JP2010271083A - レーダの軸ずれを判定する装置 - Google Patents
レーダの軸ずれを判定する装置 Download PDFInfo
- Publication number
- JP2010271083A JP2010271083A JP2009121282A JP2009121282A JP2010271083A JP 2010271083 A JP2010271083 A JP 2010271083A JP 2009121282 A JP2009121282 A JP 2009121282A JP 2009121282 A JP2009121282 A JP 2009121282A JP 2010271083 A JP2010271083 A JP 2010271083A
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- Prior art keywords
- vehicle
- radar
- multiple reflection
- axis deviation
- determined
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4056—Means for monitoring or calibrating by simulation of echoes specially adapted to FMCW
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
- G01S13/20—Systems for measuring distance only using transmission of interrupted, pulse modulated waves whereby multiple time-around echoes are used or eliminated
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93274—Sensor installation details on the side of the vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
- G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
【解決手段】車両の車速を検出し、該車速が所定値以上の時、少なくとも検出した距離に基づいて、多重反射が生じているかどうかを判定する。多重反射が生じていると判定されたならば、該多重反射の反射波について検出された方位と、所定の基準方位との差に基づいて、レーダの軸ずれを判定する。
【選択図】図6
Description
20 処理装置
30 車速センサ
Claims (3)
- 車両に搭載された、レーダの軸ずれを判定する装置であって、
前記車両の側方に向けて電磁波を放射すると共に、反射した該電磁波を受信して物体の距離および方位を検出するレーダと、
前記車両の車速を検出する手段と、
前記車速が所定値以上の時、少なくとも前記検出した距離に基づいて、多重反射が生じているかどうかを判定する多重反射判定手段と、
前記多重反射が生じていると判定されたならば、該多重反射の反射波について前記検出された方位と、所定の基準方位との差に基づいて、前記レーダの軸ずれを判定する軸ずれ判定手段と、
を備える、装置。 - 前記軸ずれ判定手段は、前記多重反射が複数回にわたって判定されたときに、前記レーダの軸ずれを判定する、
請求項1に記載の装置。 - 前記多重反射判定手段は、受信した複数の電磁波について、前記検出した距離が等間隔で得られると共に、前記検出した方位のばらつきが所定範囲内にあるとき、前記多重反射が生じていると判定する、
請求項1または2に記載の装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009121282A JP4790045B2 (ja) | 2009-05-19 | 2009-05-19 | レーダの軸ずれを判定する装置 |
US12/782,313 US8217829B2 (en) | 2009-05-19 | 2010-05-18 | Apparatus and method for determining axis deviation of radar |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009121282A JP4790045B2 (ja) | 2009-05-19 | 2009-05-19 | レーダの軸ずれを判定する装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2010271083A true JP2010271083A (ja) | 2010-12-02 |
JP4790045B2 JP4790045B2 (ja) | 2011-10-12 |
Family
ID=43124238
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009121282A Expired - Fee Related JP4790045B2 (ja) | 2009-05-19 | 2009-05-19 | レーダの軸ずれを判定する装置 |
Country Status (2)
Country | Link |
---|---|
US (1) | US8217829B2 (ja) |
JP (1) | JP4790045B2 (ja) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016029350A (ja) * | 2014-07-25 | 2016-03-03 | 株式会社デンソー | センサ取付角度検出装置、およびセンサ取付角度検出プログラム |
JP2016080649A (ja) * | 2014-10-22 | 2016-05-16 | 株式会社デンソー | 物体検知装置 |
JP2016156725A (ja) * | 2015-02-25 | 2016-09-01 | 株式会社デンソー | 搭載角度誤差検出方法および装置、車載レーダ装置 |
JP2016223937A (ja) * | 2015-06-01 | 2016-12-28 | パナソニックIpマネジメント株式会社 | 物体検出装置 |
KR101767881B1 (ko) * | 2011-03-17 | 2017-08-14 | 현대모비스 주식회사 | 차량의 후측방 레이더의 수평 방향으로의 얼라인먼트 방법 및 시스템 |
JP2017173115A (ja) * | 2016-03-23 | 2017-09-28 | 株式会社デンソー | 搭載角度学習装置 |
KR20180069020A (ko) * | 2015-11-13 | 2018-06-22 | 발레오 샬터 운트 센소렌 게엠베아 | 각도 측정용 자동차의 센서를 보정하는 방법, 계산 장치, 운전자 보조 시스템, 및 자동차 |
KR20200139233A (ko) * | 2018-05-04 | 2020-12-11 | 발레오 샬터 운트 센소렌 게엠베아 | 센서 이미지의 주사점에 의해 광전자 센서의 롤 각도를 결정하기 위한 방법, 및 광전자 센서 |
Families Citing this family (6)
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JP6371534B2 (ja) * | 2014-02-12 | 2018-08-08 | 株式会社デンソーテン | レーダ装置、車両制御システム、および、信号処理方法 |
JP6475543B2 (ja) * | 2015-03-31 | 2019-02-27 | 株式会社デンソー | 車両制御装置、及び車両制御方法 |
KR101684551B1 (ko) * | 2015-06-26 | 2016-12-08 | 현대자동차 주식회사 | Bsd센서의 장착각 감지 시스템 및 감지방법 |
EP3139194B1 (en) * | 2015-09-02 | 2022-04-20 | Veoneer Sweden AB | A close range filtering fmcw radar |
EP3290945A1 (en) * | 2016-09-02 | 2018-03-07 | Autoliv Development AB | Misalignment detection for a vehicle radar sensor |
EP4042196A4 (en) | 2019-10-10 | 2023-11-15 | Thales Canada Inc. | SYSTEM AND METHOD FOR DETERMINING THE SPEED AND STATIONARY STATE OF A RAIL VEHICLE |
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JP2016029350A (ja) * | 2014-07-25 | 2016-03-03 | 株式会社デンソー | センサ取付角度検出装置、およびセンサ取付角度検出プログラム |
JP2016080649A (ja) * | 2014-10-22 | 2016-05-16 | 株式会社デンソー | 物体検知装置 |
JP2016156725A (ja) * | 2015-02-25 | 2016-09-01 | 株式会社デンソー | 搭載角度誤差検出方法および装置、車載レーダ装置 |
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JP2017173115A (ja) * | 2016-03-23 | 2017-09-28 | 株式会社デンソー | 搭載角度学習装置 |
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KR20200139233A (ko) * | 2018-05-04 | 2020-12-11 | 발레오 샬터 운트 센소렌 게엠베아 | 센서 이미지의 주사점에 의해 광전자 센서의 롤 각도를 결정하기 위한 방법, 및 광전자 센서 |
KR102397360B1 (ko) * | 2018-05-04 | 2022-05-12 | 발레오 샬터 운트 센소렌 게엠베아 | 센서 이미지의 주사점에 의해 광전자 센서의 롤 각도를 결정하기 위한 방법, 및 광전자 센서 |
Also Published As
Publication number | Publication date |
---|---|
US8217829B2 (en) | 2012-07-10 |
US20100295722A1 (en) | 2010-11-25 |
JP4790045B2 (ja) | 2011-10-12 |
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