JP2018162977A - Radio wave sensor, adjustment method, and adjustment program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a radio wave sensor capable of measuring a direction to an object with more excellent precision, and to provide an adjustment method and an adjustment program.SOLUTION: A radio wave sensor comprises: a transmission unit which transmits a radio wave to an objective area; a receiving unit which receives the radio wave; a measurement unit which measures, on the basis of the radio wave received by the receiving unit, a measurement direction which is a direction from the radio wave sensor to a reference object in the objective area; and a calculation unit which calculates deviation of the measurement direction measured by the measurement unit relative to a standard direction from the radio wave sensor to the reference object.SELECTED DRAWING: Figure 16

Description

  The present invention relates to a radio wave sensor, an adjustment method, and an adjustment program.

  In recent years, in-vehicle radars used for preventing collision of automobiles have been developed. For example, Japanese Patent Laid-Open No. 2006-308542 (Patent Document 1) discloses the following electronic scanning millimeter wave radar device. That is, the electronic scanning millimeter-wave radar device performs Fourier transform on the digitized beat signal, and generates a beam signal at a predetermined pitch angle based on the Fourier transform. Next, the electronic scanning millimeter-wave radar device detects the azimuth and distance of the object from the generated beam signal. The electronic scanning millimeter-wave radar device detects whether or not there are a plurality of objects at substantially the same distance in beat signals corresponding to the respective Fourier-transformed receiving antennas based on the detected direction and distance of the object. Then, separation processing is performed on the beat signal.

JP 2006-308542 A

Koji Yoichi and two others, “Application of Expanding Millimeter-Wave Technology”, Shimada Rika Technical Review, 2011, No. 21, 37-48 Takayuki Inaba, Tetsuro Kirimoto, “Automotive Millimeter Wave Radar”, Automotive Technology, February 2010, Vol. 64, No. 2, p. 74-79 Nobuyoshi Kikuma, “Adaptive signal processing by array antenna”, first edition, Science and Technology Publishing Co., Ltd., November 1998, p. 181, p. 194

  For example, in the vehicle-mounted radio wave sensor described in Patent Document 1, the detection target area of the target is set based on the relative angle and distance with respect to the radio wave sensor.

  For example, when the above-mentioned radio wave sensor is used in a right turn pedestrian collision prevention support system, which is an example of a driving safety support system (DSSS) for supporting a driver's safe driving, The detection target area is set.

  In such a case, for example, when the direction of the radio wave sensor is deviated from the reference direction, the radio wave sensor erroneously changes the direction from self to the pedestrian even if the pedestrian is actually located on the pedestrian crossing. Measure and may incorrectly determine that the pedestrian is not on a pedestrian crossing. In addition, even if the pedestrian is not actually located at the pedestrian crossing, the radio wave sensor may erroneously measure the direction from the pedestrian to the pedestrian and may incorrectly determine that the pedestrian is located at the pedestrian crossing. .

  In the case of a sensor using an image captured by a camera, adjustment can be performed while viewing a video based on the captured image. However, in the case of the radio wave sensor, it is difficult for the sensor installer to grasp the direction of the radio wave sensor.

  The present invention has been made to solve the above-described problems, and an object thereof is to provide a radio wave sensor, an adjustment method, and an adjustment program capable of measuring the direction to an object with higher accuracy.

  (1) In order to solve the above problems, a radio wave sensor according to an aspect of the present invention is a radio wave sensor, and includes a transmission unit that transmits radio waves to a target area, a reception unit that receives radio waves, and the reception unit A measurement unit that measures a measurement direction that is a direction from the radio wave sensor to a reference object in the target area based on the radio wave received by the radio wave sensor, and the radio wave sensor from the radio wave sensor in the measurement direction measured by the measurement unit. A calculating unit that calculates a deviation from the reference direction with respect to the reference object.

  (5) In order to solve the above-described problem, a radio wave sensor according to another aspect of the present invention is a radio wave sensor, and includes a transmission unit that transmits radio waves to a target area, a reception unit that receives radio waves, and the reception Based on the radio wave received by the unit, a measurement unit that measures a measurement direction that is a direction from the radio wave sensor to a reference object in the target area, and direction information that indicates the measurement direction measured by the measurement unit is output. And an acquisition unit that acquires correction information for correcting a deviation of the measurement direction measured by the measurement unit from a reference direction from the radio wave sensor to the reference object. Further, based on the radio wave received by the receiving unit, a target direction that is a direction from the radio wave sensor to an object in the target area is measured, and the radio wave sensor Further comprising a correction unit for the target direction measured by the measuring unit, it is corrected based on the correction information acquired by the acquisition unit.

  (7) In order to solve the above-described problem, an adjustment method according to an aspect of the present invention is an adjustment method used in a radio wave sensor that transmits a radio wave to a target area and receives the radio wave, and is based on the received radio wave. Measuring a measurement direction that is a direction from the radio wave sensor to the reference object in the target area, and calculating a deviation of the measured measurement direction from a reference direction from the radio wave sensor to the reference object; including.

  (11) In order to solve the above-described problem, an adjustment program according to an aspect of the present invention is an adjustment program used in a radio wave sensor that transmits and receives radio waves to a target area, and receives a computer. A measurement unit that measures a measurement direction that is a direction from the radio wave sensor to a reference object in the target area based on radio waves, and the measurement direction measured by the measurement unit from the radio wave sensor to the reference object It is a program for functioning as a calculation unit that calculates a deviation with respect to a reference direction.

  (12) In order to solve the above-described problem, an adjustment program according to another aspect of the present invention is an adjustment program used in a radio wave sensor that transmits a radio wave to a target area and receives the radio wave. A measurement unit that measures a measurement direction that is a direction from the radio wave sensor to a reference object in the target area based on the radio wave, and an output unit that outputs direction information indicating the measurement direction measured by the measurement unit; A program for functioning as an acquisition unit for acquiring correction information for correcting a deviation of the measurement direction measured by the measurement unit from a reference direction from the radio wave sensor to the reference object. The unit further includes an object in the target area from the radio wave sensor based on the radio wave received by the receiving unit. A target direction that is a direction of the target, and further, the computer functions as a correction unit that corrects the target direction measured by the measurement unit based on the correction information acquired by the acquisition unit. It is a program.

  The present invention can be realized not only as a radio wave sensor including such a characteristic processing unit, but also as a semiconductor integrated circuit that realizes part or all of the radio wave sensor, or as a system including the radio wave sensor. You can do it.

  According to the present invention, the direction to an object can be measured with higher accuracy.

FIG. 1 is a diagram showing a configuration of a safe driving support system according to a first embodiment of the present invention. FIG. 2 is a diagram illustrating an installation example at an intersection of the safe driving support system according to the first embodiment of the present invention as viewed obliquely from above. FIG. 3 is a diagram showing the configuration of the radio wave sensor in the safe driving support system according to the first embodiment of the present invention. FIG. 4 is a diagram showing an example of a time change of the frequency of the radio wave transmitted and received by the radio wave sensor in the safe driving support system according to the first embodiment of the present invention. FIG. 5 is a diagram illustrating an example of an arrangement when the transmitting antenna and the receiving antenna according to the first embodiment of the present invention are viewed from above. FIG. 6 is a diagram showing a configuration of a signal processing unit in the radio wave sensor according to the first embodiment of the present invention. FIG. 7 is a diagram illustrating an example of a power spectrum generated by the FFT processing unit in the radio wave sensor according to the first embodiment of the invention. FIG. 8 is a diagram showing an example of a measurement result table showing a peak detection result by the FMCW processing unit in the radio wave sensor according to the first embodiment of the present invention. FIG. 9 is a flowchart defining an example of the procedure of the radio wave sensor adjustment method according to the first embodiment of the invention. FIG. 10 is a diagram illustrating an example of an arrangement when the radio wave sensor according to the first embodiment of the present invention and the vicinity of the intersection where the radio wave sensor is provided are viewed from above. FIG. 11 is a diagram illustrating an example of a measurement result by the radio wave sensor according to the first embodiment of the present invention and an actual measurement result by the sensor installer. FIG. 12 is a diagram illustrating an example of a measurement result by the radio wave sensor according to the first embodiment of the present invention and an actual measurement result by the sensor installer. FIG. 13 is a diagram illustrating an example of an arrangement when the radio wave sensor according to the first embodiment of the present invention and the vicinity of the intersection where the radio wave sensor is provided are viewed from above. FIG. 14 is a diagram illustrating an example of a measurement result by the radio wave sensor according to the first embodiment of the present invention and an actual measurement result by the sensor installer. FIG. 15 is a flowchart defining an example of the procedure of the method of adjusting the direction of the radio wave sensor according to the first embodiment of the invention. FIG. 16 is a diagram illustrating a configuration of a radio wave sensor in the safe driving support system according to the second embodiment of the present invention. FIG. 17 is a flowchart that defines an example of the procedure of a method in which the radio wave sensor according to the second embodiment of the present invention automatically corrects the azimuth angle.

  First, the contents of the embodiment of the present invention will be listed and described.

  (1) The radio wave sensor according to the embodiment of the present invention is a radio wave sensor, and is based on a transmission unit that transmits radio waves to a target area, a reception unit that receives radio waves, and radio waves received by the reception unit. A measurement unit that measures a measurement direction that is a direction from the radio wave sensor to the reference object in the target area, and a measurement direction measured by the measurement unit with respect to a reference direction from the radio wave sensor to the reference object And a calculation unit that calculates the deviation.

  In this way, by measuring the direction to the reference object and calculating the deviation of the measurement direction with respect to the reference direction, the deviation of the direction of the radio wave sensor can be recognized from the calculation result. It is possible to perform a procedure such as physical adjustment or causing the radio wave sensor to perform correction for adjusting the measurement direction of the radio wave sensor to the reference direction. Thereby, the shift | offset | difference with respect to the reference direction of a measurement direction can be made smaller. Therefore, the direction to the object can be measured with higher accuracy.

  (2) Preferably, the measurement unit measures a plurality of measurement directions based on radio waves received by the reception unit, and the calculation unit includes a plurality of measurement directions measured by the measurement unit, Deviations for a plurality of corresponding reference directions are calculated, and the calculated deviations are statistically processed.

  As described above, the calculation accuracy of the deviation can be improved by the configuration in which a plurality of deviations are calculated using the measurement results of the reference objects at a plurality of positions and the calculated deviations are statistically processed.

  (3) Preferably, the measurement unit measures a plurality of measurement sets that are a set of the measurement direction and the distance between the radio wave sensor and the reference object based on the radio wave received by the reception unit, The calculation unit includes one or a plurality of straight lines or one or a plurality of curves based on a plurality of sets of the reference direction and the distance between the radio wave sensor and the reference object, and the plurality of the measurement units measured by the measurement unit. The deviation is calculated based on the positional relationship with one or more straight lines or one or more curves based on the measurement set.

  As described above, when the displacement is calculated based on the positional relationship between one or a plurality of straight lines or one or a plurality of curves, the position of the reference object at the time of measurement of the radio wave sensor, the reference direction and the distance are actually measured. The shift can be calculated without matching the position of the reference object at. As a result, it is possible to easily calculate a higher accuracy. Further, even when a curved road is set as the detection target area, the deviation can be easily calculated by using, for example, a roadside band and a center line applied to the road as a reference.

  (4) Preferably, the measurement unit further measures a target direction, which is a direction from the radio wave sensor to the target in the target area, based on the radio wave received by the reception unit, And a correction unit that corrects the target direction measured by the measurement unit based on the deviation calculated by the calculation unit.

  With such a configuration, for example, a more correct target direction can be easily calculated without physically adjusting the direction of the radio wave sensor.

  (5) The radio wave sensor according to the embodiment of the present invention is a radio wave sensor, and is based on a transmission unit that transmits radio waves to a target area, a reception unit that receives radio waves, and radio waves received by the reception unit. A measurement unit that measures a measurement direction that is a direction from the radio wave sensor to a reference object in the target area, an output unit that outputs direction information indicating the measurement direction measured by the measurement unit, and the measurement unit An acquisition unit configured to acquire correction information for correcting a deviation of the measurement direction measured by the reference direction from the radio wave sensor to the reference object, and the measurement unit is further received by the reception unit. A target direction that is a direction from the radio wave sensor to an object in the target area is measured based on the radio wave, and the radio wave sensor is further measured by the measurement unit. The said measured object direction, and a correction unit that corrects, based on the correction information acquired by the acquisition unit.

  In this way, with the configuration that outputs the direction information, for example, the installer of the radio wave sensor can calculate the deviation of the direction of the radio wave sensor 101, so that correction information with more correct contents can be created. In addition, by acquiring correction information and correcting the measured target direction based on the acquired correction information, for example, the correct target direction can be easily simplified without physically adjusting the direction of the radio wave sensor. Can be calculated. Therefore, the direction to the object can be measured with higher accuracy.

  (6) More preferably, the radio wave sensor further includes a detection unit that detects the target object in the target area based on the target direction corrected by the correction unit.

