JP4536381B2 - Combination determining apparatus, combination determining method, combination determining program, and radar apparatus - Google Patents

Description

The present invention relates to a combination determining device, a combination determining method , a combination determining program, and a radar using the same , which determine a combination of each object among a plurality of objects forming the first group and a plurality of objects forming the second group. Relates to the device .

  Conventionally, as illustrated in FIG. 13A, various methods are known as a method for determining a combination of data between each data forming the data group A and each data forming the data group B. . For example, there is a method of determining the optimal combination by calculating the matching degree (matching degree) for all combinations, and it is an ideal method for correctly determining the combination, but it requires processing time and memory. There is.

  For this reason, in a field where processing time and memory are limited (for example, pairing processing of a radar sensor mounted on a vehicle or the like), as illustrated in FIG. Are used as a reference in order of priority, the data that best matches the reference data is searched in order from the data group B, and the searched data and the data used as the reference for the search are sequentially determined as a combination. Techniques are commonly used. In the case illustrated in FIG. 13A, as a result of searching the data group B for data that best matches a predetermined search condition with the data a1, a2, a3, and a4 of the data group A as a reference in order, the data b2 , B4, b1, and b3 are shown in order.

  For example, in Patent Document 1 (Japanese Patent Application Laid-Open No. Hei 5-142337), in the in-vehicle radar sensor, the peak frequency of the same target (such as the vehicle in front of the target) is paired between the ascending section and the descending section. The peak frequencies are arranged in ascending order and descending order in ascending order of frequency, and the peak frequencies closest to the descending part are searched in order from the peak frequency having the lowest frequency in the rising part.

JP-A-5-142337

  By the way, although the above-described conventional technique is excellent with respect to processing time and memory restrictions, there is a problem in that an incorrect combination may be determined. This will be described in detail. For example, it is assumed that there is a correct combination (a combination determined by calculating the matching degree for all combinations) as illustrated in FIG. However, in such an assumption, even when the most suitable data is searched from the data group B (all of the data b1, b2, b3, and b4) on the basis of the data a1 of the data group A, the data a1 is not necessarily searched. The data b2 may be searched with a slight difference from the data a1 due to a data error or the like.

  Even if the wrong data is searched in this way, the above-described conventional technique simply determines the searched data and the data used as the reference of the search in order as a combination. Therefore, the wrong combination (in the above example) In other words, the combination of the data a1 and the data b2) is determined as it is, and this is triggered, and an incorrect combination (in the above example, the combination of the data a3 and the data b1) may occur frequently.

Accordingly, the present invention has been made to solve the above-described problems of the prior art, and a combination determination that can suppress the occurrence of an incorrect combination without requiring a lot of processing time and memory. An object is to provide an apparatus, a combination determination method , a combination determination program, and a radar apparatus .

In order to solve the above-described problems and achieve the object, the present invention provides a combination determination device that determines a combination of each object among a plurality of objects forming the first group and a plurality of objects forming the second group, And a radar apparatus for measuring a relative distance and a relative velocity with respect to a target object using such a combination, and using a predetermined target in the first group as a reference, a target most suitable for the target is selected from the second group. Search means for searching; reverse search means for searching for a target most suitable for the target from the first group on the basis of the target searched from the second group by the search means; and the reverse search means When the target searched from the first group by the search unit matches the predetermined target set as the search criterion by the search means, the predetermined target is set as the reverse search criterion by the reverse search means. The target and the union Characterized by comprising a combination determination means for determining a.

Further, in the present invention, the search means selects the predetermined object from the second group excluding the objects already searched by the search means until the predetermined object is searched by the reverse search means. The best matching target is sequentially searched, and the reverse search means sequentially sets the best matching target from the first group based on the target searched from the second group by the searching means. The combination determining unit determines, when the predetermined target is searched by the reverse search unit, the combination of the predetermined target and the target used as a reference for the reverse search by the reverse search unit. It is characterized by.

Further, in the present invention, when an object other than the predetermined object is searched by the reverse search means, the reverse reference object that is used as a reference for the reverse search by the reverse search means and the reverse search by the reverse search target. And a reverse search result storage means for storing the reverse search object searched from as a reverse search result, wherein the search means is based on the reverse search object of the reverse search result stored in the reverse search result storage means. Then, a target most suitable for the target is searched from the second group, and the combination determining means determines whether the target searched from the second group by the search means and the reverse reference target of the reverse search result. When they match, the reverse reference object and the reverse search object of the reverse search result are determined as a combination.

Further, in the present invention, the search means is a reverse search target of the reverse search result when the reverse search result is stored in the reverse search result storage means after the combination is determined by the combination determination means. Based on the above, a target that best matches the target is searched from the second group.

In the present invention, the search means may include a plurality of reverse search results that share the reverse search object in the reverse search result storage means after the reverse search means searches for objects other than the predetermined target. When stored, the second group is searched for a target most suitable for the target based on the reverse search target of the reverse search result.

