JP5146674B2 - Radar interference avoidance apparatus and radar interference avoidance method - Google Patents

Description

  The present invention relates to a radar apparatus, and more particularly to a radar apparatus mounted on a moving body such as a vehicle.

  In recent years, it is mounted on a moving body such as its own vehicle, and measures information on the object such as a relative distance, a relative speed, and a direction in which the other vehicle exists, with respect to an object such as another vehicle or obstacle around the own vehicle. Radar devices have been put into practical use. In such a radar apparatus, the object is based on the time from when the electromagnetic wave is radiated to when the reflected electromagnetic wave is reflected by the object and the phase difference between the emitted electromagnetic wave and the received reflected wave. The relative distance, relative speed, and the direction in which another vehicle exists are measured. As such a radar apparatus, an apparatus that irradiates a laser beam as an electromagnetic wave has been put into practical use. In these radar apparatuses, interference may occur due to reception of electromagnetic waves radiated from radar apparatuses mounted on other vehicles as reflected waves, and information on objects may be erroneously measured. As a technique for preventing interference between a radar apparatus mounted on another vehicle and a radar apparatus mounted on the host vehicle, for example, an in-vehicle radar apparatus (hereinafter referred to as a conventional technique) described in Patent Document 1 is provided. As an example.

In the prior art, measures such as changing the center frequency, modulation method, frequency band, and threshold value for detecting the interference wave of the transmitted wave radiated as an electromagnetic wave when detecting the interference are detected. By taking this measure, erroneous measurements that occur when interference occurs are prevented.
JP 2004-170183 A

  However, the above prior art has the following problems. That is, in the above-described prior art, the above-described countermeasure cannot be taken unless interference is actually caused by receiving an electromagnetic wave radiated from a radar device mounted on another vehicle as a reflected wave.

  Therefore, the present invention can determine whether or not there is a possibility of interference without receiving an electromagnetic wave radiated from a radar device mounted on another vehicle as a reflected wave. It is an object of the present invention to provide a radar interference avoidance apparatus that can take measures when a failure occurs, and a radar interference avoidance method executed by the apparatus.

In order to solve the above problems, the present invention has the following features.
According to a first aspect of the present invention, a radar unit that measures an object based on a radiated electromagnetic wave and a received reflected wave, and a communication unit that acquires information on the radar unit of the other vehicle by performing wireless communication with the other vehicle. And the radar information of the other vehicle acquired by the communication means and the radar information indicating the information of the radar means of the own vehicle, the radar means of the own vehicle and the radar means of the other vehicle may interfere with each other. Interference of radiated electromagnetic waves with respect to at least one of the radar means of the own vehicle and the radar means of another vehicle when it is judged that there is a possibility of interference by the judging means for judging whether or not there is And an instruction means for giving an instruction to change to a state of not performing.

  The second invention is an invention subordinate to the first invention, wherein the communication means includes a predetermined other vehicle side region including at least a region where an electromagnetic wave radiated from a radar unit of another vehicle reaches. The information shown in association with the radar means of the vehicle is obtained, and the judging means overlaps with a predetermined own vehicle side area including at least an area where electromagnetic waves radiated from the radar means of the own vehicle reach. Including an area overlap radar specifying means for specifying the radar means of the other vehicle associated with the radar information based on the radar information, and the radar means of the other vehicle specified by the area overlap radar specifying means and the radar means of the own vehicle interfere with each other. Judge whether there is a possibility of doing.

  The third invention is an invention subordinate to the second invention, wherein the communication means determines the frequency band when the radar means of the other vehicle emits and receives the electromagnetic wave and the reflected wave, respectively. The determination means obtains the own vehicle frequency band indicating the respective frequency band when the radar means of the own vehicle emits electromagnetic waves and receives the reflected wave as information of the radar means of the own vehicle. The other vehicle frequency band that overlaps with the own vehicle frequency band recognized by the own vehicle frequency recognition means when the own vehicle frequency recognition means and the area overlap radar specifying means identify the other vehicle radar means. And an overlapping frequency judging means for judging based on radar information from among the radar means of other vehicles specified by the region overlapping radar specifying means. When the radar means of the other vehicle is specified by the disconnecting means, it is determined that the radar means of the own vehicle and the radar means of the other vehicle may interfere with each other, and the instruction means may interfere with the judging means When it is determined that the own vehicle frequency band and the other vehicle frequency band do not overlap each other with respect to at least one of the radar means of the own vehicle and the radar means of the other vehicle specified by the overlapping frequency specifying means Give instructions to do.

  A fourth invention is an invention subordinate to the third invention, wherein the communication means further acquires information indicating whether or not the radar means of the other vehicle can change the other vehicle frequency band. When the determination means determines that there is a possibility of interference by the determination means, the radar means of the other vehicle that cannot change the frequency band of the other vehicle is specified as the other vehicle specified by the overlapping frequency specifying means. Including a first instruction target specifying means for specifying based on radar information, and when the radar means of the other vehicle is specified by the first instruction target specifying means, Then, an instruction to change to the own vehicle frequency band that does not overlap with the other vehicle frequency band of the radar means of the other vehicle specified by the overlapping frequency specifying means is given.

  A fifth invention is an invention subordinate to the fourth invention, wherein the instruction means is the other specified by the overlapping frequency specifying means when the radar means of the other vehicle is not specified by the first instruction target specifying means. An instruction is given to the vehicle radar means to change to the own vehicle frequency band and the other vehicle frequency band that does not overlap with the other vehicle frequency band.

  The sixth invention is an invention subordinate to the third invention, and the instruction means is specified by the overlapping frequency specifying means with respect to the radar means of the own vehicle when it is determined that the instruction means interferes. An instruction to change to the own vehicle frequency band that does not overlap with the other vehicle frequency band of the radar means of the other vehicle is given.

  The seventh invention is an invention subordinate to the above-mentioned second invention, wherein the communication means other than the code pattern of the predetermined series of code signals emitted by the radar means of the other vehicle superimposed on the electromagnetic waves. The information shown as the vehicle code pattern is acquired, and the judging means obtains the own vehicle code pattern indicating the code pattern of a predetermined series of code signals emitted by the radar means of the own vehicle superimposed on the electromagnetic wave. When the radar means of the other vehicle is identified by the own vehicle code pattern recognizing means and the area overlap radar identifying means, the vehicle code pattern recognized by the own vehicle code pattern recognizing means is substantially the same. Based on the radar information, the radar means of the other vehicle that emits the electromagnetic wave superimposed with the vehicle code pattern is selected from the radar means of the other vehicle specified by the region overlap radar specifying means. And when the radar means of the other vehicle is specified by the pattern specifying means, it is determined that there is a possibility that the radar means of the own vehicle and the radar means of the other vehicle interfere with each other. When the determination means determines that there is a possibility of interference, the vehicle code pattern and at least one of the radar means of the own vehicle and the radar means of the other vehicle specified by the pattern specifying means An instruction to change so that the other vehicle code patterns do not substantially coincide with each other is given.

  The eighth invention is an invention dependent on the seventh invention, wherein the communication means further acquires information indicating whether or not the radar means of the other vehicle can change the other vehicle code pattern. When the determining means determines that there is a possibility of interference, the instructing means determines the radar means of the other vehicle that cannot change the other vehicle code pattern as the other vehicle specified by the pattern specifying means. Among the radar means, including a second instruction target specifying means for specifying based on radar information, and when the radar means of the other vehicle is specified by the second instruction target specifying means, An instruction is given to change the radar means of the other vehicle specified by the pattern specifying means so as not to substantially match the other vehicle code pattern.

  A ninth invention is an invention subordinate to the eighth invention, wherein the instruction means is the other vehicle specified by the pattern specifying means when the radar means of the other vehicle is not specified by the second instruction target specifying means. The radar unit is instructed to change to the other vehicle code pattern that does not overlap the own vehicle code pattern and the other vehicle code pattern.

  A tenth invention is an invention subordinate to the seventh invention, wherein when the instruction means determines that the determination means interferes, the other means specified by the pattern specifying means relative to the radar means of the own vehicle An instruction to change to a vehicle code pattern that does not substantially match the other vehicle code pattern of the radar means of the vehicle is given.

  An eleventh invention is an invention subordinate to the second invention, wherein the area overlap radar specifying means is based on the area on the own vehicle side for a predetermined period before the present, and Based on the own vehicle area estimation means for estimating the own vehicle side area when a predetermined period has elapsed, and the other vehicle side area acquired by the communication means during the predetermined period earlier than the current time, A vehicle area estimated by the vehicle area estimation means, including other vehicle area estimation means for estimating the other vehicle side area in association with the radar means of the other vehicle when the predetermined period has elapsed from the current time The radar unit of the other vehicle associated with the other vehicle side region estimated by the other vehicle region estimation unit overlapping the side region is further specified.

  A twelfth invention is an invention subordinate to the fifth invention, wherein the communication means acquires information indicating the position of the radar means of the other vehicle as the other vehicle radar position, and the overlapping frequency judgment means is the own vehicle. Including the own vehicle radar position recognition means for recognizing the position of the own vehicle radar based on the information of the radar means of the own vehicle, and the radar means of the other vehicle frequency band overlapping the own vehicle frequency band. When specifying, it is specified by comparing with the own vehicle frequency band in order from the other vehicle frequency band of the radar means of the other vehicle existing in the other vehicle radar position close to the own vehicle radar position recognized by the own vehicle radar position recognition means. When the instruction means gives an instruction to the radar means of the other vehicle, the other vehicle frequency band is changed in order from the radar means of the other vehicle existing at a position close to the own vehicle radar position among the other vehicle radar positions. finger Give.

  A thirteenth invention is an invention dependent on the ninth invention, wherein the communication means acquires information indicating the position of the radar means of the other vehicle as the position of the other vehicle radar, and the pattern specifying means Including own vehicle radar position recognition means for recognizing the position of the own vehicle radar indicating the position of the radar means based on the information of the radar means of the own vehicle, the radar means of the other vehicle code pattern substantially matching the own vehicle code pattern When specifying, it is identified by comparing with the own vehicle code pattern in order from the other vehicle code pattern of the radar means of the other vehicle existing at the other vehicle radar position close to the own vehicle radar position recognized by the own vehicle radar position recognition means. When the instruction means gives an instruction to the radar means of the other vehicle, the other vehicle code pattern is sequentially applied from the radar means of the other vehicle existing at a position close to the own vehicle radar position among the other vehicle radar positions. It gives an indication that further to.

  A fourteenth aspect of the invention is an invention that is dependent on the second aspect of the invention, wherein the communication means associates the other vehicle side area where the electromagnetic wave radiated from the radar means of the other vehicle reaches the radar means of the other vehicle. The area overlap radar specifying means obtains the radar means of the other vehicle associated with the other vehicle side area overlapping with the own vehicle side area where the electromagnetic wave radiated from the radar means of the own vehicle reaches, Identify based on information.

  A fifteenth aspect of the invention is an invention dependent on the second aspect of the invention, wherein the communication means has an opposite lane of a lane in which electromagnetic waves radiated from the radar means of the other vehicle reach and the other vehicle is traveling. Information indicating the other vehicle side area including the radar means of the other vehicle is acquired, and the area overlapping radar specifying means is configured to receive the electromagnetic wave radiated from the radar means of the own vehicle and travel the own vehicle. Based on the radar information, the radar means of the other vehicle associated with the other vehicle side region overlapping the own vehicle side region including the opposite lane of the current lane is identified.

  According to a sixteenth aspect of the present invention, there is provided an acquisition step of acquiring radar information of the own vehicle for measuring an object and another vehicle based on the radiated electromagnetic wave and the received reflected wave, and the radar of the own vehicle acquired in the acquisition step. And a judgment step for judging whether or not there is a possibility that the radar of the own vehicle and the radar of the other vehicle interfere with each other based on the radar information indicating the radar information of the other vehicle and the radar information of the other vehicle, and interference in the judgment step When it is determined that there is a possibility, an instruction step is provided for instructing at least one of the radar of the host vehicle and the radar of the other vehicle to change the radiated electromagnetic wave to a state in which interference does not occur.

  According to the first aspect of the invention, information on the radar means of the other vehicle necessary for determining whether or not there is a possibility of interference between the radar means of the own vehicle and the radar means of the other vehicle, Can be obtained in advance. And according to 1st invention, based on the information of the radar means of an other vehicle, and the information of the radar means of the own vehicle, without receiving as a reflected wave the electromagnetic waves radiated | emitted from the radar apparatus mounted in the other vehicle Thus, it can be determined whether or not there is a possibility that the mutual radar means interfere. According to the first invention, when it is determined that there is a possibility of interference based on the information of the radar means of the other vehicle and the information of the radar means of the own vehicle, the radar means of the own vehicle and the other vehicle It is possible to take measures to give an instruction to change at least one of the radar means and the radiated electromagnetic wave so as not to interfere.

