JP2018066702A - Radar device and target grouping method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a radar device and a target grouping method with which it is possible to accurately group targets.SOLUTION: A radar device according to an embodiment comprises a target detection unit, a grouping inhibition unit and a grouping unit. The target detection unit detects a plurality of targets on the basis of a received signal that is acquired by receiving reflected waves of a transmitted wave that are reflected by a target. The grouping inhibition unit inhibits the plurality of targets from being grouped into one when a grouping inhibition condition is satisfied in which the relationship between the plurality of targets detected by the target detection unit is preset. The grouping unit groups the plurality of targets into one group when a grouping condition is satisfied in which the relationship between the plurality of targets detected by the target detection unit is preset, unless grouping of the plurality of targets is inhibited by the grouping inhibition unit.SELECTED DRAWING: Figure 2

Description

  Embodiments disclosed herein relate to a radar apparatus and a target grouping method.

  Conventionally, a radar device that transmits a transmission wave and detects a target based on a reflected wave from the target is known. In such a radar apparatus, when a plurality of detected targets are close to each other and moving at the same speed, the plurality of targets are grouped as one group, and the targets belonging to the same group are grouped together. A technique for processing as a target of a moving body (for example, a vehicle) is known (for example, see Patent Document 1).

JP 2000-206241 A

  However, in the above-described radar apparatus, when different moving bodies are close to each other and moving at the same speed, there is a possibility that the targets of these different moving bodies are grouped as one group.

  One embodiment of the present invention has been made in view of the above, and an object thereof is to provide a radar apparatus and a target grouping method that can perform target grouping with high accuracy.

  A radar apparatus according to an aspect of an embodiment includes a target detection unit, a grouping prohibition unit, and a grouping unit. The target detection unit detects a plurality of targets based on a reception signal acquired by receiving a reflected wave of a transmission wave reflected by the target. The grouping prohibition unit is configured to group the plurality of targets into one group when a relationship between the plurality of targets detected by the target detection unit satisfies a preset grouping prohibition condition. Is prohibited. The grouping unit prohibits grouping of the plurality of targets by the grouping prohibition unit when the relationship between the plurality of targets detected by the target detection unit satisfies a preset grouping condition. If not, the plurality of targets are grouped as one group.

  According to the radar apparatus and the target grouping method according to one aspect of the embodiment, the target can be grouped with high accuracy.

FIG. 1A is an explanatory diagram of grouping processing executed by the radar apparatus. FIG. 1B is an explanatory diagram of grouping processing for prohibiting grouping between target data. FIG. 2 is a diagram illustrating a configuration of the radar apparatus according to the embodiment. FIG. 3 is a diagram showing a relationship between one transmission wave and one reception wave and a beat signal. FIG. 4 is a diagram illustrating a configuration example of the grouping unit illustrated in FIG. FIG. 5 is a diagram illustrating an example of the prohibition table. FIG. 6 is a diagram illustrating a positional relationship between the seven targets and the radar apparatus. FIG. 7 is a diagram illustrating the states of parameters included in the seven target data. FIG. 8 is a diagram illustrating an example of a prohibition table setting method by the group prohibition setting unit. FIG. 9 is an explanatory diagram (part 1) of the grouping process by the grouping unit. FIG. 10 is an explanatory diagram (part 2) of the grouping process by the grouping unit. FIG. 11 is an explanatory diagram of the regrouping process by the grouping unit. FIG. 12 is an explanatory diagram of processing by the grouping prohibition release unit. FIG. 13 is a flowchart illustrating an example of a processing procedure executed by the signal processing unit. FIG. 14 is a flowchart showing the flow of the grouping process in step S13 shown in FIG. FIG. 15 is an explanatory diagram (part 3) of the grouping process by the grouping unit.

  Hereinafter, embodiments of a radar apparatus and a target grouping method disclosed in the present application will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by embodiment shown below.

[1. Target grouping process]
The target grouping process according to the embodiment is executed by a radar apparatus. Such a radar apparatus detects, for example, a target (for example, a moving object or a stationary object) existing in the vicinity using a frequency-modulated continuous wave. The radar device according to the embodiment is an on-vehicle radar device mounted on a vehicle, but may be used for various purposes other than the on-vehicle radar device (for example, monitoring of an aircraft or a ship).

  Such a radar device detects a target using a target detection method such as an FM-CW (Frequency Modulated Continuous Wave) method or an FCM (Fast Chirp Modulation) method, and the distance and relative speed between the radar device and the target. Target data including information such as

  Since the radar device detects a target by receiving a reflected wave from the target, a plurality of target data can be obtained for one object when there are a plurality of reflection points on one object. May be. Therefore, the radar apparatus performs grouping processing for generating a group data by combining a plurality of target data estimated as the same object. FIG. 1A is an explanatory diagram of grouping processing executed by the radar apparatus.

  As shown in the left diagram of FIG. 1A, it is assumed that the target data of the target A and the target data of the target B are obtained by the radar apparatus. When both the targets A and B move at the same speed and the distance between the targets A and B is within the predetermined grouping range C, the radar apparatus can detect the target as shown in the right diagram of FIG. 1A. The A data and the target B data are grouped as one group to generate group data. The radar apparatus outputs the generated group data as target information. Thereby, one target information can be provided with respect to one vehicle.

  In such a grouping process, even if the targets are different vehicles, they are grouped as one group if they move at the same speed and the distance between them is within a predetermined grouping range C. Suppose that In this case, target information for one vehicle is output even though there are a plurality of vehicles. Therefore, there is a possibility that vehicle control such as PCS (Pre-crash Safety System) and AEB (Advanced Emergency Braking System) cannot be performed with high accuracy.

  Therefore, the radar apparatus performs a process of prohibiting grouping in advance according to a predetermined condition in order to suppress grouping of different vehicle targets, and even if the grouping condition is satisfied after that, Grouping between the target data is not performed. That is, in this embodiment, when the target target satisfies the condition for prohibiting grouping before the condition for executing grouping is satisfied, the grouping prohibition process is performed on the target, Even if the conditions for executing the grouping are satisfied in the subsequent processing, the grouping is not executed. FIG. 1B is an explanatory diagram of grouping processing for prohibiting grouping between target data.

  In the case shown in the left diagram of FIG. 1B, since the distance in the lateral direction (vehicle width direction) between the target A and the target B (hereinafter referred to as lateral distance) is equal to or greater than a predetermined distance, It is determined that the target A and the target B are different vehicle targets, and the grouping prohibited state is set in which the grouping of the target data of the target A and the target data of the target B is prohibited. .

  As a result, as shown in the right diagram of FIG. 1B, when the target A and the target B are close to each other, the distance between the target A and the target B is within the grouping range C and the speed is about the same. Even so, the target data of the target A and the target data of the target B are set in a grouping prohibited state. Therefore, the target data of the target A and the target data of the target B are not grouped. Thereby, the target data of the target A and the target data of the target B can be output from the radar apparatus as target information of different vehicles.

