JP4913646B2 - Radar apparatus, radar apparatus control apparatus, radar apparatus control program, and radar apparatus control method - Google Patents

Description

  The present invention relates to a radar apparatus, a radar apparatus control apparatus, a radar apparatus control program, and a radar apparatus control apparatus that receive a reflection signal of a transmitted radar signal using a combination of two antennas among three or more antennas. In particular, a method for sequentially switching a combination of two antennas that receive a reflected signal, a means for detecting an angle direction of a target based on a reception phase difference of the reflected signal, a radar signal, and a frequency of the reflected signal The present invention relates to a radar apparatus having a means for detecting a relative distance and a relative velocity with respect to a target based on a difference, a control apparatus for the radar apparatus, a control program for the radar apparatus, and a control method for the radar apparatus.

  In recent years, in-vehicle radar devices have been widely used to support safe driving of vehicles. An FM-CW (Frequency Modulation-Continuous Wave) method is known as a method for detecting the relative speed and relative distance to a target such as another vehicle in such an on-vehicle radar device. The FM-CW radar device transmits a radar signal that is frequency-modulated according to a triangular wave in which an ascending section and a descending section are alternately repeated. The transmitted radar signal is reflected by a target such as another vehicle, and the reflected signal is received by the radar apparatus. At this time, since the reflected signal is affected by the time delay due to the distance and the Doppler effect due to the relative velocity, the frequency shifts. Then, the radar apparatus calculates a relative speed and a relative distance from the target from a beat signal that is a frequency difference between the transmitted radar signal and the received reflected signal. An example of such an FM-CW in-vehicle radar device is described in Patent Document 1.

  As a method for detecting the angle direction of a target in such an FM-CW in-vehicle radar device, a phase monopulse method in which reflected signals are received by a plurality of antennas is known. FIG. 1 is a diagram illustrating an angular direction detection method using a phase monopulse method. In the phase monopulse method, the transmitted radar wave W1 is reflected by the target T, and the reflected signal W2 is received by the two antennas 11 and 12. Then, in the first antenna 11 and the second antenna 12, a difference Δd1 occurs in the propagation distance of the reflected signal W2 in proportion to the distance d1 between the antennas, and a reception phase difference Φ1 corresponding to the difference Δd1 occurs. Further, since the distance d1 between the antennas is smaller than the distance to the target T, the target T is considered to exist at infinity. Therefore, the incident angle of the reflected signal W2, that is, the angle direction θ of the target T is the same in the first antenna 11 and the second antenna 12. Then, the angle direction θ is obtained by the following equation 1. In the following equation, λ is the wavelength of the reflected signal W2.

Formula 1: θ = 1 / sin (λ · Φ1 / (2π · d1))
However, in the phase monopulse method, when the reception phase difference Φ1 exceeds ± π, the angle direction θ of the target T obtained from the reception phase difference Φ1 cannot be uniquely specified as shown in the following Expression 2.

Formula 2: θ = 1 / sin (λ · (Φ1 ± kπ) / (2π · d1)) (k = 0, 1, 2,...)
For this reason, a method for specifying the angular direction θ has been proposed as follows. That is, the third antenna 13 is provided such that the distance between the second antenna 12 and the second antenna 12 is d2, which is different from d1, and in addition to the combination of the first antenna 11 and the second antenna 12, the second antenna antenna 12, The reflected signal W2 from the target T is received by the combination of the three antennas 13. Then, a difference Δd2 occurs in the propagation distance of the reflected signal W2 between the second antenna 12 and the third antenna 13 according to the distance d2 between the antennas, and a reception phase difference Φ2 according to this distance Δd2. Therefore, the angle direction θ of the target T is obtained by the following equation 3.

Formula 3: θ = 1 / sin (λ · Φ2 / (2π · d2))
Further, when the reflected signal W2 from the target T is received by the combination of the first antenna 11 and the third antenna 13, the first antenna 11 and the third antenna 13 according to the distance d3 (= d1 + d2) between the antennas. Thus, a difference Δd3 occurs in the propagation distance of the reflected signal W2, and a reception phase difference Φ3 corresponding to the difference Δd3 occurs. Therefore, the angle direction θ of the target T is obtained by the following equation 4.

Formula 4: θ = 1 / sin (λ · Φ3 / (2π · d3))
In this manner, a plurality of angular directions are obtained from the reception phase differences due to the combination of the three two antennas, and the angular directions approximated to each other are specified as detection results.