  According to the second aspect of the present invention, the area overlap radar specifying means included in the judging means includes the own vehicle side area including at least the area where the electromagnetic wave radiated from the radar means of the own vehicle reaches, and the radar means of the other vehicle. Based on the other vehicle side region including at least the region where the radiated electromagnetic wave reaches, the radar unit of the other vehicle that emits the electromagnetic wave that may interfere with the electromagnetic wave radiated from the radar unit of the own vehicle is specified. Therefore, according to the second aspect of the invention, the radar means that needs to be determined as a target for determining whether or not there is a possibility of the interference of the judging means is specified from among the radar means of vehicles other than the own vehicle. can do.

  According to the third aspect of the invention, the other vehicle frequency band when the electromagnetic wave and the reflected wave of the radar means of the other vehicle are radiated and received is obtained as information of the radar means of the other vehicle using the communication means. . The overlapping frequency specifying means emits and receives the electromagnetic wave and the reflected wave of the radar means of the own vehicle when the radar means of the other vehicle is specified by the area overlapping radar specifying means. The radar means of the other vehicle in the other vehicle frequency band that overlaps with is specified. That is, a radar means that emits an electromagnetic wave that may interfere when an electromagnetic wave radiated from one of the radar means of the host vehicle and the radar means of another vehicle reaches the other radar means is emitted from one side. It can be identified before the electromagnetic wave arrives. The instructing means is directed to at least one of the radar means of the other vehicle specified by the overlapping frequency specifying means and the radar means of the own vehicle, that is, at least one of the radar means that may interfere with each other. Thus, it is possible to give an instruction to change the frequency bands so that they do not overlap with each other and take measures so that the mutual radar means do not interfere with each other.

  According to the fourth aspect, the communication means further acquires information indicating whether or not the radar means of the other vehicle can change the other vehicle frequency band. The first instruction target specifying means changes the other vehicle frequency band from among the radar means of the other vehicle specified by the overlapping frequency specifying means, that is, the radar means that may interfere with the radar means of the own vehicle. Identify radar means that are impossible to do. When the first instruction target specifying means specifies the radar means of the other vehicle, that is, the instruction means determines that the radar means of the other vehicle has a possibility of interfering with the radar means of the own vehicle. When it is impossible to change the frequency band, it is possible to take measures to change the own vehicle frequency band of the radar means of the own vehicle to the own vehicle frequency band that does not overlap with the other vehicle frequency of the radar means of the other vehicle.

  According to the fifth aspect, the instructing means determines that there is a possibility that the instructing means may interfere with the radar means of the own vehicle when the radar means of the other vehicle is not specified by the first instructing target specifying means. When the other radar means can change the other vehicle frequency band, it is possible to take measures for changing to the other vehicle frequency band that does not overlap the own vehicle frequency band with respect to the radar means of the other vehicle.

  According to the sixth aspect, when the determining means determines that there is a possibility of interference by the determining means, the instruction means immediately determines the own vehicle frequency band of the radar means of the own vehicle by the overlapping frequency determining means. It is possible to take measures for changing to the own vehicle frequency band that does not overlap with the other vehicle frequency band of the radar means of the vehicle.

  According to the seventh aspect of the invention, the information on the radar means of the other vehicle indicating the code pattern of the predetermined series of code signals emitted by the radar means of the other vehicle superimposed on the electromagnetic wave as the other vehicle code pattern is transmitted. Obtain using means. The pattern specifying means is a code pattern of a predetermined code signal that is emitted by the radar means of the own vehicle superimposed on the electromagnetic wave when the radar means of the other vehicle is specified by the area overlap radar specifying means. The radar means of the other vehicle that emits the electromagnetic wave superimposed with the code signal of the other vehicle code pattern that substantially matches the vehicle code pattern is specified. That is, a radar means that emits an electromagnetic wave that may interfere when an electromagnetic wave radiated from one of the radar means of the host vehicle and the radar means of another vehicle reaches the other radar means is emitted from one side. Specify before electromagnetic waves arrive. The instructing means is directed to at least one of the radar means of the other vehicle specified by the pattern specifying means and the radar means of the own vehicle, that is, at least one of the radar means that may interfere with each other. By giving an instruction to change the code patterns so that the code patterns do not substantially coincide with each other, measures can be taken so that the mutual radar means do not interfere with each other.

  According to the eighth aspect, the communication means further acquires information indicating whether or not the radar means of the other vehicle can change the other vehicle code pattern. The second instruction target specifying means changes the other vehicle code pattern from among the radar means of the other vehicle specified by the pattern specifying means, that is, the radar means that may interfere with the radar means of the own vehicle. Identify the radar means that are impossible. When the second instruction target specifying means specifies the radar means of the other vehicle, that is, the instruction means determines that there is a possibility that the radar means of the other vehicle may interfere with the radar means of the own vehicle. When it is impossible to change the code pattern, measures may be taken to change the own vehicle code pattern of the radar means of the own vehicle to an own vehicle code pattern that does not substantially match the other vehicle code pattern of the radar means of the other vehicle. it can.

  According to the ninth aspect, the instructing means determines that there is a possibility that the instructing means may interfere with the radar means of the own vehicle when the second instructing object specifying means does not specify the radar means of the other vehicle. When the other radar means can change the other vehicle code pattern, it is possible to take measures for changing to the other vehicle code pattern that does not overlap with the own vehicle code pattern.

  According to the tenth aspect of the invention, when the instruction means determines that there is a possibility of interference by the determination means, the vehicle frequency band of the radar means of the own vehicle is immediately determined by the pattern specifying means. It is possible to take measures to change to other vehicle code patterns that do not overlap with other vehicle code patterns of the radar means.

  According to the eleventh aspect of the present invention, the own vehicle side region and the other vehicle side region when the predetermined period has elapsed are estimated, respectively, and based on the estimated own vehicle side region and the other vehicle side region. Then, the radar means of another vehicle that emits electromagnetic waves that may interfere with the electromagnetic waves emitted from the radar means of the host vehicle is specified. For this reason, according to the eleventh aspect, it is necessary to determine whether or not there is a possibility that the determination means interferes among the radar means of other vehicles existing other than the host vehicle earlier. Radar means can be specified.

  According to the twelfth aspect of the present invention, the overlapping frequency judging means compares the own vehicle frequency band in order from the other vehicle frequency band of the radar means of the other vehicle close to the radar means of the own vehicle, and The radar means of the other vehicle is specified, and the instruction means instructs to change to the other vehicle frequency band that does not overlap with the own vehicle frequency band in order from the radar means of the other vehicle that is close to the position of the radar means of the own vehicle. give. For this reason, the overlapping frequency judging means and the instruction means are each a radar means of another vehicle existing at a position close to the radar means of the own vehicle, that is, a radar of another vehicle considered to have a higher risk of colliding with the own vehicle. Processing can be performed with priority given to the means.

  According to the thirteenth aspect of the invention, the pattern specifying means compares the other vehicle code pattern of the radar means of the other vehicle close to the radar means of the own vehicle in order from the other vehicle code pattern in order from the other vehicle code pattern of the other vehicle. The radar means of the other vehicle is specified, and the instruction means instructs to change to the other vehicle code pattern that does not overlap with the own vehicle code pattern in order from the radar means of the other vehicle that is close to the position of the radar means of the own vehicle. give. For this reason, the pattern specifying means and the instruction means are radar means of other vehicles that are present at positions close to the radar means of the own vehicle, that is, radar means of other vehicles considered to have a higher risk of collision with the own vehicle. Can be processed with priority.

  According to the fourteenth aspect, when the region where the electromagnetic wave radiated from the radar of the own vehicle reaches and the region where the electromagnetic wave radiated from the radar of the other vehicle overlaps, the radar of the own vehicle Since it can be determined whether there is a possibility of interference with the radar of the vehicle, at least one of the radars of each other before the electromagnetic wave radiated from one radar reaches the other radar and actually causes interference. It is possible to change to a state in which the electromagnetic wave radiated to one side does not interfere.

  According to the fifteenth aspect of the invention, when the own vehicle side region including the opposite lanes of the own vehicle and the other vehicle overlaps with the other vehicle side region, the radar of the own vehicle and the radar of the other vehicle are Since it is possible to determine whether or not there is a possibility of interference, it is possible to avoid interference with a radar mounted on a vehicle traveling in the oncoming lane.

  Further, according to the radar interference avoidance method of the present invention, the same effect as the radar interference avoidance apparatus according to the present invention described above can be obtained.

(First embodiment)
FIG. 1 is a functional block diagram showing a functional configuration of a radar interference avoidance system 1 according to the first embodiment of the present invention. The radar interference avoidance system 1 includes a host vehicle radar interference avoidance device 10 and another vehicle radar interference avoidance device 11. First, the functional configuration of the vehicle radar interference avoidance device 10 will be described. The own vehicle radar interference avoidance device 10 is mounted on the own vehicle, and includes an own vehicle position measuring unit 101, an own vehicle communication unit 102, an own vehicle radar 103, and an own vehicle processing unit 104.

  The own vehicle position measuring unit 101 is typically a GPS (Global Positioning System) such as a generally known car navigation system, and is based on a signal transmitted from a satellite on a map of the own vehicle. Absolute positions (for example, latitude, longitude, etc.) are sequentially measured, and own vehicle position information Ji1 indicating the measured position is generated.

  The own vehicle communication unit 102 is typically an electronic circuit that performs radio communication via an antenna (not shown), and performs radio communication via a base station installed on the road or directly with other vehicles. By doing so, the other vehicle radar information Rj2 wirelessly transmitted from the other vehicle communication unit 112 described later is received and acquired. In addition, the own vehicle communication unit 102 acquires own vehicle radar information Rj1 described later from the own vehicle processing unit 104. The own vehicle communication unit 102 wirelessly transmits the own vehicle radar information Rj1 to the other vehicle communication unit 112 by performing wireless communication via a base station installed on the road or by direct wireless communication.

  The own vehicle radar 103 is typically a radar that radiates electromagnetic waves to a space via an antenna (not shown) and receives a reflected wave reflected by the object. The own-vehicle radar 103 sequentially calculates the relative distance and relative velocity with respect to the object based on the time difference from the emission of the electromagnetic wave to the reception of the reflected wave and the phase difference between the emitted electromagnetic wave and the received reflected wave. taking measurement. The own vehicle radar 103 may be a radar that measures an object using laser light as an electromagnetic wave when measuring. Further, the vehicle radar 103 may be a radar that can measure an angle along a horizontal plane in a direction in which an object is present or an angle along a vertical plane.

  When the own-vehicle radar 103 receives an electromagnetic wave radiated from another-vehicle radar 113 mounted on another vehicle, which will be described later, as a reflected wave and receives interference, the own-vehicle radar 103 erroneously detects the time difference and the phase difference described above. It becomes impossible to accurately measure the relative distance and relative speed with the object. The own vehicle radar 103 receives the electromagnetic wave radiated from the other vehicle radar 113 and receives interference. The electromagnetic wave radiated from the other vehicle radar 113 reaches an antenna (not shown) of the own vehicle radar 103, and the own vehicle A case where the frequency band when the radar 103 receives the reflected wave and the frequency band of the electromagnetic wave emitted by the other-vehicle radar 113 overlap is considered as an example. Similarly, the other vehicle radar 113 receives the electromagnetic wave radiated from the own vehicle radar 103 and receives interference, the electromagnetic wave radiated from the own vehicle radar 103 reaches an antenna (not shown) of the other vehicle radar 113, In addition, a case where the frequency band when the other vehicle radar 113 receives the reflected wave and the frequency band of the electromagnetic wave emitted by the own vehicle radar 103 overlap is considered as an example.

  Accordingly, the own vehicle radar 103 and the other vehicle radar 113 radiate one electromagnetic wave and receive the reflected wave in a frequency band that does not overlap with the frequency band of the electromagnetic wave radiated from the other. Even when the antenna reaches the other antenna, it is possible to accurately measure the relative distance and relative speed with respect to the object without interference. Therefore, the own vehicle radar 103 measures an object in a frequency band according to an instruction given from the own vehicle processing unit 104 described later in order to perform measurement without receiving interference from the other vehicle radar 113. The detailed processing when the vehicle processing unit 104 gives the vehicle radar 103 an instruction to change the frequency band will be described later.