  Thus, in the radar apparatus according to the embodiment, even if the target A and the target B satisfy the grouping condition, the target A and the target B are set to the grouping prohibited state. If the target A is present, the grouping of the target A and the target B is not performed. Thereby, it can suppress that the target of a mutually different vehicle is grouped, and can group a target accurately. Hereinafter, the radar apparatus according to the embodiment will be described in more detail.

[2. Configuration example of radar device]
FIG. 2 is a diagram illustrating a configuration of the radar apparatus according to the embodiment. The radar device 1 according to the embodiment uses, for example, FM-CW, which is a frequency-modulated continuous wave among various methods of millimeter wave radar, to detect a target existing around the vehicle on which the radar device 1 is mounted. To detect.

  The radar device 1 includes a transmission unit 10, a reception unit 20, and a signal processing unit 30, and is connected to a vehicle control device 2 that controls the behavior of the vehicle on which the radar device 1 is mounted. The vehicle control device 2 performs vehicle control such as the above-described PCS and AEB based on the detection result of the target by the radar device 1.

[2.1. Transmitter 10]
The transmission unit 10 includes a signal generation unit 11, an oscillator 12, and a transmission antenna 13. The signal generation unit 11 generates a modulation signal whose voltage changes in a triangular wave shape and supplies the modulation signal to the oscillator 12. The oscillator 12 generates a transmission signal ST whose frequency changes over time based on the modulation signal generated by the signal generation unit 11 and outputs the transmission signal ST to the transmission antenna 13.

  The transmission antenna 13 converts the transmission signal ST from the oscillator 12 into a transmission wave TW and outputs the transmission wave TW to the outside of the vehicle. The transmission wave TW output from the transmission antenna 13 is FM-CW whose frequency increases and decreases at a predetermined period. The transmission wave TW transmitted to the front of the vehicle from the transmission antenna 13 is reflected by a target such as another vehicle and becomes a reflected wave.

[2.2. Receiver 20]
The receiving unit 20 includes a plurality of receiving antennas 21 forming an array antenna, a plurality of mixers 22, and a plurality of A / D converters 23. The mixer 22 and the A / D converter 23 are provided for each reception antenna 21.

  Each receiving antenna 21 receives a reflected wave from a target as a received wave RW, converts the received wave RW into a received signal SR, and outputs the received signal SR. The number of receiving antennas 21, mixers 22 and A / D converters 23 shown in FIG. 2 is four, but may be three or less or five or more, respectively.

  The reception signal SR output from the reception antenna 21 is amplified by an amplifier (not shown) (for example, a low noise amplifier) and then input to the mixer 22. The mixer 22 mixes a part of the transmission signal ST and the reception signal SR, removes unnecessary signal components, generates a beat signal SB, and outputs the beat signal SB to the A / D converter 23.

  Thereby, a beat signal SB indicating a beat frequency that is a difference between the frequency of the transmission signal ST and the frequency of the reception signal SR is generated. The beat signal SB generated by the mixer 22 is converted into a digital signal by the A / D converter 23 and then output to the signal processing unit 30.

  FIG. 3 is a diagram showing the relationship between one transmission wave TW and one reception wave RW and the beat signal SB. As shown in the upper diagram of FIG. 3, the transmission wave TW is a continuous wave whose frequency rises and falls in a predetermined cycle with a predetermined frequency as the center, and the frequency of the transmission wave TW changes linearly with respect to time. To do. Here, it is assumed that the center frequency of the transmission wave TW is f0, the frequency displacement width is ΔF, and the reciprocal of one cycle in which the frequency rises and falls is fm.

  Since the reception wave RW is a reflection of the transmission wave TW on the target, the reception wave RW is a continuous wave whose frequency rises and falls in a predetermined cycle with the predetermined frequency as the center, similar to the transmission wave TW. In contrast, a delay occurs. The delay time τ of the reception wave RW with respect to the transmission wave TW is a time corresponding to the vertical distance from the vehicle on which the radar device 1 is mounted to the target. Further, the received wave RW has a frequency shift of the frequency fd with respect to the transmitted wave TW due to the Doppler effect corresponding to the relative speed of the target with respect to the vehicle on which the radar device 1 is mounted. Here, the vertical distance is a distance in the traveling direction of the vehicle.

  As described above, the received wave RW undergoes a frequency shift corresponding to the relative speed with respect to the target as well as the delay time τ corresponding to the longitudinal distance with respect to the transmitted wave TW. For this reason, as shown in the lower diagram of FIG. 3, the beat frequency of the beat signal SB includes a section in which the frequency of the transmission signal ST increases (hereinafter referred to as an up period) and a section in which the frequency decreases (hereinafter referred to as a down section). It will be a different value.

[2.3. Signal processor 30]
The signal processing unit 30 includes a transmission control unit 31, a target data derivation unit 32, a continuity determination unit 33, a grouping unit 34, and an output unit 35. The signal processing unit 30 is a microcomputer including, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an input / output port, and the like, and controls the entire radar apparatus 1.

  The CPU of the microcomputer reads and executes a program stored in the ROM, thereby functioning as a transmission control unit 31, a target data deriving unit 32, a continuity determining unit 33, a grouping unit 34, and an output unit 35. The transmission control unit 31, the target data deriving unit 32, the continuity determining unit 33, the grouping unit 34, and the output unit 35 are all made of hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). It can also be configured.

[2.3.1. Transmission control unit 31]
The transmission control unit 31 controls the signal generation unit 11 of the transmission unit 10 and causes the signal generation unit 11 to output a modulation signal whose voltage changes in a triangular wave shape to the oscillator 12. As a result, the transmission signal ST whose frequency changes with the passage of time is output from the oscillator 12 to the transmission antenna 13.

[2.3.2. Target data deriving unit 32]
The target data deriving unit 32 performs fast Fourier transform (FFT) processing on the beat signal SB output from each of the plurality of mixers 22. Thereby, the target data deriving unit 32 converts the beat signal SB output from each of the plurality of mixers 22 into frequency spectrum data. The frequency spectrum data includes signal level information for each frequency bin set at a frequency interval corresponding to the frequency resolution of the Fourier transform process.

  The target data deriving unit 32 detects a target based on the converted frequency spectrum data, and performs target data deriving processing for deriving target data including parameters such as relative speed and distance from the target. The target data derivation process is repeatedly executed by the target data derivation unit 32 every predetermined cycle Ts (for example, 1/20 second), and the derived target data is the target data derivation unit 32 every predetermined cycle Ts. To the continuity determination unit 33.

  The target data deriving unit 32 has a peak exceeding a predetermined signal level in the converted frequency spectrum, each of an up section in which the frequency of the transmission signal ST increases and a down section in which the frequency of the transmission signal ST decreases. Extract by interval. Hereinafter, the frequency extracted in this way is referred to as “peak frequency”.

