JP2020098184A - Radar device, and operation condition setting method for radar device - Google Patents

Abstract

To provide a radar device capable of simplifying setting of an operation condition, and an operation condition setting method for the radar device.SOLUTION: A radar device includes: a target information derivation unit 31 for deriving a relative speed of a target by using a reception signal generated by a reception unit 20 for receiving a reflection wave from the target of an irradiated electromagnetic wave; a mounting location specification unit 32 for specifying whether the radar device 10 is mounted on a prescribed mounting location on the basis of the relative speed derived by the target information derivation unit 31 and reference for specifying the mounting location at which the radar device 10 is mounted on a vehicle 1; and an operation condition setting unit 33 for setting an operation condition to be used at the prescribed mounting location in the case that the mounting location specification unit 32 specifies that the radar device is mounted on the prescribed mounting location.SELECTED DRAWING: Figure 2

Description

The present invention relates to a radar device and an operating condition setting method for the radar device.

A millimeter wave radar is known as a radar device mounted on a vehicle. The millimeter-wave radar installed in a vehicle transmits millimeter waves to the surroundings of the vehicle and receives the millimeter-wave reflected by the surrounding objects, so that the distance/speed/angle of the vehicle equipped with the millimeter-wave radar and the surroundings To measure. When the surroundings of a vehicle are monitored using a millimeter wave radar, a plurality of millimeter wave radars are attached to a plurality of locations on the vehicle.

The millimeter wave radar has different setting conditions depending on where it is mounted on the vehicle. Therefore, the manufacturer needs to individually set the operating conditions of the millimeter-wave radar according to the location where the millimeter-wave radar is mounted on the vehicle. For example, Patent Document 1 discloses a method of setting operating conditions of a radar device mounted on a vehicle.

However, setting the operating conditions of the millimeter wave radar has been a burden on the manufacturer.

JP, 2007-139690, A

An object of the present invention is to provide a radar device that can simplify the setting of operating conditions and a method of setting operating conditions for radar devices.

A radar device according to the present invention includes a target information deriving unit that derives a relative velocity of the target using a reception signal generated by a receiving unit that receives a reflected wave of a radiated electromagnetic wave from the target; Whether or not the radar device is mounted at a predetermined mounting location based on the relative speed derived by the landmark information deriving unit and a reference for identifying the mounting location where the radar device is mounted on the moving body. A mounting location specifying unit that specifies whether or not, and an operating condition setting unit that sets an operating condition to be used at the predetermined mounting location when the mounting location specifying unit determines that the mounting is performed at the predetermined mounting location, Equipped with.

The radar device according to the present invention identifies a position where the radar device is mounted on the moving body, and when the radar device is mounted at a predetermined mounting position, sets an operating condition according to the mounting position. Therefore, the radar device according to the present invention can confirm the mounting location and set the operating conditions at the same time. Therefore, the radar device according to the present invention can simplify setting of operating conditions of the radar device.

A radar device according to the present invention includes a target information deriving unit that derives a relative velocity of the target using a reception signal generated by a receiving unit that receives a reflected wave of a radiated electromagnetic wave from the target; Based on the relative speed derived by the landmark information deriving unit and a reference corresponding to each of a plurality of mounting locations where the radar apparatus is mounted on the moving body, a mounting location where the radar apparatus is mounted is identified. And an operating condition setting unit that sets an operating condition to be used at the mounting location based on the mounting location identified by the mounting location identifying unit.

The radar device according to the present invention, after being mounted on a moving body, identifies a position where the radar device is mounted on the moving body, and sets an operating condition in accordance with the mounted position. At that time, the radar device according to the present invention uses the relative velocity. Since the radar device according to the present invention identifies the mounting position of the radar device using the relative speed and the reference corresponding to each of the plurality of mounting positions, it is possible to simplify the setting of the operating condition of the radar device.

In the radar device mounted on a moving body according to the present invention, the target information deriving unit further derives a relative angle of the target using the received signal, and the mounting location specifying unit includes the target information. The mounting location where the radar device is mounted may be specified based on the relative angle derived by the deriving unit.

The radar device according to the present invention identifies the mounting location of the radar device based on the relative angle of the target. Therefore, the radar device according to the present invention can improve the accuracy of identifying the mounting location.

In the radar device mounted on a moving body according to the present invention, the mounting location specifying unit specifies a mounting location on which the radar device is mounted based on a temporal change in relative speed and relative angle of one target. May be.

The radar device according to the present invention identifies the mounting location of the radar device based on the temporal changes in the relative velocity and the relative angle of one target. Therefore, a space for arranging a plurality of targets is not required when identifying the mounting location of the radar device. Therefore, the radar device according to the present invention can reduce the space required for setting the operating conditions.

In the radar device mounted on a moving body according to the present invention, the target information deriving unit uses the received signal to correspond to a plurality of relative velocities corresponding to a plurality of targets and the plurality of targets. Deriving a plurality of relative angles, the mounting location identification unit identifies a mounting location where the radar device is mounted, based on the plurality of relative speeds and the plurality of relative angles derived by the target information derivation unit. May be.

The radar device according to the present invention identifies the mounting location of the radar device based on the relative speed and the relative angle corresponding to the plurality of targets. Therefore, the radar device according to the present invention need only measure the relative velocity and the relative angle once, and can omit the measurement of the time variation of the relative velocity and the relative angle. Therefore, the radar device according to the present invention can shorten the time required to set the operating conditions.

An operation condition setting method for a radar device according to the present invention is a target information derivation for deriving a relative velocity of the target by using a reception signal generated by a receiving unit that receives a reflected wave of a radiated electromagnetic wave from the target. Based on a step, the relative speed derived by the target information derivation step, and a reference for identifying a mounting location where the radar apparatus is mounted on the moving body, the radar apparatus has a predetermined mounting location. Mounting position specifying step for specifying whether or not the device is mounted in the predetermined mounting position, and an operation for setting an operating condition used at the predetermined mounting position when the mounting position specifying step specifies that the mounting position is mounted in the predetermined mounting position. And a condition setting step.

In the radar device operating condition setting method according to the present invention, after the radar device is mounted on a moving body, the mounting position of the radar device is specified, and the operating condition is set according to the mounting position. Therefore, the operating condition setting method of the radar device according to the present invention can simplify the setting of the operating condition of the radar device.

An operation condition setting method for a radar device according to the present invention is a target information derivation for deriving a relative velocity of the target by using a reception signal generated by a receiving unit that receives a reflected wave of a radiated electromagnetic wave from the target. Based on a step, the relative speed derived by the target information deriving step, and a reference corresponding to each of a plurality of mounting locations where the radar apparatus is mounted on the moving body, the radar apparatus is mounted. A mounting location specifying step for specifying the mounting location and an operating condition setting step for setting an operating condition used at the mounting location based on the mounting location specified by the mounting location specifying step.

The operating condition setting method for a radar device according to the present invention specifies a position where the radar device is mounted on a movement and sets the operating condition according to the mounted position. Here, the radar device specifies the mounting position of the radar device by using a criterion corresponding to each of the plurality of mounting positions. Therefore, the operating condition setting method of the radar device according to the present invention can simplify the setting of the operating condition of the radar device.

The radar device and the operating condition setting method for the radar device according to the present invention can simplify the setting of operating conditions.