Further, the present invention is a combination determination method for determining a combination of each object among a plurality of objects forming the first group and a plurality of objects forming the second group, wherein a predetermined object in the first group is determined. A search process that searches the second group for a target that best matches the target, and a target that best matches the target based on the target searched from the second group by the search process. Search from the first group, and when the target searched from the first group by the reverse search process matches the predetermined target as a search criterion by the search process And a combination determining step of determining, as a combination, the predetermined target and the target set as a reference for the reverse search in the reverse search step.

Further, the present invention is a combination determination program for causing a computer to execute a method for determining a combination of each object among a plurality of objects forming the first group and a plurality of objects forming the second group. A search procedure for searching for a target that best matches the target from the second group based on a predetermined target in the group, and a target searched from the second group by the search procedure, A reverse search procedure for searching for a target most suitable for the target from the first group, a target searched from the first group by the reverse search procedure, and the predetermined target based on the search by the search procedure When the two match, the computer is caused to execute a combination determination procedure for determining a combination of the predetermined target and a target used as a reference for the reverse search by the reverse search procedure.

According to the present invention, the reverse search is performed based on the target searched by the one-way search, and the combination is determined on the condition that the search results in both directions match. It is possible to suppress the occurrence of incorrect combinations without the need.

In addition, according to the present invention, the next matching target is searched again from the second group until the search results in both directions match, and the same processing is repeated, so that the correct combination of the targets based on the first group is repeated. Can be prioritized.

In addition, according to the present invention, the reverse search result is stored, a search based on the first group of objects searched by the reverse search is performed, and if the search result matches the reverse search result, the reverse search is performed. Since the combination is determined without performing the search again, the processing time for determining the combination can be shortened.

In addition, according to the present invention, since the search based on the first group of objects searched by the reverse search is performed with priority, the correct combination that can be determined with a small amount of processing is determined with priority. The processing time can be further reduced.

In addition, according to the present invention, priority is given to a search based on a target of the first group searched from a plurality of targets in a reverse search by interrupting the combination determination of the target set as a reference in the first group. As a result, it is possible to prevent a delay in the combination determination process, and it is possible to further reduce the processing time of the combination determination as a result of determining the correct combination that can be determined with a small number of processes with priority.

Exemplary embodiments of a combination determination apparatus, a combination determination method , a combination determination program, and a radar apparatus according to the present invention will be described below in detail with reference to the accompanying drawings. In the following, main terms used in the present embodiment (0: explanation of terms), overview and features of the combination determination device according to the present embodiment (1: overview and features of the combination determination device), and configuration of the combination determination device And the flow of processing (2: configuration of the combination determining device, 3: processing by the combination determining device), effects of the present embodiment (4: effects of the present embodiment), various modifications to the present embodiment (5: other Examples) will be described in order.

[0: Explanation of terms]
First, main terms used in this embodiment will be described. “Data (corresponding to“ object ”described in claims”) used in the present embodiment is data including various information that can be a search condition. Specifically, FIG. -2 and data having information such as frequency, power, beam angle, and section (data related to the peak frequency of the beat signal), etc., as illustrated in FIG. In this embodiment, each data is expressed as “data a1, a2, a3, a4..., Data b1, b2, b3, b4.

  The “data group (corresponding to“ first group ”and“ second group ”described in the claims”) ”used in the present embodiment is predetermined information of information included in each data. A data group formed by grouping each data. Specifically, as shown in FIG. 2-2, FIG. 2-3, FIG. Data group A, data group B formed by each data in the descending section, and the like correspond to this.

  In addition, “search processing” used in the present embodiment refers to predetermined data in any data group (data group A in the present embodiment) as a reference to data that most closely matches the other data group ( In this embodiment, it is a process of searching from the data group B). Specifically, in this embodiment, each data of the data group B is included in a search expression using information such as frequency and power as a search condition. By inputting information (information such as frequency and power), data that most closely matches the reference data (such as data having a frequency and power most similar to the reference data) is searched. In the present embodiment, data used as a reference for the search process is referred to as “reference data”, and data searched by the search process is referred to as “search data”.

  Further, the “reverse search process” used in the present embodiment refers to data that is most suitable for the data with reference to the data retrieved from another data group (data group B in the present embodiment) by the search process. In the reverse direction from the original data group (data group A in this embodiment). Specifically, in this embodiment, each data of the data group A is represented in the same search expression as the search process. By inputting information (information such as frequency and power), data that most closely matches the reference data (such as data having the frequency and power most similar to the reference data) is reversely searched. In the present embodiment, the data used as a reference for the reverse search process is referred to as “reverse reference data”, and the data searched by the reverse search process is referred to as “reverse search data”.

[1: Overview and features of combination determination device]
Next, after briefly explaining an application example of the combination determining apparatus according to the present embodiment, the outline and features of the combination determining apparatus according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram illustrating the configuration of the combination determining apparatus according to the present embodiment.