  The target data deriving unit 32 separates information about a plurality of targets existing in the same frequency bin from a signal of one peak frequency by a predetermined angle calculation process for each of the up section and the down section. Estimate the angle of each target. The estimation of the angle in the target data deriving unit 32 is performed using a known angle estimation method such as DBF (Digital Beam Forming) or MUSIC (Multiple Signal Classification). Hereinafter, the angle of the target estimated by the target data deriving unit 32 is referred to as “peak angle”, and the signal power of the peak angle is referred to as “angle power”.

  The target data deriving unit 32 performs pairing that associates the peak of the up section with the peak of the down section based on the degree of coincidence between the calculated peak angle and angle power of the up section and the peak angle and angle power of the down section. I do. For example, the target data deriving unit 32 associates the peak of the up section where the Mahalanobis distance is minimum with the peak of the down period. A known technique can be used to calculate the Mahalanobis distance.

  The target data deriving unit 32 derives target data of each target from the paired up section and down period peaks. Such target data includes parameters such as the relative speed and distance (vertical distance and lateral distance) with respect to the target with respect to the radar apparatus 1 (the vehicle on which the radar apparatus 1 is mounted).

  For example, the target data deriving unit 32 derives a relative speed with respect to each target from the difference between the peak frequencies of the two peak data in the paired up and down sections, and sums the peak frequencies of the two peak data. The distance from each target is derived. Further, the target data deriving unit 32 derives the vertical distance and the horizontal distance from the target from the distance and angle from each target. Hereinafter, the relative speed and distance to the target may be referred to as the relative speed and distance (vertical distance and lateral distance) of the target.

  As described above, the target data deriving unit 32 can detect a plurality of targets based on the received signal SR acquired by receiving the reflected wave of the transmission wave TW reflected by the target as the received wave RW. . The target data deriving unit 32 may be configured to detect a target using, for example, an FCM target detection method.

[2.3.3. Continuity determination unit 33]
The continuity determination unit 33 determines temporal continuity between a target detected in the past and a newly detected target. That is, the continuity determination unit 33 determines whether or not the target derived in the past and the newly derived target are the same target.

  For example, the continuity determination unit 33 predicts the current target data based on the previously derived target data, and derives the closest target data within the predetermined range of the predicted position derived this time in the past. It is assumed that the target data has continuity with the target data.

  If there is new target data that has continuity with the target data derived in the past, the new target data has the same target number as the target data derived in the past that has continuity. (Hereinafter referred to as a target ID). A new target ID is added to new target data that is not continuous with the target data derived in the past.

  Further, in the signal processing unit 30, new target data parameters (relative speed, vertical distance, horizontal distance, etc.) to which the target ID is attached and parameters of target data having temporal continuity derived last time. And a filtering unit (not shown) that corrects new target data by smoothing in the time axis direction.

[2.3.4. Grouping unit 34]
The grouping unit 34 performs a grouping process on a plurality of targets. Each target is specified by the target data derived by the target data deriving unit 32 or the target data corrected by the filtering unit. Therefore, in the following, “target” is “target data”. May be read as "."

  The grouping unit 34 prohibits the grouping of the plurality of targets into one group when the relationship between the plurality of targets satisfies the grouping prohibition condition. Then, the grouping unit 34 groups the plurality of targets as one group unless the grouping of the plurality of targets is prohibited when the relationship between the plurality of targets satisfies the grouping condition. To do. On the other hand, when the relationship between the plurality of targets satisfies the grouping condition, the grouping unit 34 does not group the plurality of targets if grouping with respect to the plurality of targets is prohibited.

  The grouping unit 34 can cancel the grouping prohibition when the grouping prohibition release condition is satisfied for a plurality of targets for which grouping is prohibited.

  FIG. 4 is a diagram illustrating a configuration example of the grouping unit 34. As shown in FIG. 4, the grouping unit 34 includes a storage unit 41, a grouping prohibition unit 42, a grouping unit 43, and a grouping prohibition release unit 44.

[2.3.4.1. Storage unit 41]
The storage unit 41 includes a prohibition condition information storage unit 51, a prohibition table storage unit 52, a grouping condition information storage unit 53, a grouping information storage unit 54, and a prohibition release condition information storage unit 55.

  The prohibition condition information storage unit 51 stores information on conditions under which target grouping is prohibited (hereinafter referred to as grouping prohibition condition information). Such grouping prohibition condition information includes grouping prohibition condition information including a speed difference threshold value Pv1, a lateral distance threshold value Prs1, and a vertical distance threshold value Prf1.

  The grouping prohibition condition is a condition for determining in advance so that targets that are likely to be targets of different objects are not grouped. The speed difference threshold value Pv1, the lateral distance threshold value Prs1, and the vertical distance threshold value Prf1 are threshold values for identifying targets that are highly likely to be different from each other.

  The prohibition table storage unit 52 stores a table (hereinafter referred to as a prohibition table) indicating whether or not the state between targets is a grouping prohibition state. FIG. 5 is a diagram illustrating an example of the prohibition table. In the prohibition table shown in FIG. 5, information indicating whether or not the grouping prohibition state is set is set for each combination of two targets, and the grouping prohibition state is expressed as “1”. The non-grouping non-prohibited state is represented as “0”. For example, a grouping prohibition state is set for a combination of a target with target ID 1 (target ID “1”) and a target with target ID 3 (target ID “3”). Further, a grouping non-prohibited state is set for the combination of the target with the target ID 1 and the target with the target ID 7 (target ID is “7”).

  The grouping condition information storage unit 53 stores information on conditions under which targets are grouped (hereinafter referred to as grouping condition information). Such grouping condition information includes information on grouping conditions including a speed difference threshold Gv1, a lateral distance threshold Grs1, and a vertical distance threshold Grf1.

  The grouping condition is a condition for grouping targets that are highly likely targets of the same object. The speed difference threshold value Gv1, the lateral distance threshold value Grs1, and the vertical distance threshold value Grf1 are threshold values for identifying a target that is highly likely to be a target of the same object, and are relative speed differences set under the grouping prohibition condition. A threshold smaller than the lateral distance difference and the longitudinal distance difference is set. That is, Gv1 <Pv1, Grs1 <Prs1, and Grf1 <Prf1.

  Two or more targets that satisfy the grouping condition are grouped as one group. However, even if two or more targets satisfy the grouping condition, the two or more targets set in the grouping prohibited state described above are not grouped as one group, as will be described later.

  The grouping information storage unit 54 stores group information grouped by the grouping unit 34 (hereinafter referred to as grouping information). Such grouping information is associated with a plurality of target IDs and group IDs of groups. The grouping information includes group data for each group ID.

