JP2005114698A - Distance-measuring device between moving objects - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a distance-measuring device between the moving objects which can measure distance to the moving object and its relative velocity, even when the relative velocity of the moving object is zero, without using a complicated circuit. <P>SOLUTION: The device includes a high-speed switching type radar having a transmission and reception antenna which transmits millimeter waves of two kinds of frequencies, alternately in time to the object and receives reflected waves. The distance-measuring device between moving objects which measures the distance to the object and the relative velocity of the object, by receiving the reflected wave comprises a radar moving part which moves with reciprocation the high-speed switching type radar, and a signal process part which calculates the distance to the object and the relative velocity of the object by transmitting a signal from the high-speed switching type radar. The distance to the object and the relative velocity are measured, without making the high-speed switching type radar move reciprocatingly, when the relative velocity of the object is over a stated velocity threshold, and the distance to the object and the relative velocity are measured by moving with reciprocation the high speed switching type radar using the radar moving part, when the relative velocity of the object is below the stated velocity threshold. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention transmits a millimeter wave of two kinds of frequencies as a transmission wave from a transmission device to a moving body that is an object, receives a reflected wave from the moving body, and determines the phase difference between the moving body and the moving body. The present invention relates to a distance measuring apparatus between moving bodies by a two-frequency CW method for measuring the distance of the moving body and the relative speed of the moving body.

  A two-frequency CW system distance measuring apparatus using a two-frequency CW system that transmits millimeter waves of two kinds of frequencies as transmission waves to a moving body that is an object and receives a reflected wave from the moving body includes a distance to the moving body, As a device for measuring the relative velocity of a moving body, it is widely used in in-vehicle radars and the like. This inter-moving body distance measuring device has a function known to a driver or the like if there is a danger by measuring the distance to the approaching vehicle that is the object to be measured and its relative speed.

However, in the conventional distance measuring apparatus between moving bodies using the two-frequency CW method, there is a problem that the distance and relative speed cannot be measured when the relative speed between the moving body and the distance measuring apparatus between moving bodies becomes zero. In order to solve these problems, Japanese Patent Application Laid-Open No. 2000-292530 and Japanese Patent Application Laid-Open No. 2002-071793 disclose a distance measuring apparatus between moving bodies using a two-frequency CW method.
JP 2000-292530 A JP 2002-071793 A

  First, in the configuration disclosed in Japanese Patent Application Laid-Open No. 2000-292530, two different modulation schemes are alternately selected for transmission and transmitted, and both frequencies are used. In the configuration disclosed in Japanese Patent Application Laid-Open No. 2002-071793, a portion that alternately modulates two frequencies and a portion that modulates in the vicinity of another frequency are used in combination. For this reason, the circuit of a control system etc. is complicated in any system.

  The present invention has been made in view of such a reason, and the object of the present invention is to use a complicated circuit for determining the distance to the moving body and the relative speed even when the relative speed of the moving body is 0. An object of the present invention is to provide an apparatus for measuring distance between moving bodies that can be measured.

  In order to solve the above-described problem, the inter-vehicle distance measuring device according to the present invention transmits two millimeter wave frequencies to an object and receives a reflected wave from the object. High speed switching having a transmission / reception antenna for receiving a reflected wave by transmitting millimeter waves of two kinds of frequencies to the object alternately in time in a distance measuring apparatus for measuring a distance and a relative speed of the object Type radar unit, a radar moving unit that reciprocates the high-speed switching type radar unit, and a signal that is transmitted with a signal from the high-speed switching type radar unit to calculate the distance to the target object and the relative velocity of the target object And when the relative speed of the object is equal to or higher than a certain speed threshold, the high-speed switching radar unit is not reciprocated, and when the relative speed of the object is equal to or lower than the speed threshold, the high-speed switching radar In front By reciprocating the radar moving unit, and measures the relative velocity of the object and the distance to the object.

  The inter-moving object distance measuring device of the present invention can reciprocate the high-speed switching type radar unit by the radar moving unit below a predetermined speed threshold, so even when the relative speed of the moving object is zero, The distance and its relative speed can be measured without using a complicated circuit.