An FM-CW radar device adopting such a phase monopulse method as an angular direction detection means transmits a frequency-modulated radar signal and transmits a reflected signal from a target to two antennas out of three antennas. The combinations are sequentially switched and received. Then, the relative speed and relative distance to the target are detected from the beat signal based on the transmitted radar signal and reflected signal. At the same time, a candidate for the angular direction is obtained from the received phase difference in the combination of the three antennas, and the angular direction as the detection result is specified therefrom.
JP 2006-47051 A

  However, in the above prior art, switching noise is generated when the antenna combination is switched. Therefore, this switching noise is mixed in the beat signal immediately after the antenna switching. As a result, there arises a problem that the detection accuracy of the relative speed and relative distance of the target deteriorates.

  Accordingly, an object of the present invention is to provide an FM-CW radar device that employs a phase monopulse method, even if a combination of two antennas among three or more antennas is sequentially switched to receive a reflected signal. It is an object of the present invention to provide a radar apparatus, a radar apparatus control apparatus, a radar apparatus control program, and a radar apparatus control method in which the relative distance and relative speed detection accuracy do not decrease.

  In order to achieve the above object, according to a first aspect of the present invention, a radar signal that is frequency-modulated so as to alternately repeat an ascending section where the frequency rises and a descending section where the frequency descends is transmitted, and the radar In a radar apparatus that receives a reflected signal of a signal with a combination of two or more of three or more antennas, a combination of two antennas that receive the reflected signal in a time interval including the rising and falling intervals. , Antenna switching control means for sequentially switching for each time interval, and estimating the angle direction of the target based on the reception phase difference of the reflected signals received by two antennas for each of the plurality of combinations, Angular direction detection means that adopts the detection result of the angular direction from the estimation result, and the frequency difference between the radar signal transmitted in the ascending section and the descending section and its reflected signal Based, and a distance and speed detecting means for detecting the relative distance and the relative velocity between the target object. Then, the distance / speed detection means does not use the frequency difference in the rising section or the falling section at the beginning of the time section, and the frequency in the rising section and the falling section after the rising section or the falling section. The detection is performed using a difference.

  The radar apparatus according to a preferred embodiment of the above aspect further includes an abnormality detecting means for detecting an abnormality of the radar apparatus based on a frequency difference between the reflected signals in the rising or falling section at the beginning of the time section. To do.

  According to the above aspect, when the antenna combination is switched, the frequency difference in the rising section or the falling section at the beginning of the time section is not used, and the rising section after the rising section or the falling section is used. Since the relative speed and relative distance of the target are detected using the frequency difference in the descending section, noise is mixed without using the beat signal in the rising or descending section mixed with switching noise due to antenna switching. Relative speed and relative distance are detected using beat signals in the ascending and descending sections that are not performed. Therefore, even if the combination of antennas is switched, it is possible to prevent a decrease in the detection accuracy of the relative distance and the relative speed.

  In addition, according to the above embodiment, since it is possible to detect that the antenna switching unit of the radar apparatus has operated normally by detecting noise mixed in the beat signal in the rising or falling interval at the beginning of the time interval, If no is detected, an abnormal operation of the antenna switching unit can be detected. Therefore, it is possible to detect an abnormal operation of the radar apparatus at an early stage by effectively utilizing the time during which the relative distance and speed are not detected.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the technical scope of the present invention is not limited to these embodiments, but extends to the matters described in the claims and equivalents thereof.

  FIG. 2 is a diagram illustrating an example in which the radar apparatus according to the present embodiment is used as an in-vehicle radar apparatus. The radar apparatus 10 is an FM-CW radar apparatus that employs a phase monopulse system, and is mounted near the rear bumper of the host vehicle 1. Then, the radar apparatus 10 detects the angular direction θ of the succeeding vehicle 2 with respect to the rear front direction and the relative speed V and the relative distance R with the host vehicle 1. Then, based on the detection result, the safety control system of the vehicle 1 notifies the driver of the danger of a rear-end collision and supports safe driving.

  FIG. 3 is a diagram illustrating the configuration of the radar apparatus 10 according to the present embodiment. FIG. 4 is a diagram for explaining an FM-CW radar signal of the radar apparatus 10. FIG. 5 is a diagram for explaining a method of detecting the angular direction by the phase monopulse method of the radar apparatus 10. The description will be made with reference to FIGS. 4 and 5 as appropriate while following FIG.

  The radar apparatus 10 includes three antennas 11, 12, and 13, generates a radar signal W <b> 1 that is frequency-modulated by the FM-CW method by a transmission circuit 30, and transmits / receives the radar signal W <b> 1 using these antennas.