  In addition, when changing the frequency band when the own vehicle radar 103 receives the reflected wave according to the instruction given from the own vehicle processing unit 104, the emission is performed so that the reflected wave can be received in the changed frequency band. It is also necessary to change the frequency band of the electromagnetic wave to be changed simultaneously. That is, when changing the frequency band when the vehicle radar 103 receives the reflected wave, the frequency band of the radiated electromagnetic wave is also changed. Like the own vehicle radar 103, the other vehicle radar 113 also changes the frequency band of the radiated electromagnetic wave when changing the frequency band when the reflected wave is received. Hereinafter, the frequency band when the vehicle radar 103 receives the reflected wave and the frequency band when the vehicle radar radiates the electromagnetic wave are simply referred to as the vehicle frequency band. Further, the frequency band when the other vehicle radar 113 receives the reflected wave and the frequency band when the other vehicle radar radiates the electromagnetic wave are simply referred to as the other vehicle frequency band.

  Further, in the own vehicle radar 103, an own vehicle radar area including at least an area where the radiated electromagnetic wave reaches is stored in advance in a storage unit (not shown). The vehicle radar area stored in the storage unit (not shown) by the vehicle radar 103 is based on a radiation point (for example, an antenna or a light emitting element) when the vehicle radar 103 emits electromagnetic waves as shown in FIG. This is the area shown. In FIG. 2, as an example, an area where electromagnetic waves radiated from a radiation point arrives is simulated, and the own vehicle radar indicated by a sector having a radius R with respect to the radiation point and an angle θ including at least the area. Indicates the area.

  In the present embodiment, it is assumed that the radiation point of the vehicle radar 103 and the reception point that receives the reflected wave are at the same position. In other words, the vehicle radar 103 according to the present embodiment uses one antenna for radiation of electromagnetic waves and reception of reflected waves. Therefore, the radiation point shown in FIG. 2 is the position of the reception point, and is also the mounting position of the antenna used by the own vehicle radar 103 for measurement. However, it is assumed that the antenna of the own vehicle radar 103 is actually mounted inside the bumper indicated by the radiation point shown in FIG. It is assumed that the other-vehicle radar 113 uses a single antenna for radiation of electromagnetic waves and reception of reflected waves, similarly to the own-vehicle radar 103.

  In addition, a storage unit (not shown) of the own vehicle radar 103 includes a plurality of own vehicle frequency bands and an own vehicle radar 103 for changing the frequency band of the electromagnetic wave in accordance with an instruction given from the own vehicle processing unit 104. The vehicle frequency change permission / inhibition information indicating whether or not the vehicle frequency band can be changed is stored in advance in a storage unit (not shown). The own vehicle radar area, the plurality of own vehicle frequency bands, and the own vehicle frequency change possibility information are stored in advance in the storage unit (not shown) of the own vehicle radar 103 as the own vehicle radar specification information Rg1.

  That is, in the storage unit (not shown) of the own vehicle radar 103, the own vehicle radar 103, such as whether the frequency band of the electromagnetic wave when the own vehicle radar 103 measures the object, whether the frequency band of the electromagnetic wave can be changed, or the like. It is assumed that information indicating the specifications is stored in advance. Further, the own vehicle radar 103 includes information indicating the own vehicle frequency band currently used in the own vehicle frequency band indicated by the own vehicle radar specification information Rg1 in the own vehicle radar specification information Rg1, Update every time you change the car frequency.

  The above-described information indicated by the own vehicle radar specification information Rg1 is an example, and the own vehicle radar specification information Rg1 may indicate other information. In addition, the number of the own vehicle radar 103 included in the own vehicle radar interference avoidance device 10 may be one or two or more. In the case where the own vehicle radar interference avoidance apparatus 10 includes two or more own vehicle radars 103, the own vehicle radar 103 that measures objects existing in a plurality of directions in the front, rear, and side is installed. An example is the case.

  The own vehicle processing unit 104 is typically an arithmetic circuit such as a microcomputer. The own vehicle position information Ji1 generated by the own vehicle position measurement unit 101, and the other vehicle radar information Rj2 acquired by the own vehicle communication unit 102. , And own vehicle radar specification information Rg1 stored by the own vehicle radar 103, and based on the acquired information, the own vehicle radar 103 and the other vehicle radar 113 are prevented from interfering with each other. An instruction is given to at least one of the other vehicle radar 113.

  The own vehicle processing unit 104 also generates own vehicle radar information Rj1 described later based on the acquired own vehicle position information Ji1 and own vehicle radar specification information Rg1. The own vehicle processing unit 104 assigns an identifier unique to the own vehicle to the information generated based on the own vehicle position information Ji1 and the own vehicle radar specification information Rg1, and generates own vehicle radar information Rj1. The own vehicle radar information Rj1 generated by the own vehicle processing unit 104 is acquired by the own vehicle communication unit 102 as described above and wirelessly transmitted to the other vehicle, whereby the other vehicle processing unit 114 mounted on the other vehicle. Can acquire the vehicle radar information Rj1. Detailed processing of the own vehicle processing unit 104 will be described later. The above is the description of the functional configuration of the vehicle radar interference avoidance device 10.

  Next, the functional configuration of the other vehicle radar interference avoidance device 11 will be described. The other vehicle radar interference avoidance device 11 is mounted on another vehicle, and includes an other vehicle position measuring unit 111, another vehicle communication unit 112, another vehicle radar 113, and another vehicle processing unit 114.

  The other vehicle position measurement unit 111 is typically a GPS such as a generally known car navigation system, and, like the own vehicle position measurement unit 101, an absolute position ( For example, latitude and longitude) are sequentially measured, and other vehicle position information Ji2 indicating the measured position is generated.

  The other vehicle communication unit 112 is typically an electronic circuit that performs wireless communication via an antenna (not shown). The other vehicle communication unit 112 acquires other vehicle radar information Rj2 described later from the other vehicle processing unit 114. The other-vehicle communication unit 112 wirelessly transmits the acquired other-vehicle radar information Rj2 to the own-vehicle communication unit 102 by performing wireless communication in the same manner as the own-vehicle communication unit 102 described above. Further, the other vehicle communication unit 112 receives and acquires the own vehicle radar information Rj1 wirelessly transmitted from the own vehicle communication unit 102 as described above.

  The other-vehicle radar 113 is typically a radar that radiates electromagnetic waves to a space via an antenna (not shown) and receives a reflected wave reflected by the object. The other vehicle radar 113 sequentially measures the relative distance and relative speed with respect to the object in the same manner as the own vehicle radar 103. Similarly to the own vehicle radar 103, the other vehicle radar 113 may measure an object using a laser beam as an electromagnetic wave when measuring.

  Since the other vehicle radar 113 needs to perform measurement without receiving interference from the own vehicle radar 103 in the same manner as the own vehicle radar 103 described above, the frequency corresponding to an instruction given from the other vehicle processing unit 114 described later is used. Measure the object in the band. The detailed processing when the other vehicle processing unit 114 gives an instruction to the other vehicle radar 113 to change the frequency band so as not to overlap will be described later together with the description of the processing of the own vehicle processing unit 104.

  Further, the other vehicle radar 113 shows the same information as the above-mentioned own vehicle radar region, the own vehicle frequency band, and the own vehicle frequency change enable / disable information for the other vehicle radar 113. , And other vehicle frequency change permission / inhibition information are stored in advance in the storage unit (not shown) as other vehicle radar specification information Rg2 in the same manner as the own vehicle radar 103.

  The number of other vehicle frequency bands that can be changed by the other vehicle radar 113 is not necessarily the same as that of the own vehicle radar 103, and the other vehicle frequency band may not be changed. Further, the number of other vehicle radars 113 provided in the other vehicle radar interference avoidance device 11 may be one or two or more. In the case where the other-vehicle radar interference avoidance device 11 includes two or more other-vehicle radars 113, the other-vehicle radar 113 that measures objects existing in a plurality of front, rear, and side directions is mounted. An example is the case. Further, the other vehicle radar 113 may be a radar that can measure an angle along a horizontal plane in a direction in which an object exists or an angle along a vertical plane.

  The other vehicle processing unit 114 is typically an arithmetic circuit such as a microcomputer, and other vehicle position information Ji2 generated by the other vehicle position measurement unit 111, and the own vehicle radar information Rj1 acquired by the other vehicle communication unit 112. And other vehicle radar specification information Rg2 generated by the other vehicle radar 113, and based on the acquired information, the other vehicle radar unit 113 and the own vehicle radar 103 are prevented from interfering with each other. The same processing is performed.

  Further, the other vehicle processing unit 114 generates other vehicle radar information Rj2 to be described later based on the obtained other vehicle position information Ji2 and other vehicle radar specification information Rg2. The other vehicle processing unit 114 adds an identifier unique to the other vehicle on which the other vehicle radar 113 is mounted to the information generated based on the other vehicle position information Ji2 and the other vehicle radar specification information Rg2, Radar information Rj2 is generated. The other-vehicle radar information Rj2 generated by the other-vehicle processing unit 114 is acquired by the other-vehicle communication unit 112 as described above and wirelessly transmitted to the own vehicle, whereby the own-vehicle processing unit 104 mounted on the own vehicle. Can acquire other-vehicle radar information Rj2. The above is the description of the functional configuration of the other vehicle radar interference avoidance device 11.

  Next, detailed processing of the own vehicle processing unit 104 will be described. FIG. 3 is a diagram illustrating an example of a positional relationship when the other vehicle C2 is traveling on the opposite lane of the host vehicle C1 at a certain time and the other vehicle C3 is ahead of the host vehicle C1. The host vehicle C1 is assumed to be equipped with the host vehicle radar interference avoidance device 10 described above. In addition, it is assumed that the other vehicle C2 and the other vehicle C3 are equipped with the above-described other vehicle radar interference avoidance device 11, respectively. The other vehicle processing unit 114 according to the present embodiment performs the same processing as the own vehicle processing unit 104.

  The own vehicle C1 includes an own vehicle radar 103 that measures an object existing ahead, and an own vehicle radar region T1 shown in FIG. 3 indicates an own vehicle radar region stored in advance in the own vehicle radar 103. ing. Further, the other vehicle C2 includes an other vehicle radar 113 that measures an object existing ahead, and the other vehicle radar region T2 illustrated in FIG. Is shown. Further, the other vehicle C3 includes an other vehicle radar 113a that measures an object existing behind, and an other vehicle radar 113b that measures an object present ahead, the other vehicle radar area T3a shown in FIG. The other vehicle radar area T3b represents an other vehicle radar area stored in advance in each of the other vehicle radar 113a and the other vehicle radar 113b. In the other vehicle radar interference avoidance apparatus 11 mounted on the other vehicle C3, two other vehicle radars 113a and 113b are connected to one other vehicle processing unit 114. Hereinafter, the description will be continued assuming that the positional relationship among the host vehicle C1, the other vehicle C2, and the other vehicle C3 is as shown in FIG.

  First, the host vehicle processing unit 104 mounted on the host vehicle C1 includes the host vehicle position information Ji1 generated by the host vehicle position measuring unit 101 and the host vehicle radar stored in the storage unit (not shown) of the host vehicle radar 103. The specification information Rg1 is acquired. When the own vehicle radar specification information Rg1 is acquired, the own vehicle processing unit 104 mounts an antenna based on the own vehicle radar area indicated by the acquired own vehicle radar specification information Rg1 and the acquired own vehicle position information Ji1. A calculation is performed to convert the vehicle radar area indicated by the position into a vehicle radar area T1 (for example, an area indicated by latitude and longitude) indicated by absolute coordinates on the map.

  More specifically, the host vehicle processing unit 104 has a relative positional relationship between the position of the host vehicle C1 measured by the host vehicle position measuring unit 101 and the mounting position of the antenna serving as a reference for the host vehicle radar area. Is predetermined in a storage unit (not shown). When the host vehicle processing unit 104 acquires the host vehicle position information Ji1, the host vehicle radar specification information Rg1 acquired from the host vehicle radar 103 based on the acquired host vehicle position information Ji1 and the relative positional relationship described above. The vehicle radar area shown in Fig. 5 is calculated to be converted into a vehicle radar area T1 indicated by absolute coordinates on the map. The method in which the own vehicle processing unit 104 converts the own vehicle radar area stored in the own vehicle radar 103 into an area indicated by absolute coordinates on the map may be any method. Hereinafter, the description will be continued assuming that the own vehicle radar region T1, the other vehicle radar region T2, the other vehicle radar region T3a, and the other vehicle radar region T3b are regions indicated by absolute coordinates on the map.