(Embodiment 1)
The distance measuring apparatus between moving bodies of this embodiment is demonstrated based on FIGS. As shown in FIG. 1, the inter-moving body distance measuring apparatus according to the present embodiment includes a high-speed switching radar unit 1 having a transmission / reception antenna 2 and a high-speed switching radar unit circuit 5, a radar moving unit 3, a microcomputer, and the like. And a signal processing unit 4 constituted by:

  First, the transmitting / receiving antenna 2 has a function of transmitting a millimeter wave as a transmission radio wave to the beam range 6 and receiving a reflected wave from the object 7 in the millimeter. The signal processing unit 4 has a function of calculating a distance L to the object 7 and a relative speed V of this by calculating a reception signal from the transmission / reception antenna 2.

  As shown in FIG. 2, the radar moving unit 3 includes a motor 10, a gear 11, and a motor driver circuit 12, and reciprocates the high-speed switching type radar unit 1. As such a radar moving part 3, as shown to Fig.2 (a), the unit 16 can be inserted in the groove part 18 of the rail 17 about 1 m long so that a movement to one direction is possible. Here, the unit 16 includes the high-speed switching type radar unit 1, arranges the transmission / reception antenna 2 so that the transmission / reception surface is directed in one direction (that is, in the moving direction), and the convex portion of the central stripe of the rail 17. 19 is placed. The convex portion 19 includes a belt 13 that can slide in one direction. The belt 13 receives a moving force that is slid by the gear 11 inside the rail 17. The gear 11 is used to transmit the rotational force of the motor 10 to the belt 13. The motor 10 is preferably a servo motor, but may be a stepping motor, a linear motor, or the like as another motor. An optical sensor for monitoring the rotation state of the motor 10 is attached to the rotation shaft of the motor 10, and the rotation speed of the motor 10 is detected in the rail 17 by a signal from the optical sensor. The motor driver circuit 12 is controlled. Further, two convex stoppers 14 are formed on the belt 13 and serve to fix the unit 16 on the belt 13. By reciprocating the radar moving unit 3 in one direction of the rail 17 at a high speed, the unit 16 is moved at a moving speed sufficient to cause the Doppler effect for both of the two millimeter waves to be transmitted and received.

  Further, the signal processing unit 4 determines whether to measure the distance with the unit 16 fixed or to measure the distance with the unit 16 moved. That is, when the relative speed between the target object (for example, another vehicle that is approaching) that is a moving body and its own device (the vehicle on which the present apparatus is mounted) is larger than the speed threshold value N (approximately 0). First, the radar moving unit 3 is stopped. When it is detected that the relative speed between the object and the own device is smaller than the speed threshold N, the radar moving unit 3 is moved so that the fast-switching radar unit 1 moves in the front direction of the transmitting / receiving antenna 2. Move. Further, the signal processing unit 4 subtracts or adds the moving speed Vm of the radar moving unit 3 from the relative speed Va calculated by the high-speed switching type radar unit 1 between the target object and its own device. It also has the function of calculating the relative velocity V (= Va-Vm or Va + Vm) between the object and the aircraft.

  The operation of such a distance measuring apparatus between moving bodies will be described below with reference to the flowchart shown in FIG. First, with the fast-switching radar unit 1 fixed, the signal processing unit 4 causes the fast-switching radar unit 1 to move the relative speed between the target object that is a moving body and the own device on which the present apparatus is mounted. Va and relative distance L are measured (S100). Next, the signal processing unit 4 compares the relative speed Va, which is the measurement result in step S100, with the speed threshold value N. Here, the speed threshold N is a predetermined numerical value, and is a value equal to or higher than the lower limit of the relative speed Va measurable range of the high-speed switching radar unit 1 in a fixed state. S200). When the relative speed Va is greater than or equal to the speed threshold value N in step S200, the relative speed Va can be measured with the fast switching radar unit 1 fixed. Therefore, the position of the fast switching radar unit 1 is continuously fixed. Repeat measurement in the state (S300).