  The combination determination apparatus according to the present embodiment is applied to, for example, a radar sensor mounted on a vehicle or the like. That is, as illustrated in FIG. 2A, a continuous transmission signal that is frequency-modulated in a triangular wave shape is irradiated, and a reflected wave from a target (such as a vehicle in front of the target) is used as a reception signal for each beam angle. By receiving the signal, it is applied to a scanning radar such as an FM-CW system that calculates a direction angle, a distance, a relative speed, and the like of a target.

  Here, the calculation method of the distance and the relative speed will be briefly described. In the scan type radar, a transmission signal is mixed with a reception signal to obtain a beat signal for each beam angle. Then, the beat signal is subjected to fast Fourier transform (FFT) for each beam angle, and as illustrated in FIGS. 2-2 and 2-3, the frequency is used as a parameter in the rising and falling intervals for each beam angle. A signal distribution in which the power of the beat signal is distributed every time is created. Thereafter, peaks (local maximum values) are detected in the signal distributions in the ascending section and the descending section, and the distance and relative velocity of the target are calculated from the frequency of each peak.

  By the way, as illustrated in FIG. 2A, when there are a plurality of targets at a certain beam angle, the signal distributions in the ascending section and the descending section at that beam angle are shown in FIG. As illustrated in FIG. 3, a plurality of peaks (maximum values) are generated corresponding to the number of targets. In this case, it is possible to determine which peak is related to which target, that is, to determine a combination of each peak among a plurality of peaks in the rising section and a plurality of peaks in the falling section. Only after such a combination is correctly determined, the distance and relative speed of each target are correctly calculated.

  For this reason, the combination determining apparatus according to the present embodiment is applied to the scan type radar as described above. The outline of the combination determining apparatus includes a plurality of signal distributions in an ascending section and a descending section at a certain beam angle. (See FIGS. 2-2 and 2-3), information on each peak in the ascending section (for example, frequency and power of data a1 and data a2) and information on each peak in the descending section ( For example, the combination of each data is determined based on the frequency and power of data b1 and data b2.

  That is, as shown in FIG. 1, the combination determining apparatus 10 according to the present embodiment uses each data of the data group A (data of each peak in the rising section) and each data of the data group B (data of each peak in the falling section). ) Is received from the scanning radar, a combination of each data is determined between the data group A and the data group B, and the result of the combination (see FIG. 12-2) is calculated by the calculation unit of the scanning radar (target distance and relative To the control unit that calculates the speed.

  The combination determining apparatus 10 according to the present embodiment has a main feature in the combination determining process, and specifically suppresses the occurrence of an incorrect combination without requiring much processing time and memory. To be able to. The main features will be briefly described below. The combination determination device 10 performs a search process using predetermined data in the data group A as reference data in each data group grouped as illustrated in FIG. To search the data group B for data that most closely matches the reference data (data having the frequency and power most similar to the reference data).

  Further, the combination determining apparatus 10 performs reverse search processing using the search data searched from the data group B by the search processing as reverse reference data, and performs data that most closely matches the reverse reference data (the frequency most similar to the reverse reference data). Or data having power) is reversely searched from the data group A. When the reverse search data reversely searched from the data group A by the reverse search process matches the reference data referenced from the data group A in the search process, the combination determination device 10 The reference data and the reverse reference data set as a reference from the data group B in the reverse search process are determined as a combination.

  That is, in the example shown in FIG. 6A, the data b2 is searched by the search process using the data a1 as the reference data, and the data a1 is reverse searched by the reverse search process using the data b2 as the reverse reference data. The data a1 and the data b2 are determined as a combination. As described above, according to the combination device 10 according to the present embodiment, the reverse search is performed based on the target searched by the one-way search, and the combination is determined on the condition that the search results in both directions match. Therefore, like the main feature described above, it does not require a lot of processing time and memory like the method of calculating the fitness for all the combinations, and compared with the method of determining the combinations by one-way search. It is possible to suppress the occurrence of wrong combinations.

[2: Configuration of combination determination device]
Next, the configuration of the combination determining apparatus 10 will be described with reference to FIG. FIG. 1 is a block diagram illustrating a configuration of a combination determining apparatus 10 according to the present embodiment. As illustrated in FIG. 1, the combination determining apparatus 10 includes an input unit 11, an output unit 12, and a storage unit 13. And the control unit 14.

  Among these, the input unit 11 acquires each data of the data group A (data of each peak in the ascending section) and each data of the data group B (data of each peak in the descending section) from the scan type radar, and determines the combination 10 is an input interface. Further, the output unit 12 outputs the combination result of each data determined between the data group A and the data group B to the calculation unit of the scan radar (a control unit that calculates the distance and relative speed of the target). Interface.

  The storage unit 13 is a storage unit (storage unit) that stores data and programs necessary for various processes performed by the control unit 14, and each of the data input by the input unit 11 is particularly closely related to the present invention. Group data (data in which information such as frequency and power is associated with each data) is stored, and reverse search results (“inverse reference data” and “reverse search” in the reverse search processing) as a result of the reverse search processing described later. Data ") is stored in association with each other. As shown in FIG. 6A, the data of each data group has a predetermined priority (order determined based on the frequency, power, etc. of each data, and the combination is determined in principle according to this priority. And stored in the storage unit 13.