  Thus, the detection accuracy of a target object can be raised by the structure which detects the said target object based on a more correct target direction.

  (7) An adjustment method according to an embodiment of the present invention is an adjustment method used in a radio wave sensor that transmits a radio wave to a target area and receives a radio wave. Measuring a measurement direction which is a direction to a reference object in a target area, and calculating a deviation of the measured measurement direction with respect to a reference direction from the radio wave sensor to the reference object.

  In this way, by measuring the direction to the reference object and calculating the deviation of the measurement direction with respect to the reference direction, the deviation of the direction of the radio wave sensor can be recognized from the calculation result. It is possible to perform a procedure such as physical adjustment or causing the radio wave sensor to perform correction for adjusting the measurement direction of the radio wave sensor to the reference direction. Thereby, the shift | offset | difference with respect to the reference direction of a measurement direction can be made smaller. Therefore, the direction to the object can be measured with higher accuracy.

  (8) More preferably, in the step of measuring the measurement direction, a plurality of the measurement directions are measured based on the received radio wave, and in the step of calculating the deviation, Deviations for a plurality of corresponding reference directions are calculated, and the calculated deviations are statistically processed.

  As described above, the calculation accuracy of the deviation can be improved by the configuration in which a plurality of deviations are calculated using the measurement results of the reference objects at a plurality of positions and the calculated deviations are statistically processed.

  (9) More preferably, in the step of measuring the measurement direction, a plurality of measurement sets that are a set of the measurement direction and the distance between the radio wave sensor and the reference object are measured based on the received radio wave. In the step of calculating the deviation, one or a plurality of straight lines or one or a plurality of curves based on a plurality of sets of the reference direction and the distance between the radio wave sensor and the reference object, The deviation is calculated based on the positional relationship with one or more straight lines or one or more curves based on the measurement set.

  As described above, when the displacement is calculated based on the positional relationship between one or a plurality of straight lines or one or a plurality of curves, the position of the reference object at the time of measurement of the radio wave sensor, the reference direction and the distance are actually measured. The shift can be calculated without matching the position of the reference object at. As a result, it is possible to easily calculate a higher accuracy. Further, even when a curved road is set as the detection target area, the deviation can be easily calculated by using, for example, a roadside band and a center line applied to the road as a reference.

  (10) More preferably, the adjustment method further includes a step of adjusting the direction of the radio wave sensor based on the calculated deviation.

  With this configuration, the measurement direction of the radio wave sensor can be adjusted to the reference direction. For example, the correct measurement direction can be measured without causing the radio wave sensor to correct the measurement direction of the radio wave sensor to match the reference direction. can do. Thereby, the internal processing of the radio wave sensor can be simplified.

  (11) An adjustment program according to an embodiment of the present invention is an adjustment program used in a radio wave sensor that transmits a radio wave to a target area and receives the radio wave, and the computer controls the radio wave based on the received radio wave. A measurement unit that measures a measurement direction that is a direction from a sensor to a reference object in the target area, and a deviation of the measurement direction measured by the measurement unit from a reference direction from the radio wave sensor to the reference object is calculated. It is a program for functioning as a calculation unit.

  In this way, by measuring the direction to the reference object and calculating the deviation of the measurement direction with respect to the reference direction, the deviation of the direction of the radio wave sensor can be recognized from the calculation result. It is possible to perform a procedure such as physical adjustment or causing the radio wave sensor to perform correction for adjusting the measurement direction of the radio wave sensor to the reference direction. Thereby, the shift | offset | difference with respect to the reference direction of a measurement direction can be made smaller. Therefore, the direction to the object can be measured with higher accuracy.

  (12) An adjustment program according to an embodiment of the present invention is an adjustment program used in a radio wave sensor that transmits a radio wave to a target area and receives the radio wave. A measurement unit that measures a measurement direction that is a direction from a sensor to a reference object in the target area, an output unit that outputs direction information indicating the measurement direction measured by the measurement unit, and a measurement unit A program for causing the measurement direction to function as an acquisition unit that acquires correction information for correcting a deviation from a reference direction from the radio wave sensor to the reference object. The measurement unit further includes the reception unit. Measure the target direction, which is the direction from the radio wave sensor to the target in the target area, based on the radio wave received by Further, computer, the target direction measured by the measuring unit, a program for correcting unit, to function as the correction based on the correction information acquired by the acquisition unit.

  In this way, with the configuration that outputs the direction information, for example, the installer of the radio wave sensor can calculate the deviation of the direction of the radio wave sensor 101, so that correction information with more correct contents can be created. In addition, by acquiring correction information and correcting the measured target direction based on the acquired correction information, for example, the correct target direction can be easily simplified without physically adjusting the direction of the radio wave sensor. Can be calculated. Therefore, the direction to the object can be measured with higher accuracy.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals and description thereof will not be repeated. Moreover, you may combine arbitrarily at least one part of embodiment described below.

<First Embodiment>
[Configuration and basic operation]
FIG. 1 is a diagram showing a configuration of a safe driving support system according to a first embodiment of the present invention. FIG. 2 is a diagram illustrating an installation example at an intersection of the safe driving support system according to the first embodiment of the present invention as viewed obliquely from above.

  1 and 2, a safe driving support system 301 includes a radio wave sensor 101, a terminal device 111, a relay device 141, a signal control device 151, a wireless transmission device 152, an antenna 153, and a pedestrian. Signal lamp 161. The signal control device 151 and the pedestrian signal lamp 161 in the safe driving support system 301 constitute a traffic signal, and are installed, for example, in the vicinity of the intersection CS1.

[About the intersection]
For example, as shown in FIG. 2, a pedestrian crossing PC1 is provided near the intersection CS1. Here, the road where the pedestrian crossing PC1 is provided is defined as the target road Rd1. The target road Rd1 forms an intersection CS1. Further, a road that intersects the target road Rd1 at the intersection CS1 is defined as an intersection road Rd2.

  That is, the intersection of the target road Rd1 and the intersection road Rd2 is the intersection CS1. In other words, the intersection CS1 overlaps the target road Rd1 and overlaps the intersection road Rd2. Note that more roads may intersect at the intersection CS1.

  The target road Rd1 includes an outflow road Rde on which an unillustrated automobile Tgt1 that flows out from the intersection CS1 travels, and an inflow road Rdi on which the automobile Tgt1 that flows into the intersection CS1 travels. For example, a lane TL is provided between the outflow road Rde and the inflow road Rdi.

  At the opposite end of the inflow road Rdi with respect to the outflow road Rde, for example, a sidewalk Pv1 is provided so as to extend along the target road Rd1. The sidewalk Pv1 changes the extension direction from the direction along the target road Rd1 to the direction along the intersection road Rd2 by extending along the arc-shaped corner cut CCe in the vicinity of the intersection CS1.

  In addition, a sidewalk Pv2 is provided at the opposite end of the outflow road Rde with respect to the inflow road Rdi so as to extend along the target road Rd1, for example. The sidewalk Pv2 changes the extension direction from the direction along the target road Rd1 to the direction along the intersection road Rd2 by extending along the arc-shaped corner cut CCi in the vicinity of the intersection CS1.

  For example, the sensor installer who is the installer of the radio wave sensor 101 sets a plurality of sub-areas as detection target areas for crossing objects that cross the road using the pedestrian crossing PC1. Here, the crossing object is, for example, a pedestrian Tgt2. In addition, the pedestrian Tgt2 is not limited to a person walking, and includes a bicycle and the like.

  Specifically, the sensor installer sets four subareas, for example, subareas SAes, SAer, SAir, and SAis. The number of subareas is not limited to four, and may be two, three, or five or more.

  The sub area SAes includes, for example, a part of the sidewalk Pv1 and adjacent to the pedestrian crossing PC1. The sub area SAes is, for example, a standby area for the pedestrian Tgt2.

  The sub area SAes has, for example, a rectangular shape. Hereinafter, of the four corners in the sub-area SAes, the positions of two corners on the opposite side of the target road Rd1 are also referred to as index positions C1 and C2 in order from the intersection CS1 side. Of the four corners in the sub-area SAes, the positions of two corners on the target road Rd1 side are also referred to as index positions C3 and C4 in order from the intersection CS1 side.

  The sub area SAer includes, for example, an area where the pedestrian crossing PC1 and the outflow road Rde overlap. For example, the sub area SAer is an area where the pedestrian Tgt2 passes along the pedestrian crossing PC1 and turns right or left from the intersection road Rd2 when the pedestrian signal lamp 161 lights “recommend”. This is an area through which an unillustrated automobile Tgt1 passes along the target road Rd1.

  The sub area SAer has, for example, a rectangular shape, and is adjacent to the sub area SAes via a line connecting the index positions C3 and C4. Hereinafter, of the four corners in the sub-area SAer, the positions of the two corners on the opposite side of the sidewalk Pv1 are also referred to as index positions C5 and C6 in order from the intersection CS1 side.

  The sub-area SAir includes, for example, an area where the pedestrian crossing PC1 and the inflow road Rdi overlap. For example, the sub area SAir is an area through which the pedestrian Tgt2 passes along the pedestrian crossing PC1 when the pedestrian signal lamp 161 lights “recommend”.

  The sub area SAir has, for example, a rectangular shape, and is adjacent to the sub area SAer via a line connecting the index positions C5 and C6. Hereinafter, of the four corners in the sub-area SAir, the positions of two corners on the opposite side of the sidewalk Pv1 are also referred to as index positions C7 and C8 in order from the intersection CS1 side.

  The sub-area SAis includes, for example, a part that is a part of the sidewalk Pv2 and is adjacent to the pedestrian crossing PC1. The sub area SAis is, for example, a standby area for a pedestrian Tgt2.

  The sub area SAis has, for example, a rectangular shape and is adjacent to the sub area SAir via a line connecting the index positions C7 and C8. Hereinafter, of the four corners in the sub-area SAis, the positions of two corners on the opposite side of the target road Rd1 are also referred to as index positions C9 and C10 in order from the intersection CS1 side.

  The radio wave sensor 101 can detect the target object Tgt in the target area A1 including the pedestrian crossing PC1. For example, the radio wave sensor 101 can detect the target object Tgt in the target area A1 including the sub-areas SAes, SAer, SAir, and SAis. Here, the object Tgt includes, in addition to the above-described crossing object, an automobile Tgt1 that travels along the target road Rd1 and passes through the pedestrian crossing PC1.

  In the target area A1, as an example of a reference object, a reflector R1 that is an object having a large radar reflection cross section of the radio wave transmitted by the radio wave sensor 101 is temporarily provided by the sensor installer. The reflector R1 may be held by a person or fixed to the ground. The reference object is not limited to the reflector R1 provided temporarily, for example, a signal lamp column such as the column PV shown in FIG. 2 provided near the intersection CS1, and an illumination column and guardrail (not shown). It may be a permanently fixed structure.

[Radio wave sensor installation position]
The radio wave sensor 101 is installed, for example, in the vicinity of the target road Rd1. Specifically, the radio wave sensor 101 is fixed to a support PW installed on the opposite side of the target road Rd1 with respect to the sidewalk Pv1, for example. More specifically, the radio wave sensor 101 is provided, for example, on an extension line of the pedestrian crossing PC1 toward the sidewalk Pv1.

  The relay device 141 is fixed to the support column PW, for example. Although not shown in FIG. 2, the radio wave sensor 101 and the relay device 141 are connected by a signal line, for example. For example, the relay device 141 performs a relay process of transmitting information received from the radio wave sensor 101 to the signal control device 151.

  The signal control device 151 and the wireless transmission device 152 are fixed to a column PV installed on the opposite side of the target road Rd1 with respect to the sidewalk Pv2, for example. The antenna 153 is fixed to the top of the support PV, for example.

  The two pedestrian signal lamps 161 are fixed to the columns PW and PV, respectively. Although not shown in FIG. 2, the signal control device 151, the wireless transmission device 152, the relay device 141, and the two pedestrian signal lamps 161 are connected by, for example, signal lines. Although not shown in FIG. 2, the wireless transmission device 152 and the antenna 153 are connected by, for example, a signal line.

  The radio wave sensor 101 transmits radio waves to the target area A1. The target object Tgt located in the target area A1 reflects a radio wave transmitted from the radio wave sensor 101, for example. The radio wave sensor 101 receives the radio wave reflected by the object Tgt.

  The radio wave sensor 101 detects the object Tgt for each subarea based on the received radio wave, and transmits the detection result to the signal control device 151 via the relay device 141, for example.

  Under the control of the signal control device 151, the pedestrian signal lamp 161 illuminates and displays “recommend” or “to rare” for the pedestrian Tgt2 crossing the pedestrian crossing PC1, for example.

  For example, the signal control device 151 detects that the pedestrian Tgt2 has been detected in at least one of the sub-areas SAir and SAer when the remaining time for turning on “recommend” in the pedestrian signal lamp 161 is small. When indicated, extend remaining time. Note that the signal control device 151 may notify the pedestrian Tgt2 by voice that, for example, there is little remaining time to light “Recommend”.

