JP4447455B2 - 自動車側面物体検出センサの遮断を検出する方法およびシステム - Google Patents
自動車側面物体検出センサの遮断を検出する方法およびシステム Download PDFInfo
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- JP4447455B2 JP4447455B2 JP2004527545A JP2004527545A JP4447455B2 JP 4447455 B2 JP4447455 B2 JP 4447455B2 JP 2004527545 A JP2004527545 A JP 2004527545A JP 2004527545 A JP2004527545 A JP 2004527545A JP 4447455 B2 JP4447455 B2 JP 4447455B2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
- G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4039—Means for monitoring or calibrating of parts of a radar system of sensor or antenna obstruction, e.g. dirt- or ice-coating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
Description
当該技術分野で知られているように、自動車等の車両に検出器を含める傾向がある。車両の経路にある物体を正確かつ確実に検出できる検出器を提供することが必要である。このような検出器は、側面物体検出センサ(「SODS(Side Object Detection Sensor)」)と呼ばれることがあり、自動車と障害物との相対的位置関係、および、温度、湿度、氷、雨等の環境条件に対して比較的不感応でなければならない。
発明の簡単な概要
本発明の実施の形態によると、自動車に取り付けられたSODS等のレーダシステムのアンテナ遮断(障害物)を検出するシステムが示される。レーダシステムのアンテナ遮断を検出するシステムは、レーダシステムに含まれる信号プロセッサまたは外部信号源が提供する複数の信号を受け取って、レーダシステムのアンテナの遮断状況を検出するように適応された遮断検出プロセッサを含む。一実施の形態では、遮断検出プロセッサは、車両速度入力と、センサ温度入力と、パターン認識情報入力とを含む。
発明の詳細な説明
図1を参照して、本発明の特徴を組み込んだ自動車2が示されている。具体的には、自動車2は、当該自動車2のさまざまな位置に取り付けられた1つまたは2つ以上のSODS10a、10b、10c、および10dを含む。これらSODS10a、10b、10c、および10dは、それぞれ対応した遮断(障害物)検出システム11a、11b、11c、および11dを含む。遮断検出システム11a、11b、11c、および11dは、1つまたは2つ以上のSODS10a、10b、10c、および10dのそれぞれに関連付けられ、SODS10a、10b、10c、および10dの遮断状況について、自動車2のユーザに警報を与えるように適合することができる。ユーザは、この警報に応じて、遮断状況をクリアする是正措置を取ることができる。SODS10aの例示の遮断物体12には、例えば、SODS10aに付着したり、SODS10aを実質上遮断したりする雪、塩、氷、埃等の複数の異なる物体または物質(または物体および物質が組み合わさったもの)が含まれ得る。自動車2は、さらに、車両処理ユニット15を含むことができる。この車両処理ユニット15は、SODS10a、10b、10c、および10dのそれぞれ、ならびに、関連付けられた各遮断検出システム11a、11b、11c、および11dに接続される。SODS10a、10b、10c、および10dのそれぞれは同じように構成され、また、それらに関連付けられた各遮断検出システム11a、11b、11c、および11dも同じように構成されることを理解すべきである。したがって、説明を簡単にするために、本明細書では、SODS10aおよび関連付けられた遮断検出システム11aのみについて説明することにし、以下では、それぞれ「SODS10」および「遮断検出システム11」と呼ぶことにする。
Claims (10)
- 送信アンテナおよび受信アンテナを含むレーダシステムのアンテナ遮断を検出する方法であって、
(a)前記送信アンテナと前記受信アンテナとの間で通信される第1の漏洩信号を検知し、
(b)FMCW信号を送信し、異なる物体の遮断による送信信号の漏洩信号をFFT処理することによって生成される複数の所定パターン認識プロファイルの少なくとも1つと、前記第1の漏洩信号のエネルギーレベルを比較し、
(c)前記第1の漏洩信号が、前記複数の所定パターン認識プロファイルのいずれか1つの所定の特性と実質上一致するかどうかを判断する、
ことを含む方法。 - (d)前記第1の漏洩信号が、前記複数の所定パターン認識プロファイルのいずれか1つの前記所定の特性と実質上一致することに応答して、第1の値を有する第1の信号を生成し、前記第1の漏洩信号が、前記複数の所定パターン認識プロファイルのいずれの1つの前記所定の特性とも一致しないことに応答して、アンテナ遮断が存在しないことに対応する第2の値を有する第2の信号を生成する、
ことをさらに含む請求項1に記載の方法。 - (e)前記第1の漏洩信号のエネルギーレベルが所定の漏洩信号しきい値レベルからはずれているかどうかを判断し、
(f)前記第1の漏洩信号が前記所定の漏洩信号しきい値レベルからはずれている場合には、前記第1の信号を生成し、前記第1の漏洩信号が前記漏洩信号しきい値レベルからはずれていない場合には、前記第2の信号を生成する、
ことをさらに含む請求項2に記載の方法。 - (e)前記第1の漏洩信号のエネルギーレベルが所定の漏洩信号しきい値レベルからはずれているかどうかを判断し、
(f)前記第1の漏洩信号が前記所定の漏洩信号しきい値レベルからはずれている場合には、前記第1の信号を生成し、前記第1の漏洩信号が前記漏洩信号しきい値レベルからはずれていない場合には、前記第2の信号を生成し、
(g)前記ステップ(a)〜(f)を周期的に所定の回数繰り返し、それによって、複数の前記第1の信号および複数の前記第2の信号を生成する、
ことをさらに含む請求項2に記載の方法。 - (h)前記第1の信号の所定の繰り返しパターンが存在するかどうかを判断し、