  The transmission circuit 30 generates a modulation signal in which a triangular wave composed of an ascending section and a descending section is repeated, and generates a radar signal that is frequency-modulated according to the modulation signal. A part of the generated radar signal is branched and input to the receiving circuit 40, and the other part is transmitted from the first antenna 11 to the rear of the vehicle 1 via the antenna switching unit 20 (W1). As shown in the upper part of FIG. 4, the frequency of the radar signal W1 frequency-modulated by the transmission circuit 30 according to a triangular wave having a period of 1 / fm and a center frequency f0 repeats rising and falling with a frequency shift width ΔF. As an example, the triangular wave frequency fm is 372 MHz, the center frequency f 0 is 76.5 GHz, and the amplitude (frequency shift width of the radar signal W 1) ΔF is 200 MHz.

  When the radar signal W1 is reflected by a target such as the following vehicle 2, the reflected signal W2 is affected by the time delay due to the distance and the Doppler effect due to the relative speed, and the frequency shift as shown by the dotted line. Receive. Then, the reflected signal W2 subjected to the frequency shift in this way is received by the combination of the two antennas among the first antenna 11, the second antenna 12, and the third antenna 13.

  The antenna switching unit 20 is a combination of two antennas that receive a reflected signal among the three antennas, that is, the first antenna 11 and the second antenna 12, the first antenna 11 and the third antenna 13, and the second antenna 12. And the third antenna 13 are sequentially switched electrically. Further, the antenna switching unit 20 causes the first antenna 11 to have both a transmission function and a reception function by switching the transmission of the radar signal and the reception of the reflected signal by the first antenna 11 in a time division manner. Here, the distance between the first antenna 11 and the second antenna is a distance d1, the distance between the second antenna 12 and the third antenna 13 is a distance d2 different from the distance d1, and the distance between the first antenna 11 and the third antenna 13. Each antenna is arranged so as to be d3 (= d1 + d2). Therefore, the reflected signal W2 is received by a combination of two antennas having three different distances between the antennas. The received reflected signal W2 is input to the receiving circuit 40.

  The receiving circuit 40 mixes the radar signal W1 input from the transmitting circuit 30 and the received reflected signal W2, and generates a beat signal B1 as shown in the lower part of FIG. Here, in the case of a combination of a predetermined antenna out of the two antennas that receive the reflected signal W2, for example, the first antenna 11 and the second antenna 12, the reflected signal received by the second antenna 12. W2 will be described as an example. Then, the beat frequency of the beat signal B1 becomes the beat frequency fb1 in the rising section of the transmission signal W1 and the beat frequency fb2 in the falling section.

  In addition to the generation of the beat signal B1, the reception circuit 40 detects the reception phase difference of the reflected signal received by the combination of the two antennas. At this time, the reception circuit 40 detects the reception phase difference in each of the three combinations of antennas. The receiving circuit 40 inputs the generated beat signal and the detected reception phase difference to the control device 50.

  The control device 50 performs various arithmetic processes according to programs such as a modulation control program 51, an antenna switching control program 52, an FFT (Fast Fourier Transform) processing program 53, a distance / speed detection program 54, an angle direction detection program 55, and an abnormality detection program 56. The microcomputer includes a CPU that performs the program, a ROM that stores these programs, and a RAM for a work area. The modulation control program 51, the antenna switching control program 52, the FFT processing program 53, the distance / speed detection program 54, the angle direction detection program 55, and the abnormality detection program 56 correspond to a “control program”.

  Specifically, in accordance with the modulation control program 51, the control device 50 causes the transmission circuit 30 to generate a frequency-modulated radar signal and transmit it. At this time, the control device 50 measures the time of the rising and falling intervals of the frequency modulation with a built-in timer circuit, and instructs the transmission circuit 30 to switch between the rising and falling intervals. Further, the control device 50 instructs the antenna switching unit 20 to switch the combination of the receiving antennas via the transmission circuit 30 in synchronization with the switching between the rising section and the falling section in accordance with the antenna switching control program 52. Therefore, the control device 50 that operates according to the antenna switching control program 52 corresponds to “antenna switching control means”. The procedure corresponds to the “antenna switching procedure”.

  Further, the control device 50 AD-converts the beat signal input from the receiving circuit 40 and performs FFT analysis on the beat signal converted into a digital signal according to the FFT processing program 53. Then, according to the distance / speed detection program 54, the control device 50 calculates the relative speed and the relative distance between the vehicle 1 and the vehicle 2 based on the beat frequency of the beat signal. Specifically, the control device 50 uses the frequency shift width ΔF of the radar signal W1, the center frequency f0, the frequency fm of the triangular wave, and the beat frequencies fb1 and fb2 of the beat signal B1 shown in FIG. Relative distance R and relative speed V are calculated by the following two equations. In the following formula, C is the speed of light.