  When the own vehicle radar area T1 is calculated, the own vehicle processing unit 104 has a plurality of own vehicle frequency bands, own vehicle frequency band change enable / disable information indicated by the acquired own vehicle radar specification information Rg1, and acquired own vehicle position information Ji1. And own vehicle radar information Rj1 indicating the calculated own vehicle radar region T1 is generated. When generating the own vehicle radar information Rj1, the own vehicle processing unit 104 generates the own vehicle radar information Rj1 by including an identifier unique to the own vehicle in the information indicated by the own vehicle radar information Rj1 as described above. . The vehicle radar information Rj1 generated by the vehicle processing unit 104 is information indicating the vehicle frequency band currently used by the vehicle radar 103 included in the vehicle radar specification information Rg1 as described above. Is also included. The own vehicle radar information Rj1 generated by the own vehicle processing unit 104 is stored in a storage unit (not shown) of the own vehicle processing unit 104 and simultaneously acquired by the own vehicle communication unit 102 and wirelessly transmitted as described above.

  As described above, the other vehicle processing unit 114 mounted on the other vehicle C <b> 2 performs the same process as the own vehicle processing unit 104. That is, the other vehicle processing unit 114 of the other vehicle C2 also stores a relative positional relationship between the position of the other vehicle C2 measured by the other vehicle position measuring unit 111 and the reference position of the other vehicle radar area (not shown). Predetermined in the section. Then, the other vehicle processing unit 114 performs a calculation to convert the other vehicle radar area into the other vehicle radar area T2 indicated by the absolute coordinates on the map, like the own vehicle processing unit 104.

  Further, when the other vehicle processing unit 114 mounted on the other vehicle C2 calculates the other vehicle radar area T2, the other vehicle radar 113 mounted on the other vehicle C2 shows the same information as the above-described own vehicle radar information Rj1. Other vehicle radar information Rj2 is generated. When the other vehicle radar information Rj2 is generated, the other vehicle processing unit 114, like the own vehicle processing unit 104, applies to the vehicle in which the other vehicle processing unit 114 is mounted on the information indicated by the other vehicle radar information Rj2. Add a unique identifier. The other-vehicle radar information Rj2 generated by the other-vehicle processing unit 114 includes the other vehicle currently in use included in the other-vehicle radar specification information Rg2 by the other-vehicle radar 113 in the same manner as the own-vehicle radar 103 described above. Information indicating the frequency band is also included. The other vehicle radar information Rj2 generated by the other vehicle processing unit 114 is stored in a storage unit (not shown) of the other vehicle processing unit 114 and simultaneously acquired by the other vehicle communication unit 112. As described above, the own vehicle communication unit 102 Is transmitted wirelessly.

  The other vehicle processing unit 114 mounted on the other vehicle C3 performs the same process as the other vehicle processing unit 114 mounted on the other vehicle C2. The other vehicle processing unit 114 mounted on the other vehicle C3 displays the other vehicle radar area indicated by the other vehicle radar specification information Rg2 acquired from the other vehicle radar 113a and the other vehicle radar 113b on the map. To convert to the other vehicle radar region T3a and the other vehicle radar region T3b indicated by specific coordinates. Then, when the other vehicle processing unit 114 mounted on the other vehicle C3 calculates the other vehicle radar area T3a and the other vehicle radar area T3b, the same information as the own vehicle radar information Rj1 is mounted on the other vehicle C3. Other vehicle radar information Rj2 shown for the other vehicle radar 113a and the other vehicle radar 113b is generated. At this time, the other vehicle processing unit 114 mounted on the other vehicle C3 includes two other vehicle radar information Rj2 (a) indicating information of two radars of the other vehicle radar 113a and the other vehicle radar 113b, and the other vehicle. Radar information Rj2 (a) is generated. The other vehicle radar information Rj2 generated by the other vehicle processing unit 114 mounted on the other vehicle C3 is stored in a storage unit (not shown) of the other vehicle processing unit 114 and simultaneously acquired by the other vehicle communication unit 112, and is described above. As described above, it is wirelessly transmitted to the own vehicle communication unit 102.

  The other vehicle radar information Rj2 wirelessly transmitted by the other vehicle communication unit 112 provided in the other vehicle radar interference avoidance device 11 of each other vehicle is acquired by the own vehicle processing unit 104 via the own vehicle communication unit 102. . Note that all information including the own vehicle radar information Rj1 and the other vehicle radar information Rj2 is transmitted to the communication network in which the own vehicle communication unit 102 performs wireless communication, and the own vehicle communication unit 102 transmits these information. Based on the other vehicle position information Ji2 indicated by the other vehicle radar information Rj2 from the acquired information, and within a predetermined range (hereinafter referred to as an acquisition range) based on the own vehicle position information Ji1. It is assumed that only the other vehicle radar information Rj2 that is present is selected.

  In addition, the other vehicle communication unit 112 mounted on the other vehicle C2 also sequentially acquires all the information transmitted to the communication network for wireless communication, as well as the own vehicle communication unit 102, and other information is obtained from the acquired information. Based on the other vehicle position information Ji2 indicated by the vehicle radar information Rj2, the other vehicle of the other vehicle existing within the acquisition range based on the other vehicle position information Ji2 of each of the other vehicles equipped with the other vehicle communication unit 112. Assume that radar information Rj2 is selected. The information selected by the other vehicle communication unit 112 mounted on the other vehicle C2 includes not only the other vehicle radar information Rj2, but also the other vehicle viewed from the other vehicle C2, that is, the own vehicle radar of the own vehicle C1. Information Rj1 is also included. In other words, when the host vehicle C1 exists within the acquisition range based on the mounting position of the other vehicle C2, the other vehicle communication unit 112 also selects and acquires the host vehicle radar information Rj1 of the host vehicle C1. The other vehicle communication unit 112 mounted on the other vehicle C3 also selects and acquires the own vehicle radar information Rj1 and the other vehicle radar information Rj2 in the same manner as the other vehicle communication unit 112 mounted on the other vehicle C2. .

  In the present embodiment, as an example, the description will be continued assuming that the host vehicle C1, the other vehicle C2, and the other vehicle C3 are within the above-described acquisition ranges. That is, the own vehicle processing unit 104 acquires the other vehicle radar information Rj2 wirelessly transmitted from the other vehicle C2 and the other vehicle radar information Rj2 wirelessly transmitted from the other vehicle C3 via the own vehicle communication unit 102, respectively. . Note that the above-described acquisition ranges may be the same range or different ranges between the own vehicle communication unit 102 and the other vehicle communication unit 112 of each other.

  When the own vehicle processing unit 104 acquires the other vehicle radar information Rj2 of each other vehicle via the own vehicle communication unit 102, the own vehicle radar information Rj1 already stored in a storage unit (not shown) and the acquired other vehicle radar information Rj2 is collectively stored as radar information Sh. FIG. 4 is a diagram showing an example of radar information Sh stored in the storage unit (not shown) by the own vehicle processing unit 104. In the present embodiment, the own vehicle radar information Rj1 generated by the own vehicle processing unit 104 of the own vehicle C1, the other vehicle radar information Rj2 generated by the other vehicle processing unit 114 of the other vehicle C2, and the other vehicle C3. The other vehicle radar information Rj2 generated by the vehicle processing unit 114 is included in the radar information Sh. Note that the asterisk shown in FIG. 4 indicates that when the information included in the radar information Sh is generated, the own vehicle radar 103, the other vehicle radar 113 of the other vehicle C2, and the other vehicle radar 113 of the other vehicle C3 (others). The frequency bands used by the vehicle radars 113a and 113b) are shown.

  As described above, because the own vehicle C1, the other vehicle C2, and the other vehicle C3 are within the above-described acquisition ranges, the other vehicle processing unit 114 mounted on the other vehicle C2 is also referred to as the own vehicle processing unit 104. Similarly, the own vehicle radar information Rj1 wirelessly transmitted from the own vehicle communication unit 102 of the own vehicle C1 and the other vehicle radar transmitted wirelessly from the other vehicle communication unit 112 of the other vehicle C3 via the other vehicle communication unit 112. Information Rj2 is received and acquired. The other vehicle processing unit 114 mounted on the other vehicle C2 is generated by the acquired own vehicle radar information Rj1, the other vehicle radar information Rj2 of the other vehicle C3, and the other vehicle processing unit 114 that has already been used. The other vehicle radar information Rj2 is stored as radar information Sh. For this reason, the other vehicle processing unit 114 mounted on the other vehicle C2 also stores the same radar information Sh as the radar information Sh stored in the own vehicle processing unit 104. The other vehicle processing unit 114 mounted on the other vehicle C3 also stores the same radar information Sh as the radar information Sh stored in the own vehicle processing unit 104, similarly to the other vehicle processing unit 114 mounted on the other vehicle C2. To do.

  When the radar information Sh is stored, each of the own vehicle processing unit 104, the other vehicle processing unit 114 of the other vehicle C2, and the other vehicle processing unit 114 of the other vehicle C3 stores the identifiers IC1 to IC3 included in the stored radar information Sh. Compare. The own vehicle processing unit 104 and each other vehicle processing unit 114 have an instruction processing unit that performs processing for avoiding radar interference based on the result of comparing the identifiers IC1 to IC3. 104 and each other vehicle processing unit 114.

  An arbitrary method may be used as a method in which the own vehicle processing unit 104 and each other vehicle processing unit 114 determine the instruction processing unit based on the identifiers IC1 to IC3. As an example of a method in which each processing unit determines an instruction processing unit, the number of the manufacturing number of the vehicle on which each processing unit is mounted is the identifier described above, and each processing unit is the most among the identifiers IC1 to IC3. A method may be used in which the processing unit (the own vehicle processing unit 104 or the other vehicle processing unit 114) mounted on the vehicle corresponding to the identifier indicating the small serial number is determined as the instruction processing unit. Both the own vehicle processing unit 104 and the other vehicle processing unit 114 determine the processing unit mounted on the vehicle corresponding to the identifier indicating the smallest number from the identifiers IC1 to IC3, so that the processing units between the mutual processing units The matched instruction processing unit can be uniquely determined. Hereinafter, the description will be continued on the assumption that the number indicated by the identifier IC1 of the host vehicle C1 is the smallest and the host vehicle processing unit 104 proceeds with the process as an instruction processing unit. When the instruction processing unit is determined based on the result of the identifier determination, the processing unit that is not determined as the instruction processing unit receives the instruction information Sj1 described later from the processing unit determined as the instruction processing unit, that is, the own vehicle processing unit 104. Wait until given.

  When the own vehicle processing unit 104 starts processing as the instruction processing unit, the own vehicle processing unit 104 starts a process of identifying another vehicle radar 113 that may interfere with the own vehicle radar 103 based on the radar information Sh. In this embodiment, the other vehicle radar 113 that may interfere with the own vehicle radar 103 radiates electromagnetic waves to the other vehicle radar region that overlaps the own vehicle radar region T1, and the own vehicle radar 103 has its own vehicle frequency. This is another vehicle radar 113 that radiates electromagnetic waves in another vehicle frequency band that overlaps the band.

  Therefore, when the own vehicle processing unit 104 starts processing as the instruction processing unit, first, the other vehicle radar that radiates electromagnetic waves to the other vehicle radar area overlapping the own vehicle radar area T1 is installed in the other vehicle C2. The vehicle radar 113 and the other vehicle radar 113 (other vehicle radars 113a and 113b) mounted on the other vehicle C3 are specified based on the radar information Sh. As is apparent from FIG. 3, the other vehicle radar that radiates electromagnetic waves to the other vehicle radar region (other vehicle radar region T2 and other vehicle radar region T3a) overlapping with the own vehicle radar region T1 is mounted on the other vehicle C2. The other vehicle radar 113 and the other vehicle radar 113a mounted on the other vehicle C3. Therefore, in the present embodiment, when the own vehicle processing unit 104 starts processing as the instruction processing unit, the own vehicle processing unit 104 specifies the other vehicle radar 113 mounted on the other vehicle C2 and the other vehicle radar 113a mounted on the other vehicle C3. .

  Next, the own vehicle processing unit 104 compares the own vehicle frequency band currently used indicated by the radar information Sh with the other vehicle frequency band currently used, and overlaps the own vehicle radar area T1. Of the other vehicle radar 113 mounted on the other vehicle C2 that radiates electromagnetic waves to the radar region and the other vehicle radar 113a mounted on the other vehicle C3, the other vehicle frequency band that overlaps with the own vehicle frequency band is currently used. Identify the other vehicle radar.

  At this time, the host vehicle processing unit 104 first recognizes the host vehicle frequency band currently used by the host vehicle radar 103 based on the radar information Sh. When recognizing the vehicle frequency band currently in use, the vehicle processing unit 104 compares the recognized vehicle frequency band with all other vehicle frequency bands currently in use indicated by the radar information Sh. The other vehicle radar that currently uses the other vehicle frequency band that overlaps the recognized own vehicle frequency band is identified.