  The control unit 14 is a processing unit that has a control program such as an OS (Operating System), a program that defines various processing procedures, and an internal memory for storing necessary data, and executes combination determination processing using these. In particular, the search unit 15, the reverse search unit 16, and the combination determination unit 17 are closely related to the present invention.

  Among these, the search unit 15 is a processing unit that searches the data group B for data that most closely matches the reference data with reference to predetermined data in the data group A. Specifically, as described below, the search processing patterns are divided into five patterns, and the search unit 15 determines whether or not any of the patterns is met. Search processing for the corresponding pattern.

  That is, as pattern 1, the search unit 15 acquires data of each data group by the input unit 11 and stores the data in the storage unit 13 in association with the priority order (in the case of affirmative in step S301 in FIG. 3 described later). ), The data with the highest priority is selected as the reference data from all of the data group A, and the data that best matches the reference data is searched from all of the data group B.

  In addition, as the pattern 2, the search unit 15 determines that any combination is determined and no reverse search result is temporarily stored in the storage unit 12 and all combinations have not been determined yet (described later). In the case of step S309 in FIG. 3 negative), data having the highest priority is selected as reference data from among the data other than the combination determination data of the data group A (data whose combination has already been determined). Relevant data is retrieved from data group B other than the combination determination data.

  Further, as the pattern 3, when the combination is not determined by the reverse search process following the search process (in the case of C in FIG. 3 described later), the search unit 15 sets the reference data of the search process as the reference data again. Data that most closely matches the reference data is searched from data other than the combination determination data of the data group B, and further from data other than already searched data (data already searched by the search process). The pattern 3 search process is repeated until a combination of reference data is determined.

  In addition, as the pattern 4, the search unit 15 temporarily stores the reverse search result in the storage unit 12 after the combination is determined by the search process of the above patterns 1 to 3 (step 308 in FIG. 3 described later). In the case of affirmative), the reverse search data in the reverse search result is selected as the reference data from the data group A, and the data that best matches the reference data is searched from other than the combination determination data of the data group B.

  In addition, as the pattern 5, the search unit 15 has a plurality of reverse search results that share the reverse search data (for example, two reverse search results), although the combination is not determined by the search processing of the patterns 1 to 3 described above. Is stored in the storage unit 12 (in the case of step S310 in FIG. 3 to be described later), the reverse search data in the reverse search result is selected as the reference data from the data group A, and the reference data Relevant data is retrieved from data group B other than the combination determination data.

  Returning to FIG. 1, the reverse search unit 16 of the control unit 14 uses the data searched from the data group B by the search process as a reference, and uses the data that best matches the reverse reference data as the reverse search data. It is a processing unit that searches backward from the data group A. Specifically, after the above-described search processing for patterns 1 to 3 (the processing in step S303 in FIG. 3 described later), the reverse search processing is performed to determine the data group A combination that is most suitable for the reverse reference data. A search is performed in reverse from the data other than the data, and the results of the reverse search (“reverse reference data” and “reverse search data” in the reverse search process) are temporarily stored in the storage unit 12 as illustrated in FIG.

  The combination determination unit 16 of the control unit 14 determines that the reverse search data that is reversely searched from the data group A by the reverse search process matches the reference data that is based on the data group A in the search process. The processing unit determines the combination of the reference data and the reverse reference data that is used as a reference from the data group B in the reverse search process. Specifically, there are three combination decisions as described below.

  That is, when the reverse search process is performed subsequent to the search processes of the above patterns 1 to 3 and the reverse search result is stored in the storage unit 12 (step S305 in FIG. 3 described later), the combination determination unit 16 It is determined whether or not the reverse search data reversely searched in the reverse search process matches the reference data determined in the search process. If the two match, the reference data and the reverse reference data used as a reference in the reverse search process are determined as a combination.

  When the above-described pattern 4 search process is performed (S402 in FIG. 4 described later), the combination determination unit 17 matches the search data searched in the search process with the reverse reference data of the reverse search result. It is determined whether or not. And when both correspond, the reverse reference data and reverse search data in a reverse search result are determined as a combination. If they do not match, the reverse search result stored in the storage unit 12 is canceled (deleted).

  In addition, when the above-described pattern 5 search process is performed (S502 in FIG. 5 described later), the combination determination unit 17 searches the search data searched by the search process and the reverse reference data of any reverse search result, It is determined whether or not. And when both correspond, the reverse reference data and reverse search data in the matched reverse search result are determined as a combination. If they do not match, the reverse search result stored in the storage unit 12 is canceled (deleted).

[3: Processing by combination determination device]
Next, the process by the combination determination apparatus 10 is demonstrated using FIGS. 3 to 5 are flowcharts showing the flow of the combination determination process. As shown in FIG. 3, the combination determining apparatus 10 receives data of each data group by the input unit 11 and stores the data in the storage unit 13 in association with the priority order (Yes in step S <b> 301 in FIG. 3). The data having the highest priority is selected as the reference data from all of the data group A (step S302), and the data that best matches the reference data is searched from all of the data group B (step S303).