Formula 5: R = C · (fb1 + fb2) / (8 · ΔF · fm)
Formula 6: V = C · (fb2-fb1) / (4.f0)
In the above processing, the beat signal B1 is generated based on the reflected signal W2 received by one predetermined antenna out of the two antennas that receive the reflected signal W2, and the beat frequency of the beat signal B1 is set. Used. However, the calculation method of the relative velocity V and the relative distance R is not limited to the above. For example, the receiving circuit 40 generates a plurality of beat signals based on the reflected signals received by the antennas 11, 12, and 13. Also good. Then, the control device 50 may calculate a plurality of relative velocities and relative distances from each beat signal, and obtain an average thereof. As described above, the control device 50 that performs processing in accordance with the FFT program 53 and the distance / speed detection program 54 corresponds to “distance / speed detection means”. The procedure corresponds to the “distance / speed detection procedure”.

  Further, the control device 50 detects the angular direction of the following vehicle 2 based on the reception phase difference detected in the combination of the three antennas according to the angular direction detection program 55. Here, λ is the wavelength of the reflected signal W2, and the distance d1 between the first antenna 11 and the second antenna 12 is 5λ / 4, and the distance d2 between the second antenna 12 and the third antenna 13 is 6λ / 4 and the antennas are arranged so that the distance d3 between the first antenna 11 and the third antenna 13 is 11λ / 4. Then, the detection target range in the angular direction is set to ± 15 degrees with respect to the rear front of the host vehicle 1.

  First, the control device 50 calculates the angle direction θ by the following equation F1 based on the reception phase difference Φ3 of the transmission signals received by the combination of the first antenna 11 and the third antenna 13 having the longest distance between the antennas.

Formula F1: θ = 1 / sin (λ · Φ3 / (2π · d3))
Here, the correspondence between the reception phase difference and the angular direction will be described with reference to FIG. In FIG. 5, the vertical axis represents the reception phase difference, and the horizontal axis represents the angular direction. As shown in FIG. 5, the correspondence relationship of Formula F1 is within the detection target range of ± 15 degrees, in the vicinity of −10 degrees in the angle direction corresponding to the reception phase difference −π, and in the angle direction +10 degrees corresponding to the reception phase difference π. Folding occurs in each neighborhood. Then, in order to detect the angle direction in the entire detection target range, it is necessary to widen the reception phase difference to a range of ± π and calculate the angle direction by the following formula F11.

Formula F11: θ = 1 / sin (λ · (Φ3 ± π) / (2π · d3))
Then, as shown in the figure, for example, when the reception phase difference Φ3 = −3π / 4, the angular direction A2 is obtained in the correspondence relationship of the equation F1, and the angular directions A1 and A3 are obtained in the correspondence relationship of the equation F11. The angular directions A1 and A2 are included in the detection target range of ± 15 degrees. Therefore, the angular directions A1 and A2 are estimated from the reception phase differences Φ3 and Φ3 ± π. Therefore, in order to specify one of the angular directions A1 and A2 as the detection result, the angular direction corresponding to the reception phase difference Φ1 between the first antenna 11 and the second antenna 12 is expressed by the following equation F2, and the second equation F3 An angular direction corresponding to the reception phase difference Φ2 between the antenna 12 and the third antenna 13 is calculated.

Formula F2: θ = 1 / sin (λ · Φ1 / (2π · d1))
Formula F3: θ = 1 / sin (λ · Φ2 / (2π · d2))
Then, as illustrated, in the correspondence relationship of Formula F2, the angular direction A4 corresponding to the reception phase difference Φ2 = π / 2 corresponds to the reception phase difference Φ3 near 3π / 4 in the correspondence relationship of Formula F3. An angular direction A5 is determined. Then, since the angular direction A2 approximates the angular directions A4 and A5, the angular direction A2 is specified as the detection result of the target angular direction θ. As described above, the control device 50 specifies the angular direction of the target using the estimation results of the plurality of combinations even if the reception phase difference is turned back within the detection target range of the angular direction in one combination. Can do. The control device 50 that performs processing in accordance with the angular direction detection program 55 corresponds to “angular direction detection means”. The procedure corresponds to an “angular direction detection procedure”.

  By such processing of the control device 50, the radar device 10 of the present embodiment detects the angle direction of the target based on the reception phase difference of the reflected signals received by the combination of the two antennas out of the three antennas. . Therefore, for example, the radar apparatus 10 of the present embodiment has a simpler mechanism than the scanning radar apparatus that transmits the radar signal and receives the reflected signal while swinging the antenna by a predetermined angle direction. The direction can be detected.