1 shows an example of a vehicle equipped with a radar device according to Embodiment 1 of the present invention. FIG. 2 is a functional block diagram showing the configuration of the radar device shown in FIG. 1. The figure explaining the relative speed and relative angle which the radar apparatus shown in FIG. 1 derives is shown. An example of the relative speed and relative angle of the target object which the radar apparatus shown in FIG. 3 derived is shown. An example of the positional relationship between the radar device shown in FIG. 1 and a target is shown. The 1st example of the relative velocity and relative angle of the target which the radar apparatus shown in FIG. 1 derived is shown. The 2nd example of the relative velocity and relative angle of the target which the radar apparatus shown in FIG. 1 derived is shown. An example of the determination reference data shown in FIG. 2 is shown. An example of the flowchart which shows operation|movement of the radar apparatus shown in FIG. 1 is shown. 1 shows an example of a vehicle equipped with a radar device according to a second embodiment of the present invention. 11 shows an example of the relative speed and relative angle of the target derived by the radar device shown in FIG. 10. An example of the vehicle which mounts the radar apparatus which concerns on the modification 1 of this invention is shown. An example of the positional relationship between the radar device and the target according to Modification 3 of the present invention is shown. The 1st example of the relative velocity and relative angle of the target which the radar apparatus shown in Drawing 13 derived is shown. The 2nd example of the relative velocity and relative angle of the target which the radar apparatus shown in FIG. 13 derived|led-out is shown. The example of the relative speed and relative angle of the target object which concerns on the modification 6 of this invention is shown. An example of a CPU bus configuration is shown.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The present invention is not limited to the embodiments described below. Further, these embodiments are merely examples, and the present invention can be implemented in various modified and improved forms based on the knowledge of those skilled in the art. In addition, in the present specification and the drawings, components having the same reference numerals indicate the same or corresponding components.

(Embodiment 1)
FIG. 1 shows a schematic diagram of a vehicle 1 equipped with a radar device according to a first embodiment of the present invention. The vehicle 1 functions as a moving body. The vehicle 1 includes radar devices 10FL, 10FR, 10RL, and 10RR.

In the following description, the terms "front", "rear", "right" and "left" of the vehicle 1 are used. The “front side” of the vehicle 1 is a straight traveling direction of the vehicle 1, which is a direction from the driver's seat toward the steering wheel. The “rear” of the vehicle 1 is a straight traveling direction of the vehicle 1 and a direction from the steering wheel toward the driver's seat. The “left side” of the vehicle 1 is a direction perpendicular to the straight traveling direction and the vertical direction of the vehicle 1, and is the left direction with respect to the front of the vehicle 1. The “right side” of the vehicle 1 is a direction perpendicular to the straight traveling direction and the vertical direction of the vehicle 1, and is the right direction with respect to the front of the vehicle 1.

In the following description, as shown in FIG. 1, a two-dimensional Cartesian coordinate system having an X-axis and a Y-axis with the center point RP of the vehicle 1 as the origin will be described. The center point RP is, for example, the center of gravity of the vehicle 1. This two-dimensional orthogonal coordinate system is a so-called local coordinate system. Further, as shown in FIG. 1, the front and rear are in the Y-axis direction, and the left and right are in the X-axis direction. In the following description, a clockwise direction will be described as a negative angle with reference to the positive direction of the Y axis.

In this embodiment, the orthogonal coordinate system shown in FIG. 1 is used for description, but any coordinate system may be used. As the coordinate system, for example, the coordinate system shown in ISO-8855 may be used.

FIG. 2 is a functional block diagram showing the configuration of the radar device 10 shown in FIG. The radar device 10 shown in FIG. 2 corresponds to the radar devices 10FL, 10FR, 10RL, 10RR shown in FIG. That is, the radar devices 10FL, 10FR, 10RL, and 10RR have the same configuration.

The description will be made again with reference to FIG. The radar device 10FL is mounted in front of the vehicle 1 and to the left. The radar device 10FR is mounted in front of the vehicle 1 and to the right. The radar device 10RL is mounted behind the vehicle 1 and to the left. The radar device 10RR is mounted on the rear side and the right side of the vehicle 1.

The radar device 10 transmits a transmission wave that is an electromagnetic wave. In the following description, the direction that serves as the reference of the relative angle of the radar device 10 is defined as the reference direction. As the reference direction, the direction in which the electric field strength is maximum in the probe showing the electric field strength of the transmitted wave transmitted from the radar device 10 may be used. The reference direction of the radar device 10FR faces 60 degrees rightward from the positive direction of the Y axis. In other words, the reference direction of the radar device 10FR is rotated by -60 degrees with respect to the positive direction of the Y axis. The reference direction of the radar device 10FL is left 60 degrees from the positive direction of the Y-axis, and is rotated 60 degrees with respect to the positive direction of the Y-axis. The reference direction of the radar device 10RR is 140 degrees rightward from the positive direction of the Y axis, and is rotated by −140 degrees with respect to the positive direction of the Y axis. The reference direction of the radar device 10RL is 140 degrees leftward from the positive direction of the Y axis, and is rotated by 140 degrees with respect to the positive direction of the Y axis.

The reference directions of the radar devices 10FL, 10FR, 10RL, 10RR do not face the Y-axis direction or the X-axis direction. In other words, the reference directions of the radar devices 10FL, 10FR, 10RL, 10RR are tilted with respect to the Y-axis direction or the X-axis direction.

Referring again to FIG. The radar device 10 calculates the relative velocity and the distance of the target with the radar device 10 as a reference, for example, using the FCM (Fast-Chip Modulation) method.

The transmission/reception unit 20 transmits the transmission wave PVW, and receives the reception wave RW including the reflection wave in which the transmission wave PVW is reflected by the target. The transmitter/receiver 20 acquires the power spectrum from the received wave RW.

The control unit 30 causes the transmission/reception unit 20 to transmit the transmission wave PVW and acquires the power spectrum from the transmission/reception unit 20. The control unit 30 identifies a mounting location where the radar device 10 is mounted on the vehicle 1 and sets an operating condition for each mounting location.

The storage unit 40 is a non-volatile storage device, and is, for example, a flash memory. The storage unit 40 stores determination reference data 41 and history data 42. The determination reference data 41 is reference data when the mounting location specifying unit 32 specifies the mounting location. The history data 42 includes the value of the relative velocity and the value of the relative angle of the target object derived by the target object information deriving unit 31.
The storage unit 40 may store a coordinate conversion formula used to convert a relative angle in the polar coordinate system with the radar device 10 as a reference into a relative angle in the local coordinate system. This coordinate conversion formula is a formula calculated and determined in advance from the shape of the vehicle 1, the mounting location of the radar 10, and the like.

The transmission/reception unit 20 includes a transmission unit 21, a transmission antenna 22, a plurality of reception antennas 23, a plurality of reception units 24, and a signal processing unit 25. The receiving unit 24 and the transmitting antenna 23 have a one-to-one correspondence.

The transmission unit 21 is electrically connected to the transmission antenna 22. The transmitter 21 is electrically connected to each of the plurality of receivers 24. The transmission unit 21 supplies the transmission signal PVS to each of the transmission antenna 22 and the plurality of reception units 24. The frequency of the transmission signal PVS is swept in units of, for example, several to several tens of microseconds. The transmission antenna 22 transmits the transmission signal PVS received from the transmission unit 21 as a transmission wave PVW.

Each of the plurality of receiving antennas 23 receives the received wave RW and converts the received received wave RW into a received signal RS. The received wave RW includes a reflected wave and a transmitted wave.

Each of the plurality of reception units 24 acquires the reception signal RS from the corresponding reception antenna 23. The reception signal RS acquired by the reception unit 24 is amplified by a low noise amplifier (not shown). Each of the plurality of receiving units 24 acquires the transmission signal PVS from the transmitting unit 21. Each of the plurality of reception units 24 outputs the amplified reception signal RS and the beat signal BS generated from the acquired transmission signal PVS. Although FIG. 2 shows four receiving units 24 and four receiving antennas 23, the number of receiving antennas 23 and receiving units 24 may be plural.