  That is, as a specific example, as illustrated in FIG. 6A, the data a1 having the highest priority is selected as the reference data from all of the data group A, and the data most suitable for the reference data a1 is selected. Search is performed from all of the data group B, and data b2 is obtained as search data (see (1) in the figure).

  Subsequently, the combination determining apparatus 10 reversely searches the data group B as the reverse search data, using the data searched from the data group B by the search process as a reference, and reversely searches the data group A as the reverse search data. (Step S304 in FIG. 3), and the results of the reverse search (“reverse reference data” and “reverse search data” in the reverse search process) are temporarily stored in the storage unit 12 (step 305).

  That is, to give a concrete example, as illustrated in FIG. 6A, the data b2 searched from the data group B by the search process is used as a reference, and the data most suitable for the reverse reference data b2 is determined. The reverse search data is reversely searched from the data group A to obtain the data a1 as the reverse search data, and the reverse reference data b2 and the reverse search data a1 are associated as the reverse search result (see (2) in the figure). .

  Then, the combination determining apparatus 10 determines whether or not the reverse search data reversely searched in the reverse search process matches the reference data determined in the search process (step S306 in FIG. 3). If they match (Yes at step S306), the reference data and the reverse reference data used as the reference in the reverse search process are determined as a combination (step S307).

  That is, to give a specific example, as illustrated in FIG. 6A, when the reverse search data a1 reversely searched by the reverse search process and the reference data a1 used as a reference by the search process match, As illustrated in FIG. 6B, the reference data a1 and the reverse reference data b2 used as a reference in the reverse search process are determined as a combination. With this determination, the reverse search result related to the determination (the reverse search result in which the reverse reference data b2 and the reverse search data a1 are associated) is also deleted.

  Following such combination determination, the combination determination apparatus 10 determines whether or not the reverse search result is temporarily stored in the storage unit 12 (step S308 in FIG. 3), and whether or not combinations have been determined for all data. Is determined (step S309). In this determination, if no reverse search result is temporarily stored in the storage unit 12 (No at Step S308) and all combinations have not yet been determined (No at Step S309), Data having the highest priority is selected as reference data from data other than combination determination data (data for which a combination has already been determined) (step S302), and data that best matches this reference data is other than data for combination determination of data group B A search is performed from among the items (step S303).

  That is, as a specific example, as illustrated in FIG. 11A, the data a2 having the highest priority is selected as the reference data from the data other than the combination determination data of the data group A, and the most suitable for the reference data a2. The data to be searched is searched from the data group B other than the combination determination data b2 and b4, and the data b1 is obtained as the search data (see (6) in the figure). In addition, the combination determination apparatus 10 performs the same process from the above-described reverse search process (step S304) following the search process.

  Here, returning to the description of step S306 in FIG. 3 described above, the combination determining apparatus 10 determines that the reverse search data reversely searched in the reverse search process and the reference data based on the search process do not match. (No at step S306), it is determined whether or not a plurality of reverse search results (for example, two reverse search results) that share the reverse search data are stored in the storage unit 12 (step S310).

  If a plurality of reverse search results that share the reverse search data are not stored (No in step S310, C in FIG. 3), the reference data of the search process is set as the reference data again, and the most suitable for this reference data. The data to be searched is searched from data other than the combination determination data of the data group B and further from data other than already searched data (data already searched by the search processing) (step S303).

  That is, as a specific example, as illustrated in FIG. 7A, the reverse search data a3 reverse-searched by the reverse search process does not match the reference data a1 used as a reference by the search process (see FIG. 7-1). (Refer to (1)), if a plurality of reverse search results are not stored, the reference data a1 of the search process is set as the reference data again as illustrated in FIG. The data to be searched is retrieved from data other than combination determination data (not yet here) of data group B and already searched data b2, and data b4 is obtained as search data (see (3) in the figure).

  Moreover, the combination determination apparatus 10 performs the same process from the above-mentioned reverse search process (step S304) following this search process. That is, as illustrated in FIG. 8A, the data b4 searched from the data group B by the search process is used as a reference, and the data that best matches the reverse reference data b4 is used as the reverse search data. The data other than the combination determination data of A (not yet here) is searched in reverse to obtain data a1 as reverse search data, and the reverse reference data b4 and reverse search data a1 are associated with each other as a reverse search result (in FIG. (Refer to (4)).

  As illustrated in FIG. 8A, when the reverse search data a1 reversely searched in the reverse search process matches the reference data a1 used as a reference in the search process, As illustrated, the reference data a1 and the reverse reference data b4 used as a reference in the reverse search process are determined as a combination. Along with this determination, the reverse search result (reverse search result in which the reverse reference data b4 and the reverse search data a1 are associated) related to the determination is also deleted.