  Next, when the relative speed Va is equal to or less than the speed threshold value N in step S200, the signal processing unit 4 drives the radar moving unit 3 to reciprocate the position of the fast switching radar unit 1. Specifically, a PWM command value representing the driving direction and driving speed of the motor 10 is input to the motor driver circuit 12, and movements such as the rotation speed and driving position of the motor 10 are read by the signal processing unit 4. During the reciprocating movement, the signal processing unit 4 measures the relative speed Va and the relative distance L to the high-speed switching radar unit 1 (S400). The relative speed V (= Va−Vm or Va + Vm) between the target object and the subject aircraft is calculated by subtracting or adding the measured relative speed Va and the moving speed Vm of the high-speed switching radar unit 1. (S500). And it returns to operation | movement of step S200 again.

  Here, regarding the relative speed V, the reciprocating direction of the high-speed switching radar unit 1 of the present apparatus is assumed to be toward the target object to be measured, and is moved in the direction toward the target object (referred to as the forward path). When the relative speed Va is measured in the middle, the relative speed V is calculated by the formula of relative speed V = Va−Vm. Here, the three values V, Va, and Vm may be handled as absolute values without considering the vector code due to speed. Conversely, when the reciprocating direction of the fast switching radar unit 1 of the present apparatus is a relative speed Va measured while moving in a direction away from the object (referred to as a return path), the formula of relative speed V = Va + Vm To calculate the relative speed V. For example, it is assumed that the mounting position of this apparatus is attached with the rail line direction aligned with the longitudinal direction of the vehicle body, and detection is performed for the front vehicle located in front of the vehicle body. During the period in which the radar moving unit 3 is moving the high-speed switching type radar unit 1 forward of the vehicle body, V is calculated by the equation V = Va−Vm. Conversely, when the radar moving unit 3 moves the high-speed switching type radar unit 1 toward the rear of the vehicle body, V is calculated by the equation V = Va + Vm.

  Here, since the fast-switching radar unit 1 directly handles frequency values, the frequency value calculation may be easier to calculate than the speed value calculation. In this case, it is calculated by the Doppler principle expressed by the following equation (1).

Fd = 2Vm F / C Formula (1)
Fd: Doppler frequency
Vm: Moving speed of the fast switching radar unit 1 (moving speed of the radar moving unit 3)
F: Millimeter wave frequency
C: Speed of light (3.0 × 10 ⁸ m / sec)
The inter-moving object distance measuring device of the present embodiment simply adds a radar moving unit to the conventional two-frequency CW inter-moving object distance measuring device, and even when the relative speed of the object is zero, Distance and relative speed can be measured without using complicated circuits. Therefore, the cost can be reduced as compared with the simultaneous transmission radar apparatus.

(Embodiment 2)
A moving body distance measuring apparatus according to Embodiment 2 will be described with reference to the flowchart of FIG. The distance measuring apparatus between moving bodies of the present embodiment is substantially the same as that of the first embodiment, but the signal processing unit 4 determines the absolute value | Vm | of the moving speed value and the moving direction for the reciprocating movement of the radar moving unit 3. It is different in that it detects at the same time. That is, only when | Vm | is equal to or greater than the one-side speed threshold value Vmth and the moving direction is only the forward path or the return path, the object received from the high-speed switching radar unit 1 and the own aircraft The relative speed Va is determined, and the relative speed V (= Va−Vm or Va + Vm) is calculated by subtracting or adding the moving speed Vm of the radar moving unit 3.

  In the inter-vehicle distance measuring apparatus according to the first embodiment, the speed of the object is calculated based on the magnitude of the moving speed value | Vm | regardless of the moving direction of the radar moving unit 3. On the other hand, in this embodiment, as shown in the flowchart of FIG. 4, the moving speed value | Vm | is equal to or greater than the one-side speed threshold value Vmth, and the moving direction is determined to be either the forward path or the return path. Judgment is made when it is direction. That is, the rotational speed of the motor is used for calculation in a state where the high-speed switching radar unit 1 is not in the vicinity of the end of the reciprocating range but in the vicinity of the center of the reciprocating range. For this reason, the measurement is performed in a state where the reciprocating speed of the unit 16 in which the high-speed switching type radar unit 1 is installed is a predetermined speed. Furthermore, since the measurement state is limited only to the forward path or the return path, the amount of calculation of the signal processing unit 4 can be halved compared to the first embodiment.

