JP4827956B2 - 車載用レーダ装置 - Google Patents
車載用レーダ装置 Download PDFInfo
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- JP4827956B2 JP4827956B2 JP2009216809A JP2009216809A JP4827956B2 JP 4827956 B2 JP4827956 B2 JP 4827956B2 JP 2009216809 A JP2009216809 A JP 2009216809A JP 2009216809 A JP2009216809 A JP 2009216809A JP 4827956 B2 JP4827956 B2 JP 4827956B2
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- 238000005259 measurement Methods 0.000 claims description 22
- 238000000605 extraction Methods 0.000 claims description 18
- 238000009825 accumulation Methods 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 5
- 230000005856 abnormality Effects 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 description 18
- 238000000034 method Methods 0.000 description 9
- 238000012545 processing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
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Classifications
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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
-
- 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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
-
- 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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- 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
- G01S7/4026—Antenna boresight
-
- 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
- G01S7/4026—Antenna boresight
- G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
-
- 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
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4056—Means for monitoring or calibrating by simulation of echoes specially adapted to FMCW
-
- 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
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
-
- 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
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
- G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Description
γ=cos(θ+ψ)
について右辺をターゲットの方位角度θの2次多項式で近似した近似式
γ=cos(θ+ψ)≒−a(θ) 2 +b(θ)+c
ここで、a,b,cは係数
を得て、当該近似式に基づいて軸ずれ角度を推定する。
[1]走行速度センサ2と角速度センサ3から算出した自車の走行時旋回半径の大きさ(絶対値)が直進走行とみなせるあらかじめ設定した値より大きい
[2]走行速度センサ2と相対ドップラー速度から算出したターゲットの対地速度が静止物とみなせるあらかじめ設定した範囲内である
Claims (6)
- ターゲット情報としてターゲットの方位角度と相対ドップラー速度を測定する測定手段と、
自車の走行速度を検知する走行速度検知手段と、
自車の旋回速度を検知する角速度検知手段と、
ターゲットの相対ドップラー速度と自車の走行速度及び自車の旋回速度に関する条件を満足するターゲット情報を抽出し、新たなターゲット情報として、抽出されたターゲット情報のうち、前記方位角度と、前記相対ドップラー速度を前記自車の走行速度で除算した速度比とを蓄積する抽出蓄積手段と、
前記抽出蓄積手段に蓄積されたターゲット情報を読み出して、レーダによる測定座標系の軸ずれ角度をターゲットの方位角度の2次多項式でなる近似式に基づいて推定する軸ずれ角度推定手段と
を備え、
前記軸ずれ角度推定手段は、
ターゲットの方位角度をθとし、前記相対ドップラー速度を前記自車の走行速度で除算した速度比をγとし、前記相対ドップラー速度と前記自車の走行速度に含まれる速度誤差比が1である場合に、レーダによる測定座標系の基準軸ずれ角度ψにおいて成立する式
γ=cos(θ+ψ)
について右辺をターゲットの方位角度θの2次多項式で近似した近似式
γ=cos(θ+ψ)≒−a(θ) 2 +b(θ)+c
ここで、a,b,cは係数
を得て、当該近似式に基づいて軸ずれ角度を推定する