  In addition, for example, when the signal control device 151 lights “Tare rare” in the pedestrian signal lamp 161, the detection result indicates that the pedestrian Tgt2 is detected in at least one of the subareas SAir and SAer. When shown, the pedestrian Tgt2 is warned by voice that it is dangerous.

  Further, the signal control device 151 provides a service to the automobile Tgt1 based on the detection result received from the radio wave sensor 101.

  Specifically, the signal control device 151 detects, for example, that the detection result indicates that the pedestrian Tgt2 is detected in the SAer, or that the pedestrian Tgt2 in the subarea SAir or SAes can enter the subarea SAer. When the result indicates, pedestrian warning information indicating that the pedestrian Tgt2 in the pedestrian crossing PC1 should be noted is created, and the created pedestrian warning information is transmitted to the wireless transmission device 152.

  For example, when the wireless transmission device 152 receives pedestrian warning information from the signal control device 151, the wireless transmission device 152 generates a radio wave including the received pedestrian warning information, and transmits the generated radio wave via the antenna 153, so that the vicinity of the intersection CS 1 The pedestrian warning information is notified to the automobile Tgt1 located at.

  For example, when the vehicle Tgt1 (not shown) that is going to turn right or left from the intersection road Rd2 and pass the pedestrian crossing PC1 receives a radio wave transmitted from the wireless transmission device 152, the vehicle Tgt1 acquires pedestrian warning information included in the received radio wave. Then, based on the acquired pedestrian warning information, the driver of the automobile Tgt1 is notified that attention should be paid to the crossing object in the pedestrian crossing PC1.

  The radio wave sensor 101 and the terminal device 111 can be connected by a signal line, for example, although not shown in FIG.

  The terminal device 111 can accept the operation of the sensor installer. Upon receiving the operation of the sensor installer, the terminal device 111 creates operation information indicating the received operation content, and transmits the created operation information to the radio wave sensor 101 via a signal line.

  Specifically, for example, the sensor installer operates the terminal device 111 to set the mode of the radio wave sensor 101, start measurement of the radio wave sensor 101, input parameters to the radio wave sensor 101, and the like.

  Further, the terminal device 111 has a display as a display unit, for example, and when the measurement result information indicating the measurement result of the radio wave sensor 101 is received from the radio wave sensor 101 via the signal line, the content of the received measurement result information is displayed. To display.

[Configuration of radio wave sensor]
FIG. 3 is a diagram showing the configuration of the radio wave sensor in the safe driving support system according to the first embodiment of the present invention.

  With reference to FIG. 3, the radio wave sensor 101 includes a transmission unit 1, a reception unit 2, a differential signal generation unit 3, a control unit 4, a signal processing unit 5, a setting unit 6, a detection unit 7, A communication unit (acquisition unit and output unit) 8 and a correction unit 9 are provided.

  The transmission unit 1 includes a transmission antenna 21, a power amplifier 22, a directional coupler 23, a VCO (Voltage-Controlled Oscillator) 24, and a voltage generation unit 25.

  The receiving unit 2 includes receiving antennas 31A, 31B, 31C, 31D and low noise amplifiers 32A, 32B, 32C, 32D. Hereinafter, each of the reception antennas 31A, 31B, 31C, and 31D is also referred to as a reception antenna 31. Each of the low noise amplifiers 32A, 32B, 32C, and 32D is also referred to as a low noise amplifier 32.

  The low noise amplifier 32 is provided corresponding to the receiving antenna 31, for example. In FIG. 3, four groups of the receiving antenna 31 and the corresponding low noise amplifier 32 are representatively shown, but two, three, five or more groups may be provided.

  The differential signal generator 3 includes mixers 33A, 33B, 33C, and 33D, IF (Intermediate Frequency) amplifiers 34A, 34B, 34C, and 34D, low-pass filters 35A, 35B, 35C, and 35D, and an A / D converter (ADC). 36A, 36B, 36C, 36D.

  Hereinafter, each of the mixers 33A, 33B, 33C, and 33D is also referred to as a mixer 33. Each of IF amplifiers 34A, 34B, 34C, and 34D is also referred to as IF amplifier 34. Each of the low-pass filters 35A, 35B, 35C, and 35D is also referred to as a low-pass filter 35. Each of the AD converters 36A, 36B, 36C, and 36D is also referred to as an AD converter 36.

  The mixer 33, IF amplifier 34, low-pass filter 35, and A / D converter 36 are provided corresponding to the receiving antenna 31, for example. In FIG. 3, four groups of the mixer 33, the IF amplifier 34, the low-pass filter 35, and the A / D converter 36 are representatively shown, but two, three, five or more groups may be provided. Good.

  The radio wave sensor 101 is, for example, Non-Patent Document 1 (Koji Yoichi, 2 others, “Application of expanding millimeter-wave technology”, Shimada Rika Technical Report, 2011, No. 21, P.37-48) and non-patent. FM-CW (Frequency Modulated) described in Document 2 (Takayuki Inaba, Tetsuro Kirimoto, “Automotive Millimeter Wave Radar”, Automotive Technology, February 2010, Vol. 64, No. 2, P. 74-79) -A radar that detects an object Tgt according to the Continuous Wave method. The radio wave sensor 101 is not limited to the FM-CW method, and may be a radar that detects the object Tgt according to another method such as a pulse method.

  The communication unit 8 in the radio wave sensor 101 transmits / receives information to / from the terminal device 111.

  For example, the control unit 4 sets the operation mode of its own radio wave sensor 101 to one of the initial adjustment mode and the normal operation mode.

  More specifically, for example, when the control unit 4 receives operation information Mu indicating the operation of the sensor installer for setting the initial adjustment mode from the terminal device 111 via the communication unit 8, the operation of the own radio wave sensor 101 is performed. Set the mode to the initial adjustment mode.

  For example, when the control unit 4 receives operation information Mc indicating the operation of the sensor installer for setting the normal operation mode from the terminal device 111 via the communication unit 8, the control unit 4 sets the operation mode of the own radio wave sensor 101 to the normal operation mode. Set the operation mode.

  FIG. 4 is a diagram showing an example of a time change of the frequency of the radio wave transmitted and received by the radio wave sensor in the safe driving support system according to the first embodiment of the present invention.

  In FIG. 4, the horizontal axis indicates time, and the vertical axis indicates frequency. Further, the frequency Ft of the transmitted radio wave is represented by a solid line, and the frequency Fr of the received radio wave is represented by a broken line. In FIG. 4, the delay of the received radio wave with respect to the transmitted radio wave is shown.

  3 and 4, when the control unit 4 receives operation information Mm indicating the operation of the sensor installer for performing unit measurement from the terminal device 111 via the communication unit 8 in the initial adjustment mode, 1 One unit sequence US is set.

  Then, the control unit 4 transmits measurement result information indicating a measurement result based on the received radio wave to the terminal device 111 via the communication unit 8. Details of the measurement result information will be described later.

  The control unit 4 repeatedly sets the unit sequence US in the normal operation mode. Here, the length of the unit sequence US is, for example, 100 milliseconds.

  3 and 4, the control unit 4 uses the frequency sweep width Δf used in the FM-CW method and the sweep time Ts, which is the length of the transmission period P1, as initial setting values, and the transmission unit 1 and the signal processing unit 5 Output to.

  The control unit 4 generates control signals Ss1 and Se1 at the start timing and end timing of the transmission period P1, respectively. The control unit 4 outputs the generated control signals Ss1 and Se1 to the transmission unit 1 and the signal processing unit 5.

  The transmitter 1 transmits radio waves to the target area A1. More specifically, the VCO 24 in the transmission unit 1 generates a transmission wave RFt having a frequency corresponding to the magnitude of the voltage received from the voltage generation unit 25.

  When voltage generator 25 receives control signal Ss1 from controller 4, voltage generator 25 receives control signal Se1 from controller 4 using frequency sweep width Δf and sweep time Ts previously received from controller 4 as initial setting values. A voltage whose magnitude increases at a constant rate, that is, an FM modulation voltage is generated and output to the VCO 24.

  The VCO 24 generates, for example, a 24 GHz band transmission wave RFt3 having a frequency sweep width Δf of 180 MHz in accordance with the FM modulation voltage received from the voltage generation unit 25, and outputs it to the directional coupler 23.

  The directional coupler 23 distributes the transmission wave RFt received from the VCO 24 to the power amplifier 22 and the differential signal generator 3.

  The power amplifier 22 amplifies the transmission wave RFt received from the directional coupler 23, and transmits the amplified transmission wave RFt to the target area A1 via the transmission antenna 21. Here, the transmission antenna 21 is provided at the same height Hs as the reception antenna 31.

  FIG. 5 is a diagram illustrating an example of an arrangement when the transmitting antenna and the receiving antenna according to the first embodiment of the present invention are viewed from above.

  With reference to FIGS. 3 and 5, reception antennas 31 </ b> A to 31 </ b> D are located, for example, in the vicinity of transmission antenna 21. More specifically, the receiving antennas 31A to 31D are arranged horizontally, for example, at a height Hs from the ground. The receiving antennas 31 are arranged at intervals d in the order of the receiving antennas 31A to 31D from the transmitting antenna 21 side.

  Here, the sensor coordinate system is defined as follows. That is, the sensor coordinate system is a coordinate system represented by, for example, the x-axis and the y-axis, and the radio wave sensor 101 is located at the origin. The direction of the y-axis is the direction that is the front of the radio wave sensor 101 in the result of the radio wave sensor 101 measuring the orientation of the object. More specifically, the y-axis direction is a direction in which all of phase spectra PS1 to PS4 described later substantially coincide. The x-axis is perpendicular to the y-axis, is parallel to the ground, and faces the direction in which the receiving antennas 31A to 31D are arranged in the order of the receiving antennas 31D, 31C, 31B, and 31A.

  The sensor coordinate system may adopt the following definitions. That is, the sensor coordinate system is a coordinate system in which, for example, an intermediate position between the receiving antennas 31A to 31D is located at the origin. The x-axis direction is a direction in which the receiving antennas 31A to 31D are arranged in the order of the receiving antennas 31D, 31C, 31B, and 31A. The y-axis is perpendicular to the x-axis, is parallel to the ground, and faces in the direction in which the transmission radio wave propagates.

  A distance from the origin in the sensor coordinate system to the reflector R1 or the object Tgt is defined as a detection distance Lt. Further, the distance from the origin to the reflector R1 or the object Tgt in the plan view when the object area A1 is viewed from above is defined as a detection plane distance Lc. Specifically, for example, when the height of the receiving antennas 31A to 31D from the ground is Hs and the height of the reflector R1 or the object Tgt from the ground is Hr, the detection plane distance Lc is {Lt × Lt− (Hs−Hw) × (Hs−Hw)}.

  The azimuth angle φc of the reflector R1 or the object Tgt in the sensor coordinate system is defined so that the x-axis direction is 0 ° and increases counterclockwise when viewed from above the object area A1.

  The receiving antennas 31 </ b> A to 31 </ b> D may be arranged at positions away from the transmitting antenna 21, but are preferably arranged in the vicinity of the transmitting antenna 21 in order to simplify the configuration of the radio wave sensor 101.

  In addition, the transmission antenna 21 and the plurality of reception antennas 31 are not limited to separate antennas, and any one of the plurality of reception antennas 31 may be used as a transmission antenna.

  Referring to FIG. 3, receiving unit 2 receives radio waves from target area A1 and the like. More specifically, the radio waves received by the receiver 2 include radio waves reflected by the reflector R1, radio waves reflected by the object Tgt, structures that are objects other than the reference object and the object Tgt, such as guardrails and Radio waves reflected by the pole, radio waves from a radio wave transmitter that transmits radio waves, and the like are included.

  More specifically, the receiving antennas 31A to 31D in the receiving unit 2 receive radio waves from the target area A1.

  The low noise amplifiers 32 </ b> A to 32 </ b> D amplify the reception waves RFr <b> 1 to RFr <b> 4 that are radio waves received by the reception antennas 31 </ b> A to 31 </ b> D, respectively, and output the amplified signals to the differential signal generation unit 3.

  The difference signal generation unit 3 generates a difference signal having a frequency component that is a difference between the frequency component of the radio wave transmitted by the transmission unit 1 and the frequency component of the radio wave received by the reception unit 2, for example.

  More specifically, the mixer 33A in the difference signal generation unit 3 generates a difference signal Ba1 having a frequency component of the difference between the transmission wave RFt received from the transmission unit 1 and the reception wave RFr1 received from the low noise amplifier 32A, and the generated difference The signal Ba1 is output to the IF amplifier 34A.

  Similarly, mixer 33B to mixer 33D generate difference signals Ba2 to Ba4 having frequency components that are the difference between the transmission wave RFt received from transmission unit 1 and the reception waves RFr2 to RFr4 received from low noise amplifiers 32B to 32D, respectively. For example, the mixer 33B to the mixer 33D output the generated difference signals Ba2 to Ba4 to the IF amplifiers 34B to 34D, respectively.

  IF amplifiers 34A to 34D amplify difference signals Ba1 to Ba4 received from mixer 33A to mixer 33D, respectively, and output the amplified signals to low pass filters 35A to 35D.