  The inter-moving object distance measuring device of the present embodiment measures the distance to the object and the relative speed of the object by the signal processing unit only when the high-speed switching radar unit moves on the forward path or the return path. Therefore, the amount of calculation can be reduced, and the actual load on the signal processing unit can be reduced. Further, data is not collected in the backlash state of the motor of the radar moving unit, and data reliability can be ensured.

(Embodiment 3)
The distance measuring apparatus between moving bodies of Embodiment 3 is demonstrated based on the flowchart of FIG. The distance measuring apparatus between moving bodies of the present embodiment is substantially the same as that of the second embodiment, but the moving direction of one of the forward path and the backward path to be calculated by the signal processing unit 4 is set and the other direction is set. Only in the case of movement (that is, movement in a direction not subject to calculation in the signal processing unit 4), the movement speed of the movement mechanism is different from that of one movement direction at the maximum.

  Since the moving speed of the high-speed switching type radar unit is different between the forward path and the return path, the moving distance measurement apparatus according to the present embodiment slows down the motor movement in either the forward path or the return path that is not measured. Deterioration of the motor can be suppressed.

(Embodiment 4)
A moving body distance measuring apparatus according to Embodiment 4 will be described with reference to FIGS. The distance measuring apparatus between moving bodies of the present embodiment is substantially the same as that of the first embodiment, but a notification unit is added. As shown in FIG. 6, the notification unit 20 is operated by a sound notification device 21 such as a buzzer or a recorded voice, an artificially synthesized voice, or a body-mounted vibration notification device 24 that notifies a driver via a wireless device 23. Various notification devices for notifying the hand of danger and a notification control device 25 for controlling the various notification devices by signals from the signal processing unit 4 are provided.

  The inter-moving body distance measuring device of this embodiment has a function of being attached to an automobile and notifying the driver of the danger. The notification unit 20 notifies the driver of the abnormality of the radar moving unit 3. The radar moving unit 3 includes mechanical parts such as a motor 10, a gear 11, and a belt 13 and is driven at a high speed, so that a failure may occur. When this failure occurs, this is automatically detected and notified to the driver according to the flowchart shown in FIG.

  Here, criteria for determining whether or not an abnormality has occurred are as follows. Up to this point, the normal voltage waveform data Dnomal indicated by the solid line in FIG. Then, the waveform data Dth of the allowable deviation value for Dnomal (illustrated by a dotted line in FIG. 8B) is set, and the allowable deviation value δth (ij) for Dth (i = 1 to n, j = 1 to 3, n Experimentally determine the number of waveforms). As an example, Δth (ij) can be set to be proportional to the speed value. As shown in FIG. 8C, the deviation δ (ij) (i = 1 to n, j = 1 to 3, n is the number of waveforms) between the actually measured waveform and the waveform data Dth is from δth (ij). If larger, it is determined that an abnormality has occurred, and the notification unit 20 is operated to notify the driver. Here, when an abnormality occurs, there is no need to continue the measurement, so the movement of the radar moving unit 3 is stopped. In the example of FIG. 8C, δ (13), δ (22), δ (31), δ (42), δ (13), δ (22), δ (42), δ (63) is determined as the normal range (OK), and δ (41), δ (43), and δ (51) are determined as abnormal (NG).

  The inter-moving body distance measuring device according to the present embodiment includes a notification unit that notifies a danger signal. When the motor driver circuit determines that the motor or gear is abnormal, it notifies the abnormality and the radar. Since the movement of the moving unit is stopped, it is possible to detect the presence or absence of abnormality of the radar moving unit by automatic detection and notify the driver. Furthermore, normal / abnormal can be detected from a part of the combined view of the motor and gear among the component parts of the device, so that the inspection means is software only compared to the case where an inspection mechanism for each part is provided. Thus, the inspection becomes easy.

(Embodiment 5)
A moving body distance measuring apparatus according to Embodiment 5 will be described with reference to the flowchart of FIG. The inter-moving body distance measuring apparatus according to the present embodiment is substantially the same as that according to the fourth embodiment. However, depending on the calculation result of the relative speed V, the danger distance threshold value Tth is set for each inter-vehicle distance between the object and the own vehicle. A function to set is added. If another vehicle approaches in the front-rear direction beyond the danger distance threshold Tth, the notification unit 20 notifies the driver of the vehicle in the same manner as in the fourth embodiment. The danger distance threshold value Tth is set to a larger value as the relative speed V (= Va−Vm or Va + Vm) between the moving body and the aircraft is larger, and the measured vehicle speed value Vown is larger. The danger distance threshold Tth is set larger as the speed value is larger. In other words, the danger distance threshold Tth is set to a larger value as the relative speed of the approaching automobile is faster and the speed of the host vehicle is faster, and as a result, the danger is notified earlier.