  Furthermore, the control device 50 detects an abnormality of the antenna switching unit 20 according to a procedure described later. Then, the relative speed, relative distance, angular direction, and abnormality of the antenna switching unit 20 obtained by the control device 50 are output to a vehicle control ECU (Electronic Control Unit) 60. Based on these detection results, the control ECU 60 outputs information for notifying the driver of the risk of rear-end collision by the following vehicle and the abnormality of the antenna switching unit 20, and provides a safety control system that supports safe driving of the vehicle. Constitute.

  Next, the operation timing of the radar apparatus 10 having the above configuration will be described with reference to FIGS. First, for comparison, FIG. 6 shows the operation in the prior art, and FIG. 7 shows the operation in the present embodiment.

  FIG. 6 is a diagram for explaining the operation timing of the radar apparatus according to the prior art. The horizontal axis directions in FIGS. 6 (1) to (3) indicate the elapsed time. First, FIG. 6 (1) shows the rising and falling intervals of the frequency of the radar signal W1 transmitted from the first antenna 11. FIG. 6B shows a switching signal of the first antenna 11, the second antenna 12, and the third antenna 13 by the antenna switching unit 20. In FIG. 6 (3), the frequency of the beat signal generated by the receiving circuit 40 is shown. Furthermore, in FIG. 6 (4), the distribution of frequency components of the FFT processing result by the control device 50 is shown for each rising and falling interval of the radar signal.

  As shown in FIG. 6 (1), the frequency of the radar signal rises in the rising section P1 and falls in the falling section P2. Then, the ascending section P3 and the descending section P4, the ascending section P5 and the descending section P6 follow, and thereafter the ascending section and the descending section are repeated in the same manner. As an example, the time required for one ascending or descending section corresponding to a triangular wave frequency of 372 MHz is 1.34 ms. Then, as shown in FIG. 6 (2), in the time interval of the ascending interval P1 and the descending interval P2, in the time interval of the ascending interval P3 and the descending interval P4 in the time interval of the ascending interval P3 and the descending interval P4. The reflected signal is received by the combination of the second antenna 12 and the third antenna 13 by the combination of the first antenna 11 and the third antenna 13 and in the time interval of the rising interval P5 and the falling interval P6. That is, the antenna combination is switched in synchronization with the start of the rising section.

  The beat signal B1 in FIG. 6 (3) is shown on the basis of the case where there is no target, that is, the case where the reflected signal subjected to frequency shift is not mixed. Then, every time the antenna combination is switched as described above, switching noise is mixed into the beat signal in the rising sections P1, P3, and P5. Here, since the switching noise is a low frequency component, when the beat signal is subjected to FFT processing, as shown in FIG. 6 (4), the low frequency component due to the switching noise is detected in the rising sections P1, P3, and P5. Is done.

  Then, as is clear from the above formulas 5 and 6, the increase / decrease in the low frequency component affects the calculation result of the short distance of the relative distance R. For this reason, when switching noise is mixed in the beat signal, a target that does not actually exist is erroneously detected, or the detection accuracy of the relative distance and relative speed with respect to the short-range target is lowered. Then, an erroneous determination occurs in the control ECU 60, and there arises a problem that the danger in traveling of the vehicle increases. Therefore, the radar apparatus 10 of the present embodiment solves the above problem by operating at a timing as shown in FIG.

  FIG. 7 is a diagram for explaining the operation procedure of the radar apparatus according to the present embodiment. Elapsed time is shown in the horizontal axis direction of FIGS. 7 (1) to (3), and various signals and frequency distributions similar to those in FIG. 6 are shown in FIGS. 7 (1) to (4). In the present embodiment, as shown in FIG. 7 (1), the frequency of the radar signal W1 rises in the rising sections P1, P3, P5, P7, and P9 in the repetition of the rising section and the falling section, and the falling section P2, It descends at P4, P6 and P8. Then, as shown in FIG. 7 (2), in the time period of the ascending section P1, the descending section P2, and the ascending section P3, the combination of the first antenna 11 and the second antenna 12 causes the descending section P4, the ascending section P5, And in the time interval of the descending section P6, the combination of the first antenna 11 and the third antenna 13, and in the time section of the ascending section P7, the descending section P8, and the ascending section P9, the second antenna 12 and the third antenna 13 are connected. A reflected signal is received by the combination. That is, in this embodiment, the antenna combinations are switched in synchronism with the start of the first section of the time section for every three time sections of the rising or falling section.

  Then, as shown in FIG. 7 (3), switching noise is mixed in the beat signal in the rising section P1, the falling section P4, and the rising section P7. Then, when this beat signal is subjected to FFT processing, a low-frequency noise component is detected in these sections as shown in FIG. 7 (4). Here, the calculation of the relative speed V and the relative distance R requires the beat frequencies fb1 and fb2 of the beat signal in the pair of ascending and descending sections, as is apparent from the above-described equations 5 and 6. The In this regard, in the present embodiment, a pair of ascending and descending sections that are not affected by noise are provided after the section where the noise component is extracted. Therefore, by detecting the relative speed and the relative distance of the target using the beat signals in these ascending and descending sections, it is possible to eliminate erroneous detection at a short distance.

