Gate
4402 Monitoring device
4404 Reflector
4411 notice area
4412 Active target device non-carrier detection area
4413 Gate control area
4421, 4422, 4423
4601 Voice application part
4602 Audio data part
4603 Speaker

Claims (5)

An active target device that receives and returns a radar wave,
Demodulation means for extracting data from the received radar wave;
Amplifying means for amplifying and returning the received radar wave;
Analyzing the extracted data to detect station identification information, and when the detected station identification information is station identification information designating the active target device, the control means for operating the amplification means for a predetermined time. An active target device. An active target device that receives and returns a radar wave,
Reception level detection means for detecting the reception level of the received radar wave;
Amplifying means for amplifying and returning the received radar wave;
An active target device comprising: a threshold determination unit that operates the amplification unit for a predetermined time when the detected reception level exceeds a predetermined threshold. A communication integrated radar device that transmits a radar wave and receives a radar wave transmitted back from a target,
Control means for outputting data including station identification information for designating a target;
Modulation means for inputting the data to a transmission radar wave during operation of a wireless communication function;
When the radar function is operated after the wireless communication function is operated, a part of the transmitted radar wave is mixed with the received radar wave transmitted from the target specified by the station identification information. A communication integrated radar apparatus comprising: detecting means for detecting a beat signal. The detection means includes
A first mixer means for mixing a part of the transmission radar wave with a reception radar wave transmitted from the target;
Bandpass filter means for extracting an intermediate frequency band signal centered on a first frequency from the output of the first mixer means;
A second mixer means for mixing the extracted intermediate frequency band signal and the second frequency signal;
The control means extracts a frequency difference between two sub beat signals having high strength from the output of the second mixer means, and calculates half of the frequency difference as the frequency of the beat signal from the target. The communication integrated radar apparatus according to claim 3. Operate the wireless communication function, input data including station identification information specifying the target to the radar wave and transmit it,
After operating the wireless communication function, operate the radar function to transmit radar waves,
Receiving a radar wave transmitted from the target specified by the station identification information;
A target detection method, comprising: detecting a beat signal from the target by mixing a part of a transmission radar wave and a reception radar wave.

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