  The inter-moving body distance measuring device according to the present embodiment sets a dangerous distance threshold depending on the distance to the object and the relative speed in the signal processing unit, and when the dangerous distance threshold becomes a predetermined value or less, the notification unit Therefore, there is a high possibility that a traffic accident can be prevented in advance. In addition, since the dangerous distance threshold is calculated depending on the moving speed of the automobile body, the possibility of preventing a traffic accident is further increased.

(Embodiment 6)
A moving body distance measuring apparatus according to Embodiment 6 will be described with reference to FIGS. The inter-moving body distance measuring device of the present embodiment is substantially the same as that of the fifth embodiment, but approaches the vehicle body in the left-right direction (not a mobile vehicle running in a horizontal lane in parallel, but at an intersection, etc. A function for detecting a danger and notifying the driver is also added to the target object (approaching the vehicle).

  As shown in FIG. 10, the inter-moving body distance measuring device of the present embodiment is installed on the front side of the vehicle body 30 and installed on the rear side of the front moving body distance measuring device 31 for detecting the front approaching vehicle 41. Then, the distance between the rear moving body 32 for detecting the rear approaching vehicle 42 and the lateral direction for detecting the left approaching vehicle 43 and the right approaching vehicle 44 installed on the loading platform behind the headrest of the rear seat. It consists of a distance measuring device 33 between moving bodies. That is, the high-speed switching type radar unit 1 of the front moving body distance measuring device 31 and the rear moving body distance measuring device 32 reciprocates in the front-rear direction of the automobile body 30, The fast switching radar unit 1 of the rear moving body distance measuring device 32 is installed so as to reciprocate to the left and right of the automobile body 30. Here, the length of the rail for reciprocating the unit 16 in which the high-speed switching type radar unit 1 is installed is about 1 m, and it is necessary not to be obstructive when facing the front from the driver's seat. It is installed in the place of. Further, since the unit 16 reciprocates at high speed, the outer appearance is covered with a non-translucent material outer cover 35 as shown in FIG. 11 so as not to obstruct the driver who sees it with a rearview mirror. deep. Since the outer cover 35 only needs to be hidden in the rail direction from the viewpoint of the driver, the two side surfaces are left open.

  Here, with respect to the laterally moving body distance measuring device 33, as shown in FIG. 12 (a), the two rails 17 and 17 are installed and the units 16 and 16 are provided, respectively. As shown in FIG. 5B, it is possible to reduce the cost and space by installing one rail 17 and providing the left measurement unit 16a and the right measurement unit 16b because the number of parts is small. . In this case, the transmitting / receiving antenna 2a is provided on the left side of the left measuring unit 16a, and the transmitting / receiving antenna 2b is provided on the right side of the right measuring unit 16b. Further, the moving section of the left measurement unit 16a is set as the left half section La of the rail 17, and the moving section of the right measurement unit 16b is set as the left half section Lb of the rail 17, thereby making each unit independent. Can be moved (that is, there is no risk of collision between the units), and control is facilitated.

  Further, as shown in FIG. 12 (c), a single radar moving unit is used by attaching transmitting and receiving antennas 2a and 2b to both side surfaces of the unit 16 of the lateral moving body distance measuring device 33. Thus, the distance and relative speed of the left approaching vehicle 43 and the right approaching vehicle 44 can be measured. However, in this case, when the beam range of the millimeter wave transmitted from the transmission / reception antenna 2 is wide, when the transmission / reception antenna 2 is attached to both sides of the unit, when the unit 16 is at one end of the rail, the other It becomes difficult to detect approaching vehicles.