  As is apparent from the radar information Sh shown in FIG. 4, among the other vehicle radar 113 of the other vehicle C2 and the other vehicle radar 113a of the other vehicle C3, the own vehicle radar 103 overlaps with the own vehicle frequency band F1 currently used. The other vehicle radars currently using the other vehicle frequency band are both the other vehicle radar 113 mounted on the other vehicle C2 and the other vehicle radar 113a mounted on the other vehicle C3. Therefore, the host vehicle processing unit 104 is the other vehicle radar 113 mounted on the other vehicle C2 and the other vehicle radar 113a mounted on the other vehicle C3 as other vehicle radar that may interfere with the host vehicle radar 103. And specify.

  When the other vehicle radar that may interfere with the own vehicle radar 103 is identified, the own vehicle processing unit 104 prevents the own vehicle frequency band of the own vehicle radar 103 from overlapping with the other vehicle frequency band of the identified other vehicle radar. Then, the frequency band is changed by at least one of the own vehicle radar 103 and the specified other vehicle radar, and an instruction is given so that the electromagnetic waves do not interfere with each other.

  As described above, the own vehicle radar 103 and the other vehicle radar actually interfere with each other when the radiated electromagnetic wave reaches the other antenna and the mutual frequency band (the own vehicle frequency band and the other vehicle frequency). This is when the (bandwidth) overlaps. Therefore, in the present embodiment, when the own vehicle radar region (own vehicle radar region T1) and the other vehicle radar region (other vehicle radar region T2 and other vehicle radar region T3a) overlap, that is, one radiated electromagnetic wave. Before the vehicle reaches the other antenna, the own vehicle processing unit 104 does not overlap the own vehicle frequency band of the own vehicle radar 103 and the other vehicle frequency band of the other vehicle radar. An instruction to change at least one of the bandwidth is given. As a result, it is possible to take measures to change the frequency bands so that they do not overlap each other before the other vehicle radar 113 that may interfere with the own vehicle radar 103 actually interferes. Measurement can continue.

  When the own vehicle processing unit 104 gives an instruction to change so that the own vehicle frequency band of the own vehicle radar 103 and the other vehicle frequency of the other vehicle radar 113 do not overlap, first, based on the radar information Sh, the own vehicle Other vehicle radars that cannot change the other vehicle frequency band are identified from other vehicle radars that may interfere with the radar 103. In the present embodiment, the own vehicle processing unit 104 changes the other vehicle frequency of each other vehicle radar indicated by the radar information Sh from the other vehicle radar 113 of the other vehicle C2 and the other vehicle radar 113a of the other vehicle C3. Based on the availability information, a radar that cannot change the frequency of the other vehicle is specified. As is clear from the radar information Sh shown in FIG. 4, the other vehicle C2 other vehicle radar 113 has the other vehicle frequency change enable / disable information set to "No", and the other vehicle C3 other vehicle radar 113a The frequency change enable / disable information is “permitted”.

  For this reason, the own vehicle processing unit 104 specifies the other vehicle radar 113 mounted on the other vehicle C2 as the other vehicle radar that cannot change the other vehicle frequency band. When the other vehicle radar that cannot change the other vehicle frequency band is identified, the own vehicle processing unit 104 sets the own vehicle frequency band of the own vehicle radar 103 to the other vehicle radar region that overlaps the own vehicle radar region. An instruction to change to the own vehicle frequency band that does not overlap with the other vehicle frequency band of the other vehicle radar that radiates electromagnetic waves is given to the own vehicle radar 103. As a result, even if there is another vehicle radar that cannot change the other vehicle frequency band among the radars that may interfere with the own vehicle radar 103, the own vehicle radar 103 changes the own vehicle frequency band. Therefore, the electromagnetic wave radiated from the own vehicle radar 103 does not reach the antenna of the other vehicle radar and actually cause interference.

In this embodiment, each of the other vehicle radar 113 and the other vehicle radar 113a in which the own vehicle processing unit 104 radiates electromagnetic waves to the other vehicle radar region T2 and the other vehicle radar region T3a that overlap the own vehicle radar region T1. The vehicle radar 103 is instructed to change to the own vehicle frequency band that does not overlap the currently used other vehicle frequency band. As is apparent from the radar information Sh shown in FIG. 4, the other vehicle radar 113 mounted on the other vehicle C2 and the other vehicle C3 in the own vehicle frequency bands F1 and F2 that can be changed by the own vehicle radar 103. The own vehicle frequency band that does not overlap with the other vehicle frequency band F1 of the mounted other vehicle radar 113a is the own vehicle frequency band F2 . Therefore, the host vehicle processing unit 104 gives an instruction to the host vehicle radar 103 to change the host vehicle frequency band F1 to the host vehicle frequency band F2 .

  On the other hand, when the own vehicle processing unit 104 cannot identify an other vehicle radar that cannot change the other vehicle frequency band, that is, the other vehicle radar that radiates electromagnetic waves to the other vehicle radar area overlapping the own vehicle radar area. When all the other vehicle frequency bands can be changed, the own vehicle processing unit 104 uses, as the instruction information Sj1, an instruction to change all other vehicle radars to other vehicle frequency bands that do not overlap with the own vehicle frequency band. Generate.

  At this time, the host vehicle processing unit 104 generates the instruction information Sj1 by including information indicating the own vehicle frequency band currently in use in the instruction information Sj1. And each other vehicle processing part 114 which acquired instruction information Sj1 produced | generated by the own vehicle processing part 104 via the own vehicle communication part 102 and the other vehicle communication part 112 as mentioned above is acquired instruction information. The other vehicle frequency band that does not overlap with the own vehicle frequency band included in Sj1 is determined based on the radar information Sh stored in the storage unit (not shown), and an instruction to change to the determined other vehicle frequency band is sent to each other. This is given to the car radar 113. As a result, the other vehicle frequency bands of all the other vehicle radars 113 are changed so as not to overlap with the own vehicle frequency band. Even if it reaches the antenna, no interference actually occurs.

  When the own vehicle processing unit 104 gives an instruction to change so that the own vehicle frequency band of the own vehicle radar 103 and the other vehicle frequency band of the other vehicle radar do not overlap, the other vehicle that has not been processed as the instruction processing unit. Instruction information Sj1 indicating an instruction to stop waiting for the processing unit 114 and resume the process is generated. In the present embodiment, the own vehicle processing unit 104 issues an instruction to change the own vehicle frequency band of the own vehicle radar 103 and the other vehicle frequency band of the other vehicle radar so as not to overlap with each other. When given to 113, instruction information Sj1 is generated that indicates an instruction to restart the other vehicle C2 and the other vehicle processing unit 114 of the other vehicle C3. When the instruction information Sj1 indicating the instruction to restart the process is generated, the host vehicle processing unit 104 completes the process as the instruction processing unit.

  When the instruction information Sj1 for restarting the process is generated, the own vehicle communication unit 102 acquires the generated instruction information Sj1 and wirelessly transmits it to the other vehicle communication unit 112. The instruction information Sj1 wirelessly transmitted from the own vehicle communication unit 102 is acquired by the other vehicle processing unit 114 of each other vehicle via the other vehicle communication unit 112 of the other vehicle C2 and the other vehicle C3. The other vehicle processing unit 114 of each other vehicle restarts the process when obtaining the instruction information Sj1 indicating the instruction to restart the process.

  After the own vehicle processing unit 104 completes the processing as the instruction processing unit and the other vehicle processing unit 114 restarts the processing, the own vehicle processing unit 104, the other vehicle processing unit 114 of the other vehicle C2, and the other vehicle C3 The other vehicle processing unit 114 repeats the processing until the instruction processing unit described above is determined.

  Then, after the instruction processing unit is determined, the processing unit determined as the instruction processing unit from the own vehicle processing unit 104, the other vehicle processing unit 114 of the other vehicle C2, and the other vehicle processing unit 114 of the other vehicle C3, The processing of the instruction processing unit described above is started, and the other processing units wait.

  For example, when the other vehicle processing unit 114 of the other vehicle C2 proceeds with the process as the instruction processing unit, the other vehicle processing unit 114 performs the same process as the own vehicle processing unit 104 in the above description, and the own vehicle C1 own vehicle C1. The vehicle processing unit 104 and the other vehicle processing unit 114 of the other vehicle C3 respectively perform the same processing as the other vehicle processing unit 114 of the other vehicle C2 in the above description. In addition, for example, when the other vehicle processing unit 114 of the other vehicle C2 performs processing as the instruction processing unit, the other vehicle radar specification information Rg2, the other vehicle radar information Rj2, or the like acquired or generated by the other vehicle processing unit 114 Each of the vehicle position information Ji2 and the instruction information Sj2 is processed by the own vehicle processing unit 104 as the instruction processing unit. The own vehicle radar specification information Rg1, the own vehicle radar information Rj1, and the own vehicle in the above description. It corresponds to each of the position information Ji1 and the instruction information Sj1. This is the same when the other vehicle processing unit 114 of the other vehicle C3 performs processing as the instruction processing unit. The above is the detailed description of the processing by the own vehicle processing unit 104 and the other vehicle processing unit 114 according to the present embodiment.

  Next, the processing of the above-described own vehicle processing unit 104 (other vehicle processing unit 114) will be described with reference to the flowchart shown in FIG.

  In step S <b> 101, the host vehicle processing unit 104 acquires host vehicle position information Ji <b> 1 from the host vehicle position measurement unit 101 and acquires host vehicle radar specification information Rg <b> 1 from the host vehicle radar 103. When the own vehicle processing unit 104 completes the process of step S101, the process proceeds to step S102.

  In step S102, the own vehicle processing unit 104 converts the own vehicle radar area indicated by the own vehicle radar specification information Rg1 acquired in step S101 into an area indicated by absolute coordinates on the map as described above. Calculate. When the own vehicle processing unit 104 completes the process of step S102, the process proceeds to step S103.

  In step S103, the host vehicle processing unit 104 includes a plurality of host vehicle frequency bands, host vehicle frequency band change availability information indicated by the host vehicle radar specification information Rg1 acquired in step S101, and the host vehicle position acquired in step S101. The above-described own vehicle radar information Rj1 indicating the information Ji1 and the own vehicle radar area calculated in step S102 is generated. When generating the own vehicle radar information Rj1, the own vehicle processing unit 104 stores the generated own vehicle radar information Rj1 in a storage unit (not shown). In step S103, the vehicle radar information Rj1 generated by the vehicle processing unit 104 is wirelessly transmitted via the vehicle communication unit 102 as described above. When the own vehicle processing unit 104 completes the process of step S103, the process proceeds to step S104.

  In step S <b> 104, the own vehicle processing unit 104 acquires the other vehicle radar information Rj <b> 2 wirelessly transmitted from the other vehicle communication unit 112 existing in the acquisition range via the own vehicle communication unit 102. When the own vehicle processing unit 104 completes the process of step S104, the process proceeds to step S105.

  In step S105, the host vehicle processing unit 104 collectively stores the host vehicle radar information Rj1 stored in step S103 and the other vehicle radar information Rj2 acquired in step S104 as radar information Sh in a storage unit (not shown). When the own vehicle processing unit 104 completes the process of step S105, the process proceeds to step S106.

  In step S106, the own vehicle processing unit 104, based on the identifier included in the radar information Sh, the other vehicle processing unit 114 that has transmitted the own vehicle processing unit 104 and the other vehicle radar information Rj2 acquired in step S104. The instruction processing unit is determined by the above-described method. When the own vehicle processing unit 104 completes the process of step S106, the process proceeds to step S107.

  In step S107, the host vehicle processing unit 104 determines whether the host vehicle processing unit 104 has become an instruction processing unit by performing the process of step S106. If the own vehicle processing unit 104 determines in step S106 that it has become an instruction processing unit, it proceeds to step S110. On the other hand, if the own vehicle processing unit 104 determines in step S106 that the vehicle processing unit 104 is not an instruction processing unit, the process proceeds to step S108.

  The processes of step S108 to step S109 and step S108 to step S109 to step S116 are processes that proceed when the host vehicle processing unit 104 (other vehicle processing unit 114) is not an instruction processing unit. In step S108, the own vehicle processing unit 104 determines whether or not the instruction information Sj2 wirelessly transmitted from the other vehicle is acquired. If the own vehicle processing unit 104 determines in step S108 that the instruction information Sj2 has been acquired, the process proceeds to step S109. On the other hand, if the own vehicle processing unit 104 determines in step S108 that the instruction information Sj2 has not been acquired, the process of step S108 is repeated. The host vehicle processing unit 104 waits until the instruction information Sj2 is acquired by repeating the process of step S108 until the instruction information Sj2 is acquired in step S108.