  The low-pass filters 35A to 35D attenuate components having a frequency equal to or higher than a predetermined frequency among the frequency components of the difference signals Ba1 to Ba4 amplified by the IF amplifiers 34A to 34D, respectively.

  The A / D converter 36A performs a sampling process of the difference signal Ba1 at a predetermined sampling frequency fsmpl, for example. More specifically, the A / D converter 36A, for example, applies the difference signal Ba1 that is an analog signal that has passed through the low-pass filter 35A to q bits (q is an integer of 2 or more) every sampling period (1 / fsmpl). To the digital differential signal Bd1.

  Similarly, the A / D converters 36B to 36D respectively sample the differential signals Ba2 to Ba4 at the sampling frequency fsmpl, and convert the analog differential signals Ba2 to Ba4 into digital differential signals Bd2 to Bd4.

  The A / D converters 36A to 36D output the converted difference signals Bd1 to Bd4 to the signal processing unit 5, respectively.

  FIG. 6 is a diagram showing a configuration of a signal processing unit in the radio wave sensor according to the first embodiment of the present invention.

  Referring to FIG. 6, the signal processing unit 5 includes a memory 41, an FFT (Fast Fourier Transform) processing unit 42, and an FMCW processing unit (measurement unit) 43.

  FIG. 7 is a diagram illustrating an example of a power spectrum generated by the FFT processing unit in the radio wave sensor according to the first embodiment of the invention.

  Referring to FIGS. 6 and 7, memory 41 in signal processing unit 5 stores differential signals Bd1 to Bd4 received from A / D converters 36A to 36D, respectively.

  The FFT processing unit 42 recognizes the transmission period P1 (see FIG. 4) based on the control signals Ss1 and Se1 received from the control unit 4.

  When the accumulation of the difference signals Bd1 to Bd4 in the transmission period P1 in the memory 41 is completed, the FFT processing unit 42 obtains the difference signals Bd1 to Bd4 accumulated in the memory 41, and the acquired difference signals Bd1 to Bd4 are obtained. Each performs FFT processing.

  More specifically, the FFT processing unit 42 generates the power spectrum FS1 and the phase spectrum PS1 by performing FFT processing on the difference signal Bd1. Here, the power spectrum FS1 indicates the amplitude of each frequency component included in the difference signal Bd1 accumulated in the transmission period P1. The phase spectrum PS1 indicates the phase of each frequency component included in the difference signal Bd1 accumulated in the transmission period P1.

  Similarly, the FFT processing unit 42 performs FFT processing on the difference signals Bd2, Bd3, and Bd4 accumulated in the transmission period P1, thereby generating power spectra FS2, FS3, and FS4, respectively, and phase spectra PS2, PS3 and PS4 are generated respectively.

  The FFT processing unit 42 outputs the generated power spectra FS1 to FS4 and phase spectra PS1 to PS4 to the FMCW processing unit 43.

  FIG. 8 is a diagram showing an example of a measurement result table showing a peak detection result by the FMCW processing unit in the radio wave sensor according to the first embodiment of the present invention. A measurement result table 400 shown in FIG. 8 lists measurement positions in polar coordinates and corresponding to detected peaks. The measurement position is represented by the detection plane distance L and the azimuth angle φ.

  With reference to FIG. 8, the FMCW processing unit 43 can measure a measurement direction that is a direction from the radio wave sensor 101 to the reference object in the target area A <b> 1 based on the radio wave received by the reception unit 2.

  Specifically, the FMCW processing unit 43 can measure an azimuth angle (hereinafter also referred to as a reference azimuth angle) indicating a measurement direction from the radio wave sensor 101 to the reflector R1.

  Further, the FMCW processing unit 43 can measure the detection distance between the radio wave sensor 101 and the reference object and the corresponding detection plane distance (hereinafter also referred to as a reference distance).

  Here, “measurable” means, for example, that the reference azimuth and the reference distance are measured by the measurement unit 46 when the reference object is present at a position where the radio wave sensor 101 can be seen in the target area A1, When there is an obstacle such as the automobile Tgt1 between the radio wave sensor 101 and the reference object, the reference azimuth angle and the reference distance to be measured are not measured by the measurement unit 46, and the azimuth angle and distance of the obstacle are measured. Is measured by the measurement unit 46.

  In this example, the FMCW processing unit 43 measures, for example, the peak intensity, the detection plane distance (L), and the azimuth angle (φ) for a plurality of objects, specifically, a reference object and an object different from the reference object. Then, a measurement result table 400 showing the measurement results is created.

  More specifically, when FMCW processing unit 43 receives power spectra FS1 to FS4 and phase spectra PS1 to PS4 from FFT processing unit 42, FMCW processing unit 43 performs the following processing.

  That is, the FMCW processing unit 43 converts the frequencies of the received power spectra FS1 to FS4 into distances. More specifically, the FMCW processing unit 43 converts the frequencies of the power spectra FS1 to FS4 into distances using the frequency sweep width Δf and the sweep time Ts received from the control unit 4.

  Then, the FMCW processing unit 43 performs peak detection processing on the generated power spectrum. More specifically, the FMCW processing unit 43 analyzes the power spectrum and tries to detect a peak having an intensity equal to or higher than the threshold value Thfm.

  In this example, the FMCW processing unit 43 detects three peaks, attaches peak numbers Pn1 to Pn3 to the detected peaks, and writes the attached peak numbers and corresponding peak intensities in the measurement result table 400.

  In addition, the FMCW processing unit 43 calculates, for each peak, a measurement position that is a position in the polar coordinates of the object corresponding to the detected peak.

  More specifically, the FMCW processing unit 43 calculates the detection distance from the position of the peak having the peak numbers of Pn1, Pn2, and Pn3. Then, the FMCW processing unit 43 converts the calculated detection distances into detection plane distances Ls1, Ls2, and Ls3, respectively, and writes them in the measurement result table 400.

  Further, the FMCW processing unit 43 calculates the azimuth angle φs1 corresponding to the peak of the peak number Pn1 based on the peak frequency Fb of the peak number Pn1 and the phase spectra PS1 to PS4.

  More specifically, the FMCW processing unit 43 is described in, for example, Non-Patent Document 3 (Nobuyoshi Kikuma, “Adaptive signal processing using an array antenna”, first edition, Science and Technology Publishing Co., Ltd., November 1998, p.181, p. 194), the azimuth angle φs1 corresponding to the peak of the peak number Pn1 is calculated according to the MUSIC (Multiple Signal Classification) method, Capon method, or beamforming method.

  Similarly, the FMCW processing unit 43 calculates azimuth angles φs2 and φs3 corresponding to the peaks of the peak numbers Pn2 and Pn3, respectively. The FMCW processing unit 43 writes the calculated azimuth angles φs1, φs2, and φs3 in the measurement result table 400.

  The FMCW processing unit 43 outputs measurement result information indicating the created measurement result table 400 to the control unit 4 when the mode of its own radio wave sensor 101 is the initial adjustment mode. The measurement result information is an example of direction information indicating the measurement direction measured by the FMCW processing unit 43.

  Referring to FIG. 3 again, when receiving the measurement result information from FMCW processing unit 43, control unit 4 outputs the received measurement result information to communication unit 8.

  When the communication unit 8 outputs the direction information, specifically, when the measurement result information is received from the control unit 4, the communication unit 8 transmits the received measurement result information to the terminal device 111.

  When receiving the measurement result information from the radio wave sensor 101, the terminal device 111 performs control to display the measurement result table 400 indicated by the received measurement result information on the display unit.

[Flow of operation]
Each device in the safe driving support system 301 includes a computer, and an arithmetic processing unit such as a CPU in the computer reads a program including a part or all of each step of the following sequence diagram or flowchart from a memory (not shown). Run. Each of the programs of the plurality of apparatuses can be installed from the outside. The programs of the plurality of apparatuses are distributed while being stored in a recording medium.

[Method of Inputting Correction Value to Radio Wave Sensor 101]
FIG. 9 is a flowchart defining an example of the procedure of the radio wave sensor adjustment method according to the first embodiment of the invention.

  Referring to FIG. 9, a situation is assumed in which reflector R1 is provided in target area A1.

  First, the sensor installer installs the radio wave sensor 101 (step S102). More specifically, for example, the sensor installer fixes the radio wave sensor 101 to the support PW while visually adjusting the direction of the radio wave sensor 101 so that the radio wave from the radio wave sensor 101 is irradiated onto the target area A1.

  Next, the sensor installer operates the terminal device 111 to set the operation mode of the radio wave sensor 101 to the initial adjustment mode (step S104).

  More specifically, the sensor installer performs an operation on the terminal device 111 to set the operation mode of the radio wave sensor 101 to the initial adjustment mode. Upon receiving the operation of the sensor installer, the terminal device 111 creates operation information Mu according to the received operation content, and transmits the created operation information Mu to the radio wave sensor 101. The radio wave sensor 101 receives the operation information Mu from the terminal device 111 and sets its own operation mode to the initial adjustment mode.

  Next, the sensor installer actually measures the position of the reflector R1 with respect to the radio wave sensor 101 using a measure or the like, and calculates the coordinates of the reflector R1 in the map coordinate system (step S106).

  FIG. 10 is a diagram illustrating an example of an arrangement when the radio wave sensor according to the first embodiment of the present invention and the vicinity of the intersection where the radio wave sensor is provided are viewed from above.

  With reference to FIG. 10, the map coordinate system is defined as follows. That is, the map coordinate system is a coordinate system represented by, for example, the X axis and the Y axis, and the radio wave sensor 101 is located at the origin. The direction of the Y axis is, for example, a direction defined by the sensor installer as the front.

  In this example, the Y axis is parallel to, for example, the extending direction Dp of the pedestrian crossing PC1 and is directed in the direction in which the transmission radio wave from the radio wave sensor 101 propagates. The X axis is perpendicular to the Y axis, is parallel to the ground, and faces rightward from the radio wave sensor 101 toward the pedestrian crossing PC1.

  The azimuth angle in the map coordinate system is defined so that the X-axis direction is 0 ° and increases counterclockwise when viewed from above the radio wave sensor 101.

  In this example, the direction from the radio wave sensor 101 to the reflector R1 is the reference direction. The azimuth angle in the reference direction is φm1. Specifically, the sensor installer calculates (Xm1, Ym1) as the coordinates of the reflector R1 in the map coordinate system. Then, based on the calculated (Xm1, Ym1), the sensor installer calculates the distance Lm1 from the coordinate origin to the reflector R1 and the azimuth angle φm1 of the reflector R1 in the map coordinate system.

  In addition, how to determine the axis in the map coordinate system is arbitrary, and may be determined based on, for example, the directions of east, west, south, and north. Further, the position of the reflector R1 with respect to the radio wave sensor 101 may be obtained from an aerial photograph or a map.

  Referring to FIG. 9 again, next, radio wave sensor 101 measures the measurement direction, which is the direction from itself to the reference object in target area A1, based on the received radio wave. Specifically, the sensor installer operates the terminal device 111 to cause the radio wave sensor 101 to perform unit measurement and acquire a measurement result by the radio wave sensor 101 (step S108).

  More specifically, the sensor installer performs an operation for performing unit measurement on the terminal device 111. Upon receiving the operation of the sensor installer, the terminal device 111 creates operation information Mm according to the received operation content, and transmits the created operation information Mm to the radio wave sensor 101.

  When receiving the operation information Mm from the terminal device 111, the radio wave sensor 101 sets one unit sequence US and transmits the radio wave to the target area A1. The radio wave sensor 101 creates measurement result information based on the received radio wave, and transmits the created measurement result information to the terminal device 111.

  When receiving the measurement result information from the radio wave sensor 101, the terminal device 111 performs control to display the measurement result table 400 (see FIG. 8) indicated by the received measurement result information on the display unit. The sensor installer looks at the measurement result table 400 displayed on the terminal device 111 and recognizes the measurement result of the radio wave sensor 101.

  Next, the sensor installer calculates a deviation of the measurement direction measured by the radio wave sensor 101 with respect to the reference direction from the radio wave sensor 101 to the reference object. Specifically, the sensor installer compares the actual measurement result with the measurement result by the radio wave sensor 101, and calculates the deviation based on the comparison result (step S110).

  FIG. 11 is a diagram illustrating an example of a measurement result by the radio wave sensor according to the first embodiment of the present invention and an actual measurement result by the sensor installer. FIG. 11 shows a map coordinate system.

  Referring to FIG. 11, the position (Ps1) of reflector R1 based on the coordinates (Xm1, Ym1) of reflector R1 and detection plane distance Ls1 and azimuth angle φs1 measured by radio wave sensor 101 is plotted.

  When the Y axis in the map coordinate system does not match the y axis in the sensor coordinate system, the azimuth angle φm1 and the azimuth angle φs1 corresponding to the coordinates (Xm1, Ym1) do not match as shown in FIG.

  The sensor installer acquires the reference distance and reference azimuth based on the reflector R1 from the measurement results in the measurement result table 400.