Each of the plurality of receiving units 24 includes a mixer 241 and an A/D converter 242. The mixer 241 acquires the reception signal RS from the reception antenna 23 and acquires the transmission signal PVS from the transmission unit 21. The mixer 241 mixes the reception signal RS and the transmission signal PVS to generate a beat signal BS. The mixer 241 outputs the generated beat signal BS to the A/D converter 242.

A/D converter 242 discretizes beat signal BS received from mixer 241, and outputs discretized beat signal BSD.

The signal processor 25 acquires the discretized beat signal BSD from each of the plurality of receivers 24. The signal processing unit 25 processes the discretized beat signal BSD and outputs the processed signal.

The signal processing unit 25 includes a Fourier transform unit 251. The Fourier transform unit 251 Fourier transforms the beat signal BSD acquired from each of the plurality of receiving units 14 to generate a power spectrum.

In FIG. 2, the signal processing unit 25 is included in the transmission/reception unit 20. However, the signal processing unit 25 may be included in the target object information deriving unit 31 described later. When the signal processing unit 25 is included in the target object information deriving unit 31 described later, the signal processing unit 25 functions as a part of the target object information deriving unit 31.

The control unit 30 includes a target information derivation unit 31, a mounting location identification unit 32, and an operation condition setting unit 33.

The target information deriving unit 31 acquires the power spectrum from the Fourier transform unit 251. The target information deriving unit 31 analyzes the acquired power spectrum to calculate the distance and the relative speed of the target based on the radar device 10. The target information deriving unit 31 outputs the calculated relative speed and relative angle of the target with respect to the radar device 10.

The relative velocity of the target with respect to the radar device 10 is a component in the direction toward the radar device 10 and a component in the direction away from the radar device 10 in the velocity of the target target. In the following description, the relative speed in the approaching direction will be described as a negative relative speed. For example, when the vehicle 1 equipped with the radar device 10 is stationary and the target is approaching at a speed of 50 km/h, the relative speed between the vehicle 1 equipped with the radar device 10 and the target is −50 km/h. Details of the relative speed will be described later.

The target information deriving unit 31 estimates the arrival direction of the reflected wave as the relative angle of the target. The method of estimating the arrival direction is not particularly limited, and for example, ESPRIT (Estimation Signal Parameter via a Rotational Invariant Technology), MUSIC (Multiple Signal Classification), or the like can be used.

The relative angle of the target with respect to the radar device 10 is the angle of the target with the reference direction of the radar device 10 as the reference and the clockwise direction as a negative direction. Details of the relative angle will be described later.

The mounting location specifying unit 32 acquires the relative speed and the relative angle of the target calculated by the target information deriving unit 31. The mounting location identification unit 32 acquires the determination reference data 41 from the storage unit 40. The mounting location identifying unit 32 identifies the mounting location where the radar device 10 is mounted among the plurality of mounting locations in the vehicle 1 by using the relative speed and relative angle of the target and the determination reference data 41. The plurality of mounting points are, for example, the front right FR, the front left FL, the rear right RR, and the rear left RL of the vehicle 1. The mounting location specifying unit 32 outputs the specified mounting location.

The operating condition setting unit 33 acquires the value of the mounting location identified by the mounting location identifying unit 32. The operating condition setting unit 33 sets operating conditions according to the mounting location of the radar device 10 identified by the mounting location identifying unit 32. Here, the operation condition set by the operation condition setting unit 33 is a setting condition of the radar device 10 according to the mounting location, and is, for example, a conversion formula used by the radar device 10 to convert polar coordinates to local coordinates.

<Operation outline>
FIG. 3 is a diagram showing an example of the positional relationship between the radar device 10FR and the target. First, the polar coordinate system used by the radar device 10FR will be described with reference to FIG. This is because the radar device 10FR specifies the position of the target by the distance of the target and the relative angle of the target.

An xy coordinate system whose origin is the position of the radar device 10FR is defined. The x-axis extends in the reference direction of the radar device 10FR described above, and the y-axis extends in the direction perpendicular to the x-axis. The positive direction of the x-axis is the transmission direction of the transmitted wave. The positive direction of the y-axis is the left direction with reference to the positive direction of the x-axis. The position vector R indicates the position of the target A30. The radar device 10 identifies the position of the target A30 using the magnitude of the position vector R and the relative angle α. The relative angle α is an angle formed by the x axis and the position vector R. The axis X1 shown in FIG. 3 is parallel to the X axis shown in FIG. The axis Y1 shown in FIG. 3 is parallel to the Y axis shown in FIG.

The description will be made again with reference to FIG. The radar device 10FR converts the position of the target A30 from the polar coordinate system to the local coordinate system used by the vehicle 1. Although the radar device 10FR is shown in FIG. 3, the positions of the targets specified by the radar devices 10FL, 10FR, 10RL, and 10RR are represented by a common coordinate system (local coordinate system).

The conversion formula used by the radar device 10 to convert the polar coordinate system to the local coordinate system varies depending on the mounting position of the radar device 10. The radar device 10 identifies the mounting location in order to identify the conversion formula to be used. Although the details will be described later, the relative speed and the relative angle change in different patterns depending on the mounting position of the radar device 10. The radar device 10 compares the detected relative velocity and relative angle with a preset pattern, and identifies the mounting location based on the comparison result. The radar device 10 sets the operating condition such that the conversion formula is used according to the identified mounting location.

As a result, it is not necessary to set the operating conditions of the radar device 10 before mounting the radar device 10 on the vehicle, so that the setting of the operating conditions of the radar device 10 can be simplified.

<Relative speed and relative angle>
The relative velocity and relative angle of the target will be described with reference to FIG. FIG. 3 shows the radar device 10FR and the targets A31, A32, A33, A34, and A35. In FIG. 3, the radar device 10FR is stationary. In FIG. 3, each of the targets A31, A32, A33, A34, and A35 is moving at a constant speed vt from the positive direction to the negative direction of the Y1 axis.

The relative speed vr31 is a relative speed of the target A31 with the radar device 10 as a reference. The relative velocity vr31 is a component in the linear direction connecting the target A31 and the radar device 10 among the components of the velocity vt. The relative speed vr32 is a relative speed of the target A32 with the radar device 10 as a reference. The relative velocity vr32 is a component in the linear direction connecting the target A32 and the radar device 10 among the components of the velocity vt.

The relative speed vr33 is a relative speed of the target A33 with the radar device 10 as a reference.
The relative velocity vr33 is a component in the linear direction connecting the target A33 and the radar device 10 among the components of the velocity vt. The relative speed vr34 is a relative speed of the target A34 with the radar device 10 as a reference. The relative velocity vr34 is a component in the linear direction connecting the target A35 and the radar device 10 among the components of the velocity vt. The relative speed vr35 is a relative speed of the target A35 with the radar device 10 as a reference. The relative velocity vr35 is a component in the linear direction connecting the target A35 and the radar device 10 among the components of the velocity vt.

The relative velocities vr31, vr32, and vr33 are components in the direction of approaching the radar device 10. The relative velocity vr35 is a component in the direction away from the radar device 10. The relative velocity vr34 of the target A34 is a zero vector. This is because the straight line connecting the target 34 and the radar device 10 is parallel to the X axis, and the velocity vt is perpendicular to the Y1 axis direction.

The relative angle α31 is an angle formed by the reference direction of the radar device 10 and a straight line connecting the target A31 and the radar device 10. That is, the relative angle α31 is an azimuth angle of the target A31 with the reference direction of the radar device 10 as a reference. In the following description, the relative angle may be described as “azimuth angle”. Further, the relative angle and the azimuth angle will be described assuming that the clockwise direction is negative. The relative angle α34 is an angle formed by the reference direction of the radar device 10 and a straight line connecting the target A34 and the radar device 10. The relative angle α35 is an angle formed by the reference direction of the radar device 10 and a straight line connecting the target A35 and the radar device 10. For example, the relative angle α31 is 30 degrees, the relative angle α34 is −30 degrees, and the relative angle α35 is −60 degrees. Although not shown in FIG. 3, the relative angle that is the angle formed by the reference direction of the radar device 10 and the straight line connecting the target A33 and the radar device 10 is 0 degree. That is, the straight line connecting the target A33 and the radar device 10 is parallel to the axis X1 and the X axis.