ことを特徴とする車載用レーダ装置。 - 請求項1に記載の車載用レーダ装置において、
前記軸ずれ角度推定手段は、
前記近似式において、2次項係数aを不変な固定値で近似して、1次項係数bのみを求め、推定する軸ずれ角度を
b/2a
で算出する
ことを特徴とする車載用レーダ装置。 - 請求項1または2に記載の車載用レーダ装置において、
前記抽出蓄積手段は、抽出条件を満たすターゲット情報として、前記走行速度検知手段からの自車の走行速度と前記角速度検知手段からの自車の旋回速度から算出した自車の走行時旋回半径が直線走行とみなせる予め設定した範囲内にあり、かつ前記走行速度検知手段からの自車の走行速度と前記測定手段からの前記相対ドップラー速度から算出したターゲットの対地速度が静止物とみなせる予め設定した範囲内にあるターゲット情報を抽出する
ことを特徴とする車載用レーダ装置。 - 請求項1から3までのいずれか1項に記載の車載レーダ装置において、
前記抽出蓄積手段は、新たなターゲット情報として、前記方位角度と前記速度比とをあらかじめ設定された個数分蓄積し、
前記軸ずれ角度推定手段は、前記抽出蓄積手段からの新たなターゲット情報である前記方位角度と前記速度比とを複数読み出して、レーダによる測定座標系の軸ずれ角度を推定する
ことを特徴とする車載用レーダ装置。 - 請求項1から4までのいずれか1項に記載の車載レーダ装置において、
前記測定手段は、前記軸ずれ角度推定手段により推定した軸ずれ角度を用いて、レーダで測定されたターゲット情報の方位角度を補正する
ことを特徴とする車載用レーダ装置。 - 請求項5に記載の車載レーダ装置において、
前記軸ずれ角度推定手段により推定した軸ずれ角度があらかじめ設定された範囲内であれば、前記軸ずれ角度推定手段により推定した軸ずれ角度を前記測定手段に送り、レーダで測定されたターゲット情報の方位角度を補正すべく制御し、推定した軸ずれ角度があらかじめ設定された範囲外であれば、運転者にレーダ装置の出力結果の異常を知らせる制御手段をさらに備えた
ことを特徴とする車載用レーダ装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009216809A JP4827956B2 (ja) | 2009-09-18 | 2009-09-18 | 車載用レーダ装置 |
US12/715,902 US8115669B2 (en) | 2009-09-18 | 2010-03-02 | Vehicular radar device |
Applications Claiming Priority (1)
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JP2009216809A JP4827956B2 (ja) | 2009-09-18 | 2009-09-18 | 車載用レーダ装置 |
Publications (2)
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JP2011064624A JP2011064624A (ja) | 2011-03-31 |
JP4827956B2 true JP4827956B2 (ja) | 2011-11-30 |
Family
ID=43756180
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JP2009216809A Expired - Fee Related JP4827956B2 (ja) | 2009-09-18 | 2009-09-18 | 車載用レーダ装置 |
Country Status (2)
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US (1) | US8115669B2 (ja) |
JP (1) | JP4827956B2 (ja) |
Families Citing this family (25)
Publication number | Priority date | Publication date | Assignee | Title |
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JP4827956B2 (ja) * | 2009-09-18 | 2011-11-30 | 三菱電機株式会社 | 車載用レーダ装置 |
EP2867696B1 (en) * | 2012-06-28 | 2020-04-15 | Veoneer Sweden AB | Misalignment estimation of a vehicle radar system |
JP5926208B2 (ja) * | 2013-02-12 | 2016-05-25 | 株式会社デンソー | 車載レーダ装置 |
RU2546967C1 (ru) * | 2014-02-10 | 2015-04-10 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Рязанский государственный радиотехнический университет" | Способ измерения угловых координат воздушных целей с помощью доплеровской рлс |
JP6365251B2 (ja) * | 2014-02-28 | 2018-08-01 | パナソニック株式会社 | レーダ装置 |
JP6246338B2 (ja) * | 2014-04-30 | 2017-12-13 | 三菱電機株式会社 | 測角装置及び測角方法 |
KR102214332B1 (ko) * | 2014-04-30 | 2021-02-10 | 주식회사 만도 | 운전자 편의 시스템 및 운전자 편의 시스템에서 레이더 센서의 수직각도 이상 판정 방법 |
JP6294853B2 (ja) * | 2015-05-11 | 2018-03-14 | 古河電気工業株式会社 | レーダ装置およびレーダ装置の制御方法 |
KR102368611B1 (ko) * | 2015-07-13 | 2022-02-28 | 현대모비스 주식회사 | 차량용 레이더의 오정렬 판단 방법 |