  More specifically, the sensor installer obtains the reference distance and the reference azimuth angle based on the reflector R1 by using, for example, the peak intensity and the comparison result between the measurement position and the position based on the distance Lm1 and the azimuth angle φm1. To do. In this example, the sensor installer acquires the detection plane distance Ls1 and the azimuth angle φs1 as the reference distance and the reference azimuth angle, respectively.

  For example, the sensor installer calculates a difference between the azimuth angle φm1 and the azimuth angle φs1, that is, an example of the deviation, that is, (φm1−φs1) as a correction value.

  Referring to FIG. 9 again, next, the sensor installer operates the terminal device 111 to input the calculated correction value to the radio wave sensor 101 (step S112).

  More specifically, the sensor installer performs an operation on the terminal device 111 for inputting the calculated correction value to the radio wave sensor 101.

  For example, the terminal device 111 creates correction information for correcting a shift in the measurement direction measured by the radio wave sensor 101 with respect to the reference direction from the radio wave sensor 101 to the reflector R1.

  More specifically, when receiving the operation of the sensor installer, the terminal device 111 creates correction information including a correction value according to the received operation content, and transmits the created correction information to the radio wave sensor 101.

  Referring to FIG. 3 again, the communication unit 8 in the radio wave sensor 101 acquires correction information. More specifically, when receiving the correction information from the terminal device 111, the communication unit 8 outputs the received correction information to the correction unit 9.

  Referring to FIG. 9 again, next, the sensor installer operates the terminal device 111 to set the operation mode of the radio wave sensor 101 to the normal operation mode (step S114).

  More specifically, the sensor installer performs an operation on the terminal device 111 to set the operation mode of the radio wave sensor 101 to the normal operation mode. When receiving the operation of the sensor installer, the terminal device 111 creates operation information Mc according to the received operation content, and transmits the created operation information Mc to the radio wave sensor 101.

  The radio wave sensor 101 receives the operation information Mc from the terminal device 111 and sets its own operation mode to the normal operation mode.

  Note that the order of steps S104 and S106 is not limited to the above, and the order may be changed.

  The order of steps S106 and S108 is not limited to the above, and the order may be changed.

  With reference to FIG. 6 again, the operation of each processing unit in the radio wave sensor 101 set in the normal operation mode will be described.

  The FMCW processing unit 43 in the signal processing unit 5 measures the target direction, which is the direction from the radio sensor 101 to the target Tgt in the target area A1, based on the radio wave received by the receiving unit 2.

  As described above, since the unit sequence US is repeatedly set in the normal operation mode, the FMCW processing unit 43 creates the measurement result table 400 for each unit sequence US. The measurement result table 400 includes, for example, the peak intensity, the detection plane distance (L), and the azimuth angle (φ) for the object Tgt.

  The azimuth angle (φ) for the object Tgt is an angle formed by the object direction from the origin to the object Tgt and the x axis in the sensor coordinate system shown in FIG. The FMCW processing unit 43 outputs measurement result information indicating the created measurement result table 400 to the correction unit 9.

  Referring to FIG. 3 again, the correction unit 9 corrects the target direction measured by the FMCW processing unit 43 based on the correction information acquired by the communication unit 8.

  Specifically, when the correction unit 9 receives the correction information from the communication unit 8, the correction unit 9 registers the correction value included in the received correction information.

  For example, when receiving the measurement result information from the signal processing unit 5, the correction unit 9 adds a correction value to the azimuth angle φ, that is, φs1 to φs3, in the measurement result table 400 (see FIG. 8) indicated by the received measurement result information. Thus, the azimuth angle φ in the measurement result table 400 is corrected. The correction unit 9 outputs the corrected measurement result information (hereinafter also referred to as corrected measurement result information) to the detection unit 7.

  Coordinates in the map coordinate system of the index positions C1 to C10 shown in FIG. 2 (hereinafter also referred to as index coordinates) are registered in the setting unit 6.

  For example, the detection unit 7 detects the target Tgt in the target area A1 based on the target direction corrected by the correction unit 9.

  More specifically, when the operation mode of its own radio wave sensor 101 is set to the normal operation mode, the detection unit 7 acquires the index coordinates registered in the setting unit 6 from the setting unit 6.

  Then, when the detection unit 7 receives the corrected measurement result information from the correction unit 9, the detection unit 7 detects the target Tgt for each sub-area based on the received corrected measurement result information and the index coordinates.

  More specifically, for example, in the measurement result table 400 indicated by the corrected measurement result information, the detection unit 7 converts the corrected azimuth angle φ and detection plane distance L into orthogonal coordinates for each peak, thereby converting the map coordinates The position (X, Y) in the system is calculated for each peak.

  For example, the detection unit 7 compares the calculated position (X, Y) with the position of each sub-area based on the index coordinates, and the calculated position (X, Y) is one of the sub-areas based on the comparison result. It is determined whether it is included in.

  For example, when the detection unit 7 determines that the calculated position (X, Y) is included in any of the sub-areas, the detection unit 7 specifies the sub-area including the calculated position (X, Y) and the corresponding peak. The type of the object Tgt is specified based on the strength.

  The detection unit 7 creates detection result information indicating the type of the target Tgt, the subarea including the target Tgt, and the peak intensity.

  On the other hand, for example, when the detection unit 7 determines that the calculated position (X, Y) is not included in any subarea, the detection result information indicating that the object Tgt is not located in any subarea. Create

  The detection unit 7 transmits the created detection result information to the signal control device 151 via the relay device 141.

[Modification 1 of Correction Value Calculation Method]
In step S108 shown in FIG. 9, the radio wave sensor 101 measures the measurement direction of one reference object. In step S110 shown in FIG. 9, the sensor installer detects the reference object from the radio wave sensor 101 in one measurement direction. Although it is configured to calculate a deviation with respect to one reference direction, the present invention is not limited to this.

  In step S108, for example, the radio wave sensor 101 measures a plurality of measurement directions based on the received radio wave. In step S110, for example, the sensor installer calculates the deviations of the plurality of measurement directions measured by the radio wave sensor 101 from the corresponding plurality of reference directions, and statistically processes each calculated deviation.

  FIG. 12 is a diagram illustrating an example of a measurement result by the radio wave sensor according to the first embodiment of the present invention and an actual measurement result by the sensor installer. FIG. 12 shows a map coordinate system.

  Referring to FIG. 12, a situation is assumed in which two reference objects, specifically reflectors R1 and R2 are provided in target area A1.

  The sensor installer actually measures the positions of the reflectors R1 and R2 with respect to the radio wave sensor 101, and calculates (Xm1, Ym1) and (Xm2, Ym2) as coordinates in the map coordinate system of the reflectors R1 and R2.

  Then, based on the calculated (Xm1, Ym1), the sensor installer calculates the distance Lm1 from the coordinate origin to the reflector R1 and the azimuth angle φm1 of the reflector R1 in the map coordinate system.

  Similarly, the sensor installer calculates the distance Lm2 from the coordinate origin to the reflector R2 and the azimuth angle φm2 of the reflector R2 in the map coordinate system based on the calculated (Xm2, Ym2).

  The sensor installer operates the terminal device 111 to cause the radio wave sensor 101 to perform unit measurement.

  The radio wave sensor 101 measures a plurality of measurement directions based on the received radio wave according to the operation of the sensor installer.

  More specifically, the FMCW processing unit 43 in the radio wave sensor 101 measures the detection plane distance Ls1 and the azimuth angle φs1 as the reference distance and the reference azimuth angle based on the reflector R1, respectively. Further, the FMCW processing unit 43 measures the detection plane distance Ls2 and the azimuth angle φs2 as the reference distance and the reference azimuth angle based on the reflector R2, respectively.

  The radio wave sensor 101 transmits measurement result information to the terminal device 111. When receiving the measurement result information from the radio wave sensor 101, the terminal device 111 performs control to display the measurement result table 400 indicated by the received measurement result information on the display unit.

  Then, the sensor installer calculates deviations of the plurality of measurement directions measured by the radio wave sensor 101 with respect to the corresponding plurality of reference directions, and statistically processes the calculated deviations.

  More specifically, the sensor installer looks at the measurement result table 400 and recognizes the measurement result of the radio wave sensor 101.

  In this example, the sensor installer acquires the detection plane distance Ls1 and the azimuth angle φs1 as the reference distance and the reference azimuth angle based on the reflector R1. Similarly, the sensor installer acquires the detection plane distance Ls2 and the azimuth angle φs2 as the reference distance and the reference azimuth angle based on the reflector R2.

  The sensor installer calculates the difference between the azimuth angle φm1 and the azimuth angle φs1, that is, (φm1-φs1), and the difference between the azimuth angle φm2 and the azimuth angle φs2, that is, (φm2-φs2). And the average value of (φm2-φs2) is calculated as a correction value.

  The configuration is not limited to two reference objects provided in the target area A1, but may be a configuration in which three or more reference objects are provided in the target area A1. In this case, the sensor installer calculates a difference between the azimuth angle actually measured by the sensor installer and the azimuth angle measured by the radio wave sensor 101 (hereinafter also referred to as a target difference) for each reference object. May be calculated as a correction value, or the median value of each target difference may be calculated as a correction value.

  Further, in the radio wave sensor adjustment method according to the first embodiment of the present invention, a plurality of measurement directions are measured by performing one unit measurement in a state where a plurality of reference objects are provided in the target area A1. However, the present invention is not limited to this. For example, a plurality of measurement directions may be measured by performing unit measurement each time the reflector R1 is moved.

[Second Modification of Correction Value Calculation Method]
In step S108 shown in FIG. 9, for example, the radio wave sensor 101 measures a plurality of measurement sets that are a set of the measurement direction and the distance between the radio wave sensor 101 and the reference object, based on the received radio wave. In step S110 shown in FIG. 9, for example, the sensor installer is based on one straight line based on a plurality of sets of the reference direction and the distance between the radio wave sensor 101 and the reference object, and on a plurality of measured sets. The deviation is calculated based on the positional relationship with one straight line.

  FIG. 13 is a diagram illustrating an example of an arrangement when the radio wave sensor according to the first embodiment of the present invention and the vicinity of the intersection where the radio wave sensor is provided are viewed from above. FIG. 13 shows a map coordinate system.

  Referring to FIG. 13, the sensor installer sets a trajectory Trm1 that is an example of a straight line based on a plurality of sets of the reference direction and the distance between the radio wave sensor 101 and the reference object.

  Specifically, the sensor installer sets a trajectory Trm1 based on a set of the azimuth angle φm1 and the distance Lm1 and a set of the azimuth angle φm2 and the distance Lm2 in the map coordinate system.

  More specifically, the sensor installer sets a trajectory Trm1 along the end portion of the pedestrian crossing PC1 on the side of the intersection CS1 and from the start point Sp to the end point Ep.

  The sensor installer moves the reflector R1 from the start point Sp to the end point Ep on the set locus Trm1.

  More specifically, the sensor installer causes the radio wave sensor 101 to perform unit measurement by operating the terminal device 111 in a state where the reflector R1 is located at the starting point Sp.

  The radio wave sensor 101 measures the measurement set based on the received radio wave according to the operation of the sensor installer.

  More specifically, the FMCW processing unit 43 in the radio wave sensor 101 measures the detection plane distance Ls1 and the azimuth angle φs1 as a measurement set based on the reflector R1 located at the start point Sp.

  The radio wave sensor 101 transmits measurement result information to the terminal device 111. When receiving the measurement result information from the radio wave sensor 101, the terminal device 111 performs control to display the measurement result table 400 indicated by the received measurement result information on the display unit.

  The sensor installer looks at the measurement result table 400 and obtains a measurement set based on the reflector R1 located at the start point Sp, that is, the detection plane distance Ls1 and the azimuth angle φs1. The sensor installer converts the acquired detection plane distance Ls1 and azimuth angle φs1, that is, the coordinate component of polar coordinates into orthogonal coordinates (hereinafter also referred to as start point coordinates Crds).

  Next, the sensor installer causes the radio wave sensor 101 to perform unit measurement in a state where the reflector R1 is located at one place on the locus not including the start point Sp and the end point Ep, and the reflector R1 located at the place. Get a measurement set based on. The sensor installer converts the acquired measurement set into orthogonal coordinates (hereinafter also referred to as intermediate coordinates Crdm). The sensor installer may calculate a plurality of intermediate coordinates.

  Then, the sensor installer causes the radio wave sensor 101 to perform unit measurement in a state where the reflector R1 is located at the end point Ep, and acquires a measurement set based on the reflector R1 located at the end point Ep. The sensor installer converts the acquired measurement set into orthogonal coordinates (hereinafter also referred to as end point coordinates Crde).

  FIG. 14 is a diagram illustrating an example of a measurement result by the radio wave sensor according to the first embodiment of the present invention and an actual measurement result by the sensor installer. FIG. 14 shows a map coordinate system.

  Referring to FIGS. 13 and 14, the sensor installer actually measures the positions of start point Sp and end point Ep with a measure or the like, and calculates the coordinates of start point Sp and end point Ep in the map coordinate system from the actually measured result.