In this way, when the radar device 10FR is mounted in front of the vehicle 1 and to the right, even if the moving speed of the target is constant, the acquired relative speed and relative angle depend on the mounting location. Change. The same applies to the radar devices 10FL, 10RR, and 10RL.

That is, the patterns of changes in the relative speed and the relative angle in each of the radar devices 10 differ depending on the mounting position in the vehicle 1 and the direction of the reference direction. Each of the radar devices 10 specifies the mounting position in the vehicle 1 by specifying the mounting position and the pattern of change in the reference direction.

FIG. 4 shows an example of the relative velocity and relative angle of the target calculated by the radar device 10FR shown in FIG. In the graph shown in FIG. 4, the horizontal axis represents azimuth and the vertical axis represents relative velocity. The line TL_A indicates the relative speed and the relative angle of the target calculated by the radar device 10FR. The line TL_A has a shape like the letter S. On the horizontal axis of the graph shown in FIG. 4, the positive direction is the left direction on the paper surface.

FIG. 4 shows an example in which the angle αY1 formed by the axis Y1 and the reference direction of the radar device 10FR shown in FIG. 3 is −60 degrees. Since the angle αY1 is −60 degrees, when the relative angle becomes 60 degrees, the straight line connecting the target and the radar device 10FR coincides with the positive direction of the axis Y1. Therefore, the relative velocity of the target when the relative angle of the target indicated by the line TL_A is 60 degrees is −vt.

On the other hand, even if the relative angle is changed in the negative direction, the straight line connecting the target and the radar device 10FR does not coincide with the negative direction of the axis Y1. This is because the straight line connecting the target and the radar device 10 does not coincide with the negative direction of the axis Y1 even when the relative angle is set to the maximum value of 90 degrees. Therefore, even if the relative angle is changed in the negative direction, the relative speed of the target indicated by the line TL_A reaches only a value smaller than vt.

<Operation of the radar device 10>
The operation of the radar device 10 will be described with reference to FIG. The vehicle 1 shown in FIG. 5 is arranged on the transport surface of the conveyor 50. The vehicle 1 is transported by the conveyor 50. In this embodiment, the conveyor 50 conveys the vehicle 1 at a constant speed. The conveying direction of the conveyor 50 is in front of the vehicle 1. Targets 111, 112, 113, 121, 122, 123, 131, 132, 133, 141, 142, 143 are arranged around the vehicle 1.

In the example shown in FIG. 5, the reference line RL10FR indicating the reference direction of the radar device 10FR passes through the target 112. A reference line RL10RR indicating the reference direction of the radar device 10RR passes through the target 122. A reference line RL10FL indicating the reference direction of the radar device 10FL passes through the target 132. A reference line RL10RL indicating the reference direction of the radar device 10RL passes through the target 142.
Although not shown in FIG. 5, each of the radar devices 10FL, 10FR, 10RL, and 10RR can simultaneously detect at least two targets. For example, the radar device 10FL can simultaneously detect the targets 111, 112, 113. In other words, the range in which the radar device 10FL can detect the target is wider than each of the targets 111, 112, and 113.

The targets 111 to 113, 121 to 123, 131 to 134, and 141 to 141 are fixed to the outside of the conveying surface of the conveyor 50. Therefore, as the vehicle 1 is transported forward, the relative positional relationship between the vehicle 1 and these targets changes. The target passing through each reference line of the radar device 10 changes as the vehicle 1 is transported forward.

The radar device 10 acquires the relative speed and the relative angle of the target during the period in which the vehicle 1 is conveyed by the conveyor 50. The radar device 10 acquires the relative velocity and the relative angle of the target once. For example, the radar device 10FL does not repeat the acquisition of the relative speeds and the relative angles of the targets 131 to 133 at the same time when the relative speeds and the relative angles of the targets 131 to 133 can be acquired at the same time.

FIG. 6 shows an example of the relative velocity and relative angle of the target calculated by the radar devices 10FR and 10RR. In the graph shown in FIG. 6, the horizontal axis represents azimuth and the vertical axis represents relative velocity. Points FR111, FR112, and FR113 indicate the relative velocity and relative angle of the targets 111, 112, and 113 calculated by the radar device 10FR, respectively. Points RR121, RR122, and RR123 indicate the relative speed and relative angle of the targets 121, 122, and 123 calculated by the radar device 10RR, respectively. In the horizontal axis of the graph shown in FIG. 6, the positive direction is the left direction on the paper surface.

6 and subsequent graphs, a part of the relative speed and the relative angle of the target that can be calculated by the radar device 10 is shown, and specification of the mounting location of the radar device 10 will be described.

The operation of the radar device 10FR will be described. In the radar device 10FR, the mounting location identification unit 32 acquires the relative speed and the relative angle of the surrounding targets calculated by the target information derivation unit 31. The mounting location identification unit 32 obtains an approximate line from FR111, FR112, and FR113. The approximate line is obtained by, for example, the least square method. The approximate line obtained by the mounting location identification unit 32 is the approximate line TL_FR5. Approximate line TL_FR5 has the characteristic of monotonically decreasing and the characteristic of the relative velocity being negative when the azimuth angle is 0 degree.

In the present embodiment, an example of obtaining an approximate straight line as the approximate line will be described. However, an approximate curve may be obtained as an approximate line. Further, in the present embodiment, as shown in FIGS. 6 and 7, the relative speed and the relative angle of three targets are shown for each radar device 10. However, using the relative velocities and relative angles of the three targets is not an essential requirement. In the present embodiment, the relative speed and the relative angle of at least two targets may be calculated. When the relative speed and relative angle of two targets are calculated, a line connecting the points indicating the relative speed and relative angle of the two targets is used instead of the approximation line.

The mounting location identification unit 32 acquires the determination reference data 41 from the storage unit 40. The determination reference data 41 is, for example, the data shown in FIG. The mounting location identifying unit 32 identifies the mounting location of the radar device 10FR based on which row of the determination reference data 41 shown in FIG. 8 corresponds to the obtained characteristic of the approximate line. The mounting location specifying unit 32 specifies that the mounting location of the radar device 10FR is in front of the vehicle 1 and on the right side. The mounting location specifying unit 32 outputs the specified mounting location to the operation condition setting unit 33.

In FIG. 8, in the characteristic of the approximate line, monotonic decrease is cited as one of the conditions for specifying the mounting location. However, as a condition for identifying the mounting location, instead of monotonically decreasing, the relative angle may change from positive to negative as the relative angle increases.

The operation condition setting unit 33 acquires the mounting location identified by the mounting location identifying unit 32. The operation condition setting unit 33 sets the operation condition of the radar device 10FR based on the acquired mounting location. Since the mounting location is specified to be in front of the vehicle 1 and to the right, the operating condition setting unit 33 sets operating conditions corresponding to the front of the vehicle 1 and the right. The operation condition setting unit 33 selects and sets the coordinate conversion formula to be used when setting the operation condition. This coordinate conversion formula is used to convert a relative angle in the polar coordinate system with reference to the radar device 10FR into a relative angle in the local coordinate system. The coordinate conversion formula is predetermined.

The operation of the radar device 10RR will be described with reference to FIG. 6 again. In the radar device 10RR, the mounting location specifying unit 32 acquires the relative speed and the relative angle of the surrounding targets calculated by the target information deriving unit 31. The mounting location identification unit 32 obtains an approximate line from the points RR121, RR122, RR123. The approximate line obtained by the mounting location identification unit 32 is the approximate line TL_RR5. Approximate line TL_RR5 has the characteristic of monotonically decreasing and the characteristic of the relative speed being positive when the azimuth angle is 0 degree.