  Returning to the description of step S308 in FIG. 3 described above, the combination determination apparatus 10 determines that the reverse search result is temporarily stored in the storage unit 12 following the combination determination (Yes in step S308, FIG. 3), the reverse search data in the reverse search result is selected as the reference data from the data group A (step S401 in FIG. 4), and the data most suitable for the reference data other than the combination determination data of the data group B is selected. A search is performed from among the items (step S402).

  That is, to give a specific example, as illustrated in FIG. 9A, when the reverse search result in which the reverse reference data b2 and the reverse search data a3 are associated with each other is temporarily stored in the storage unit 12, The reverse search data a3 in the search result is selected as the reference data from the data group A, the data that best matches the reference data is searched from other than the combination determination data b4 of the data group B, and the data b2 is used as the search data. (See (5) in the figure).

  Then, the combination determining apparatus 10 determines whether or not the search data searched in the search process matches the reverse reference data of the reverse search result (step S403 in FIG. 4). In step S403, the reverse reference data and the reverse search data in the reverse search result are determined as a combination (step S404). Along with this determination, the reverse search result related to the determination is also deleted.

  That is, to give a specific example, as illustrated in FIG. 9A, when the search data b2 searched in the search process matches the reverse reference data b2 of the reverse search result, it is illustrated in FIG. 9B. As described above, the reverse reference data b2 and the reverse search data a3 in the reverse search result are determined as a combination. In addition, the combination determination apparatus 10 performs the same process from the above-described determination process (step S308 in FIG. 3) following the determination process.

  On the other hand, if the search data searched in the search process and the reverse reference data of the reverse search result do not match (No in step S403 in FIG. 4), the reverse search result stored in the storage unit 12 Is canceled (deleted) (step S405).

  That is, as a specific example, as illustrated in FIG. 10A, when the search data b1 searched in the search process and the reverse reference data b2 of the reverse search result do not match, illustrated in FIG. As described above, the reverse search result in which the reverse reference data b2 and the reverse search data a3 are associated with each other is deleted. In addition, the combination determination apparatus 10 performs the same process from the above-described determination process (step S308 in FIG. 3) following the deletion process.

  Here, returning to the description of step S310 in FIG. 3 described above, the combination determination device 10 determines that a plurality of reverse search results that share the reverse search data are stored (Yes in step S310, FIG. 3). B) The reverse search data in the reverse search result is selected as the reference data from the data group A (step S501 in FIG. 5), and the data that best matches the reference data is the data other than the combination determination data of the data group B. (Step S502).

  That is, to give a specific example, as illustrated in FIG. 11A, a plurality of reverse search results (reverse search results related to the reverse reference data b1 and b3) that share the reverse search data a4 are stored. For example, as illustrated in FIG. 11B, after the search process using the data a2 as the reference data is interrupted, the reverse search data a4 in the reverse search result is selected as the reference data from the data group A. Data that most closely matches the reference data is searched from among the combination determination data b2 and b4 of the data group B, and data b1 is obtained as search data (see (10) in the figure).

  Then, the combination determination device 10 determines whether or not the search data searched in the search process matches the reverse reference data of any of the reverse search results (step S503 in FIG. 5). (Yes in step S503), the reverse reference data and the reverse search data in the matching reverse search result are determined as a combination (step S504). With this determination, the reverse search result related to the determination (the reverse search result related to the reverse reference data b1 and b3 illustrated in FIG. 11A) is also deleted.

  That is, as a specific example, as illustrated in FIG. 11B, when the search data b1 searched in the search process and the reverse reference data b1 of the reverse search result match, illustrated in FIG. As described above, the reverse reference data b1 and the reverse search data a4 in the reverse search result are determined as a combination. In addition, the combination determination apparatus 10 performs the same process from the above-described search process (step S304 in FIG. 3) following the determination process.

  On the other hand, if the search data searched in the search process and the reverse reference data of the reverse search result do not match (No in step S503 in FIG. 5), the reverse search result stored in the storage unit 12 Is canceled (deleted) (step S505). That is, if a specific example is given, the reverse search result concerning reverse reference data b1 and b3 as illustrated in FIG. In addition, the combination determination apparatus 10 performs the same process from the above-described determination process (step S308 in FIG. 3) following the deletion process.

  The combination determining apparatus 10 repeatedly executes a series of combination processes as described above. Then, as illustrated in FIG. 12B, when combinations are determined for all data (Yes in step S309 in FIG. 3), the combination determination apparatus 10 ends the combination processing, and calculates the combination result of the scan radar. Part (a control part for calculating the distance and relative speed of the target).

[4: Effects of this embodiment]
As described above, according to the present embodiment, the reverse search (data from the data group B to the data based on the search data searched by the one-way search (search process from the data group A to the data group B)). Group A) and the combination is determined on the condition that the search results in both directions match, so that the generation of an incorrect combination can be suppressed without requiring much processing time and memory. It becomes possible.

  Further, according to the present embodiment, the next matching data is searched again from the data group B until the search results in both directions match, and the same processing is repeated (see C in FIG. 3). It is possible to prioritize the correct combination of reference data that has been referenced.