(i)前記第1の信号の所定の繰り返しパターンが存在することに応答して、アンテナ遮断検出信号を生成する、
ことをさらに含む請求項4に記載の方法。 - 前記第1の漏洩信号のエネルギーレベルを、複数の所定パターン認識プロファイルの少なくとも1つと比較することは、
前記第1の漏洩信号のエネルギーレベルを、データベースに事前に記憶された少なくとも1つの基準漏洩信号プロファイルと比較する、ことをさらに含み、
該基準漏洩信号プロファイルは、アンテナ遮断が存在しない場合に生成される漏洩シグネチャを表す、
請求項1に記載の方法。 - 前記アンテナ遮断検出信号を生成することは、
前記複数の第1の信号の各々に関連付けられた、アンテナ遮断の存在を表す複数の第1の値を生成し、
前記複数の第1の信号の各々に関連付けられた、前記アンテナと前記遮断に関連付けられた物体との間の距離を表す複数の距離値を生成する、
ことをさらに含む請求項5に記載の方法。 - 前記第1の信号の所定の繰り返しパターンが存在するかどうかの判断は、
前記アンテナの相対運動に関連付けられた速度信号を検知し、
前記複数の距離値が前記速度信号の前記検知中に実質上等しい場合に、前記アンテナ遮断の検出フラグを設定する、
ことを含む請求項7に記載の方法。 - 送信機および受信機を含むセンサの遮断を検出するシステムであって、
送信アンテナを通じて第1のRF信号を送信する送信アンテナと、
第2のRF信号であって、前記送信アンテナの視野内の物体からの信号反射を含んだRF信号反射部分と、前記第1のRF信号からのRFエネルギーを含んだ漏洩部分と、を含む第2のRF信号を受信する受信アンテナと、
前記受信機に接続され、前記第2のRF信号の前記漏洩部分を1つまたは2つ以上の所定のパターン認識プロファイルと比較するように配置された遮断検出プロセッサであって、前記パターン認識プロファイルは、FMCW信号を送信し、異なる物体の遮断による送信信号の漏洩信号をFFT処理することによって生成される、遮断検出プロセッサと、
を備えたシステム。 - 前記第2のRF信号に応答して、前記第2のRF信号のフーリエ変換を計算して、各出力信号が、対応する周波数レンジ内の前記第2のRF信号のエネルギー内容を表す複数の出力信号を提供するデジタル信号プロセッサ、をさらに含み、
前記複数の出力信号の1つは、ほぼゼロドップラに対応する周波数レンジの前記第2のRF信号のエネルギー内容を表す、
請求項9に記載のシステム。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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US10/215,278 US6611227B1 (en) | 2002-08-08 | 2002-08-08 | Automotive side object detection sensor blockage detection system and related techniques |
PCT/US2003/013176 WO2004015446A1 (en) | 2002-08-08 | 2003-04-30 | Power regulation having power consuption reduction with reversing contactors |
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JP2005535876A JP2005535876A (ja) | 2005-11-24 |
JP4447455B2 true JP4447455B2 (ja) | 2010-04-07 |
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US (1) | US6611227B1 (ja) |
EP (1) | EP1529225B1 (ja) |
JP (1) | JP4447455B2 (ja) |
KR (1) | KR101021346B1 (ja) |
AU (1) | AU2003231167A1 (ja) |
DE (1) | DE60315162T2 (ja) |
WO (1) | WO2004015446A1 (ja) |
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-
2002
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2003
- 2003-04-30 WO PCT/US2003/013176 patent/WO2004015446A1/en active IP Right Grant
- 2003-04-30 EP EP03724299A patent/EP1529225B1/en not_active Expired - Fee Related
- 2003-04-30 JP JP2004527545A patent/JP4447455B2/ja not_active Expired - Fee Related
- 2003-04-30 AU AU2003231167A patent/AU2003231167A1/en not_active Abandoned
- 2003-04-30 DE DE60315162T patent/DE60315162T2/de not_active Expired - Fee Related
- 2003-04-30 KR KR1020057001851A patent/KR101021346B1/ko active IP Right Grant
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US6611227B1 (en) | 2003-08-26 |
AU2003231167A1 (en) | 2004-02-25 |
KR101021346B1 (ko) | 2011-03-14 |
DE60315162T2 (de) | 2008-04-17 |
EP1529225B1 (en) | 2007-07-25 |
DE60315162D1 (de) | 2007-09-06 |
KR20050032583A (ko) | 2005-04-07 |
WO2004015446A1 (en) | 2004-02-19 |
EP1529225A1 (en) | 2005-05-11 |
JP2005535876A (ja) | 2005-11-24 |
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