  The prohibition cancellation condition information storage unit 55 describes grouping prohibition cancellation condition information (hereinafter referred to as prohibition cancellation condition information) that is a condition for canceling the prohibition of grouping for two targets for which grouping is prohibited. )including. Such prohibition cancellation condition information includes a speed difference threshold value Kv, a lateral distance threshold value Krs, a vertical distance threshold value Krf, and a duration threshold value Kt.

  The speed difference threshold value Kv, the lateral distance threshold value Krs, the vertical distance threshold value Krf, and the duration threshold value Kt are threshold values for identifying a target that is highly likely to be a target of the same object. The speed difference threshold value Kv, the lateral distance threshold value Krs, and the vertical distance threshold value Krf are set to threshold values that are equal to or smaller than, for example, the speed difference threshold value Gv1, the lateral distance threshold value Grs1, and the vertical distance threshold value Grf1 set in the grouping condition Is done.

[2.3.4.2. Grouping prohibition unit 42]
Based on the grouping prohibition condition information stored in the prohibition condition information storage unit 51, the grouping prohibition unit 42 combines the plurality of targets into one group when the relationship between the targets satisfies the prohibition condition. To disable grouping.

  The grouping prohibition unit 42 includes a target relationship determination unit 61 and a grouping prohibition setting unit 62. The target relationship determination unit 61 determines whether or not the relative speed and distance between targets satisfy the grouping prohibition condition based on parameters (relative speed, lateral distance, vertical distance) included in the target data. .

  Specifically, the target relationship determination unit 61 determines whether the two target targets are based on parameters (relative speed, lateral distance, vertical distance) included in each target data derived by the target data deriving unit 32. For each combination, a relative speed difference ΔV, a lateral distance difference ΔRs, and a longitudinal distance difference ΔRf between the targets are calculated.

  The target relationship determination unit 61 determines whether there is a combination of two targets that satisfy the grouping prohibition condition (at least one of | ΔV | ≧ Pv1, | ΔRs | ≧ Prs1, and | ΔRf | ≧ Prf1). Determine whether.

  The grouping prohibition setting unit 62 sets the grouping prohibition state for the combination of two targets determined by the target relationship determination unit 61 to satisfy the grouping prohibition condition. The grouping prohibition state is set by, for example, setting “1” for a combination of two corresponding targets in the prohibition table shown in FIG.

  For example, when the relative speed between the target ID1 and the target ID3 is equal to or higher than the speed difference threshold value Pv1 based on the target ID1 and ID3 target data, the grouping prohibition setting unit 62 The state between the target ID 1 and the target ID 3 is set to a grouping prohibited state.

  Here, as shown in FIG. 6 and FIG. 7, a case is considered where there are seven target data of ID1 to ID7. FIG. 6 is a diagram showing the positional relationship between the seven targets ID1 to ID7 and the radar apparatus 1. FIG. 7 shows parameters (relative speed, lateral distance and ID) included in the seven target data ID1 to ID7. It is a figure which shows the state of (vertical distance). In the example illustrated in FIG. 7, the speed of the vehicle on which the radar device 1 is mounted is 55 [km / h].

  In the example shown in FIGS. 6 and 7, the target detected for the vehicle C1 is an ID2 target, and the target detected for the vehicle C2 is an ID1 target and an ID7 target. The target detected for the vehicle C3 is the target with ID6. Moreover, the target detected with respect to the guardrail is a target of ID3-ID5.

  Further, for example, the relative speed, vertical distance, and lateral distance of the target ID1 are 0 [km / h], 30 [m], -2 [m], and the relative speed, vertical distance, and The lateral distance is 5 [km / h], 20 [m], and 0 [m].

  As described above, the grouping prohibition unit 42 sets a combination of targets to a grouping prohibition state based on the speed difference threshold value Pv1, the lateral distance threshold value Prs1, and the vertical distance threshold value Prf1. Here, it is assumed that Pv1 = 10 [km], Prs1 = 10 [m], and Prf1 = 30 [m].

  In this case, a combination of two targets having a relative speed difference ΔV that satisfies | ΔV | ≧ Pv1 is as shown in FIG. FIG. 8 is a diagram illustrating an example of a prohibition table setting method by the grouping prohibition unit 42.

  That is, a combination of an ID1 target and any of ID3 to ID5, a combination of an ID2 target and any of ID3 to ID6, and any of ID3 to ID5 The combination with the target of ID6 or ID7 is a combination of two targets having a relative speed difference ΔV that satisfies | ΔV | ≧ Pv1.

  Further, a combination of two targets having a lateral distance difference ΔRs satisfying | ΔRs | ≧ Prs1 is as shown in FIG. That is, the combination of any of the targets ID1, ID3-ID5, and ID7 and the target ID6 is a combination of two targets having a lateral distance difference ΔRs such that | ΔRs | ≧ Prs1.

  Further, a combination of two targets having a longitudinal distance difference ΔRf satisfying | ΔRf | ≧ Prf1 is as shown in FIG. That is, the combination of any of the targets ID1 to ID4 and the target ID5 is a combination of two targets having a longitudinal distance difference ΔRf such that | ΔRf | ≧ Prf1.

  Therefore, a combination of two targets satisfying any of | ΔV | ≧ Pv1, | ΔRs | ≧ Prs1 or | ΔRf | ≧ Prf1 is in the state shown in FIG. Therefore, the grouping prohibition state “1” is set as in the prohibition table shown in FIG.

  The relationship between the target ID3 and the target ID4 is | ΔV | <Pv1, | ΔRs | <Prs1, and | ΔRf | <Prf1. Similarly, the ID1 target and the ID2 target, the ID1 target and the ID7 target, and the ID2 target and the ID7 target have a relationship of | ΔV | <Pv1. , | ΔRs | <Prs1, and | ΔRf | <Prf1. Therefore, the grouping non-prohibited state “0” is set as shown in the prohibition table shown in FIG.

[2.3.4.3. Grouping unit 43]
The grouping unit 43, based on the grouping condition information and the prohibition table described above, sets the target data as one group when the relationship between the plurality of targets satisfies the grouping condition and is not in the grouping prohibition state. Perform grouping.

  Further, the grouping unit 43 continues to group the plurality of targets as the same group when the plurality of targets grouped as one group last time satisfy the grouping condition based on the grouping information described above. Turn into.

  The grouping unit 43 includes a target relationship determining unit 71 and a group setting unit 72. Similar to the target relationship determination unit 61, the target relationship determination unit 71 groups relative speeds and distances between targets based on parameters (relative speed, lateral distance, vertical distance) included in the target data. Determine whether the condition is met.

  Specifically, the target relationship determination unit 71 determines whether the target is between two or more targets for each combination of two targets based on parameters (relative speed, lateral distance, vertical distance) included in the target data. Relative speed difference ΔV, lateral distance difference ΔRs and longitudinal distance difference ΔRf are calculated.