  The operation of this embodiment will be described based on the block diagram of FIG. 13 and the flowchart of FIG. As shown in FIG. 11, the signal processing unit 4a of each of the front moving body distance measuring device 31 and the rear moving body distance measuring device 32 and the processing of the signal processing unit 4b of the lateral moving body distance measuring device 33. By collecting the signals in one signal processing unit 4 and controlling the notification control device 25 of the notification unit 20 based on the output signal from now on, the driver is notified at the time of danger similarly to the fifth embodiment. In each of the inter-moving body distance measuring devices 31 to 33, the determination result is sent to the signal processing unit 4 through step B through the unit determination flow in the flowchart shown in FIG. It is determined in which direction the approaching vehicle exists. If it is determined as dangerous, the driver is notified by the display device 22 and the sound notification device 21 near the driver's seat. At this time, if the driver is suddenly notified of the danger, the driver may be upset and make a mistake in the steering operation. In order to prevent this, for example, as shown in FIG. 15, the vehicle display in the direction determined to be dangerous is blinked on the display device 22 (in FIG. 15, the front approaching vehicle 41 is blinked and notified), It is desirable to notify the driver gently by generating a voice alarm such as “Please decelerate” by the sound notification device 21.

  In this embodiment, the transmitting / receiving antennas are attached to both sides of the unit of the lateral moving body distance measuring device, but two lateral moving body distance measuring devices having the transmitting / receiving antennas attached to one side of the unit. Even if it is attached, the same effect can be obtained.

  The inter-moving body distance measuring device of this embodiment includes a pair of high-speed switching radar units that reciprocate in the moving direction of the automobile body, and a pair of high-speed switching radar units that reciprocate in a direction perpendicular to the moving direction of the moving vehicle body. Is attached to the automobile body, so that an automobile approaching from the front, rear, left and right can be detected. Informing this to the driver further increases the possibility of preventing traffic accidents.

  In addition, since the outer cover is attached on the moving space to a pair of high-speed switching radar units that reciprocate in a direction perpendicular to the moving direction of the automobile body, the moving high-speed switching radar units become invisible, which is an obstacle to the driver. No longer.

  Furthermore, by installing a pair of high-speed switching radar units that reciprocate in the moving direction of the automobile body or a pair of high-speed switching radar units that reciprocate in a direction perpendicular to the moving direction of the automobile body on the same rail Since the number of parts is small, the cost is low and the space can be saved.

  In addition, the pair of high-speed switching radar units that reciprocate in the moving direction of the vehicle body or the pair of high-speed switching radar units that reciprocate in the direction perpendicular to the moving direction of the vehicle body is half the length of the rail. By adopting a configuration that moves only within this range, there is no possibility that the units collide with each other, so that the control becomes easy and the cost can be further reduced. .

  Furthermore, the pair of high-speed switching radar units that reciprocate in a direction perpendicular to the moving direction of the automobile body can reduce the number of moving bodies (units) by being installed in the same moving body. The cost can be reduced.

It is a block diagram of the distance measuring apparatus between moving bodies of Embodiment 1. It is an external view of the distance measuring apparatus between moving bodies of Embodiment 1, (a) is a perspective view, (b) is sectional drawing. 3 is a flowchart showing the operation of the inter-moving body distance measuring apparatus according to the first embodiment. 6 is a flowchart showing the operation of the inter-moving body distance measuring apparatus according to the second embodiment. 10 is a flowchart showing the operation of the inter-moving body distance measuring apparatus according to the third embodiment. It is a principle figure of the distance measurement apparatus between moving bodies of Embodiment 4. 10 is a flowchart showing the operation of the inter-moving body distance measuring apparatus according to the fourth embodiment. It is a graph which shows the waveform voltage of the distance measuring apparatus between moving bodies of Embodiment 4. 10 is a flowchart illustrating the operation of the inter-moving body distance measuring device according to the fifth embodiment. It is the attachment figure to the motor vehicle body of the moving body distance measuring apparatus of Embodiment 6, (a) is a top view of the whole, (b) is a rear perspective view. It is an external view of the radar moving part of Embodiment 6, (a) is a perspective view, (b) is a side view. It is a top view of the radar moving part of Embodiment 6, (a) is a thing of 2 rails and 2 units, (b) is a thing of 1 rail and 2 units, (c) is one rail and 1 unit. Of the unit. It is a block diagram of the distance measuring apparatus between moving bodies of Embodiment 6. 14 is a flowchart showing the operation of the inter-moving body distance measuring apparatus according to the sixth embodiment. 10 is an example of an image displayed on the display device of the inter-vehicle distance measuring device according to the sixth embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 High-speed switching type radar part 2 Transmission / reception antenna 3 Radar moving part 4 Signal processing part 5 High-speed switching type radar part circuit part 6 Beam range 7 Target object 10 Motor 16 Unit 16a Right measurement unit 16b Left measurement unit 17 Rail 18 Groove part 19 Convex part 20 Notification part 30 Automobile body