  FIG. 8 is a diagram for explaining a modification of the present embodiment. FIG. 8 (1) shows the frequency of the radar signal. 8 (2) and 8 (3) show switching signals for the antennas 11, 12, and 13 by the antenna switching unit 20 in the modified example.

  First, as shown in FIG. 8 (2), the combination of antennas can be switched every four time intervals. In that case, beat signals can be obtained in the rising and falling intervals that are not affected by the switching noise. For example, when the combination of antennas is switched in synchronization with the start of the rising section P1, switching noise is mixed in the beat signal of the rising section P1, but after the rising section P1, the falling section P2, the rising section P3, And the beat signal in the descending section P4 is not affected by the switching noise. Therefore, the relative distance and the relative speed can be detected using the beat signals of the descending section P2 and the ascending section P3, or the ascending section P3 and the descending section P4. Here, if the elapsed time from the antenna switching is large, a beat signal that is not affected by the switching noise can be obtained.

  Similarly, when the combination of antennas is switched at the start of the rising section P5, the beat signals of a pair of rising and falling sections among the falling section P6, the rising section P7, and the falling section P8 can be used. . Further, when the combination of antennas is switched at the start of the ascending section P9, beat signals of a pair of ascending and descending sections among the descending section P10, the ascending section P11, and the descending section P12 can be used. In addition, the switching of the combination of antennas has the same effect even when the time interval is five or more intervals.

  Further, as shown in FIG. 8 (3), the timing of switching the antenna combination may be in the middle of the ascending section or the descending section. In that case, the beat signal in the rising or falling section affected by the switching noise is not used at the beginning of the time section after switching, and the beat signal in the rising or falling section that is not affected by the subsequent switching noise is used. If possible, the same effects as described above can be obtained. For example, when the antenna combination is switched in the middle of the rising section P1, switching noise is mixed in the beat signal of the rising section P1. Therefore, it is possible to use beat signals of a pair of ascending and descending sections among the descending section P2, the ascending section P3, and the descending section P4 after the ascending section P1.

  Thereafter, similarly, when switching is performed in the middle of the rising section P5, the beat signals of a pair of rising and falling sections among the falling section P6, the rising section P7, and the falling section P8 can be used. Further, when switching is performed in the middle of the rising section P9, beat signals in a pair of rising and falling sections among the falling section P10, the rising section P11, and the falling section P12 can be used. Further, when switching is performed in the latter half of the rising sections P1, P5, and P9, there is a high possibility that switching noise will be mixed into the beat signals in the subsequent falling sections P2, P6, and P10. In that case, beat signals in the rising and falling sections after these falling sections can be used.

  Next, a preferred example of this embodiment will be described. As shown in FIG. 7, when the antenna switching unit 20 performs antenna switching, a low-frequency noise component is mixed into the beat signal in the ascending section P1, the descending section P4, and the ascending section P7. On the contrary, if the antenna switching by the antenna switching unit 20 is not normally performed for some reason, noise components are not mixed in the beat signal in these sections. Using this, in a preferred embodiment, the control device 50 detects a noise component from the beat signal in the ascending section P1, the descending section P4, and the ascending section P7 immediately after the antenna switching according to the abnormality detection program 56. When no noise component is detected, the control device 50 determines that an abnormality has occurred in the antenna switching unit 20, and notifies the control ECU of the abnormality detection. Then, the control ECU 60 notifies the user that the radar apparatus needs to be serviced. Therefore, the control device 50 that performs processing according to the abnormality detection program 56 corresponds to “abnormality detection means”. The procedure corresponds to the “abnormality detection procedure”.

  FIG. 9 is a flowchart for explaining the processing procedure of the control device 50 corresponding to the distance / speed detection means, the angle direction detection means, and the abnormality detection means in this embodiment. As an example, the processing for all the sections from the rising section P1 to P9 of the radar signal in FIG. In this example, three sections are assigned to each of the three combinations of two antennas, and the process is completed in a total of nine sections.

  The control device 50 performs FFT processing for all the sections from the rising sections P1 to P9 (S10), and stores the FFT results of all the sections and the reception phase difference in all the sections in the buffer area of the built-in RAM (S12). Then, the control ECU 50 uses the FFT results of the sections P1, P4, and P7 written in the RAM as abnormality detection data, and uses the FFT results of the sections P2, P3, P5, P6, P8, and P9 and the reception phase difference as relative speeds. And the like, and store each data in another buffer area (S20).

