JP4923439B2 - レーダ干渉抑制方法 - Google Patents
レーダ干渉抑制方法 Download PDFInfo
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- JP4923439B2 JP4923439B2 JP2005148485A JP2005148485A JP4923439B2 JP 4923439 B2 JP4923439 B2 JP 4923439B2 JP 2005148485 A JP2005148485 A JP 2005148485A JP 2005148485 A JP2005148485 A JP 2005148485A JP 4923439 B2 JP4923439 B2 JP 4923439B2
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- 238000000034 method Methods 0.000 title claims description 17
- 230000001629 suppression Effects 0.000 title claims description 6
- 230000014509 gene expression Effects 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 description 15
- 238000001514 detection method Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 14
- 238000012544 monitoring process Methods 0.000 description 14
- 238000004891 communication Methods 0.000 description 6
- 238000005070 sampling Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 3
- 239000000446 fuel Substances 0.000 description 2
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Classifications
-
- 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
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
-
- 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
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
- G01S7/0235—Avoidance by time multiplex
-
- 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
- G01S13/88—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
- G01S2013/93185—Controlling the brakes
-
- 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
- G01S2013/9319—Controlling the accelerator
-
- 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
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
-
- 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
- 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
- G01S2013/93272—Sensor installation details in the back of the vehicles
Description
ところで、このような車載レーダ装置は、今後、1台の車両に複数の搭載されることが予想される。その場合、レーダ同士の干渉によってレーダの検出性能が低下してしまう可能性があるため、これを防止する必要がある。
なお、図5(b)に示したように、干渉対策をすべきレーダが同一車両に搭載されたレーダ同士の干渉については、両レーダを同期動作させれば、干渉を防止することが可能であるが、図5(a)に示したように、車両の前方と後方とにレーダ波を送信する場合、先行車両M1と後続車両M2とでレーダを同期動作させることが困難であり、そのような対策を適用することができない。
K・T2+X2+X1≦T1≦(K+1)・T2−X2−X1
を満たすように設定することを特徴とする。
T1+X1≦2・T2−X2 (2)
2・T2+X2≦T1−X1 (3)
T1+X1≦3・T2−X2 (4)
このように本発明のレーダ干渉抑制方法では、上記関係式を満たすように動作周期Tiや動作時間Xiが設定されていることにより、いずれのレーダR1,R2においても、連続して干渉が発生することを確実に防止できる。
[第1実施形態]
図1(a)は、第1実施形態の車載レーダシステム1の構成を示したブロック図、図1(b)は、個々のレーダの配置を示す説明図である。
そして、前方レーダ10(レーダR1)及び後方レーダ12(レーダR2)の動作周期T1,T2及び動作時間X1,X2は、次の関係式(5)〜(6)を満たすように設定されている。但し、Kは正整数であるものとする。
T1>T2>X1+X2 (6)
このように構成された本実施形態の車載レーダシステム1を搭載した車両同士では、先行車両の後方レーダ12と、後続車両の前方レーダ10との間で干渉が発生したとしても、その干渉が2回以上連続して発生することがないため、干渉の発生時には、履歴データに基づくターゲット情報の補間以外に、特別な干渉対策を施さなくても、常に、高い検出精度を維持することができる。
[第2実施形態]
次に、第2実施形態について説明する。
なお、本実施形態の車載レーダシステム1aでは、第1実施形態の車載レーダシステム1とは、レーダの配置及びシステムを構成する一部のECUが異なるだけであるため、同じ構成については同一符号を付して説明を省略し、構成が相違する部分を中心に説明する。
この斜方監視ECU23には、右前斜方レーダ14及び左前斜方レーダ16が接続されている他、図示しない警報ブザーが少なくTも接続されている。そして、斜方監視ECU23は、右前斜方レーダ14及び左前斜方レーダ16から受信したターゲット情報に基づいて警報ブザーを鳴動させ、必要な場合にはブレーキECU26に対するブレーキ要求等を送信するように構成されている。
また、前方レーダ10をレーダR1、右前斜方レーダ14及び左前斜方レーダ16をレーダR2として、レーダRi(i=1,2)の動作周期をTi、動作時間をXiで表すものとして、これらレーダR1,R2の動作周期T1,T2及び動作時間X1,X2は、第1実施形態にて示した関係式(5)〜(6)を満たすように設定されている。但し、Kは正整数であるものとする。
[他の実施形態]
以上本発明の実施形態について説明したが、本発明は上記実施形態に限定されるものではなく、本発明の要旨を逸脱しない範囲において様々な態様にて実施することが可能である。
Claims (1)
- 干渉を抑制すべき一対のレーダRi(i=1,2)の動作周期Tiおよび動作時間Xi(<Ti)を、Kを正整数、T1>T2であるものとして、次の関係式
K・T2+X2+X1≦T1≦(K+1)・T2−X2−X1
を満たすように設定することを特徴とするレーダ干渉抑制方法。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005148485A JP4923439B2 (ja) | 2005-05-20 | 2005-05-20 | レーダ干渉抑制方法 |
US11/417,336 US7439903B2 (en) | 2005-05-20 | 2006-05-03 | Method of preventing interference between radars and radar system having interference preventing function |
DE102006023207.0A DE102006023207B4 (de) | 2005-05-20 | 2006-05-17 | Verfahren zum Verhindern einer Interferenz zwischen Radaren und Radarsystem mit Interferenzverhinderungsfunktion |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005148485A JP4923439B2 (ja) | 2005-05-20 | 2005-05-20 | レーダ干渉抑制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006322897A JP2006322897A (ja) | 2006-11-30 |
JP4923439B2 true JP4923439B2 (ja) | 2012-04-25 |
Family
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JP2005148485A Active JP4923439B2 (ja) | 2005-05-20 | 2005-05-20 | レーダ干渉抑制方法 |
Country Status (3)
Country | Link |
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US (1) | US7439903B2 (ja) |
JP (1) | JP4923439B2 (ja) |
DE (1) | DE102006023207B4 (ja) |
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JP4275694B2 (ja) * | 2006-10-27 | 2009-06-10 | 三菱電機株式会社 | レーダ装置 |
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US8248295B2 (en) * | 2008-12-05 | 2012-08-21 | Toyota Jidosha Kabushiki Kaisha | Pre-crash safety system |
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JP2015224899A (ja) * | 2014-05-26 | 2015-12-14 | 株式会社デンソー | 車載レーダ装置 |
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2005
- 2005-05-20 JP JP2005148485A patent/JP4923439B2/ja active Active
-
2006
- 2006-05-03 US US11/417,336 patent/US7439903B2/en active Active
- 2006-05-17 DE DE102006023207.0A patent/DE102006023207B4/de active Active
Also Published As
Publication number | Publication date |
---|---|
DE102006023207A1 (de) | 2006-11-23 |
JP2006322897A (ja) | 2006-11-30 |
DE102006023207B4 (de) | 2016-01-14 |
US20060262009A1 (en) | 2006-11-23 |
US7439903B2 (en) | 2008-10-21 |
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