Claims (11)

It has a high-speed switching type radar unit having a transmission / reception antenna that receives a reflected wave by alternately transmitting millimeter waves of two kinds of frequencies to the object in time, and receives the reflected wave, thereby the object In the inter-moving body distance measuring device that measures the distance to the object and the relative speed of the object, a radar moving unit that reciprocates the high-speed switching radar unit, and a signal from the high-speed switching radar unit are transmitted and the A signal processing unit that calculates a distance to the object and a relative speed of the object,
When the relative speed of the object is equal to or higher than a certain speed threshold, the high-speed switching radar unit is not reciprocated. When the relative speed is equal to or lower than the speed threshold, the high-speed switching radar unit is reciprocated by the radar moving unit. Thus, the distance measuring apparatus for measuring the distance between the moving objects and the relative speed of the moving objects.   When the distance to the object and the relative speed of the object are measured by reciprocating the high-speed switching radar unit with the radar moving unit when the speed threshold value or less, the high-speed switching radar unit 2. The distance measuring apparatus according to claim 1, wherein the distance to the object and the relative speed of the object are measured only when the movement of the object is an outward path or a return path.   The distance measuring apparatus according to claim 2, wherein the moving speed of the high-speed switching radar unit is different between the forward path and the return path.   An informing unit for informing a danger signal, and the radar moving unit has a motor, a gear, and a motor driver circuit, and the motor or the gear when the radar moving unit moves in a forward path or a return path. 4. The method according to claim 1, wherein when the motor driver circuit determines that the error is abnormal, the notification unit is operated and the movement of the radar moving unit is stopped. The inter-moving body distance measuring device according to claim 1.   A warning unit for notifying a danger signal, setting a danger distance threshold value depending on a distance to the object and a relative speed of the object in the signal processing unit, and the danger distance threshold value is equal to or less than a predetermined value; The apparatus for measuring a distance between moving bodies according to any one of claims 1 to 4, wherein the notification section is operated when the error occurs.   6. The inter-moving body according to claim 5, wherein the high-speed switching radar unit is provided in an automobile body, and the dangerous distance threshold is set depending on a moving speed of the automobile body. Distance measuring device.   The high-speed switching radar unit is provided on the vehicle body, and a pair of high-speed switching radar units that reciprocate in the moving direction of the vehicle body and a pair of high-speed switching that reciprocates in a direction perpendicular to the moving direction of the vehicle body The inter-moving body distance measuring device according to claim 5 or 6, wherein a type radar unit is attached to the automobile body.   The distance between moving bodies according to claim 7, wherein an outer cover is attached on a moving space to the pair of high-speed switching radar units that reciprocate in a direction perpendicular to the moving direction of the automobile body. measuring device.   The pair of high-speed switching radar units that reciprocate in the moving direction of the vehicle body or the pair of high-speed switching radar units that reciprocate in a direction perpendicular to the moving direction of the vehicle body are included in the same moving body. The apparatus for measuring a distance between moving bodies according to claim 7 or 8, wherein the apparatus is provided.   The pair of high-speed switching radar units that reciprocate in the moving direction of the vehicle body or the pair of high-speed switching radar units that reciprocate in a direction perpendicular to the moving direction of the vehicle body are installed on the same rail. The distance measuring apparatus between moving bodies according to claim 7 or 8, wherein The pair of high-speed switching radar units that reciprocate in the movement direction of the automobile body or the pair of high-speed switching radar units that reciprocate in a direction perpendicular to the movement direction of the automobile body is half the length of the rail. The apparatus for measuring a distance between moving bodies according to claim 10, wherein the apparatus moves only within the range.

Images