  Further, according to the present embodiment, the reverse search result is stored, and the search based on the data of the data group A searched by the reverse search is performed. If the search result matches the reverse search result, Since the combination is determined without performing the reverse search again (see FIGS. 4 and 5), it is possible to shorten the processing time for determining the combination.

  Further, according to the present embodiment, the search based on the data of the data group A searched by the reverse search is performed with priority (see FIG. 4), so the correct combination that can be determined with a small number of processes is prioritized and determined. As a result, it is possible to further reduce the processing time for determining the combination.

  In addition, according to the present embodiment, the determination of the combination of data used as a reference in the data group A is interrupted, and the search based on the data of the data group A searched from a plurality of data in the reverse search is prioritized. As a result, it is possible to prevent the delay of the combination determination process, and it is possible to further reduce the processing time of the combination determination as a result of the correct combination that can be determined with less processing being prioritized. .

[5: Other embodiments]
Although the embodiments of the present invention have been described so far, the present invention may be implemented in various different forms other than the embodiments described above. Therefore, as shown below, other embodiments will be described by dividing into (1) search formula, (2) application, and (3) system configuration.

(1) Retrieval Expression For example, in this embodiment, a case has been described in which data similar to the reference data is retrieved or reversely retrieved using the same kind of retrieval expression in the retrieval process and the reverse retrieval process. Without being limited thereto, different search expressions (for example, different search expressions for combining counter electrodes) may be used in the search process and the reverse search process.

  In the present embodiment, the case where data is always searched or reverse searched in the search process and the reverse search process has been described. However, the present invention is not limited to this, and the data that best matches certain data is the search formula. If the data cannot be derived from the search data, a search NG or a reverse search NG (for example, a predetermined threshold value is given to the search formula, and if there is no data exceeding the search threshold value), the combination determination may not be performed for the data. .

(2) Application In the present embodiment, the case where the present invention is applied to a radar sensor mounted on a vehicle or the like has been described. However, the present invention is not limited to this, and for example, a Japanese word is used. The present invention may be applied to a translation device that performs automatic translation by combining words having the same meaning between a group of Japanese arranged and a group of foreign languages such as English arranged in a foreign language. .

  In addition, for example, when combining companies and job seekers that best match job search conditions and job search conditions between a group of companies with multiple companies seeking jobs and a group of job seekers with multiple job seekers seeking jobs The present invention may be applied. That is, the present invention can be applied to a case where some combination is determined between a plurality of groups.

(3) System configuration etc. In addition, among the processes described in the present embodiment, all or part of the processes described as being automatically performed can be manually performed or manually performed. All or a part of the processing described as a thing can also be automatically performed by a known method. In addition, the processing procedure, control procedure, specific name, and information including various data and parameters shown in the above-mentioned document and drawings can be arbitrarily changed unless otherwise specified.

  Each component of the illustrated apparatus (combination determining apparatus 10) is functionally conceptual and does not necessarily need to be physically configured as illustrated. In other words, the specific form of distribution / integration of the combination determination device 10 is not limited to that shown in the figure, and all or a part of the combination determination apparatus 10 may be functionally or physically in arbitrary units according to various loads or usage conditions. It can be configured to be distributed and integrated. Furthermore, each processing function performed in the combination determination apparatus 10 is realized in whole or in any part by a CPU and a program that is analyzed and executed by the CPU, or is realized as hardware by wired logic. obtain.

  The combination determination method described in the present embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation (for example, a computer built in various in-vehicle ECUs). it can. This program can be distributed via a network such as the Internet. The program can also be executed by being recorded on a computer-readable recording medium such as a hard disk, a flexible disk (FD), a CD-ROM, an MO, and a DVD and being read from the recording medium by the computer.

As described above, the combination determination device, the combination determination method , the combination determination program, and the radar apparatus according to the present invention are configured so that each object among a plurality of objects forming the first group and a plurality of objects forming the second group This is useful when determining combinations, and is particularly suitable for suppressing the occurrence of incorrect combinations without requiring much processing time and memory.

It is a block diagram which shows the structure of the combination determination apparatus which concerns on a present Example. It is a figure for demonstrating a radar sensor. It is a figure which illustrates signal distribution in a rise section. It is a figure which illustrates signal distribution in a descent section. It is a flowchart which shows the flow of a combination determination process. It is a flowchart which shows the flow of a combination determination process. It is a flowchart which shows the flow of a combination determination process. It is a figure for demonstrating the specific example of a combination determination process. It is a figure for demonstrating the specific example of a combination determination process. It is a figure for demonstrating the specific example of a combination determination process. It is a figure for demonstrating the specific example of a combination determination process. It is a figure for demonstrating the specific example of a combination determination process. It is a figure for demonstrating the specific example of a combination determination process. It is a figure for demonstrating the specific example of a combination determination process. It is a figure for demonstrating the specific example of a combination determination process. It is a figure for demonstrating the specific example of a combination determination process. It is a figure for demonstrating the specific example of a combination determination process. It is a figure for demonstrating the specific example of a combination determination process. It is a figure for demonstrating the specific example of a combination determination process. It is a figure for demonstrating the specific example of a combination determination process. It is a figure for demonstrating the specific example of a combination determination process. It is a figure for demonstrating the combination determination method in a prior art. It is a figure for demonstrating the combination determination method in a prior art.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Combination determination apparatus 11 Input part 12 Output part 13 Storage part 14 Control part 15 Search part 16 Reverse search part 17 Combination determination part