  The target relationship determination unit 71 determines whether there is a combination of two or more targets that satisfy all the conditions (grouping conditions) of | ΔV | ≦ Gv1, | ΔRs | ≦ Grs1, and | ΔRf | ≦ Grf1. Determine whether. For example, the target relationship determination unit 71 groups all combinations of two targets (targets A and B, targets A and C, targets B and C) in three targets A, B, and C. Determine whether the condition is met.

  In addition, the target relationship determination unit 71 determines that a plurality of targets previously grouped as one group based on the grouping information stored in the grouping information storage unit 54 is | ΔV | ≦ Gv1, | ΔRs | ≦. It is determined whether or not all conditions (grouping conditions) of Grs1 and | ΔRf | ≦ Grf1 are satisfied.

  The group setting unit 72 performs a grouping process for a combination of two or more targets determined to satisfy the grouping condition by the target relationship determination unit 71 when the grouping prohibition state is not set. Such a grouping process is a process for collecting target data of two or more targets that satisfy the grouping condition as one group data.

  For example, when the group setting unit 72 determines that the three targets satisfy the grouping condition and are not set to the grouping prohibited state, the group setting unit 72 sets the three targets as one group, and sets the three targets. One group data is generated from the target data. In this case, for example, the group setting unit 72 uses the vertical distance of the target having the shortest vertical distance among the three targets as the vertical distance of the group data, and sets the average value of the horizontal distances of the three targets as the horizontal distance of the group data. The distance is set, and the average value of the relative speeds of the three targets is set as the relative speed of the group data.

  In addition, when a plurality of targets previously grouped as one group satisfy the grouping condition, the group setting unit 72 continues to group the plurality of targets as the same group, Generate.

  When the group data is generated, the group setting unit 72 stores grouping information including the group ID of the group, the target ID of the grouped target, and the generated group data for each group set by grouping. The information is stored in the grouping information storage unit 54 of the unit 41.

  FIG. 9 is an explanatory diagram (part 1) of the grouping process by the grouping unit 43. As shown in FIG. 9, it is assumed that the combination of the target ID1 and the target ID2 is set to the grouping prohibition state in the prohibition table. Further, the relative speed difference ΔV, the lateral distance difference ΔRs and the longitudinal distance difference ΔRf between the target of ID1 and the target of ID2 are | ΔV | ≦ Gv1, | ΔRs | ≦ Grs1, and | ΔRf | ≦ Grf1. Assume that all conditions are met.

  In this case, the grouping unit 43 has the ID1 target and the ID2 target satisfy the grouping condition, but the combination of the ID1 target and the ID2 target is in the grouping prohibition state in the prohibition table. , ID1 target and ID2 target are not grouped.

  As described above, even when there are two targets that satisfy the grouping condition, the grouping unit 43 determines that two objects satisfying the grouping condition are determined as targets of different objects. Do not group the mark. Thereby, it can suppress grouping the target of a different object accidentally as a target of the same object, and can group a target accurately.

  FIG. 10 is an explanatory diagram of the grouping process performed by the grouping unit 43 (part 2). As shown in FIG. 10, in the prohibition table, the combinations of the target ID1 and the target ID2 among the targets ID1 to ID4 are set to the grouping prohibition state, and other combinations are not grouped. Assume that it is prohibited. Also, the relative speed difference ΔV, the lateral distance difference ΔRs and the longitudinal distance difference ΔRf between any two of the targets ID1 to ID4 are | ΔV | ≦ Gv1, | ΔRs | ≦ Grs1, and | ΔRf. It is assumed that | ≦ Grf1 is satisfied.

  In this case, the grouping unit 43 has the ID1 target and the ID2 target satisfy the grouping condition, but the combination of the ID1 target and the ID2 target is in the grouping prohibition state in the prohibition table. , ID1 target and ID2 target are not grouped. On the other hand, the grouping unit 43 groups the targets that are not in the grouping prohibited state in the prohibition table and are grouped as one group in the previous grouping into one group. For example, if the targets ID1, ID3, and ID4 are grouped as one group in the previous grouping, the grouping unit 43 groups the targets ID1, ID3, and ID4 as one group.

  In this way, the grouping unit 43 groups a plurality of targets detected for the same object while suppressing erroneously grouping targets of different objects as the target of the same object. Can be performed with high accuracy.

  In addition, the grouping unit 43 uses the past grouping information to regroup target groups based on a plurality of target groups (hereinafter referred to as target groups) grouped as one group. Can be made. For example, when a plurality of target IDs included in a plurality of target groups grouped before the previous time satisfy the grouping condition, the grouping unit 43 cancels the grouping and regroups. Can do.

  FIG. 11 is an explanatory diagram of the regrouping process performed by the grouping unit 43. As shown in FIG. 12, in the grouping information, the targets ID1, ID5, and ID6 are grouped into the group of group ID1, and the targets ID2 to ID4 are grouped into the group of group ID2. Suppose that In the prohibition table, the combination of the target ID1 and the target ID2 is in a grouping prohibition state, and the targets ID1 to ID6 are | ΔV | ≦ Gv1, | ΔRs | ≦ Grs1, and It is assumed that all the conditions | ΔRf | ≦ Grf1 are satisfied.

  In this case, since the combination of the target ID1 and the target ID2 is in the grouping prohibition state in the prohibition table, the grouping unit 43 does not regroup the groups ID1 and ID2. That is, when the relationship between at least one target included in one group and at least one target included in the other group is in a grouping prohibited state, the remaining target in one group and the other target Even if the relationship with the remaining target of the group is not in the grouping prohibition state, regrouping is not performed. Thereby, it can suppress grouping the target of a different object accidentally as a target of the same object, and can group a target accurately.

  On the other hand, when the combination of the target ID1 and the target ID2 is not in the grouping prohibition state in the prohibition table, the grouping unit 43 regroups the groups ID1 and ID2. That is, the grouping unit 43 groups the targets ID1 to ID6 as one group.

[2.3.4.4. Grouping prohibition release unit 44]
The grouping prohibition cancellation unit 44 cancels the grouping prohibition state for the plurality of targets when a plurality of targets prohibited from grouping satisfy the grouping prohibition cancellation condition based on the prohibition cancellation condition information. .

  The grouping prohibition cancellation unit 44 includes a target relationship determination unit 81 and a grouping prohibition cancellation setting unit 82. The target relationship determination unit 81 groups relative speeds and distances between targets based on parameters (relative speed, lateral distance, vertical distance) included in a plurality of target data set in the grouping prohibition state. It is determined whether or not the prohibition release condition is satisfied.

  Specifically, the target relationship determining unit 81 sets each combination of two targets set in a grouping prohibited state based on parameters (relative speed, lateral distance, vertical distance) included in the target data. Then, a relative speed difference ΔV, a lateral distance difference ΔRs and a longitudinal distance difference ΔRf between the two targets are calculated.