  In step S108, the instruction information Sj2 for determining whether or not the own vehicle processing unit 104 has acquired is the instruction processing unit when the own vehicle processing unit 104 is not performing the processing as the instruction processing unit. It is the instruction information acquired from the other vehicle processing unit 114 of the other vehicle that is performing the process. That is, the instruction information Sj2 is instruction information generated by a processing unit that is processing as an instruction processing unit, and the above-described explanation that describes the case where the host vehicle processing unit 104 is processing as an instruction processing unit. Corresponds to the instruction information Sj1.

  In step S109, the vehicle processing unit 104 determines whether or not the instruction information Sj2 determined to have been acquired in step S108 is information for instructing the resumption of the process. In step S109, the own vehicle processing unit 104 returns the process to step S101 when the acquired instruction information Sj2 is information for instructing the resumption of the process. On the other hand, if the acquired instruction information Sj2 is not information for instructing to restart the process in step S109, the own vehicle processing unit 104 is information including an instruction for changing the own vehicle frequency band of the own vehicle radar 103. If it is determined that there is, the process proceeds to step S116.

  In step S110, the vehicle processing unit 104 starts processing as the instruction processing unit described above, and converts the vehicle into an absolute area on the map indicated by the radar information Sh stored in step S105. Based on the radar region and the other vehicle radar regions of all the other vehicle radars 113, processing is performed to identify the other vehicle radar 113 that radiates electromagnetic waves to the other vehicle radar region that overlaps the own vehicle radar region. When the own vehicle processing unit 104 completes the process of step S110, the process proceeds to step S111.

  In step S111, the host vehicle processing unit 104 determines whether or not the other vehicle radar 113 that radiates electromagnetic waves to the other vehicle radar region overlapping the host vehicle radar region can be specified in step S110. When the own vehicle processing unit 104 determines in step S111 that the other vehicle radar 113 has been identified, the process proceeds to step S112. On the other hand, when the own vehicle processing unit 104 determines in step S111 that the other vehicle radar 113 cannot be specified, the process returns to step S101.

  In step S112, the own vehicle processing unit 104 determines the own vehicle frequency band currently used by the own vehicle radar 103 and the other vehicle radar based on the radar information Sh from the other vehicle radar 113 specified in step S110. The other vehicle frequency band currently used by 113 is compared with another vehicle frequency band that overlaps with the own vehicle frequency band, and the other vehicle radar 113 is specified. When the own vehicle processing unit 104 completes the process of step S112, the process proceeds to step S113.

  In step S <b> 113, the own vehicle processing unit 104 may identify another vehicle radar 113 in another vehicle frequency band that overlaps with the own vehicle frequency band in step S <b> 112, that is, may interfere with the own vehicle radar 103. It is determined whether or not the other vehicle radar 113 can be specified. When the own vehicle processing unit 104 determines in step S113 that the other vehicle radar 113 has been specified, the process proceeds to step S114. On the other hand, when the host vehicle processing unit 104 determines that the other vehicle radar 113 cannot be specified in step S113, the host vehicle processing unit 104 determines that there is no radar that may interfere with the host vehicle radar 103, and returns the process to step S101. .

  In step S114, the own vehicle processing unit 104 cannot change the other vehicle frequency band from among the other vehicle radars 113 specified in step S112 based on the other vehicle frequency band change availability information indicated by the radar information Sh. The other vehicle radar 113 is specified. When the own vehicle processing unit 104 completes the process of step S114, the process proceeds to step S115.

  In step S115, the host vehicle processing unit 104 determines whether or not the other vehicle radar 113 that cannot change the other vehicle frequency band can be specified in step S114. When the own vehicle processing unit 104 determines in step S115 that the other vehicle radar 113 has been identified, the process proceeds to step S116. On the other hand, when the own vehicle processing unit 104 determines in step S115 that the other vehicle radar 113 cannot be specified, the process proceeds to step S117.

  In step S116, the own vehicle processing unit 104 selects an own vehicle frequency band that does not overlap with the other vehicle frequency band currently used by all the other vehicle radars 113 indicated by the radar information Sh, and moves to the selected own vehicle frequency band. An instruction to change is given to the own vehicle radar 103. Furthermore, in step S116, the own vehicle processing unit 104 performs the other vehicle processing unit 114 that has generated the other vehicle radar information Rj2 acquired in step S104, that is, the other vehicle processing unit 114 existing in the acquisition range. Instruction information Sj1 indicating an instruction to resume processing is generated. When the own vehicle processing unit 104 completes the process of step S116, it returns the process to step S101.

  In step S117, the own vehicle processing unit 104 includes information indicating the own vehicle frequency band currently used by the own vehicle radar 103 based on the radar information Sh with respect to the other vehicle radar 113 specified in step S112. Instruction information Sj1 for giving an instruction to change to another vehicle frequency band that does not overlap with the vehicle frequency band is generated.

  The above is description of the flowchart which shows the process of the own vehicle process part 104 which concerns on this embodiment. In the above description, when the vehicle processing unit 104 that performs processing as the instruction processing unit specifies another vehicle radar that emits electromagnetic waves in another vehicle frequency band that overlaps the vehicle frequency band currently in use, The other-vehicle radar that cannot change the other-vehicle frequency band is identified from the other-vehicle radars. However, when the own vehicle processing unit 104 identifies another vehicle radar that emits electromagnetic waves in the other vehicle frequency band that overlaps the currently used vehicle frequency band, the own vehicle processing unit 104 selects the other vehicle frequency band from the identified other vehicle radar. Without further identifying other vehicle radars that cannot be changed, the other vehicle frequency bands of all identified other vehicle radars are immediately recognized based on the radar information Sh and do not overlap with the recognized other vehicle frequency bands. An instruction to change to the own vehicle frequency band may be given to the own vehicle radar 103. As a result, similarly to the above description, even if the electromagnetic wave radiated from the own vehicle radar 103 reaches the antenna of the other vehicle radar, no interference actually occurs.

  Further, if the own vehicle processing unit 104 can avoid interference with the own vehicle radar 103, the other vehicle radar having the smallest other vehicle radar area among other vehicle radars capable of changing the other vehicle frequency band. An instruction to change the frequency band of the other vehicle may be given to 113.

  In the above-described prior art, unless interference detected by receiving electromagnetic waves radiated from radar devices mounted on other vehicles as reflected waves is not detected, measures for avoiding interference cannot be taken. However, in the present embodiment, as described above, when the own vehicle radar region (own vehicle radar region T1) and the other vehicle radar region (other vehicle radar region T2 and other vehicle radar region T3a) overlap, In order to take measures to change the frequency bands so that they do not overlap each other before the electromagnetic wave radiated from the other antenna reaches the other antenna, the period from the actual detection of the interference until the completion of the measures, that is, The period during which the object cannot be measured can be eliminated.

  Further, not only the above-described conventional technology, but also in radars that have already been put into practical use, when interference occurs, the S / N ratio of the received reflected wave decreases, and the object exists within the measurement range. However, there are some radars that cannot detect the object and overlook an object existing in the measurement range. However, in this embodiment, before the other vehicle radar 113 that may interfere with the own vehicle radar 103 actually interferes, it is possible to take measures to change the frequency bands so as not to overlap each other. This prevents the object existing in the measurement range from being overlooked.

(First modification)
In the first embodiment described above, when the own vehicle processing unit 104 that performs processing as the instruction processing unit identifies the other vehicle radar 113 that may interfere, first, the own vehicle radar region of the own vehicle radar 103 is used. The other vehicle radar 113 that radiates electromagnetic waves to the other vehicle radar region overlapping with T1 is specified. However, the interference avoidance system according to the present invention estimates the own vehicle radar area and the other vehicle radar area when a predetermined period (hereinafter referred to as an estimation period) has elapsed, and estimates the own vehicle radar. Other vehicle radars that emit electromagnetic waves in an estimated other vehicle radar region (hereinafter referred to as an estimated other vehicle radar region) that overlaps the region (hereinafter referred to as an estimated own vehicle radar region) may be specified.

  FIG. 6 shows, as an example, an estimated own vehicle radar area ET1, an estimated other vehicle radar area ET2, an estimated other vehicle radar area ET3a, and an estimated other vehicle radar area ET3b when the aforementioned estimation period has elapsed from the time shown in FIG. FIG. In addition, the own vehicle EC1, the other vehicle EC2, and the other vehicle EC3 shown in FIG. 6 indicate the positions of the own vehicle C1, the other vehicle C2, and the other vehicle C3 when the estimation period has elapsed, respectively.

  As shown in FIG. 6, the own vehicle processing unit 104 that performs processing as an instruction processing unit includes an estimated own vehicle radar region ET1, an estimated other vehicle radar region ET2, an estimated other vehicle radar region ET3a, and an estimated other vehicle radar region ET3b. The other vehicle radar that radiates the electromagnetic wave to the estimated other vehicle radar region that is estimated and superimposed on the estimated own vehicle radar region ET1 may be specified. Then, after identifying the other vehicle radar that radiates electromagnetic waves to the estimated other vehicle radar region superimposed on the estimated own vehicle radar region ET1, the own vehicle processing unit 104 performs the own vehicle radar 103 similarly to the first embodiment. The other vehicle radar that is currently using the other vehicle frequency band superimposed on the currently used vehicle frequency band may be specified based on the radar information Sh.

  As a result, the own vehicle radar interference avoidance device 10 is currently using the other vehicle frequency band that overlaps the own vehicle frequency band from other vehicle radars other than the own vehicle C1 earlier. The process of determining the car radar can be started.

  In addition, as a method in which the own vehicle processing unit 104 that performs processing as the instruction processing unit determines the estimated own vehicle radar region and the estimated other vehicle radar region, it is indicated by the radar information Sh acquired in the past only during the aforementioned estimation period. Based on the difference between own vehicle position information Ji1 and other vehicle position information Ji2 and current own vehicle position information Ji1 and current other vehicle position information Ji2 A method for estimating the position and the position of the other vehicle is an example.

  When the own vehicle position when the estimation period has elapsed is estimated, the own vehicle processing unit 104 determines the relative position between the position indicated by the own vehicle position information Ji1 and the reference of the own radar area (the antenna mounting position). Based on the positional relationship, the estimated vehicle radar area is calculated by calculating the area when the estimated period indicated by the absolute coordinates on the map has elapsed from the vehicle radar area indicated by the vehicle radar specification information Rg1. Can be estimated.

  When the other vehicle position when the estimation period has elapsed is estimated, the host vehicle processing unit 104 calculates the difference between the other vehicle position indicated by the current other vehicle position information Ji2 and the estimated other vehicle position. The estimated other vehicle radar area can be estimated by adding to the absolute coordinates on the map of the other vehicle radar area.

(Second modification)
In the first embodiment, the own vehicle processing unit 104 that performs processing as the instruction processing unit specifies the other vehicle radar 113 that radiates electromagnetic waves to the other vehicle radar region that overlaps the own vehicle radar region T1. It is assumed that the processing for identifying the other vehicle radar 113 that is currently using the other vehicle frequency band that overlaps the own vehicle frequency band that is currently in use among the vehicle radars 113 is performed simultaneously for all the other vehicle radars 113. However, the own vehicle processing unit 104 that performs processing as the instruction processing unit specifies the other vehicle radar that emits electromagnetic waves in the other vehicle radar area that overlaps the own vehicle radar area T1, and is indicated by the radar information Sh. Other than the specified other vehicle radar 113 based on the position information Ji1 and the other vehicle position information Ji2, the other vehicle radar that is close to the own vehicle C1, in order from the other vehicle radar 113, overlaps with the own vehicle frequency band currently in use. It may be determined by determining whether or not the vehicle frequency band is currently used.

  At this time, the host vehicle processing unit 104 that is processing as the instruction processing unit further specifies that the host vehicle radar 103 is using another vehicle frequency band that overlaps the host vehicle frequency band that is currently in use. In order from the other vehicle radar 113, the own vehicle radar 103 and the other vehicle radar 113 are arranged so that the own vehicle frequency band of the own vehicle radar 103 and the other vehicle frequency band of the identified other vehicle radar 113 do not overlap. An instruction to change the frequency band may be given to at least one of them. Further, at this time, the own vehicle processing unit 104, based on the other vehicle frequency band change enable / disable information of the other vehicle radar 113 indicated in the radar information Sh, similarly to the first embodiment, the own vehicle radar 103 and the other vehicle It may be determined which of the radars is instructed to change the frequency band.