Claims (7)

Based on a predetermined target among a plurality of objects forming the first group, a target most suitable for the predetermined target is searched from among the plurality of objects forming the second group, and from among the second group Based on the searched object, the object that best matches the object is reversely searched from the first group, and when the predetermined object matches the reversely searched object, the predetermined object A combination determination device for determining a target of the second group based on the reverse search as a combination;
Search means for sequentially searching for a target most suitable for the predetermined target from the second group excluding the target that has already been searched until the predetermined target is searched by the reverse search ;
A reverse search means for sequentially searching from the first group for an object most suitable for the object, based on the objects searched from the second group by the search means in order ;
A combination determination unit that determines, when the predetermined target is searched by the reverse search unit, a combination of the predetermined target and a target that is a reference for the reverse search by the reverse search unit;
A combination determining apparatus comprising: When an object other than the predetermined object is searched by the reverse search means, the reverse reference object used as a reference for the reverse search by the reverse search means and the reverse search searched from the first group by the reverse search A reverse search result storage means for storing the object as a reverse search result;
The search means, based on the reverse search target of the reverse search result stored in the reverse search result storage means, searching for a target most suitable for the target from the second group;
The combination determination means, when the object searched from the second group by the search means matches the reverse reference object of the reverse search result, the reverse reference object and reverse search object of the reverse search result, The combination determination apparatus according to claim 1, wherein the combination determination apparatus determines the combination as a combination. When the reverse search result is stored in the reverse search result storage unit after the combination is determined by the combination determination unit, the search unit uses the reverse search target of the reverse search result as a reference, and 3. The combination determining apparatus according to claim 2 , wherein a target most suitable for the target is searched from the second group. In the case where a plurality of reverse search results that share the reverse search object are stored in the reverse search result storage means after the search means searches for an object other than the predetermined target by the reverse search means. 3. The combination determining apparatus according to claim 2 , wherein an object that best matches the object is searched from the second group on the basis of the object of the inverse search result. Based on a predetermined target among a plurality of objects forming the first group, a target most suitable for the predetermined target is searched from among the plurality of objects forming the second group, and from among the second group Based on the searched object, the object that best matches the object is reversely searched from the first group, and when the predetermined object matches the reversely searched object, the predetermined object A combination determination method for determining, as a combination, the second group of objects based on the reverse search criteria ,
A search step of sequentially searching for a target most suitable for the predetermined target from the second group excluding the target that has already been searched until the predetermined target is searched by the reverse search ;
A reverse search step of sequentially searching from the first group for a target most suitable for the target based on the targets searched from the second group by the search step in order ,
When the predetermined target is retrieved by the reverse search step, a combination determining step of determining a target which is the reference of the reverse search by the predetermined target and the reverse search process as a combination,
A combination determination method characterized by including: Based on a predetermined target among a plurality of objects forming the first group, a target most suitable for the predetermined target is searched from among the plurality of objects forming the second group, and from among the second group Based on the searched object, the object that best matches the object is reversely searched from the first group, and when the predetermined object matches the reversely searched object, the predetermined object A combination determination program for causing a computer to execute a method for determining a target of the second group based on the reverse search as a combination,
Until the predetermined target is searched by the reverse search, a procedure for sequentially searching for a target that best matches the predetermined target from the second group excluding the target that has already been searched ,
A reverse search procedure for sequentially searching from the first group for a target most suitable for the target, based on the target searched from the second group by the search procedure in order ;
When the predetermined target by the reverse search procedure has been searched, the combination determining procedure for determining a target which is the reverse search criteria by the predetermined target and the reverse search procedure as a combination,
Is a combination determination program that causes a computer to execute. Based on a predetermined target among a plurality of objects forming the first group, a target most suitable for the predetermined target is searched from among the plurality of objects forming the second group, and from among the second group Based on the searched object, the object that best matches the object is reversely searched from the first group, and when the predetermined object matches the reversely searched object, the predetermined object A radar apparatus that determines a relative distance and a relative velocity with respect to a target object by determining the combination of the second group of objects based on the reverse search as a combination ;
Search means for sequentially searching for a target most suitable for the predetermined target from the second group excluding the target that has already been searched until the predetermined target is searched by the reverse search ;
A reverse search means for sequentially searching from the first group for an object most suitable for the object, based on the objects searched from the second group by the search means in order ;
A combination determination unit that determines, when the predetermined target is searched by the reverse search unit, a combination of the predetermined target and a target that is a reference for the reverse search by the reverse search unit;
A radar apparatus comprising:

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