  The target relationship determination unit 81 determines that the grouping prohibition cancellation condition is a condition that the duration of ΔV ≧ | Kv |, ΔRs ≧ | Krs |, and ΔRf ≧ | Krf | It is determined whether there is a combination of two targets satisfying the above.

  The grouping prohibition cancellation setting unit 82 cancels the grouping prohibition state for the combination of two targets determined by the target relationship determination unit 81 to satisfy the grouping prohibition cancellation condition. The grouping prohibition state is canceled by, for example, setting the state between two corresponding targets in the prohibition table shown in FIG. 5 from the grouping prohibition state “1” to the grouping nonprohibition state “0”. Is called.

  For example, in the combination of the target ID 1 and the target ID 2 set to the grouping prohibition state “1”, the states of ΔV ≧ | Kv |, ΔRs ≧ | Krs |, and ΔRf ≧ | Krf | When continuing for Kt or more, the grouping prohibition setting unit 62 sets the state between the target ID1 and the target ID2 to the grouping non-prohibited state “0”.

  FIG. 12 is an explanatory diagram of processing by the grouping prohibition release unit 44. As shown in FIG. 12A, the target with the target ID1 and the target with the target ID2 are separated, and the target with the target ID1 and the target with the target ID2 satisfy the grouping prohibition condition. Therefore, the combination of the target with the target ID1 and the target with the target ID2 is set to the grouping prohibited state.

  Accordingly, thereafter, as shown in FIG. 12B, the target with the target ID 1 approaches the target with the target ID 2, and the target with the target ID 1 and the target with the target ID 2 satisfy the grouping condition. Even in such a case, the target with the target ID 1 and the target with the target ID 2 are not grouped.

  Thereby, for example, even when the target of the vehicle C1 is erroneously determined as the target continuous with the target of the target ID2 detected as the target of the vehicle C2, the target of the same vehicle C1 is used. A target with a target ID 1 and a target with a target ID 2 are not grouped as long as they are in a grouping prohibited state.

  Therefore, the grouping prohibition release unit 44 cancels the grouping prohibition state for the plurality of target data when a plurality of target data for which grouping is prohibited satisfy the grouping prohibition release condition. Yes. As a result, even when the target IDs originally assigned to targets of different objects are erroneously set for targets of the same object, grouping is appropriately performed for these multiple targets. Can be done.

[2.3.5. Output unit 35]
The output unit 35 outputs group data that is target data after grouping processing or target data that has not been grouped to the vehicle control device 2 as target information.

[3. Processing by the signal processing unit 30]
Next, an example of the flow of processing executed by the signal processing unit 30 of the radar apparatus 1 will be described using a flowchart. FIG. 13 is a flowchart illustrating an example of a processing procedure executed by the signal processing unit 30, and is a process that is repeatedly executed.

  As shown in FIG. 13, the target data deriving unit 32 of the signal processing unit 30 is based on a plurality of beat signals SB output from the receiving unit 20 and the like and exists in the target detection range of the radar apparatus 1. Target data is derived (step S11). The continuity determination unit 33 of the signal processing unit 30 determines the continuity of the target data derived by the target data deriving unit 32 (step S12).

  Next, the grouping unit 34 of the signal processing unit 30 performs a grouping process on the target data for which continuity has been determined (step S13). And the output part 35 of the signal processing part 30 performs the output process which outputs the target data and group data after grouping process to the vehicle control apparatus 2 as target information (step S14).

  FIG. 14 is a flowchart showing the flow of the grouping process in step S13 shown in FIG. 13, and is executed for each combination of two targets, for example. As shown in FIG. 14, the grouping unit 34 determines whether a combination of two targets satisfies a grouping prohibition condition (step S21). When it is determined that the grouping prohibition condition is satisfied (step S21; Yes), the grouping unit 34 sets a grouping prohibition state for the combination of two targets determined to satisfy the grouping prohibition condition (step S21). S22).

  When it is determined that the grouping prohibition condition is not satisfied (step S21; No), the grouping unit 34 determines whether the combination of the two targets is in the grouping prohibition state (step S23). When it is determined that the combination of the two targets is in the grouping prohibition state (step S23; Yes), the grouping unit 34 determines whether the combination of the target in the grouping prohibition state satisfies the grouping prohibition release condition. Determination is made (step S24). When it is determined that the grouping prohibition cancellation condition is satisfied (step S24; Yes), the grouping unit 34 cancels the grouping prohibition state of the target combination determined to be set to the grouping prohibition state (step S24). S25).

  When the process of step S22 or S25 is completed, when it is determined that the target group is not a grouping prohibited state combination (step S23; No), or when it is determined that the grouping prohibition cancellation condition is not satisfied (step S24). No), the grouping unit 34 determines whether the combination of the two targets satisfies the grouping condition (step S26).

  When it is determined that the grouping condition is satisfied (step S26; Yes), the grouping unit 34 determines whether two or more targets that satisfy the grouping condition are set to the grouping prohibited state (step). S27). When it is determined that there is no combination of the two targets set to the grouping prohibition state (step S27; No), the grouping unit 34 groups two or more targets that satisfy the grouping condition as one group. (Step S28).

  When the grouping condition is not satisfied (step S26; No), or when it is determined that there is a combination of two targets set to the grouping prohibited state (step S27; Yes), the grouping unit 34 The process shown in FIG.

[4. Other processing]
In the radar apparatus 1 according to the embodiment, in addition to the above-described grouping prohibition condition, a condition for restricting target grouping (hereinafter, referred to as a grouping restriction condition) may be set. In this case, in the radar apparatus 1, in addition to the above-described grouping condition, a restricted target grouping condition that is a condition for grouping targets that are restricted from being grouped is set.

  By using the grouping restriction condition and the restriction target grouping condition, the grouping can be restricted even if the grouping of the target is not prohibited, and may be different objects It becomes possible to suppress grouping of two or more targets. Hereinafter, processing using these grouping restriction conditions and the restriction target grouping conditions will be specifically described. In order to clarify the distinction between the above-mentioned “grouping condition” and “regulated target grouping condition”, “grouping condition” is referred to as “non-regulated target grouping condition” in the following. Shall be described.

  The grouping restriction condition is less likely to be a target of different objects than the grouping prohibition condition, but reduces the possibility that targets that may be targets of different objects will be grouped together This is a condition for regulating grouping. The prohibition condition information storage unit 51 stores grouping restriction condition information as grouping information. The information on the grouping restriction condition includes a speed difference threshold value Pv2, a lateral distance threshold value Prs2, and a vertical distance threshold value Prf2. The speed difference threshold value Pv2, the lateral distance threshold value Prs2, and the vertical distance threshold value Prf2 are threshold values for identifying targets that may be different objects, and Pv1> Pv2, Prs1> Prs2, and Prf1> Prf2. is there.