US9983301B2 (en) * | 2015-10-02 | 2018-05-29 | Delphi Technologies, Inc. | Automated vehicle radar system to determine yaw-rate of a target vehicle |
JP6622167B2 (ja) * | 2016-09-26 | 2019-12-18 | 株式会社デンソー | 軸ずれ推定装置 |
EP3415945B1 (en) | 2017-06-12 | 2024-01-10 | Aptiv Technologies Limited | Method of determining the yaw rate of a target vehicle |
DE102018200752A1 (de) * | 2018-01-18 | 2019-07-18 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Bewertung einer Winkelposition eines Objekts, und Fahrerassistenzsystem |
EP3572839A1 (en) | 2018-05-23 | 2019-11-27 | Aptiv Technologies Limited | Method of estimating a velocity magnitude of a moving target in a horizontal plane and radar detection system |
EP3575827A1 (en) * | 2018-06-01 | 2019-12-04 | Aptiv Technologies Limited | Method for robust estimation of the velocity of a target using a host vehicle |
JP7028722B2 (ja) * | 2018-06-05 | 2022-03-02 | 株式会社Soken | 軸ずれ角検出装置 |
JP7025285B2 (ja) * | 2018-06-05 | 2022-02-24 | 株式会社Soken | 位置検出装置 |
EP3611541B1 (en) | 2018-08-16 | 2024-07-03 | Aptiv Technologies AG | Method of determining an uncertainty estimate of an estimated velocity |
DE102018214961A1 (de) * | 2018-09-04 | 2020-03-05 | Robert Bosch Gmbh | Verfahren zur Erkennung von Winkelmessfehlern bei einem Radarsensor |
CN110297239A (zh) * | 2019-05-21 | 2019-10-01 | 成都青程融创信息技术有限公司 | 全局最优多项式拟合距离对准方法 |
JP7481196B2 (ja) | 2020-08-06 | 2024-05-10 | 株式会社Soken | 軸ずれ推定装置 |
JP7477400B2 (ja) | 2020-08-24 | 2024-05-01 | 株式会社Soken | 軸ずれ推定装置 |
CN112731317B (zh) * | 2020-12-25 | 2024-03-19 | 北京百度网讯科技有限公司 | 车辆雷达标定方法、装置、设备、介质和自动驾驶车辆 |
CN113640766B (zh) * | 2021-08-10 | 2023-05-23 | 北京经纬恒润科技股份有限公司 | 一种确定目标运动状态的方法及装置 |
US20230184926A1 (en) * | 2021-12-15 | 2023-06-15 | GM Global Technology Operations LLC | Radar anti-spoofing system for identifying ghost objects created by reciprocity-based sensor spoofing |
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JP3733863B2 (ja) * | 2001-02-02 | 2006-01-11 | 株式会社日立製作所 | レーダ装置 |
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JP4265803B2 (ja) * | 2005-11-22 | 2009-05-20 | 三菱電機株式会社 | レーダシステム |
JP5003674B2 (ja) * | 2006-03-27 | 2012-08-15 | 株式会社村田製作所 | レーダ装置および移動体 |
JP5078637B2 (ja) * | 2008-01-29 | 2012-11-21 | 富士通テン株式会社 | レーダ装置、及び物標検出方法 |
JP4827956B2 (ja) * | 2009-09-18 | 2011-11-30 | 三菱電機株式会社 | 車載用レーダ装置 |
-
2009
- 2009-09-18 JP JP2009216809A patent/JP4827956B2/ja not_active Expired - Fee Related
-
2010
- 2010-03-02 US US12/715,902 patent/US8115669B2/en not_active Expired - Fee Related
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Publication number | Publication date |
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US20110068970A1 (en) | 2011-03-24 |
US8115669B2 (en) | 2012-02-14 |
JP2011064624A (ja) | 2011-03-31 |
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