  Specifically, the sensor installer calculates a set of the azimuth angle Lm1 and the distance Lm1 as the polar coordinates of the start point Sp, and a set of the azimuth angle Lm2 and the distance Lm2 as the polar coordinates of the end point Ep.

  The sensor installer converts the calculated sets into orthogonal coordinates, and calculates a linear function indicating the trajectory Trm1 based on the converted coordinates.

  Further, the sensor installer calculates a straight line based on a plurality of measurement sets measured by the radio wave sensor 101. More specifically, the sensor installer calculates a linear function indicating the locus Trs1 using the least square method based on the start point coordinates Crds, the one or more intermediate coordinates Crdm, and the end point coordinates Crde.

  The sensor installer rotates the linear function indicating the trajectory Trs1 in the XY plane with the axes passing through the origin and perpendicular to the X and Y axes as rotation axes, and the rotation angle φr overlapping the linear function indicating the trajectory Trm1. Is calculated as a correction value.

  In the radio wave sensor adjustment method according to the first embodiment of the present invention, the deviation is calculated based on the positional relationship between the trajectory Trm1 and the trajectory Trs1, but the present invention is not limited to this. A shift is calculated based on a positional relationship between one or more curves based on a plurality of sets of the reference direction and the distance between the radio wave sensor 101 and the reference object and one or more curves based on a plurality of measurement sets. Also good. In this case, the curved locus is approximated by a polynomial, for example. Moreover, the method of calculating the deviation based on the positional relationship between the curves is useful, for example, when calculating the deviation on a curved road. Further, the deviation may be calculated based on the positional relationship between a plurality of straight lines based on a plurality of sets of the reference direction and the distance between the radio wave sensor 101 and the reference object and a plurality of straight lines based on the plurality of measurement sets. .

  In the radio wave sensor adjustment method according to the first embodiment of the present invention, a plurality of measurement sets are measured by performing unit measurement each time the reflector R1 is moved along the trajectory Trm1. It is not limited to. For example, a plurality of measurement sets may be measured by performing unit measurement once in a state where a plurality of reference objects are provided along the trajectory Trm1.

  In the radio wave sensor adjustment method according to the first embodiment of the present invention, the sensor installer uses the start point coordinates Crds and the end point coordinates Crde respectively corresponding to the start point Sp and the end point Ep actually measured by the user. Although the linear function indicating Trs1 is calculated, the present invention is not limited to this. The sensor installer may be configured to calculate a linear function indicating the locus Trs1 without using the coordinates corresponding to the position actually measured by the sensor installer. Specifically, the sensor installer can calculate a linear function indicating the trajectory Trs1 based on a plurality of intermediate coordinates, for example.

[Method of adjusting the orientation of the radio wave sensor 101]
FIG. 15 is a flowchart defining an example of the procedure of the method of adjusting the direction of the radio wave sensor according to the first embodiment of the invention.

  With reference to FIG. 15, a situation is assumed in which a reflector R1 is provided in the target area A1. In the correction unit 9 in the radio wave sensor 101, zero is registered as a correction value.

  First, the sensor installer installs the radio wave sensor 101 (step S202).

  Next, the sensor installer operates the terminal device 111 to set the operation mode of the radio wave sensor 101 to the initial adjustment mode (step S204).

  Next, the sensor installer actually measures the position of the reflector R1 with respect to the radio wave sensor 101 with a measure or the like, and calculates the coordinates of the reflector R1 in the map coordinate system (step S206).

  Next, the sensor installer operates the terminal device 111 to cause the radio wave sensor 101 to perform unit measurement and obtain a measurement result by the radio wave sensor 101, that is, a measurement result table 400 (see FIG. 8) (step S208). .

  Next, the sensor installer compares the actual measurement result with the measurement result by the radio wave sensor 101, and calculates the target difference for the reflector R1 based on the comparison result (step S210).

  Next, the sensor installer physically adjusts the direction of the radio wave sensor 101 based on the calculated deviation when the target difference is not included in the predetermined allowable range (NO in step S212). The direction of the radio wave sensor 101 is physically adjusted with reference to the target difference (step S214).

  Next, the sensor installer operates the terminal device 111 to cause the radio wave sensor 101 to perform unit measurement and acquire a new measurement result by the radio wave sensor 101 (step S208).

  On the other hand, when the target difference is included in the predetermined allowable range (YES in step S212), the sensor installer operates the terminal device 111 to set the operation mode of the radio wave sensor 101 to the normal operation mode (step S216). ).

  Note that the order of steps S204 and S206 is not limited to the above, and the order may be changed.

  In the radio wave sensor according to the first embodiment of the present invention, the FMCW processing unit 43 is configured to measure both the measurement direction and the detection plane distance based on the radio wave received by the receiving unit 2. However, the present invention is not limited to this. The FMCW processing unit 43 may be configured to measure the measurement direction based on the radio wave received by the receiving unit 2. In this case, it is possible to calculate a correction value in the cases of FIGS.

  In the radio wave sensor according to the first embodiment of the present invention, the difference between the azimuth angle φm1 measured by the sensor installer and the azimuth angle φs1 measured by the radio wave sensor 101, that is, (φm1−φs1) is a correction value. However, the present invention is not limited to this. The difference between the azimuth angle φs1 and the azimuth angle φm1, that is, (φs1−φm1) may be calculated as a correction value. In this case, the correction unit 9 in the radio wave sensor 101 corrects the azimuth angle φ in the measurement result table 400 by, for example, subtracting the correction value from the azimuth angle φ, that is, φs1 to φs3, in the measurement result table 400 (see FIG. 8). To do.

  Moreover, although the radio wave sensor according to the first embodiment of the present invention is configured to include the setting unit 6 and the detection unit 7, the configuration is not limited thereto. A configuration in which the setting unit 6 and the detection unit 7 are provided outside the radio wave sensor 101 may be employed.

  By the way, for example, in the in-vehicle radio wave sensor described in Patent Document 1, the detection target area of the object is set based on the relative angle and distance with respect to the radio wave sensor.

  For example, when the above-described radio wave sensor is used in a pedestrian collision prevention support system for a right turn that is an example of a safe driving support system for supporting a driver's safe driving, a detection target area such as a pedestrian crossing is set.

  In such a case, for example, when the direction of the radio wave sensor is deviated from the reference direction, the radio wave sensor erroneously changes the direction from self to the pedestrian even if the pedestrian is actually located on the pedestrian crossing. Measure and may incorrectly determine that the pedestrian is not on a pedestrian crossing. In addition, even if the pedestrian is not actually located at the pedestrian crossing, the radio wave sensor may erroneously measure the direction from the pedestrian to the pedestrian and may incorrectly determine that the pedestrian is located at the pedestrian crossing. .

  Specifically, for example, if the direction of the radio wave sensor is deviated from the reference direction by 1 degree, the error in the horizontal direction 30 meters away from the radio wave sensor is about 0.5 m, and is the pedestrian located on the pedestrian crossing? It becomes difficult to accurately determine whether or not.

  In the case of a sensor using an image captured by a camera, adjustment can be performed while viewing a video based on the captured image. However, in the case of the radio wave sensor, it is difficult for the sensor installer to grasp the direction of the radio wave sensor.

  As a method of aligning the direction of the radio wave sensor with the reference direction, it is conceivable to use a camera or to aim the radio wave sensor, but it is difficult for the sensor installer to grasp the direction of the radio wave sensor. It is difficult to accurately match the direction of the radio wave sensor with the reference direction. In addition, for example, even if the direction of the housing of the radio wave sensor can be adjusted to the reference direction, the directionality of the antenna and the direction of the housing are shifted depending on the tightening of the screw for fixing the antenna. There is. In this case, the measurement direction measured by the radio wave sensor is shifted from the reference direction.

  Therefore, in the radio wave sensor according to the first embodiment of the present invention, the transmission unit 1 transmits radio waves to the target area A1. The receiving unit 2 receives radio waves. The FMCW processing unit 43 measures the measurement direction, which is the direction from the radio wave sensor 101 to the reference object in the target area A1, based on the radio wave received by the reception unit 2. The communication unit 8 outputs direction information indicating the measurement direction measured by the FMCW processing unit 43. The communication unit 8 acquires correction information for correcting a shift in the measurement direction measured by the FMCW processing unit 43 with respect to the reference direction from the radio wave sensor 101 to the reference object. The FMCW processing unit 43 further measures a target direction, which is a direction from the radio wave sensor 101 to the target object Tgt in the target area A1, based on the radio wave received by the receiving unit 2. Then, the correction unit 9 corrects the target direction measured by the FMCW processing unit 43 based on the correction information acquired by the communication unit 8.

  In this way, with the configuration in which the direction information is output, for example, the installer of the radio wave sensor 101 can calculate the deviation of the direction of the radio wave sensor 101, and thus can create correction information with more correct contents. In addition, by acquiring correction information and correcting the measured target direction based on the acquired correction information, for example, when the above-described target difference is included in a predetermined allowable range, the orientation of the radio wave sensor 101 is physically set. Thus, the correct target direction can be easily calculated without performing the adjustment operation. Therefore, the direction to the object can be measured with higher accuracy.

  In the radio wave sensor according to the first embodiment of the present invention, the detection unit 7 detects the object Tgt in the target area A1 based on the target direction corrected by the correction unit 9.

  Thus, the detection accuracy of a target object can be raised by the structure which detects the said target object based on a more correct target direction.

  In the adjustment method according to the first embodiment of the present invention, first, based on the received radio wave, a measurement direction that is a direction from the radio wave sensor 101 to the reference object in the target area A1 is measured. Next, a deviation of the measured direction of measurement from the reference direction from the radio wave sensor 101 to the reference object is calculated.

  In this way, by measuring the direction to the reference object and calculating the deviation of the measurement direction with respect to the reference direction, the deviation of the direction of the radio wave sensor 101 can be recognized from the calculation result. It is possible to perform measures such as physically adjusting the orientation, or causing the radio wave sensor 101 to perform correction for adjusting the measurement direction of the radio wave sensor 101 to the reference direction. Thereby, the shift | offset | difference with respect to the reference direction of a measurement direction can be made smaller. Therefore, the direction to the object can be measured with higher accuracy.

  In the adjustment method according to the first embodiment of the present invention, in the step of measuring the measurement direction, a plurality of measurement directions are measured based on the received radio waves. Then, in the step of calculating the deviation, the deviations of the plurality of measured directions with respect to the corresponding plurality of reference directions are respectively calculated, and the calculated deviations are statistically processed.

  As described above, the calculation accuracy of the deviation can be improved by the configuration in which a plurality of deviations are calculated using the measurement results of the reference objects at a plurality of positions and the calculated deviations are statistically processed.

  In the adjustment method according to the first embodiment of the present invention, in the step of measuring the measurement direction, based on the received radio wave, a set of the measurement direction and the distance between the radio wave sensor 101 and the reference object is used. Measure multiple measurement sets. In the step of calculating the deviation, one or a plurality of straight lines or one or a plurality of curves based on a plurality of sets of the reference direction and the distance between the radio wave sensor 101 and the reference object and the measured plurality of measurement sets The deviation is calculated based on the positional relationship with one or more straight lines or one or more curves.

  As described above, the displacement is calculated based on the positional relationship between one or a plurality of straight lines or one or a plurality of curves, so that the position of the reference object, the reference direction, and the distance when the radio wave sensor 101 is measured are actually measured. The shift can be calculated without matching the position of the reference object at the time. As a result, it is possible to easily calculate a higher accuracy. Further, even when a curved road is set as the detection target area, the deviation can be easily calculated by using, for example, a roadside band and a center line applied to the road as a reference.

  The adjustment method according to the first embodiment of the present invention further includes a step of adjusting the orientation of the radio wave sensor 101 based on the calculated deviation.

  With such a configuration, the measurement direction of the radio wave sensor 101 can be adjusted to the reference direction. For example, correct measurement is performed without causing the radio wave sensor 101 to perform correction for adjusting the measurement direction of the radio wave sensor 101 to the reference direction. The direction can be measured. Thereby, the internal processing of the radio wave sensor 101 can be simplified.

  Next, another embodiment of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals and description thereof will not be repeated.

<Second Embodiment>
The present embodiment relates to a radio wave sensor that automatically calculates a correction value as compared with the radio wave sensor according to the first embodiment. The contents other than those described below are the same as those of the radio wave sensor according to the first embodiment.

  FIG. 16 is a diagram illustrating a configuration of a radio wave sensor in the safe driving support system according to the second embodiment of the present invention.

  Referring to FIG. 16, the radio wave sensor 102 includes a transmission unit 1, a reception unit 2, a differential signal generation unit 3, a control unit 4, a signal processing unit 5, a setting unit 6, a detection unit 7, A communication unit (acquisition unit) 8, a correction unit 9, and a calculation unit 10 are provided.