  And the control apparatus 50 detects a relative speed and a relative distance based on the FFT result of the area classified as detection data, such as a relative speed (S30). In that case, the detection results in the sections P2 and P3, the detection results in the sections P5 and P6, and the detection results in the sections P8 and P9 are compared, and if the error is within a certain range, the detection result is adopted. By doing so, a more reliable detection result can be obtained.

  And the control apparatus 50 detects the angle direction of a target based on the reception phase difference in area P2, P3, P5, P6, P8, and P9 (S40). Here, as described above, the control device 50 first estimates the angular direction candidate based on the reception phase difference in the sections P5 and P6 in which the reflected signal is received by the combination of the first antenna 11 and the third antenna 13. . Then, the control device 50 receives the reflected signal by the combination of the second antenna 12 and the third antenna 13 and the reception phase difference in the sections P2 and P3 in which the reflected signal is received by the combination of the first antenna 11 and the second antenna 12. Angular directions are calculated from the reception phase differences in the sections P8 and P9 to be received, and collated with the estimation results. And the angle direction which mutually approximates is specified as a detection result.

  Further, the control device 50 detects switching noise from the FFT results of the sections P1, P4, and P7 classified as abnormality detection data, and detects an abnormality of the antenna switching unit 20 when a noise component is detected. (S50). Then, the control device 50 outputs the relative speed, relative distance, angle direction, and abnormality of the antenna switching unit 20 of the target to the control ECU (S60). And the control apparatus 50 repeats the process from procedure S50 to S60 about the following 9 rise / fall intervals.

  According to the above-described procedure, the control device 50 detects the relative speed, the relative distance, and the angle direction of the target based on the beat signal and the reception phase difference in the ascending / descending section where switching noise due to antenna switching is not mixed. At the same time, the control device 50 detects the noise component by effectively utilizing the section in which the noise component is mixed. And the control apparatus 50 detects the operation abnormality of the antenna switch part 20, when a noise component is not detected. Therefore, it is possible to detect an abnormal operation of the radar apparatus at an early stage by effectively utilizing the time during which the relative distance and speed are not detected.

  Although the radar apparatus according to the present embodiment has been described by taking a radar apparatus having three reception antennas as an example, the number of reception antennas may be four or more, and the combination of two reception antennas is arbitrary. It can be set. Further, the radar apparatus mounted on the rear part of the vehicle and monitoring the rear of the vehicle has been described as an example, but the radar apparatus of the present embodiment can also be used for monitoring the front of the vehicle mounted on the front part of the vehicle. Alternatively, it can be mounted on the side surface of the vehicle and used to monitor the side of the vehicle.

  As described above, according to the present embodiment, when the combination of antennas is switched, the beat signal without switching noise is not used but the relative speed, relative Detect distance. Therefore, even if the combination of antennas is switched, it is possible to prevent a decrease in the detection accuracy of the relative distance and the relative speed.

It is a figure explaining the detection method of the angle direction by a phase monopulse system. It is a figure explaining the example where the radar apparatus of this embodiment is used as a vehicle-mounted radar apparatus. It is a figure explaining the composition of radar device 10 of this embodiment. It is a figure explaining the radar signal of the FM-CW system of the radar apparatus. It is a figure explaining the detection method of the angle direction by the phase monopulse system of the radar apparatus. It is a figure explaining the operation timing of the radar apparatus in a prior art. It is a figure explaining the operation | movement procedure of the radar apparatus in this embodiment. It is a figure explaining the modification of this embodiment. In this embodiment, it is a flowchart figure explaining the process sequence of the control apparatus 50 corresponding to a distance and speed detection means, an angle direction detection means, and an abnormality detection means.

Explanation of symbols

10: radar device, W1: radar signal, W2: reflection signal, 50: control device,
52: Antenna switching control program, 54: Distance / speed detection program,
55: Angle direction detection program, 56: Abnormality detection program

Claims (4)