  The restriction target grouping condition is a condition for grouping two or more targets for which the grouping restriction condition is set as being targets of the same object. The grouping condition information storage unit 53 stores information on the restriction target grouping condition. The information on the restriction target grouping condition includes a speed difference threshold Gv2, a lateral distance threshold Grs2, and a longitudinal distance threshold Grf2. The speed difference threshold Gv2, the lateral distance threshold Grs2, and the longitudinal distance threshold Grf2 are thresholds for identifying a target that is more likely to be a target of the same object than the above-described non-regulated target grouping condition. . Note that Gv1> Gv2, Grs1> Grs2, and Grf1> Grf2.

  The target relationship determining unit 61 of the grouping prohibition unit 42 selects a group regulation condition (| ΔV | ≧ Pv2, | ΔRs | ≧ Prs2, and | ΔRf among the combinations of two targets that do not satisfy the grouping prohibition condition. It is determined whether or not there is a combination of two targets satisfying at least one of | ≧ Prf2.

  The grouping prohibition setting unit 62 of the grouping prohibition unit 42 performs grouping for a combination of two targets that are determined not to satisfy the grouping prohibition condition by the target relationship determination unit 61 but satisfy the grouping restriction condition. Set to restricted state. The grouping restriction state is set, for example, by setting “2” for a combination of two corresponding targets in the prohibition table shown in FIG.

  For example, when the relative speed between the target with target ID1 and the target with target ID2 is equal to or higher than the speed difference threshold value Pv2 and lower than the speed difference threshold value Pv1, the grouping prohibition setting unit 62 sets the target ID1 to the target object. The grouping restriction state is set for the combination with the mark ID2.

  The grouping unit 43 divides the plurality of target data into one group when the grouping condition is satisfied even when the relationship between the plurality of targets is a grouping restriction state. Perform grouping. On the other hand, the grouping unit 43, when a plurality of targets in the grouping restriction state relationship satisfy the non-restricted target grouping condition but does not satisfy the restricted target grouping condition, There is no grouping of the target data into one group.

  Specifically, the target relationship determining unit 71 of the grouping unit 43 includes | ΔV | ≦ Gv2, | ΔRs | ≦ Grs2 and || of the combinations of two targets for which the grouping restriction state is set. It is determined whether there is a combination of two targets that satisfy all the conditions of ΔRf | ≦ Grf2.

  The group setting unit 72 of the grouping unit 43 sets the grouping prohibition restriction state and the group for the combination of two or more targets determined by the target relationship determination unit 71 to satisfy the non-regulated target grouping condition. If the grouping is not prohibited, the grouping process is performed. In addition, the group setting unit 72, when it is determined that the combination of two or more targets for which the grouping restriction state is set by the target relationship determining unit 71 satisfies the restriction target grouping grouping condition, the two The above targets are made into one group, and similarly, group data is generated.

  FIG. 15 is an explanatory diagram (part 3) of the grouping process by the grouping unit 43. As shown in FIG. 15, it is assumed that the combination of the target ID1 and the target ID2 is set to the grouping restriction state in the prohibition table. Further, the relative speed difference ΔV, the lateral distance difference ΔRs and the longitudinal distance difference ΔRf between the target of ID1 and the target of ID2 are | ΔV | ≦ Gv2, | ΔRs | ≦ Grs2, and | ΔRf | ≦ Grf2. Assume that all conditions are met.

  In this case, the grouping unit 43 sets the combination of the ID1 target and the ID2 target in the grouping restriction state, but the ID1 target and the ID2 target are grouped between the restricted targets. In order to satisfy the condition, the target of ID1 and the target of ID2 are grouped. On the other hand, the grouping unit 43 does not group the ID1 target and the ID2 target when the ID1 target and the ID2 target do not satisfy the restriction target grouping condition. As shown in FIG. 15, the restricted target group grouping range Ar2 defined by Grs2 and Grf2 is narrower than the non-regulated target grouping range Ar1 defined by Grs1 and Grf1.

  Thus, when the combination of the target of ID1 and the target of ID2 is set to the grouping restriction state in the prohibition table, the grouping unit 43 restricts the object that is stricter than the non-restriction target grouping condition. Grouping is performed when the gap grouping condition is satisfied. Therefore, for example, when it is determined that the target is not the same object due to an error in target detection or continuity determination, the possibility of grouping can be increased, and target grouping can be performed accurately. It can be carried out.

[5. Modified example]
In the embodiment described above, an example in which the duration condition is set for the grouping condition, the grouping prohibition condition, or the like is not described. These conditions may be included. For example, the grouping unit 43 can execute the grouping when the above-described non-regulated target grouping condition and the regulated target grouping condition are continuously satisfied for a predetermined time or more. In this case, the duration threshold value Kt of the grouping prohibition cancellation condition is set to a value larger than, for example, the duration threshold values of the non-regulated target grouping condition and the regulated target grouping condition.

  Further, the grouping prohibition unit 42 can set the grouping prohibition state and the grouping restriction state when the grouping prohibition condition and the grouping restriction condition are continuously satisfied for a predetermined time or more. In this case, the duration threshold value of the grouping prohibition condition and the grouping restriction condition may be a smaller value or a larger value than the duration threshold value of the non-regulated target grouping condition and the restriction target grouping condition. It may be.

  In addition, the grouping unit 34 is based on the traveling state of the vehicle on which the radar device 1 is mounted (for example, the speed of the vehicle, the type of road on which the vehicle is traveling) and the detection state of the target. It is possible to change the grouping prohibition condition, the restriction target grouping condition, and the grouping restriction condition. In addition, based on the input contents to the input unit (not shown) and the state of the surroundings of the vehicle (for example, weather and road congestion), non-regulated target grouping conditions, grouping prohibition conditions, regulated target grouping Conditions and grouping regulation conditions can also be changed.

  For example, the grouping unit 34 makes the non-regulated target grouping condition more gradual (for example, increase Gv1, Grs1, and Grf1) as the distance from the target is longer with respect to the target that is far away, and , Grouping conditions between regulated targets can be relaxed. Further, the grouping unit 34 makes the grouping prohibition condition stricter (for example, Pv1, Prs1, and Prf1 are increased) and the grouping restriction condition becomes stricter as the distance from the target is longer with respect to the target that is far away. (For example, Pv2, Prs2, and Prf2 are increased).

  In addition, when the vertical distance is within a first distance (for example, 150 m), the grouping unit 34 divides two or more targets into a grouping prohibited state or a group based on the grouping prohibition condition or the grouping restriction condition. Can be set. In this case, the grouping unit 34 is based on the non-regulated target grouping condition or the regulated target grouping condition when the vertical distance is within a second distance (for example, 100 m) that is closer than the first distance. Two or more targets can be grouped. Thereby, it is possible to accurately prohibit the grouping of two targets having different objects before grouping, and the vehicle control device 2 can perform the vehicle following operation, the collision preventing operation, and the like with high accuracy.