The mounting location identification unit 32 acquires the determination reference data 41 from the storage unit 40. The determination reference data 41 is, for example, the data shown in FIG. The mounting location identification unit 32 identifies the mounting location of the radar device 10RR based on which row of the determination reference data 41 shown in FIG. 8 corresponds to the obtained characteristic of the approximate line. The mounting location specifying unit 32 specifies that the mounting location of the radar device 10FR is behind and to the right of the vehicle 1. The mounting location specifying unit 32 outputs the specified mounting location to the operation condition setting unit 33.

The operation condition setting unit 33 acquires the mounting location identified by the mounting location identifying unit 32. The operation condition setting unit 33 sets the operation condition of the radar device 10FR based on the acquired mounting location. Since the mounting location is specified to be behind and to the right of the vehicle 1, the operating condition setting unit 33 sets operating conditions corresponding to the rear and right of the vehicle 1. The operation condition setting unit 33 selects and sets the coordinate conversion formula to be used when setting the operation condition. This coordinate conversion formula is used to convert a relative angle in the polar coordinate system with reference to the radar device 10FR into a relative angle in the local coordinate system. The coordinate conversion formula is predetermined.

FIG. 7 shows the relative velocity and the relative angle of the target calculated by the target information deriving unit 31 provided in each of the radar devices 10FL and 10RL. Points FL131, FL132, FL133 indicate the relative velocity and relative angle of the targets 131, 132, 133 calculated by the radar device 10FL. Points RL141, RR142, RR143 indicate the relative speed and relative angle of the targets 141, 142, 143 calculated by the radar device 10RL. On the horizontal axis of the graph shown in FIG. 7, the positive direction is the left direction on the paper surface.

The operation of the radar device 10FL will be described. In the radar device 10FL, the mounting location identification unit 32 acquires the relative speed and the relative angle of the surrounding targets calculated by the target information derivation unit 31. The mounting location identification unit 32 obtains an approximate line from the points FL131, FL132, FL133. The approximate line obtained by the mounting location identification unit 32 is the approximate line TL_FL6. Approximate line TL_FL6 has the characteristic of monotonically increasing and the characteristic of the relative speed being negative when the azimuth angle is 0 degree.

The mounting location identification unit 32 acquires the determination reference data 41 from the storage unit 40. The determination reference data 41 is, for example, the data shown in FIG. The mounting location identifying unit 32 identifies the mounting location of the radar device 10FL based on which row of the determination reference data 41 shown in FIG. 8 corresponds to the obtained characteristic of the approximate line. The mounting location identifying unit 32 identifies that the mounting location of the radar device 10FL is in front of the vehicle 1 and on the left side. The mounting location specifying unit 32 outputs the specified mounting location to the operation condition setting unit 33.

In FIG. 8, in the characteristic of the approximate line, monotonic increase is cited as one of the conditions for specifying the mounting location. However, as a condition for identifying the mounting location, instead of monotonically increasing, the relative angle may change from negative to positive as the relative angle increases.

The operation condition setting unit 33 acquires the mounting location identified by the mounting location identifying unit 32. The operation condition setting unit 33 sets the operation condition of the radar device 10FL based on the acquired mounting location. Since the mounting location is specified to the front and left of the vehicle 1, the operation condition setting unit 33 sets the operation conditions corresponding to the front and left of the vehicle 1. The operation condition setting unit 33 selects and sets the coordinate conversion formula to be used when setting the operation condition. This coordinate conversion formula is used to convert a relative angle in the polar coordinate system with reference to the radar device 10FR into a relative angle in the local coordinate system. The coordinate conversion formula is predetermined.

The operation of the radar device 10RL will be described with reference to FIG. 7 again. In the radar device 10RL, the mounting location identification unit 32 obtains an approximate line from the points RL141, RR142, RR143. The approximate line obtained by the mounting location identification unit 32 is the approximate line TL_RL6. Approximate line TL_RL6 has the characteristic of monotonically increasing and the characteristic of the relative velocity being positive when the azimuth angle is 0 degree.

The mounting location identification unit 32 acquires the determination reference data 41 from the storage unit 40. The determination reference data 41 is, for example, the data shown in FIG. The mounting location identifying unit 32 identifies the mounting location of the radar device 10RL based on which row of the determination reference data 41 illustrated in FIG. 8 corresponds to the obtained characteristic of the approximate line. The mounting location specifying unit 32 specifies that the mounting location of the radar device 10RL is behind and to the left of the vehicle 1. The mounting location specifying unit 32 outputs the specified mounting location to the operation condition setting unit 33.

The operation condition setting unit 33 acquires the mounting location identified by the mounting location identifying unit 32. The operation condition setting unit 33 sets the operation condition of the radar device 10FL based on the acquired mounting location. Since the mounting location is specified to be behind and to the left of the vehicle 1, the operating condition setting unit 33 sets operating conditions corresponding to the rear and left of the vehicle 1. The operation condition setting unit 33 selects and sets the coordinate conversion formula to be used when setting the operation condition. This coordinate conversion formula is used to convert a relative angle in the polar coordinate system with reference to the radar device 10FR into a relative angle in the local coordinate system. The coordinate conversion formula is predetermined.

<Flowchart of radar device 10>
FIG. 9 shows a flowchart of the radar device 10 according to this embodiment. The radar device 10 calculates the relative speed and the relative angle of the target during the period in which the vehicle 1 is conveyed by the conveyor 50. The radar device 10 acquires the relative velocity and the relative angle of the target once. That is, since the radar device 10 acquires the relative speeds and the relative angles of the plurality of targets by one measurement, the relative speeds and the relative angles of the targets are not repeated.

In the radar device 10, the target information deriving unit 31 calculates the relative speed of the target and the relative angle of the target (step S101). The mounting location identifying unit 32 acquires the relative speed of the target and the relative angle of the target from the target information deriving unit 31. The mounting location identification unit 32 obtains an approximate line from the acquired relative speed of the target and the relative angle of the target. The mounting location identifying unit 32 determines whether or not the approximate line has a characteristic of monotonically decreasing (step S102).

When the approximate line has a characteristic of monotonically decreasing (Yes in step S102), the mounting location identification unit 32 checks the relative speed when the azimuth angle of the approximate line is 0 degree. When the relative speed when the azimuth angle of the approximate line is 0 degree is positive (Yes in step S103), the mounting location identifying unit 32 identifies the mounting location as rearward and rightward (step S104). The operating condition setting unit 33 acquires the mounting location identified by the mounting location identifying unit 32. The operation condition setting unit 33 sets the operation condition of the radar device 10 based on the acquired mounting location (step S106).

In step S106, the operating condition setting unit 33 sets the operating condition such that the measured relative angle of the target is converted from the polar coordinate system based on the radar device 10 to the local coordinate system and is output. The operation condition setting unit 33 selects and sets the coordinate conversion formula to be used when setting the operation condition. This coordinate conversion formula is used to convert a relative angle in the polar coordinate system with reference to the radar device 10FR into a relative angle in the local coordinate system. The coordinate conversion formula is predetermined.

Referring again to FIG. 9, a flowchart of the radar device 10 will be described. When the relative speed when the azimuth angle of the approximate line is 0 degree is negative (No in step S103), the mounting location identifying unit 32 identifies the mounting location as the front and the right (step S104). The operation condition setting unit 33 acquires the mounting location identified by the mounting location identifying unit 32. The operation condition setting unit 33 sets the operation condition of the radar device 10 based on the acquired mounting location (step S106).