  The own vehicle processing unit 104, which performs processing as an instruction processing unit, determines whether or not to sequentially interfere with other vehicle radars in the vicinity of the own vehicle radar 103, and determines the frequency band of each radar. By changing to a frequency band that does not overlap, it is possible to give priority to other vehicle radars that are present at higher risk of collision with the host vehicle, avoiding interference, and performing accurate measurement.

(Second Embodiment)
In the present invention, the radar that can be used as the own vehicle radar 103 and the other vehicle radar 113 may be a radar that superimposes a predetermined series of code signals on the radiated electromagnetic wave. Based on the correlation between the received reflected wave and the emitted electromagnetic wave by radiating the electromagnetic wave superimposed with a predetermined series of code signals, the received reflected wave is a reflected wave of the electromagnetic wave emitted from itself. It is possible to determine whether the electromagnetic wave radiated from another radar is received. Examples of the series of code signals superimposed on the electromagnetic waves by the own vehicle radar 103 and the other vehicle radar 113 include an M series and a Gold series. Thus, a radar that superimposes a predetermined series of code signals on radiated electromagnetic waves has already been put into practical use.

  However, regardless of whether the series of code signals superimposed on the electromagnetic waves by the own vehicle radar 103 and the other vehicle radar 113 are the same, the patterns of the superimposed code signals are the same as shown in FIG. If it is a pattern, the difference in correlation between when one of the radars receives the electromagnetic wave emitted from the other radar as a reflected wave and when it receives the reflected wave of the electromagnetic wave emitted from its own radar Becomes unclear. For this reason, when the own vehicle radar 103 and the other vehicle radar 113 superimpose code signals having the same pattern as shown in FIG. 7, interference is received from the other radar. That is, the radar that superimposes a predetermined series of code signals on the radiated electromagnetic wave may interfere even when the frequency bands of the radar do not overlap as described in the first embodiment. FIG. 7 shows, as an example, code signals that are different from each other and have the same pattern.

  Therefore, the interference avoidance system 2 according to the second embodiment superimposes the code signals with different patterns when the own vehicle radar 103 and the other vehicle radar 113 radiate the electromagnetic waves on which the code signals are superimposed. May be emitted. Hereinafter, processing of the interference avoidance system 2 according to the second embodiment will be described. Since the functional configuration of the interference avoidance system 2 according to the second embodiment is the same as that of the interference avoidance system 1 according to the first embodiment, the description thereof is omitted.

  In the first embodiment, the own vehicle processing unit 104 that is processing as the instruction processing unit uses the radar information Sh from the other vehicle radar 113 that radiates electromagnetic waves to the other vehicle radar area overlapping the own vehicle radar area. Based on the above, the own vehicle frequency band currently used by the own vehicle radar 103 and the other vehicle frequency band currently used by the other vehicle radar 113 are compared, and the other vehicle frequency overlapping the own vehicle frequency band is compared. The other-vehicle radar 113 in the band is specified as a radar that may interfere with the own-vehicle radar 103.

  On the other hand, in the second embodiment, the own vehicle processing unit 104 that performs processing as an instruction processing unit radiates an electromagnetic wave to another vehicle radar region that overlaps with the own vehicle radar region as in the first embodiment. After identifying the other vehicle radar, from the identified other vehicle radar, based on the radar information Sh, a pattern of the code signal currently used by the own vehicle radar 103 (hereinafter referred to as the own vehicle code pattern), The other vehicle radar 113 is compared with the pattern of the code signal currently used by the other vehicle radar 113 (hereinafter referred to as the other vehicle code pattern). A radar that may interfere with the vehicle radar 103 is specified.

  Then, the other vehicle radar 113 that currently uses the other vehicle code pattern that substantially matches the own vehicle code pattern currently used by the own vehicle radar 103 is identified as a radar that may interfere with the own vehicle radar 103. Then, the own vehicle processing unit 104 includes at least the own vehicle radar 103 and the other vehicle radar 113 so that the identified other vehicle code pattern of the other vehicle radar 113 and the own vehicle code pattern of the own vehicle radar 103 do not substantially match. An instruction to change the code pattern is given to either one. As a result, the own vehicle radar 103 and the other vehicle radar 113 radiate the reflected wave received from the other radar or based on the correlation between the emitted electromagnetic wave and the received reflected wave. Since it is possible to determine whether the electromagnetic wave is a reflected wave reflected by the object, even if the electromagnetic wave radiated from the own vehicle radar 103 reaches the antenna of the other vehicle radar 113, it is actually the same as described above. Interference will not occur.

  In the second embodiment, in order to identify other vehicle radar that may interfere with the vehicle processing unit 104 that performs processing as the instruction processing unit, the vehicle radar specification information Rg1 stored in the vehicle radar 103 is used. It is necessary to include information indicating the own vehicle code pattern currently used by the own vehicle radar 103, own vehicle code pattern change possibility information, and a plurality of changeable own vehicle code patterns. Accordingly, the own vehicle processing unit 104 that has acquired the own vehicle radar specification information Rg1 from the own vehicle radar 103, the own vehicle code pattern currently used by the own vehicle radar 103, the own vehicle code pattern change availability information, and the change possible. The vehicle radar information Rj1 including information indicating a plurality of vehicle code patterns can be generated in the same manner as in the first embodiment.

  Similar to the own vehicle radar 103, the other vehicle radar 113 adds the other vehicle code pattern currently used, the other vehicle code pattern change availability information, and the change to the other vehicle radar specification information Rg 1 stored in the other vehicle radar 113. It is necessary to include information indicating possible other vehicle code patterns. As a result, the other vehicle processing unit 114 that has acquired the other vehicle radar specification information Rg1 from the other vehicle radar 113 allows the other vehicle radar 113 to use the other vehicle code pattern, the other vehicle code pattern changeable information, and the change possible. Other vehicle radar information Rj2 including information indicating a different other vehicle code pattern can be generated in the same manner as in the first embodiment.

  Then, when processing as the instruction processing unit, the own vehicle processing unit 104 acquires the own vehicle radar information Rj1 and the other vehicle radar information Rj2 as in the first embodiment, and collectively stores them as radar information Sh. To do. FIG. 8 is a diagram illustrating an example of radar information Sh stored in the own vehicle processing unit 104 and the other vehicle processing unit 114 according to the second embodiment. When the radar information Sh is stored, the own vehicle processing unit 104 determines whether or not the own vehicle code pattern of the own vehicle radar 103 and the other vehicle code pattern of the other vehicle radar 113 substantially coincide with each other as in the first embodiment. If the radar information Sh is substantially the same, it is determined that there is a possibility that the radars interfere with each other, and an instruction to make the electromagnetic waves emitted by the radars not interfere with each other is given. , And at least one of the other vehicle radar 113 can be taken. In the second embodiment, the state in which the electromagnetic waves radiated from each other's radar do not interfere with each other is a state in which the patterns of the code signals superimposed on the electromagnetic waves radiated from each other's radar do not substantially match each other.

  When the own vehicle processing unit 104 changes the own vehicle code pattern of the own vehicle radar 103 and the other vehicle code pattern of the other vehicle radar 113 so as not to substantially match each other, first, based on the radar information Sh, the own vehicle radar The other-vehicle radar 113 that cannot change the other-vehicle code pattern is identified from the other-vehicle radars 113 that may interfere with the other 103. Then, when the own vehicle processing unit 104 identifies the other vehicle radar 113 that cannot change the other vehicle code pattern, the other vehicle that overlaps the own vehicle code pattern of the own vehicle radar 103 with the own vehicle radar area. An instruction to change to the own vehicle code pattern that does not overlap with the other vehicle code pattern of the other vehicle radar 113 that radiates electromagnetic waves to the radar area is given to the own vehicle radar 103.

  On the other hand, when the own vehicle processing unit 104 cannot identify the other vehicle radar 113 that cannot change the other vehicle code pattern, that is, another vehicle that radiates electromagnetic waves to the other vehicle radar area that overlaps the own vehicle radar area. When the radar 113 can change all other vehicle code patterns, the own vehicle processing unit 104 instructs the other vehicle radar 113 to change the code pattern to a code pattern that does not overlap with the own vehicle code pattern. May be generated as

  At this time, the vehicle processing unit 104 generates the instruction information Sj1 by including information indicating the vehicle code pattern currently in use in the instruction information Sj1. And each other vehicle processing part 114 which acquired instruction information Sj1 produced | generated by the own vehicle processing part 104 via the own vehicle communication part 102 and the other vehicle communication part 112 as mentioned above is acquired instruction information. The other vehicle code pattern that does not overlap with the own vehicle code pattern included in Sj1 is determined based on the radar information Sh stored in the storage unit (not shown), and an instruction to change to the determined other vehicle code pattern is sent to each other. This is given to the car radar 113. As a result, since the other vehicle code pattern of all other vehicle radars 113 is changed so as not to substantially match the own vehicle code pattern, the electromagnetic wave radiated from the own vehicle radar 103 is different from that in the first embodiment. Even if it reaches the antenna of the vehicle radar 113, no interference actually occurs.

  In addition, the host vehicle processing unit 104 changes the other vehicle code pattern from the specified other vehicle radar 113 when the other vehicle radar 113 that radiates electromagnetic waves to the other vehicle radar area that overlaps the own vehicle radar area is specified. Immediately without identifying the other vehicle radar 113 that is impossible, the other vehicle code patterns of the identified other vehicle radars 113 are recognized based on the radar information Sh and do not overlap with the recognized other vehicle code patterns. An instruction to change to the own vehicle code pattern may be given to the own vehicle radar 103. As a result, as in the first embodiment, even if the electromagnetic wave radiated from the own vehicle radar 103 reaches the antenna of the other vehicle radar 113, no interference actually occurs.

  The above is the description of the interference avoidance system 2 according to the second embodiment. In addition, when the own vehicle radar 103 and the other vehicle radar 113 according to the present invention each change the frequency band, for example, the carrier frequency that was 76.6 GHz is changed to 76.2 GHz. It may be changed. FIG. 9 shows an example of a carrier frequency that can be changed by the own vehicle radar 103 and the other vehicle radar 113. In FIG. 9, among the same carrier frequencies, the carrier frequency attached with ISM indicates a frequency determined by the International Telecommunication Union (ITU). In addition, since radar mounted on a general vehicle has a tendency to a carrier frequency adopted by a manufacturer, considering this tendency, a frequency band after change is selected from the frequency bands indicated by the radar information Sh. You may select and instruct | indicate with respect to the own vehicle radar 103 or the other vehicle radar 113. FIG.

  In addition, the vehicle communication unit 102 and the other vehicle communication unit 112 described above directly communicate with each other using a DSRC (Dedicated Short Range Communication) protocol and a protocol that can be processed by a wireless LAN (Local Area Network). You may communicate with a base station. In the present invention, the electromagnetic wave radiated / received for wireless communication is different from the electromagnetic wave radiated from all radars or the reflected wave received by the radar in the present invention, and does not interfere. It goes without saying that it is a thing.

  The other vehicle radar interference avoidance device 20 may be a device including another vehicle position measuring unit 111, another vehicle communication unit 112, another vehicle radar 113, and another vehicle processing unit 114 as shown in FIG. The configuration corresponds to the other vehicle position measuring unit 111 (navigation system), the other vehicle communication unit 112 (DSRC communication unit or wireless LAN communication unit), and the other vehicle radar 113 (radar) already attached to another vehicle. On the other hand, the apparatus which added the processing apparatus which can perform the same process as the other vehicle process part 114 which concerns on this invention may be sufficient. At this time, since the radar that is already attached to the other vehicle may not include the storage unit that stores the above-described other-vehicle radar specification information Rg2, the processing device may receive the other-vehicle radar specification information of the radar. Rg2 is stored in advance, and the same processing as the above-mentioned other vehicle processing unit 114 is performed based on the other vehicle position information Ji2 generated by the already installed navigation system and the stored other vehicle radar specification information Rg2. By doing so, the interference avoidance system 1 or the interference avoidance system 2 according to the present invention can be configured.

  As a result, the other-vehicle radar interference avoidance device 20 can be configured simply by attaching the above-described processing device to a general other vehicle that includes a navigation system, a communication unit, and a radar in advance.

  In addition, if the own vehicle radar region and the other vehicle radar region in the present invention are regions including at least the region where the electromagnetic waves radiated from the own vehicle radar 103 and the other vehicle radar 113 reach, the region to which the electromagnetic waves reach It may be the same, or may be a region including the opposite lane of the lane in which the host vehicle or another vehicle is traveling.