  In the above-described embodiment, the non-regulated target grouping condition and the regulated target grouping condition are the conditions for grouping two or more targets. However, the present invention is not limited to this example. For example, the restriction target grouping condition may not be used, and in this case, the grouping restriction condition is not used. In addition, the grouping process was performed based on the relative speed, vertical distance, and lateral distance with the target, but the grouping process may be performed based on the relative speed, distance, and angle with the target, and other parameters. May be included in the grouping process.

[6. effect]
As described above, the radar apparatus 1 according to the embodiment includes the receiving unit 20 and the target data deriving unit 32 (an example of the target detecting unit), the grouping prohibiting unit 42, and the grouping unit 43. The receiving unit 20 and the target data deriving unit 32 detect a plurality of targets based on the received signal SR acquired by receiving the reflected wave of the transmission wave reflected by the target. The grouping prohibition unit 42 groups a plurality of targets into one group when the relationship between the targets detected by the target data deriving unit 32 satisfies a preset grouping prohibition condition. Is prohibited. The grouping unit 43, when the relationship between a plurality of targets detected by the target data deriving unit 32 satisfies a preset non-regulated target grouping condition (an example of a grouping condition), If the grouping of targets is not prohibited by the grouping prohibition unit 42, the plurality of targets are grouped as one group. Thereby, it can suppress that the target of a mutually different object (for example, vehicle) is mistakenly grouped, and can group a target accurately.

  In addition, the grouping prohibition unit 42 is configured so that at least one of a lateral distance difference ΔRs and a longitudinal distance difference ΔRf (an example of a distance difference) and a relative speed difference ΔV (an example of a speed difference) between a plurality of targets is a grouping prohibition condition. When satisfying, grouping for multiple targets is prohibited. Thereby, for example, it is possible to accurately group targets on two or more targets having a large distance difference even at the same relative speed, or on two or more targets having a small distance difference but a relative speed.

  The radar apparatus 1 also includes a grouping prohibition canceling unit that cancels the grouping prohibition when a plurality of targets whose grouping is prohibited by the grouping prohibiting unit 42 satisfies a preset grouping prohibition canceling condition. 44. As a result, even when grouping is prohibited by mistake, the grouping prohibited state can be canceled, so that the target can be grouped with high accuracy.

  The grouping prohibition cancellation unit 44 is configured to satisfy the grouping prohibition cancellation condition when the lateral distance difference ΔRs and the vertical distance difference ΔRf (an example of a distance difference) and a relative speed difference ΔV (an example of a speed difference) between a plurality of targets are satisfied. In addition, the grouping prohibition state for a plurality of targets is canceled. Thereby, for example, by using the same parameters (distance and speed) as in the case of grouping, the process of canceling the grouping prohibited state can be performed relatively easily.

  The grouping prohibition unit 42 is a group for grouping a plurality of targets into a group when the relationship between the targets detected by the target data deriving unit 32 satisfies a preset grouping restriction condition. Control Further, the grouping unit 43, when the relationship between the plurality of targets whose grouping is restricted by the grouping prohibition unit 42 does not satisfy the preset restriction target grouping condition, When the grouping is not performed as one group and the relationship between the plurality of targets satisfies the restriction target grouping grouping condition, the plurality of targets are grouped as one group. As a result, for example, when it is determined that the target is not the target of the same object due to an error in target detection or continuity determination, the possibility of grouping can be increased, and target grouping can be accurately performed. Can be done well.

  In addition, when a plurality of targets included in the two groups satisfy the non-regulated target grouping condition, the grouping unit 43 among the plurality of targets included in the two groups, the grouping prohibition unit 42. If there is no combination of two or more targets whose grouping is prohibited by the above, these two groups are grouped into one group. Thereby, it can suppress that two groups mistakenly regroup as one group, and can group a target accurately.

  Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications can be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

DESCRIPTION OF SYMBOLS 1 Radar apparatus 10 Transmitting part 20 Receiving part 30 Signal processing part (an example of a target detection part)
32 Target data deriving unit (an example of a target detecting unit)
33 Continuity determination unit 34 Grouping unit 35 Output unit 42 Grouping prohibition unit 43 Grouping unit 44 Grouping prohibition release unit

Claims (7)

A target detection unit for detecting a plurality of targets based on a reception signal acquired by receiving a reflected wave of a transmission wave reflected on the target;
A grouping prohibition unit for prohibiting grouping of the plurality of targets into one group when a relationship between the plurality of targets detected by the target detection unit satisfies a preset grouping prohibition condition. When,
When the relationship between a plurality of targets detected by the target detection unit satisfies a preset grouping condition, grouping of the plurality of targets is not prohibited by the grouping prohibition unit, A radar apparatus comprising: a grouping unit that groups a plurality of targets as one group. The grouping prohibition unit
The radar apparatus according to claim 1, wherein grouping of the plurality of targets is prohibited when at least one of a distance difference and a speed difference between the plurality of targets satisfies the grouping prohibition condition. . A grouping prohibition cancellation unit that cancels the grouping prohibition when a plurality of targets that are prohibited from grouping by the grouping prohibition unit satisfy a preset grouping prohibition cancellation condition; The radar device according to claim 1 or 2. The grouping prohibition release unit
4. The radar according to claim 3, wherein when the distance difference and the speed difference between the plurality of targets satisfy the grouping prohibition cancellation condition, the grouping prohibition state for the plurality of targets is canceled. apparatus. The grouping prohibition unit
When the relationship between a plurality of targets detected by the target detection unit satisfies a preset grouping restriction prohibition condition, the grouping of the plurality of targets into one group is restricted,
The grouping unit
When the relationship between a plurality of targets whose grouping is restricted by the grouping prohibition unit does not satisfy a preset restriction target grouping condition, the plurality of targets are grouped as one group First, when the relationship among the plurality of targets satisfies the grouping condition between the regulated targets, the plurality of targets are grouped as one group. The radar device according to one. The grouping unit
Two or more objects whose grouping is prohibited by the grouping prohibition unit among a plurality of targets included in the two groups when a plurality of targets included in the two groups satisfy the grouping condition. The radar apparatus according to any one of claims 1 to 5, wherein if there is no combination of marks, the two groups are grouped into one group. When the relationship between a plurality of targets detected based on a reception signal acquired by receiving a reflected wave of a transmission wave reflected on the target satisfies a preset grouping prohibition condition, the plurality of objects A grouping prohibition process for prohibiting grouping into one group of marks,
When the relationship between the plurality of targets satisfies a grouping condition set in advance, the grouping of the plurality of targets is made into one group unless grouping of the plurality of targets is prohibited by the grouping prohibition step. A target grouping method comprising: a grouping step of grouping as a group.

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