In step S106, the operating condition setting unit 33 sets the operating condition such that the measured relative angle of the target is converted from the polar coordinate system based on the radar device 10 to the local coordinate system and is output. The operation condition setting unit 33 selects and sets the coordinate conversion formula to be used when setting the operation condition. This coordinate conversion formula is used to convert a relative angle in the polar coordinate system with reference to the radar device 10FR into a relative angle in the local coordinate system. The coordinate conversion formula is predetermined.

Referring again to FIG. 9, a flowchart of the radar device 10 will be described. When the approximate line does not have the characteristic of monotonically decreasing (No in step S102), the mounting location identification unit 32 checks the relative speed when the azimuth angle of the approximate line is 0 degree. When the relative speed when the azimuth angle of the approximate line is 0 degree is positive (Yes in step S107), the mounting location identification unit 32 identifies the mounting location as rearward and leftward (step S108). The operation condition setting unit 33 acquires the mounting location identified by the mounting location identifying unit 32. The operation condition setting unit 33 sets the operation condition of the radar device 10 based on the acquired mounting location (step S106).

In step S106, the operating condition setting unit 33 sets the operating condition such that the measured relative angle of the target is converted from the polar coordinate system based on the radar device 10 to the local coordinate system and is output. The operation condition setting unit 33 selects and sets the coordinate conversion formula to be used when setting the operation condition. This coordinate conversion formula is used to convert a relative angle in the polar coordinate system with reference to the radar device 10FR into a relative angle in the local coordinate system. The coordinate conversion formula is predetermined.

Referring again to FIG. 9, a flowchart of the radar device 10 will be described. When the relative speed when the azimuth angle of the approximate line is 0 degree is negative (No in step S107), the mounting location identifying unit 32 identifies the mounting location as the front and the left (step S109). The operation condition setting unit 33 acquires the mounting location identified by the mounting location identifying unit 32. The operation condition setting unit 33 sets the operation condition of the radar device 10 based on the acquired mounting location (step S106).

In step S106, the operating condition setting unit 33 sets the operating condition such that the measured relative angle of the target is converted from the polar coordinate system based on the radar device 10 to the local coordinate system and is output. The operation condition setting unit 33 selects and sets the coordinate conversion formula to be used when setting the operation condition. This coordinate conversion formula is used to convert a relative angle in the polar coordinate system with reference to the radar device 10FR into a relative angle in the local coordinate system. The coordinate conversion formula is predetermined.

As described above, the radar device 10 according to the present embodiment, after being mounted on the vehicle 1, identifies the mounting position where the radar device 10 is mounted on the vehicle 1 and operates according to the mounting position. Set the conditions. Therefore, the radar device 10 can simplify the setting of operating conditions of the radar device 10.
Further, the radar device 10 according to the present embodiment identifies the mounting location of the radar device 10 based on the relative angle of the target. Therefore, the radar device 10 according to the present embodiment can improve the accuracy of identifying the mounting location. Further, the radar device 10 according to the present embodiment identifies the mounting location of the radar device 10 based on the relative speed and the relative angle corresponding to the plurality of targets. Therefore, the radar device 10 only needs to measure the relative velocity and the relative angle once, and can omit the measurement of the time variation of the relative velocity and the relative angle. Therefore, the radar device 10 can shorten the time required to set the operating conditions.

(Embodiment 2)
In the first embodiment, the mounting position of the radar device 10 is specified by simultaneously obtaining the relative speeds and the relative angles of a plurality of targets. However, in the present embodiment, acquisition of the relative speed and the relative angle of the target is repeated, and the mounting position of the radar device 10 is specified based on the temporal changes in the acquired relative speed and relative angle.

The operation of the radar device 10 according to this embodiment will be described with reference to FIG. 10. FIG. 10 shows the vehicle 1 at time t1 and the vehicle 1 at time t6. The target 151 is arranged on the right side of the vehicle 1 and outside the conveyor 50. The target 152 is arranged on the left side of the vehicle 1 and outside the conveyor 50.

The vehicle 1 is transported in the transport direction of the conveyor 50 as time passes. The radar devices 10FR and 10RR provided in the vehicle 1 measure the target 151. The target information deriving unit 31 provided in each of the radar devices 10FR and 10RR calculates the time change of the relative speed and the relative angle of the target 151.

FIG. 11 shows changes over time in the relative velocity and relative angle of the target 151 calculated by the radar devices 10FR and 10RR. FIG. 11 shows relative speeds and relative angles at times t1, t2, t3, t4, t5, and t6. Time t has passed in the order of t1, t2, t3, t4, t5, t6.

The point FR151_t1 indicates the relative speed and relative angle of the target 151 calculated by the radar device 10FR at time t1. The point FR151_t2 indicates the relative speed and the relative angle of the target 151 calculated by the radar device 10FR at the time t2. A point FR151_t3 indicates the relative speed and the relative angle of the target 151 calculated by the radar device 10FR at the time t3.

A point RR151_t4 indicates the relative speed and the relative angle of the target 151 calculated by the radar device 10RR at time t4. A point RR151_t5 indicates the relative speed and the relative angle of the target 151 calculated by the radar device 10RR at time t5. The point RR151_t6 indicates the relative speed and the relative angle of the target 151 calculated by the radar device 10RR at the time t6.

First, the operation of the radar device 10FR will be described. The mounting location identification unit 32 obtains the approximate line TL_FR10 from the points FR151_t1, FR151_t2, FR151_t3. The mounting location identification unit 32 obtains the characteristic of the approximate line TL_FR10. Approximate line TL_FR10 has the characteristic of monotonically decreasing and the characteristic of the relative velocity being negative when the azimuth angle is 0 degree.

The mounting location specifying unit 32 specifies that the mounting location of the radar device 10FR is in front of the vehicle 1 and on the right side based on the determination reference data 41 shown in FIG. The mounting location specifying unit 32 outputs the specified mounting location. The operating condition setting unit 33 acquires the mounting location specified by the mounting location specifying unit 32, and sets the operating condition of the radar device 10FR based on the acquired mounting location. The operating condition setting unit 33 sets operating conditions corresponding to the front and the right of the vehicle 1. That is, the operation condition setting unit 33 sets the relative angle of the target so as to be converted from the polar coordinate system with the radar device 10 as a reference to the local coordinate system and output, as in the first embodiment.

Again, it demonstrates with reference to FIG. The operation of the radar device 10RR will be described. The mounting location identification unit 32 obtains the approximate line TL_RR10 from the points RR151_t4, RR151_t5, and RR151_t6. The mounting location identification unit 32 obtains the characteristic of the approximate line TL_RR10. Approximate line TL_RR10 has a characteristic that monotonically decreases and a characteristic that the relative speed is positive when the azimuth angle is 0 degree.

The mounting location specifying unit 32 specifies that the mounting location of the radar device 10RR is behind and to the right of the vehicle 1 based on the determination reference data 41 shown in FIG. The mounting location specifying unit 32 outputs the specified mounting location. The operating condition setting unit 33 acquires the mounting location specified by the mounting location specifying unit 32, and sets the operating condition of the radar device 10RR based on the acquired mounting location. The operation condition setting unit 33 sets operation conditions corresponding to the rear side and the right side of the vehicle 1. That is, the operation condition setting unit 33 sets the relative angle of the target so as to be converted from the polar coordinate system with the radar device 10 as a reference to the local coordinate system and output, as in the first embodiment.

In the present embodiment, the mounting positions of the radar devices 10FR and 10RR have been described, but the mounting positions of the radar devices 10FL and 10RL can be similarly specified.

The radar device 10 according to the present embodiment identifies the mounting location of the radar device 10 based on the temporal changes in the relative speed and the relative angle of one target. Therefore, when specifying the mounting location of the radar device 10, a space for arranging a plurality of targets is not required. Therefore, the radar device 10 can reduce the space required for setting the operating conditions.