  The operations of the transmission unit 1, the reception unit 2, the difference signal generation unit 3, the control unit 4, the signal processing unit 5, the setting unit 6, the detection unit 7, the communication unit 8, and the correction unit 9 in the radio wave sensor 102 are illustrated in FIG. The transmission unit 1, the reception unit 2, the difference signal generation unit 3, the control unit 4, the signal processing unit 5, the setting unit 6, the detection unit 7, the communication unit 8, and the correction unit 9 in the radio wave sensor 101 are the same.

  For example, the control unit 4 in the radio wave sensor 102 sets the operation mode of its own radio wave sensor 102 to either the automatic adjustment mode or the normal operation mode.

  More specifically, for example, when the control unit 4 receives operation information Ma indicating the operation of the sensor installer for setting the automatic adjustment mode from the terminal device 111 via the communication unit 8, the operation of the own radio wave sensor 102 is performed. Set the mode to automatic adjustment mode.

[Method in which radio wave sensor 102 automatically calculates correction value]
FIG. 17 is a flowchart that defines an example of the procedure of a method in which the radio wave sensor according to the second embodiment of the present invention automatically corrects the azimuth angle.

  With reference to FIG. 2, FIG. 16, and FIG. 17, the situation where reflector R1 is provided in object area A1 is assumed.

  First, the sensor installer installs the radio wave sensor 102 (step S302).

  Next, the sensor installer operates the terminal device 111 to set the operation mode of the radio wave sensor 102 to the automatic adjustment mode (step S304).

  More specifically, the sensor installer performs an operation on the terminal device 111 to set the operation mode of the radio wave sensor 102 to the automatic adjustment mode. Upon receiving the operation of the sensor installer, the terminal device 111 creates operation information Ma according to the received operation content, and transmits the created operation information Ma to the radio wave sensor 102. The radio wave sensor 102 receives the operation information Ma from the terminal device 111 and sets its own operation mode to the automatic adjustment mode.

  Next, the sensor installer actually measures the position of the reflector R1 with respect to the radio wave sensor 102 with a measure or the like, and calculates the coordinates of the reflector R1 in the map coordinate system, specifically (Xm1, Ym1) (step S306). .

  Next, the sensor installer operates the terminal device 111 to input the calculated coordinates to the radio wave sensor 102 (step S308).

  More specifically, the sensor installer performs an operation on the terminal device 111 for inputting the calculated coordinates to the radio wave sensor 102. Upon receiving the operation of the sensor installer, the terminal device 111 creates coordinate information including the coordinates according to the received operation content, and transmits the created coordinate information to the radio wave sensor 102.

  The communication unit 8 in the radio wave sensor 102 acquires a reference direction, for example. Specifically, when receiving the coordinate information from the terminal device 111, the communication unit 8 outputs the received coordinate information to the calculation unit 10.

  Upon receiving coordinate information from the communication unit 8, the calculation unit 10 converts the received coordinate information, that is, (Xm1, Ym1) into polar coordinates, and registers the converted distance Lm1 and azimuth angle φm1 as registered coordinates.

  Next, the sensor installer operates the terminal device 111 to cause the radio wave sensor 102 to perform unit measurement and acquire a measurement result by the radio wave sensor 102 (step S310).

  More specifically, the sensor installer performs an operation for performing unit measurement on the terminal device 111. When receiving the operation of the sensor installer, the terminal device 111 creates operation information Mm according to the received operation content, and transmits the created operation information Mm to the radio wave sensor 102.

  When receiving the operation information Mm from the terminal device 111, the radio wave sensor 102 sets one unit sequence US and transmits the radio wave to the target area A1. The radio wave sensor 102 creates measurement result information based on the received radio wave, and transmits the created measurement result information to the terminal device 111.

  When receiving the measurement result information from the radio wave sensor 102, the terminal device 111 performs control to display the measurement result table 400 (see FIG. 8) indicated by the received measurement result information on the display unit. The sensor installer sees the measurement result table 400 displayed on the terminal device 111 and recognizes the measurement result of the radio wave sensor 102.

  Next, the sensor installer selects a reference distance and a reference azimuth based on the reflector R1 from the measurement results in the measurement result table 400 (step S312).

  In this example, the sensor installer selects the detection plane distance Ls1 and the azimuth angle φs1 as a reference distance and a reference azimuth angle based on the reflector R1, respectively.

  Next, the sensor installer operates the terminal device 111 to input the selection result to the radio wave sensor 102 (step S314).

  More specifically, the sensor installer performs an operation on the terminal device 111 to input the selection result to the radio wave sensor 102. Upon receiving the operation of the sensor installer, the terminal device 111 creates selection result information indicating the selected detection plane distance Ls1 and azimuth angle φs1 according to the received operation content, and transmits the created selection result information to the radio wave sensor 102. To do.

  Next, the calculation unit 10 in the radio wave sensor 102 calculates the deviation of the measurement direction measured by the FMCW processing unit 43 from the reference direction from the radio wave sensor 102 to the reference object (step S316).

  More specifically, when receiving the selection result information from the terminal device 111, the communication unit 8 outputs the received selection result information to the calculation unit 10.

  Upon receiving selection result information from the communication unit 8, the calculation unit 10 calculates a correction value based on the received selection result information and registered coordinates.

  Specifically, the calculation unit 10 calculates a difference between the registered azimuth angle φm1 and the azimuth angle φs1 indicated by the selection result information, that is, (φm1−φs1) as a correction value, and creates correction information including the calculated correction value. And output to the correction unit 9.

  When the correction unit 9 receives the correction information from the calculation unit 10, the correction unit 9 registers the correction value included in the received correction information.

  Next, the radio wave sensor 102 sets its own operation mode to the normal operation mode (step S318).

  More specifically, for example, when the control unit 4 monitors the processing in the correction unit 9 and confirms that the correction unit 9 has registered the correction value, the control unit 4 sets the operation mode of its own radio wave sensor 102 to the normal operation mode. .

  The order of steps S304 and S306 is not limited to the above, and the order may be changed.

[Modification 1 of Correction Value Calculation Method]
In the radio wave sensor 102, the correction value is calculated based on one measurement direction and one reference direction. However, the present invention is not limited to this. As illustrated in FIG. 12, the correction value may be calculated based on a plurality of measurement directions and a plurality of reference directions.

  Specifically, the FMCW processing unit 43 measures a plurality of measurement directions based on the radio wave received by the receiving unit 2, for example. For example, the calculation unit 10 calculates the deviation of each of the plurality of measurement directions measured by the FMCW processing unit 43 from the corresponding plurality of reference directions, and statistically processes each calculated deviation.

  2 and 16 again, for example, after installing the reflector R1, the sensor installer actually measures the position of the reflector R1 and registers the measurement result in the radio wave sensor 102.

  Then, the sensor installer causes the radio wave sensor 102 to perform unit measurement, and selects a reference distance and a reference azimuth angle based on the reflector R1 from the unit measurement results. The sensor installer performs an operation on the terminal device 111 to input the selection result to the radio wave sensor 102.

  Upon receiving the operation of the sensor installer, the terminal device 111 creates selection result information indicating the selected detection plane distance Ls1 and azimuth angle φs1 according to the received operation content, and transmits the created selection result information to the radio wave sensor 102. To do.

  When receiving the selection result information from the terminal device 111 via the communication unit 8, the calculation unit 10 in the radio wave sensor 102 registers the received selection result information.

  The sensor installer moves the reflector R1 to another position, measures the position of the reflector R1, and registers the measurement result in the radio wave sensor 102. Then, the sensor installer causes the radio wave sensor 102 to perform unit measurement, selects a reference distance and a reference azimuth based on the reflector R1 after movement from the unit measurement result, and registers the selection result in the radio wave sensor 102. To do.

  In this way, two sets of azimuth angles (hereinafter also referred to as azimuth angle pairs) registered as the azimuth angle indicated by the selection result information and registered coordinates are registered in the calculation unit 10 of the radio wave sensor 102.

  The calculation unit 10 calculates a correction value based on the two registered azimuth pairs. More specifically, the calculation unit 10 calculates the difference between the azimuth angle of the registered coordinates in the first azimuth angle group, for example, φm1 and the azimuth angle indicated by the selection result information, for example, φs1, that is, (φm1-φs1).

  In addition, the calculation unit 10 calculates a difference between the azimuth angle of the registered coordinates in the second azimuth angle group, for example, φm2, and the azimuth angle, for example, φs2 indicated by the selection result information, that is, (φm2-φs2).

  The calculating unit 10 calculates, for example, the calculated average value of (φm1-φs1) and (φm2-φs2) as a correction value, and outputs correction information including the calculated correction value to the correcting unit 9.

  The radio wave sensor 102 is not limited to the configuration in which the correction value is calculated based on the two azimuth pairs, and may be configured to calculate the correction value based on three or more azimuth pairs. In this case, the calculation unit 10 calculates an object difference that is a difference between the azimuth angle of the registered coordinates and the azimuth angle indicated by the selection result information for each azimuth set, and uses the average value of the calculated object differences as a correction value. It may be calculated, or the median value of each target difference may be calculated as a correction value.

  In addition, in the radio wave sensor according to the second embodiment of the present invention, the unit measurement is performed every time the reflector R1 is moved, so that a plurality of azimuth pairs are registered. It is not limited. For example, as shown in FIG. 12, a configuration in which a plurality of reference objects are provided in the target area A1 to register a plurality of azimuth sets from one unit measurement may be adopted.

[Second Modification of Correction Value Calculation Method]
In the radio wave sensor 102, the correction value is calculated based on one measurement direction and one reference direction. However, the present invention is not limited to this. As shown in FIG. 14, the shift may be calculated based on the positional relationship between the trajectory Trm1 and the trajectory Trs1.

  More specifically, the FMCW processing unit 43 measures a plurality of measurement sets, which are a set of the measurement direction and the distance between the radio wave sensor 102 and the reference object, based on the radio wave received by the receiving unit 2, for example. For example, the calculation unit 10 determines the positional relationship between a straight line based on a plurality of sets of the reference direction and the distance between the radio wave sensor 102 and the reference object and a straight line based on the plurality of measurement sets measured by the FMCW processing unit 43. Based on this, the deviation is calculated.

  Referring to FIGS. 2, 13, 14 and 16, for example, the sensor installer actually measures the positions of start point Sp and end point Ep with a measure or the like, and calculates a linear function indicating trajectory Trm1 from the actually measured result. .

  The sensor installer performs an operation on the terminal device 111 to input the calculation result to the radio wave sensor 102. Upon receiving the operation of the sensor installer, the terminal device 111 creates trajectory information indicating the calculated linear function according to the received operation content, and transmits the created trajectory information to the radio wave sensor 102.

  When the calculation unit 10 in the radio wave sensor 102 receives the trajectory information from the terminal device 111 via the communication unit 8, the calculation unit 10 registers the received trajectory information.

  For example, after installing the reflector R1 at the start point Sp, the sensor installer causes the radio wave sensor 102 to perform unit measurement. Then, the sensor installer selects a reference distance and a reference azimuth based on the reflector R 1 from the unit measurement results, and registers the selection result in the radio wave sensor 102.

  Then, the sensor installer moves the reflector R1 to a position between the start point Sp and the end point Ep on the trajectory Trm1, and then causes the radio wave sensor 102 to perform unit measurement. Then, the sensor installer selects a reference distance and a reference azimuth based on the moved reflector R 1 from the unit measurement results, and registers the selection results in the radio wave sensor 102.

  Then, the sensor installer moves the reflector R1 to the end point Ep and then causes the radio wave sensor 102 to perform unit measurement. Then, the sensor installer selects the reference distance and reference azimuth based on the reflector R1 at the end point Ep from the unit measurement result, and registers the selection result in the radio wave sensor 102.

  In this way, selection result information for the three positions in the trajectory Trm1 is registered in the calculation unit 10 of the radio wave sensor 102. Note that the calculation unit 10 may register selection result information on four or more positions including the start point Sp and the end point Ep in the trajectory Trm1.

  The calculation unit 10 acquires the start point coordinates Crds, the one or more intermediate coordinates Crdm, and the end point coordinates Crde by converting the reference distance and the reference azimuth indicated by each registered selection result information into orthogonal coordinates.

  The calculation unit 10 calculates a linear function indicating the trajectory Trs1 using, for example, the least square method based on the calculated coordinates.

  For example, the calculation unit 10 rotates a linear function indicating the trajectory Trs1 in the XY plane using an axis that passes through the origin and is perpendicular to the X axis and the Y axis as an axis of rotation, and uses the degree of overlap with the trajectory Trm1 as an evaluation value. calculate. For example, the calculation unit 10 calculates the rotation angle φr that maximizes the evaluation value as a correction value, and outputs correction information including the calculated correction value to the correction unit 9.