A radar signal that is frequency-modulated so that an ascending period in which the frequency rises and a descending period in which the frequency falls alternately repeats, and the reflected signal of the radar signal is received by a combination of two of the three or more antennas. Radar equipment
An antenna switching control means for sequentially switching a combination of two antennas that receive the reflected signal in a time interval including the rising interval and the falling interval for each time interval;
Angular direction in which the angular direction of the target is estimated based on the reception phase difference of the reflected signal received by two antennas for each of the plurality of combinations, and the detection result of the angular direction is adopted from the estimation result for each of the combinations Detection means;
A distance / velocity detecting means for detecting a relative distance and a relative speed with respect to the target based on a frequency difference between the radar signal transmitted in the ascending section and the descending section and a reflected signal thereof ;
An anomaly detecting means for detecting an anomaly of the radar device based on the frequency difference in the ascending or descending interval at the beginning of the time interval ;
The distance / speed detection means does not use the frequency difference in the rising section or the falling section at the beginning of the time section, but calculates the frequency difference in the rising section and the falling section after the rising section or the falling section. There line the detected using,
The anomaly detecting means detects an abnormality in the antenna switching control means when no noise component is detected in the beat signal generated from the frequency difference between the radar signal and the reflected signal in the rising or falling interval at the beginning of the time interval. radar apparatus, characterized that you determined that but have occurred. A radar signal that has been frequency-modulated so that an ascending period in which the frequency rises and a descending period in which the frequency descends are alternately repeated is transmitted to a radar apparatus having three or more antennas, and the reflected signal of the radar signal In a control device that receives a combination of two antennas,
An antenna switching control means for sequentially switching a combination of two antennas that receive the reflected signal in a time interval including the rising interval and the falling interval for each time interval;
Angular direction in which the angular direction of the target is estimated based on the reception phase difference of the reflected signal received by two antennas for each of the plurality of combinations, and the detection result of the angular direction is adopted from the estimation result for each of the combinations Detection means;
A distance / velocity detecting means for detecting a relative distance and a relative speed with respect to the target based on a frequency difference between the radar signal transmitted in the ascending section and the descending section and a reflected signal thereof ;
An anomaly detecting means for detecting an anomaly of the radar device based on the frequency difference in the ascending or descending interval at the beginning of the time interval ;
The distance / speed detection means does not use the frequency difference in the rising section or the falling section at the beginning of the time section, but calculates the frequency difference in the rising section and the falling section after the rising section or the falling section. There line the detected using,
The anomaly detecting means detects an abnormality in the antenna switching control means when no noise component is detected in the beat signal generated from the frequency difference between the radar signal and the reflected signal in the rising or falling interval at the beginning of the time interval. controller characterized that you determined that but have occurred. A radar signal that has been frequency-modulated so that an ascending period in which the frequency rises and a descending period in which the frequency descends are alternately repeated is transmitted to a radar apparatus having three or more antennas, and the reflected signal of the radar signal In a control program for a control device that receives a combination of two antennas,
An antenna switching procedure for sequentially switching a combination of two antennas that receive the reflected signal in a time interval including the rising interval and the falling interval for each time interval;
Angular direction in which the angular direction of the target is estimated based on the reception phase difference of the reflected signal received by two antennas for each of the plurality of combinations, and the detection result of the angular direction is adopted from the estimation result for each of the combinations Detection procedure;
A distance / speed detection procedure for detecting a relative distance and a relative speed with respect to the target based on a frequency difference between the radar signal and the reflected signal transmitted in the rising section and the falling section ;
Causing the control device to perform an abnormality detection procedure for detecting an abnormality of the radar device based on the frequency difference in the rising or falling interval at the beginning of the time interval ;
The distance / speed detection procedure does not use the frequency difference in the rising or falling interval at the beginning of the time interval, but the frequency difference in the rising and falling intervals after the rising or falling interval. There line the detected using,
In the abnormality detection procedure, if no noise component is detected in the beat signal generated from the frequency difference between the radar signal and the reflected signal in the rising or falling interval at the beginning of the time interval, the antenna switching procedure is abnormal. control program characterized that you judged to have occurred. A radar signal that is frequency-modulated so that an ascending period in which the frequency rises and a descending period in which the frequency falls alternately repeats, and the reflected signal of the radar signal is received by a combination of two of the three or more antennas. In a method for controlling a radar device,
An antenna switching step of sequentially switching a combination of two antennas that receive the reflected signal in a time interval including the rising interval and the falling interval for each time interval;
Angular direction in which the angular direction of the target is estimated based on the reception phase difference of the reflected signal received by two antennas for each of the plurality of combinations, and the detection result of the angular direction is adopted from the estimation result for each of the combinations A detection process;
A distance / velocity detecting step for detecting a relative distance and a relative speed with respect to the target based on a frequency difference between the radar signal and the reflected signal transmitted in the rising section and the falling section ;
An abnormality detection step of detecting an abnormality of the radar device based on the frequency difference in the rising or falling interval at the beginning of the time interval ;
In the distance / speed detection step, the frequency difference in the rising section and the falling section after the rising section or the falling section is not used without using the frequency difference in the rising section or the falling section at the beginning of the time section. There line the detected using,
In the abnormality detection step, if no noise component is detected in the beat signal generated from the frequency difference between the radar signal and the reflected signal in the rising or falling interval at the beginning of the time interval, an abnormality is detected in the antenna switching step. the method of the radar device characterized that you judged to have occurred.

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