(Modification 1)
In the above embodiment, the radar device 10 has been described as identifying the mounting location using both the relative velocity and the relative angle. However, the present invention is not limited to this. In this modification, the mounting position of the radar device 10 is specified using the relative speed. In this modification, the relative angle is not used when the mounting location of the radar device 10 is specified. Further, in the above-described embodiment, the four radar devices 10FL, 10FR, 10RL, and 10RR have been described as being mounted on the vehicle 1 that is a moving body. However, the present invention is not limited to this. For example, as shown in FIG. 12, the vehicle 2, which is a moving body, may include radar devices 10FC and 10RC. The radar devices 10FC and 10RC shown in FIG. 12 have the same configuration as the radar device 10. The reference direction of the radar device 10FC is forward, and the reference direction of the radar device 10FC is backward.

In this modification, it is assumed that the reference direction of the radar device 10FC is forward and the direction of the relative speed is a direction approaching the radar device 10FC. Under this assumption, when the target is arranged in front of the vehicle 2 and the conveyor 50 conveys the vehicle 2 in the front, the relative speed of the target derived by the radar device 10FC is negative. Further, in this modification, it is assumed that the reference direction of the radar device 10RC is backward and the direction of the relative speed is a direction away from the radar device 10RC. Under this assumption, when the target is arranged in front of the vehicle 2 and the conveyor 50 conveys the vehicle 2 in the front, the relative speed of the target derived by the radar device 10FC is positive.

Therefore, even when the radar devices 10FC and 10RC are mounted as in the vehicle 2, the mounting location can be specified.

The radar device 10 according to the present modification, after being mounted on the vehicle 2 that is a moving body, identifies the mounting position where the radar device 10 is mounted on the vehicle 2 and determines the operating condition according to the mounting position. Set. At that time, the radar device 10 uses the relative velocity. Since the radar device 10 identifies the mounting location of the radar device 10 using the relative speed and the predetermined reference, the setting of the operating condition of the radar device 10 can be simplified.

(Modification 2)
In the above embodiment, the four radar devices 10FL, 10FR, 10RL, and 10RR have been described as being mounted on the vehicle 1, which is a moving body. Further, in the above-described modified example, it has been described that the two radar devices 10FC and 10RC are mounted on the vehicle 1 which is a moving body. However, the present invention is not limited to this. The vehicle 1 may include at least one of the radar devices 10FL, 10FR, 10RL, 10RR, 10FC, and 10RC, for example.

In the present modification, in the radar device 10, the mounting location identification unit 32 identifies whether the radar device 10 is mounted in a predetermined mounting location. The operating condition setting unit 33 sets an operating condition used at a predetermined mounting location when the mounting location specifying unit 32 determines that the radar device 10 is mounted at the predetermined mounting location.

This modification will be described using the radar apparatus 10FR shown in FIG. The predetermined mounting location of the radar device 10FR is in front of the vehicle 1 and to the right. Therefore, in the radar device 10FR, the mounting location identification unit 32 identifies whether the radar device 10FR is mounted in front of the vehicle 1 and on the right side.

For example, it is assumed that the radar apparatus 10FR calculates the points FR111, FR112, and FR113 shown in FIG. 6 as the relative velocity and relative angle of the target. In the radar device 10FR, the mounting location identification unit 32 obtains the approximate line TL_FR5 from FR111, FR112, and FR113. Approximate line TL_FR5 has the characteristic of monotonically decreasing and the characteristic of the relative velocity being negative when the azimuth angle is 0 degree.

The mounting location identification unit 32 acquires the determination reference data 41 from the storage unit 40. Further, the mounting location specifying unit 32 specifies the mounting location of the radar device 10FR based on which row of the determination reference data 41 the characteristic of the obtained approximate line corresponds to. The mounting location specifying unit 32 specifies that the mounting location of the radar device 10FR is in front of the vehicle 1 and on the right side. Further, the mounting location identifying unit 32 identifies that the radar device 10FR is mounted at a predetermined mounting location.

The operating condition setting unit 33 sets the operating condition to be used at the predetermined mounting position because the mounting position specifying unit 32 specifies that the radar device 10 is mounted at the predetermined mounting position. The operation condition setting unit 33 sets, as the operation condition of the radar device 10FR, the operation condition used in front of the vehicle 1 and on the right side thereof.

The radar device 10 according to the present modification specifies a location where the radar device 10 is mounted on the vehicle 2 that is a moving body, and when the radar device 10 is mounted at a predetermined mounting location, an operating condition corresponding to the mounting location. To set. Therefore, the radar device 10 can simultaneously confirm the mounting location and set the operating conditions. Therefore, the radar device 10 can simplify the setting of operating conditions of the radar device 10.

(Modification 3)
In the above-described embodiment, the range in which the radar device 10 can detect simultaneously is wider than the size of the target to be detected. However, the present invention is not limited to this. The target may be, for example, as shown by targets 161 and 162 in FIG. 13, a size that exceeds the detectable range 200 that can be detected by the radar device 10. The detectable range 200 is, for example, a range within the beam half width of the radar 10. The detectable range 200 shown in FIG. 13 is a diagram conceptually showing the beam half width of the radar device 10. Therefore, the range in which the radar device 10 can detect the target is not limited to the detectable range 200 in FIG.

The conveyor 50 conveys the vehicle 1 in the direction indicated by the arrow in the conveying direction shown in FIG. In other words, the conveyor 50 conveys the vehicle 1 in the direction from the lower side to the upper side with respect to the paper surface. In this modified example, the transport speed of the conveyor 50 is 5 km/h. The vehicle 1 is stationary on the conveyor 50. The targets 161 and 162 are also stationary.

This modification will be described with reference to FIG. In FIG. 14, a line FR162 indicates the relative speed and the relative angle of the target 162 derived by the radar device 10FR. A line RR162 indicates the relative speed and the relative angle of the target 162 derived by the radar device 10RR. The line FR162 and the line RR162 are continuous linear characteristics, not the discrete characteristics shown in FIGS. 6 and 7.

In FIG. 14, the line RR162 has a relative speed of 5 km/h when the azimuth angle is −40 degrees. That is, the absolute value of the relative speed of the line RR 162 when the azimuth angle is −40 degrees matches the absolute value of the transport speed of the conveyor 50. The line FR162 has a relative angle of 5 km/h when the azimuth angle is 60 degrees. That is, the absolute value of the relative speed of the line FR162 when the azimuth angle is 60 degrees matches the absolute value of the transport speed of the conveyor 50. That is, the absolute value of the relative speed indicated by the line RR162 and the line FR162 is equal to the absolute value of the transport speed of the conveyor 50.

Also in this modification, the operating conditions can be set after the mounting location is specified using the determination reference data 41 as in the above-described embodiment.

In FIG. 15, a line FL161 indicates the relative speed and the relative angle of the target 161 derived by the radar device 10FL. A line RL161 indicates the relative speed and the relative angle of the target 161 derived by the radar device 10RL. The lines FL161 and RL161 are not linear characteristics as shown in FIGS. 6 and 7, but continuous linear characteristics. The line RL161 has a relative speed of 5 km/h when the azimuth angle is 40 degrees. The line FL161 has a relative angle of −5 km/h when the azimuth angle is −60 degrees. That is, the absolute value of the relative speed indicated by the lines RL161 and FL161 is equal to the absolute value of the transport speed of the conveyor 50.

Also in this modification, the operating conditions can be set after the mounting location is specified using the determination reference data 41 as in the above-described embodiment.

(Modification 4)
In the above embodiment, the radar device 10 has been described as being mounted on the vehicle 1 which is a moving body. However, the present invention is not limited to this. The radar device 10 may not be mounted on the vehicle 1. For example, the radar device 10 may be mounted on a moving body other than the vehicle 1. Even when the radar device 10 is mounted on a moving body other than the vehicle 1, the radar device 10 can identify the mounting position and set the operating condition by acquiring the relative speed and the relative angle of another target. it can.