  In the radio wave sensor according to the second embodiment of the present invention, the calculation unit 10 is configured to calculate the deviation based on the positional relationship between the trajectory Trm1 and the trajectory Trs1, but the present invention is not limited to this. is not. For example, the calculation unit 10 determines the positional relationship between one or more curves based on a plurality of sets of the reference direction and the distance between the radio wave sensor 102 and the reference object and one or more curves based on a plurality of measurement sets. A configuration may be used in which the deviation is calculated based on the difference. In this case, the calculation unit 10 approximates the curved locus by, for example, a polynomial. Moreover, the structure which calculates deviation | shift based on the positional relationship between curves is useful, for example when calculating deviation | shift on the road etc. which are turning. In addition, the calculation unit 10 calculates a deviation based on a positional relationship between a plurality of straight lines based on a plurality of pairs of the reference direction and the distance between the radio wave sensor 102 and the reference object and a plurality of straight lines based on the plurality of measurement pairs. The structure to calculate may be sufficient.

  Further, in the radio wave sensor according to the second embodiment of the present invention, a plurality of measurement sets are registered in the calculation unit 10 by performing unit measurement each time the reflector R1 is moved along the trajectory Trm1. However, the present invention is not limited to this. For example, a configuration in which a plurality of measurement sets are registered in the calculation unit 10 by performing one unit measurement in a state where a plurality of reference objects are provided along the trajectory Trm1 may be employed.

  In the radio wave sensor according to the second embodiment of the present invention, the calculation unit 10 uses the start point coordinates Crds and the end point coordinates Crde respectively corresponding to the start point Sp and the end point Ep actually measured by the sensor installer, and the trajectory Trs1. However, the present invention is not limited to this. The calculation unit 10 may be configured to calculate a linear function indicating the trajectory Trs1 without using the coordinates corresponding to the position actually measured by the sensor installer. Specifically, the calculation unit 10 can calculate a linear function indicating the trajectory Trs1 based on a plurality of intermediate coordinates, for example.

  As described above, in the radio wave sensor according to the second embodiment of the present invention, the transmission unit 1 transmits radio waves to the target area A1. The receiving unit 2 receives radio waves. The FMCW processing unit 43 measures the measurement direction, which is the direction from the radio wave sensor 102 to the reference object in the target area A1, based on the radio wave received by the receiving unit 2. Then, the calculation unit 10 calculates a deviation of the measurement direction measured by the FMCW processing unit 43 from the reference direction from the radio wave sensor 102 to the reference object.

  In this way, by measuring the direction to the reference object and calculating the deviation of the measurement direction with respect to the reference direction, the deviation of the direction of the radio wave sensor 102 can be recognized from the calculation result. It is possible to perform measures such as physically adjusting the orientation, and causing the radio wave sensor 102 to perform correction for adjusting the measurement direction of the radio wave sensor 102 to the reference direction. Thereby, the shift | offset | difference with respect to the reference direction of a measurement direction can be made smaller. Therefore, the direction to the object can be measured with higher accuracy.

  In the radio wave sensor according to the second embodiment of the present invention, the FMCW processing unit 43 measures a plurality of measurement directions based on the radio wave received by the receiving unit 2. Then, the calculation unit 10 calculates deviations of the plurality of measurement directions measured by the FMCW processing unit 43 with respect to the corresponding plurality of reference directions, and statistically processes the calculated deviations.

  As described above, the calculation accuracy of the deviation can be improved by the configuration in which a plurality of deviations are calculated using the measurement results of the reference objects at a plurality of positions and the calculated deviations are statistically processed.

  Moreover, in the radio wave sensor according to the second embodiment of the present invention, the FMCW processing unit 43 calculates the measurement direction and the distance between the radio wave sensor 102 and the reference object based on the radio wave received by the receiving unit 2. Measure a plurality of measurement pairs. Then, the calculation unit 10 includes one or more straight lines or one or more curves based on a plurality of sets of the reference direction and the distance between the radio wave sensor 102 and the reference object, and a plurality of measurements measured by the FMCW processing unit 43. The deviation is calculated based on the positional relationship with one or a plurality of straight lines or one or a plurality of curves based on the measurement set.

  In this way, by measuring the deviation based on the positional relationship between one or a plurality of straight lines or one or a plurality of curves, the position of the reference object at the time of measurement by the radio wave sensor 102, the reference direction and the distance are actually measured. The shift can be calculated without matching the position of the reference object at the time. As a result, it is possible to easily calculate a higher accuracy. Further, even when a curved road is set as the detection target area, the deviation can be easily calculated by using, for example, a roadside band and a center line applied to the road as a reference.

  In the radio wave sensor according to the second embodiment of the present invention, the FMCW processing unit 43 further transmits the radio wave sensor 102 to the target Tgt in the target area A1 based on the radio wave received by the receiving unit 2. Measure the target direction, which is the direction. Then, the correction unit 9 corrects the target direction measured by the FMCW processing unit 43 based on the deviation calculated by the calculation unit 10.

  With such a configuration, for example, a more correct target direction can be easily calculated without performing an operation of physically adjusting the direction of the radio wave sensor 102.

  Since other configurations and operations are the same as those of the radio wave sensor according to the first embodiment, detailed description thereof will not be repeated here.

  Note that some or all of the components and operations of the devices according to the first embodiment and the second embodiment of the present invention can be combined as appropriate.

  The above embodiment should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  The above description includes the following features.

[Appendix 1]
A radio wave sensor,
A transmitter that transmits radio waves to the target area;
A receiver for receiving radio waves;
A measurement unit that measures a measurement direction that is a direction from the radio wave sensor to a reference object in the target area, based on the radio wave received by the reception unit;
A calculation unit that calculates a deviation of the measurement direction measured by the measurement unit with respect to a reference direction from the radio wave sensor to the reference object;
The target area includes a pedestrian crossing,
The pedestrian crossing is provided near the intersection,
The transmission unit transmits radio waves to the target area according to an FM-CW (Frequency Modulated-Continuous Wave) method,
The reference object is a reflector provided in the target area and having a large radio wave radar reflection cross-sectional area,
The receiving unit includes four antennas,
The measurement unit measures the measurement direction based on radio waves respectively received by the four antennas,
The calculation unit is a radio wave sensor that calculates a difference between an azimuth angle in the reference direction and an azimuth angle in the measurement direction as the deviation.

[Appendix 2]
The radio wave sensor further includes:
The radio wave sensor according to appendix 1, further comprising an acquisition unit that acquires the reference direction.

[Appendix 3]
A radio wave sensor,
A transmitter that transmits radio waves to the target area;
A receiver for receiving radio waves;
A measurement unit that measures a measurement direction that is a direction from the radio wave sensor to a reference object in the target area, based on the radio wave received by the reception unit;
An output unit that outputs direction information indicating the measurement direction measured by the measurement unit;
An acquisition unit for acquiring correction information for correcting a deviation of the measurement direction measured by the measurement unit with respect to a reference direction from the radio wave sensor to the reference object;
The measurement unit further measures a target direction, which is a direction from the radio wave sensor to the target in the target area, based on the radio wave received by the reception unit,
The radio wave sensor further includes:
A correction unit that corrects the target direction measured by the measurement unit based on the correction information acquired by the acquisition unit;
The target area includes a pedestrian crossing,
The pedestrian crossing is provided near the intersection,
The transmission unit transmits radio waves to the target area according to the FM-CW method,
The reference object is a reflector provided in the target area and having a large radio wave radar reflection cross-sectional area,
The receiving unit includes four antennas,
The measurement unit measures the measurement direction based on radio waves respectively received by the four antennas,
The acquisition unit acquires correction information including a difference between the azimuth angle of the reference direction and the azimuth angle of the measurement direction;
The radio wave sensor, wherein the correction unit corrects the target direction by adding the difference included in the correction information to an azimuth angle of the target direction.

DESCRIPTION OF SYMBOLS 1 Transmission part 2 Reception part 3 Differential signal generation part 4 Control part 5 Signal processing part 6 Setting part 7 Detection part 8 Communication part (acquisition part and output part)
9 Correction Unit 10 Calculation Unit 21 Transmitting Antenna 22 Power Amplifier 23 Directional Coupler 24 VCO
25 Voltage generator 31 Reception antenna 32 Low noise amplifier 33 Mixer 34 IF amplifier 35 Low pass filter 36 A / D converter 41 Memory 42 FFT processing unit 43 FMCW processing unit (measurement unit)
DESCRIPTION OF SYMBOLS 101,102 Radio wave sensor 111 Terminal device 141 Relay device 151 Signal control device 152 Wireless transmission device 153 Antenna 161 Pedestrian signal lamp 301 Safe driving support system

Claims (12)

A radio wave sensor,
A transmitter that transmits radio waves to the target area;
A receiver for receiving radio waves;
A measurement unit that measures a measurement direction that is a direction from the radio wave sensor to a reference object in the target area, based on the radio wave received by the reception unit;
A radio wave sensor comprising: a calculation unit that calculates a deviation of the measurement direction measured by the measurement unit from a standard direction from the radio wave sensor to the reference object. The measurement unit measures a plurality of the measurement directions based on radio waves received by the reception unit;
2. The radio wave according to claim 1, wherein the calculation unit calculates deviations of the plurality of measurement directions measured by the measurement unit with respect to a plurality of corresponding reference directions, and statistically processes each of the calculated deviations. Sensor. The measurement unit measures a plurality of measurement sets that are a set of the measurement direction and the distance between the radio wave sensor and the reference object based on the radio wave received by the reception unit,
The calculation unit includes one or a plurality of straight lines or one or a plurality of curves based on a plurality of sets of the reference direction and the distance between the radio wave sensor and the reference object, and the plurality of the measurement units measured by the measurement unit. The radio wave sensor according to claim 1, wherein the deviation is calculated based on a positional relationship with one or a plurality of straight lines or one or a plurality of curves based on a measurement set. The measurement unit further measures a target direction, which is a direction from the radio wave sensor to the target in the target area, based on the radio wave received by the reception unit,
The radio wave sensor further includes:
The radio wave sensor according to any one of claims 1 to 3, further comprising: a correction unit that corrects the target direction measured by the measurement unit based on the deviation calculated by the calculation unit. A radio wave sensor,
A transmitter that transmits radio waves to the target area;
A receiver for receiving radio waves;
A measurement unit that measures a measurement direction that is a direction from the radio wave sensor to a reference object in the target area, based on the radio wave received by the reception unit;
An output unit that outputs direction information indicating the measurement direction measured by the measurement unit;
An acquisition unit for acquiring correction information for correcting a deviation of the measurement direction measured by the measurement unit with respect to a reference direction from the radio wave sensor to the reference object;
The measurement unit further measures a target direction, which is a direction from the radio wave sensor to the target in the target area, based on the radio wave received by the reception unit,
The radio wave sensor further includes:
A radio wave sensor comprising a correction unit that corrects the target direction measured by the measurement unit based on the correction information acquired by the acquisition unit. The radio wave sensor further includes:
The radio wave sensor according to claim 4 or 5, further comprising a detection unit that detects the object in the target area based on the target direction corrected by the correction unit. An adjustment method used in a radio wave sensor that transmits and receives radio waves to a target area,
Measuring a measurement direction which is a direction from the radio wave sensor to a reference object in the target area based on the received radio wave;
Calculating a deviation of the measured direction of measurement from a reference direction from the radio wave sensor to the reference object. In the step of measuring the measurement direction, a plurality of the measurement directions are measured based on the received radio waves,
The adjustment method according to claim 7, wherein in the step of calculating the deviation, deviations of the plurality of measured directions measured with respect to the plurality of corresponding reference directions are respectively calculated, and the calculated deviations are statistically processed. . In the step of measuring the measurement direction, based on the received radio wave, a plurality of measurement sets that are a set of the measurement direction and the distance between the radio wave sensor and the reference object are measured,
In the step of calculating the deviation, one or a plurality of straight lines or one or a plurality of curves based on a plurality of sets of the reference direction and the distance between the radio wave sensor and the reference object, and the plurality of measured measurements The adjustment method according to claim 7, wherein the deviation is calculated based on a positional relationship with one or more straight lines or one or more curves based on the set. The adjustment method further includes:
The adjustment method according to any one of claims 7 to 9, including a step of adjusting a direction of the radio wave sensor based on the calculated deviation. An adjustment program used in a radio wave sensor that transmits and receives radio waves to a target area,
Computer
Based on the received radio wave, a measurement unit that measures a measurement direction that is a direction from the radio wave sensor to a reference object in the target area;
A calculation unit that calculates a deviation of the measurement direction measured by the measurement unit from a reference direction from the radio wave sensor to the reference object;
Adjustment program to function as An adjustment program used in a radio wave sensor that transmits and receives radio waves to a target area,
Computer
Based on the received radio wave, a measurement unit that measures a measurement direction that is a direction from the radio wave sensor to a reference object in the target area;
An output unit that outputs direction information indicating the measurement direction measured by the measurement unit;
An acquisition unit for acquiring correction information for correcting a deviation of the measurement direction measured by the measurement unit from a reference direction from the radio wave sensor to the reference object;
As a program to function as
The measurement unit further measures a target direction, which is a direction from the radio wave sensor to the target in the target area, based on the radio wave received by the reception unit,
In addition, the computer
A correction unit that corrects the target direction measured by the measurement unit based on the correction information acquired by the acquisition unit;
Adjustment program to function as

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