(Modification 5)
In the above-described embodiment, it has been described that the mounting position of the radar device 10 is specified by deriving the time change of the relative speed and the relative angle of one target. However, the present invention is not limited to this. The radar device 10 may determine the mounting position of the radar device 10 by deriving the time change of the relative speed and the relative angle of the plurality of targets.

(Modification 6)
In the above embodiment, the relative velocity and the relative angle of the target are derived and compared with the determination reference data 41 to specify the mounting position. However, the present invention is not limited to this. In this modified example, when the relative speed and the relative angle of the target that do not completely meet the criteria of the determination criterion data 41 are derived, the mounting location identifying unit 32 searches the history data 42 and finds the closest mounting location. May be specified.

For example, it is assumed that the relative velocity value and the relative angle value such as the points FR171, 172, 173, 174, 175, 176, 177 shown in FIG. 16 are acquired. The point FR174 has a relative velocity of zero when the azimuth angle is 0 degree. In this case, the approximate line obtained by using the points FR171 to 177 may have a relative velocity of zero when the azimuth angle is 0 degrees due to the influence of the point FR174. When the relative speed becomes zero when the azimuth angle is 0 degree, the mounting location specifying unit 32 cannot specify the mounting location even by using the determination reference data 41.

However, the mounting location specifying unit 32 may specify the mounting location using the other device history data (not shown) stored in the storage unit 40. Other device history data (not shown) is data in which the value of the mounting position and the value of the relative velocity and the value of the relative angle of the target are associated with each other when the mounting position is specified by another radar device 10. ..

For example, it is assumed that the other device history data (not shown) has data having substantially the same characteristics as those of the points FR171 to 177, and the mounting locations relating to the data are specified as the front and the right. In this case, the mounting location of the radar device 10 that has acquired the points FR171 to 177 may be specified as the front and the right.

Further, in the above-described embodiment, the control unit 30 may be individually formed into a single chip by a semiconductor device such as an LSI (Large Scale Integration), or may be formed into a single chip so as to include a part or all. .. The name used here is LSI, but it may also be called IC (Integrated Circuit), system LSI, super LSI, or ultra LSI depending on the degree of integration.

The integrated circuit method is not limited to the LSI, and it may be realized by a dedicated circuit or a general-purpose processor. A programmable programmable gate array (FPGA) that can be programmed after the LSI is manufactured, or a reconfigurable processor that can reconfigure the connection and setting of circuit cells inside the LSI may be used.

Further, part or all of the processing executed by the control unit 30 may be realized by a program. Then, a part or all of the processing of each functional block of each of the above-described embodiments is performed by a central processing unit (CPU) in a computer. A program for performing each processing is stored in a storage device such as a hard disk and a ROM, and is read out and executed in the ROM or the RAM.

Further, each process of the above-described embodiments may be realized by hardware, or may be realized by software (including a case where it is realized together with an OS (operating system), middleware, or a predetermined library). .. Further, it may be realized by mixed processing of software and hardware.

For example, when the control unit 30 is realized by software, the hardware configuration shown in FIG. 17 (for example, a hardware configuration in which a CPU, a ROM, a RAM, an input unit, an output unit, etc. are connected by a bus Bus) is used. Each functional unit may be realized by software processing.

A computer program that causes a computer to execute the above-described method and a computer-readable recording medium that records the program are included in the scope of the present invention. Here, examples of the computer-readable recording medium include a flexible disk, a hard disk, a CD-ROM, an MO, a DVD, a DVD-ROM, a DVD-RAM, a large capacity DVD, a next-generation DVD, and a semiconductor memory. ..

Further, the execution order of the processing methods in the above embodiments is not limited to the description of the above embodiments, and the execution order may be changed without departing from the scope of the invention.

Although the embodiments of the present invention have been described above, the above-described embodiments are merely examples for carrying out the present invention. Therefore, the present invention is not limited to the above-described embodiments, and can be implemented by appropriately modifying the above-described embodiments without departing from the spirit thereof.

1: vehicle 2: vehicle 10: radar device 10FC, 10FR, 10FL, 10RC, 10RR, 10RL: radar device 20: transmitter/receiver 21: transmitter 22: transmitter antenna 23: receiver antenna 24: receiver 241: mixer 242: A /D converter 25: Signal processing unit 251: Fourier transform unit 30: Control unit 31: Target information deriving unit 32: Mounting location specifying unit 33: Operating condition setting unit 40: Storage unit 41: Judgment reference data 42: History data

Claims (7)

A radar device mounted on a moving body,
A target information deriving unit that derives a relative velocity of the target by using a reception signal generated by a receiving unit that receives a reflected wave from the target of the radiated electromagnetic wave,
Based on the relative speed derived by the target information deriving unit and a reference for identifying the mounting location where the radar apparatus is mounted on the moving body, the radar apparatus is mounted at a predetermined mounting location. A mounting location specifying unit that specifies whether or not
An operating condition setting unit that sets an operating condition to be used at the predetermined mounting position when the mounting position is specified to be mounted at the predetermined mounting position by the mounting position specifying unit,
And a radar device. A radar device mounted on a moving body,
A target information deriving unit that derives a relative velocity of the target by using a reception signal generated by a receiving unit that receives a reflected wave from the target of the radiated electromagnetic wave,
Based on the relative speed derived by the target information derivation unit and a reference corresponding to each of a plurality of mounting locations where the radar apparatus is mounted on the moving body, a mounting location where the radar apparatus is mounted And a mounting location specifying section that specifies
An operating condition setting unit that sets operating conditions used at the mounting location based on the mounting location identified by the mounting location identifying unit,
And a radar device. The target information derivation unit further derives a relative angle of the target using the received signal,
The said mounting location specific|specification part specifies the mounting location with which the said radar apparatus was mounted based on the said relative angle derived by the said target information derivation|leading-out part, The said 1 or 2 characterized by the above-mentioned. Radar device. The mounting location specifying unit specifies a mounting location where the radar device is mounted, based on the time change of the relative speed and the relative angle of one target.
The radar device according to claim 3. The target information derivation unit uses the received signal to derive a plurality of relative velocities corresponding to a plurality of targets and a plurality of relative angles corresponding to the plurality of targets,
The mounting location identifying unit identifies a mounting location where the radar device is mounted based on a plurality of relative speeds and a plurality of relative angles derived by the target information deriving unit,
The radar device according to claim 3. A method for setting operating conditions of a radar device mounted on a moving body, comprising:
Target information derivation step of deriving the relative velocity of the target by using the reception signal generated by the receiving unit that receives the reflected wave from the target of the radiated electromagnetic wave,
Based on the relative speed derived by the target information derivation step and a reference for identifying the mounting location where the radar apparatus is mounted on the moving body, the radar apparatus is mounted at a predetermined mounting location. A mounting location specifying step for specifying whether or not
If it is specified by the mounting location specifying step that the device is mounted at the predetermined mounting location, an operating condition setting step of setting an operating condition used at the predetermined mounting location,
A method for setting operating conditions of a radar device, comprising: A method for setting operating conditions of a radar device mounted on a moving body, comprising:
Target information derivation step of deriving the relative velocity of the target by using the reception signal generated by the receiving unit that receives the reflected wave from the target of the radiated electromagnetic wave,
Based on the relative speed derived by the target information derivation step and a reference corresponding to each of a plurality of mounting locations where the radar apparatus is mounted on the moving body, a mounting location where the radar apparatus is mounted A mounting location specifying process for specifying
An operating condition setting step of setting an operating condition used at the mounting location based on the mounting location identified by the mounting location identifying step;
A method for setting operating conditions of a radar device, comprising:

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