  It goes without saying that a radar interference avoidance system combining the first embodiment and the second embodiment described above can also be realized. That is, the own vehicle radar 103 that can change at least one of the own vehicle frequency band and the own vehicle code pattern may be used. The case where the host vehicle processing unit 104 performs processing as an instruction processing unit will be described as an example. At least the other vehicle radar 113 that can be changed among the other vehicle frequency band and the other vehicle code pattern is included at least. When a plurality of other vehicle radars 113 radiate electromagnetic waves in a region overlapping the own vehicle radar region, the own vehicle frequency band, own vehicle code pattern, other vehicle frequency band, and other vehicle code pattern of the own vehicle radar 103 Among them, an instruction to change the changeable vehicle radar 103 and the plurality of other vehicle radars 113 may be given to avoid interference.

  In the above description, the own vehicle radar interference avoidance device 10 may include a plurality of own vehicle radars 103 for measuring objects existing in a plurality of directions such as the front, rear, and side of the own vehicle. It was a good thing. More specifically, the own vehicle radar interference avoidance device 10 may include one or more own vehicle radars 103 according to the required measurement range and measurement direction as shown in FIG. Furthermore, when the own vehicle radar interference avoidance device 10 includes a plurality of own vehicle radars 103, the own vehicle frequency bands of the respective own vehicle radars 103 may be different. The same applies to the other vehicle radar 113 of the other vehicle radar interference avoidance device 20.

  Further, when the own vehicle radar interference avoidance device 10 includes the own vehicle radar 103 capable of measuring the angle in the direction in which the object exists as described above, the own vehicle radar 103 is configured to be the central axis of the radar as shown in FIG. And the central axis of the relative angle measurement range, that is, the central axis of the vertical angle or horizontal angle measurement range may not necessarily coincide with each other. The same applies to the other vehicle radar 113 of the other vehicle radar interference avoidance device 20.

  The own vehicle processing unit 104 and the other vehicle processing unit 114 each include predetermined program data stored in a storage device (ROM, RAM, hard disk, etc.) that can execute the above-described processing procedure, as LSI, CPU. Alternatively, it may be realized by being interpreted and executed by a microcomputer or the like. The CPU may be a CPU constituting an ECU (Electric Control Unit) mounted on a moving body such as an automobile. In this case, the program data may be introduced into the storage device via the storage medium, or may be directly executed from the storage medium. The storage medium may be a semiconductor memory such as a ROM, a RAM, or a flash memory, a magnetic disk memory such as a flexible disk or a hard disk, an optical disk memory such as a CD-ROM, a DVD, or a BD, and a memory card. Further, one or a plurality of functional blocks constituting each of the above-mentioned own vehicle radar interference avoidance device 10 and the other vehicle radar interference avoidance device 20 are replaced with one or a plurality of electronic circuits, LSI, CPU, and microcomputer. You may implement | achieve combining these.

  Although the present invention has been described in detail above, the above description is merely an example of the present invention in all respects and is not intended to limit the scope thereof. It goes without saying that various improvements and modifications can be made without departing from the scope of the present invention.

  According to the present invention, it is possible to determine whether or not there is a possibility of interference without receiving an electromagnetic wave radiated from a radar device mounted on another vehicle as a reflected wave. A radar interference avoidance device that can sometimes take countermeasures, and a radar interference avoidance method executed by the device, such as a radar interference avoidance device that avoids interference of a radar mounted on a moving body such as a vehicle, etc. Useful for.

Functional block diagram showing a functional configuration of the interference avoidance system 1 according to the present invention The figure explaining the own vehicle radar area | region (other vehicle radar area | region) in this invention The figure for demonstrating the process of the interference avoidance system 1 which concerns on this invention The figure which shows an example of the radar information which concerns on 1st Embodiment The flowchart which shows the process of the own vehicle process part (other vehicle process part) which concerns on this invention The figure for demonstrating the 1st modification of 1st Embodiment. The figure which shows an example of the code signal which the own vehicle radar (other vehicle radar) which concerns on this invention superimposes on electromagnetic waves The figure which shows an example of the radar information which concerns on 2nd Embodiment The figure which shows the carrier wave frequency of the electromagnetic waves which can use the own vehicle radar (other vehicle radar) which concerns on this invention The figure which shows an example of the installation location of the own vehicle radar The figure which shows an example of the central axis and measurement direction of the own vehicle radar

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Interference avoidance system 2 Interference avoidance system 10 Own vehicle radar interference avoidance apparatus 20 Other vehicle radar interference avoidance apparatus 101 Own vehicle position measurement part 102 Own vehicle communication part 103 Own vehicle radar 104 Own vehicle processing part 111 Other vehicle position measurement part 112 Other Car communication part 113 Other car radar 114 Other car processing part

Claims (15)

Radar means for measuring an object based on the radiated electromagnetic wave and the received reflected wave;
A communication means for acquiring information of a radar means of the other vehicle by wirelessly communicating with the other vehicle;
There is a possibility that the radar means of the own vehicle and the radar means of the other vehicle may interfere with each other based on the radar information of the other vehicle acquired by the communication means and the radar information indicating the information of the radar means of the own vehicle. A judging means for judging whether or not,
Instructing means for instructing at least one of the radar means of the own vehicle and the radar means of the other vehicle to change the radiated electromagnetic wave to a state in which interference does not occur when it is determined by the determining means that there is a possibility of interference. It equipped with a door,
The communication means obtains information indicating a predetermined other vehicle side area including at least an area where electromagnetic waves radiated from the radar means of the other vehicle reach correspond to the radar means of the other vehicle,
The determination means includes
The radar information of the other vehicle associated with the other vehicle side region overlapping with a predetermined own vehicle side region including at least a region where the electromagnetic wave radiated from the radar unit of the own vehicle reaches. Including a region overlapping radar identifying means for identifying based on
A radar interference avoidance apparatus that determines whether or not the radar means of the other vehicle specified by the region overlap radar specifying means and the radar means of the host vehicle may interfere with each other . The communication means acquires information indicating the frequency band when the radar means of the other vehicle emits and receives electromagnetic waves and reflected waves, respectively, as the other vehicle frequency band,
The determination means includes
A vehicle frequency recognizing unit for recognizing a vehicle frequency band indicating a respective frequency band when the radar unit of the host vehicle emits electromagnetic waves and receives a reflected wave based on information of the radar unit of the host vehicle; ,
When the radar means of the other vehicle is specified by the region overlap radar specifying means, the radar means of the other vehicle in the other vehicle frequency band overlapping with the own vehicle frequency band recognized by the own vehicle frequency recognition means. And an overlapping frequency determining means for determining based on the radar information from among the radar means of the other vehicle specified by the region overlapping radar specifying means,
When the radar means of the other vehicle is specified by the overlapping frequency determining means, it is determined that the radar means of the own vehicle and the radar means of the other vehicle may interfere with each other,
When it is determined that there is a possibility of interference by the determination means, the instruction means is directed to at least one of the radar means of the own vehicle and the radar means of the other vehicle specified by the overlapping frequency specifying means. the provide an indication that the vehicle frequency band and said other vehicle frequency band is changed so as not to overlap each other, the radar interference avoiding device according to claim 1. The communication means further obtains information indicating whether or not the radar means of the other vehicle can change the other vehicle frequency band,
The instruction means includes
When it is determined by the determining means that there is a possibility of interference, the radar means of the other vehicle that cannot change the frequency band of the other vehicle is changed to the other vehicle specified by the overlapping frequency specifying means. Among the radar means, including a first indication target specifying means for specifying based on the radar information,
When the radar means of the other vehicle is specified by the first instruction target specifying means, the other vehicle of the radar means of the other vehicle specified by the overlapping frequency specifying means with respect to the radar means of the own vehicle. The radar interference avoidance device according to claim 2 , wherein an instruction to change to the own vehicle frequency band that does not overlap with the frequency band is given. The instructing means, when the radar means of the other vehicle is not specified by the first instruction target specifying means, with respect to the radar means of the other vehicle specified by the overlapping frequency specifying means, the own vehicle frequency band, The radar interference avoidance device according to claim 3 , wherein an instruction to change to the other vehicle frequency band that does not overlap with each other's other vehicle frequency band is given. The instruction means does not overlap with the other vehicle frequency band of the radar means of the other vehicle specified by the overlapping frequency specifying means with respect to the radar means of the own vehicle when it is determined that the instruction means causes interference. The radar interference avoidance device according to claim 2 , wherein an instruction to change to the own vehicle frequency band is given. The communication means obtains information indicating a code pattern of a predetermined series of code signals emitted by the radar means of the other vehicle superimposed on the electromagnetic wave as the other vehicle code pattern,
The determination means includes
Self-vehicle code pattern recognition means for recognizing a self-vehicle code pattern indicating a code pattern of a predetermined series of code signals emitted by the radar means of the own vehicle superimposed on electromagnetic waves based on information of the radar means of the own vehicle When,
When the radar means of the other vehicle is specified by the region overlap radar specifying means, an electromagnetic wave superimposed with the other vehicle code pattern that substantially matches the own vehicle code pattern recognized by the own vehicle code pattern recognition means is emitted. Pattern specifying means for specifying the radar means of the other vehicle based on the radar information from among the radar means of the other vehicle specified by the region overlap radar specifying means,
When the radar means of the other vehicle is specified by the pattern specifying means, it is determined that there is a possibility of interference between the radar means of the own vehicle and the radar means of the other vehicle,
When it is determined that there is a possibility of interference by the determination means, the instruction means is directed to at least one of the radar means of the own vehicle and the radar means of the other vehicle specified by the pattern specifying means. Te, wherein providing an indication that the vehicle code pattern and the other vehicle code pattern is changed so as not to substantially coincide with each other, the radar interference avoiding device according to claim 1. The communication means further acquires information indicating whether or not the radar means of the other vehicle can change the other vehicle code pattern;
The instruction means includes
When it is determined by the determining means that there is a possibility of interference, the radar means of the other vehicle that cannot change the other vehicle code pattern is designated as the radar of the other vehicle specified by the pattern specifying means. A second pointing object specifying means for specifying based on the radar information among the means,
When the radar means of the other vehicle is specified by the second instruction target specifying means, the other vehicle code of the radar means of the other vehicle specified by the pattern specifying means with respect to the radar means of the own vehicle. The radar interference avoidance apparatus according to claim 6 , wherein an instruction to change the pattern so as not to substantially match the pattern is given. When the second instruction target specifying means does not specify the radar means of the other vehicle, the instruction means determines the own vehicle code pattern for the radar means of the other vehicle specified by the pattern specifying means, and The radar interference avoidance device according to claim 7 , wherein an instruction is given to change to the other vehicle code pattern that does not overlap with each other's other vehicle code pattern. When it is determined that the instruction means causes interference, the instruction means does not substantially match the other vehicle code pattern of the radar means of the other vehicle specified by the pattern specifying means with respect to the radar means of the own vehicle. The radar interference avoidance device according to claim 6 , wherein an instruction to change to the own vehicle code pattern is given. The region overlap radar specifying means includes:
Vehicle area estimation means for estimating the vehicle area when the predetermined period has elapsed from the current time based on the vehicle area between the previous period and the current period;
Based on the other vehicle area acquired by the communication means during the predetermined period before the present, the other vehicle area when the predetermined period has elapsed from the present is the other vehicle. Other vehicle area estimating means for estimating in association with the radar means,
More particularly the radar means of the other vehicle associated with the other vehicle region estimated by the other vehicle area estimation means for overlapping the estimated the vehicle region by the vehicle region estimating unit, according to claim 1 The radar interference avoidance device described in 1. The communication means acquires information indicating the position of the radar means of the other vehicle as the position of the other vehicle radar,
The overlapping frequency determination means includes
A vehicle radar position recognition unit for recognizing a vehicle radar position indicating a position of the radar unit of the vehicle based on information of the radar unit of the vehicle;
When the radar means of the other vehicle in the other vehicle frequency band that overlaps with the own vehicle frequency band is specified, the radar means exists at the other vehicle radar position close to the own vehicle radar position recognized by the own vehicle radar position recognition means. Identify the radar means of the other vehicle in comparison with the own vehicle frequency band in order from the other vehicle frequency band,
When the instruction means gives an instruction to the radar means of the other vehicle, the other vehicle in order from the radar means of the other vehicle that is present at a position close to the radar position of the own vehicle among the radar positions of the other vehicle. The radar interference avoidance device according to claim 4 , wherein an instruction to change the frequency band is given. The communication means acquires information indicating the position of the radar means of the other vehicle as the position of the other vehicle radar,
The pattern specifying means includes
A vehicle radar position recognition unit for recognizing a vehicle radar position indicating a position of the radar unit of the vehicle based on information of the radar unit of the vehicle;
When identifying the radar means of the other vehicle having the other vehicle code pattern that substantially matches the own vehicle code pattern, the radar position of the other vehicle is close to the own vehicle radar position recognized by the own vehicle radar position recognition means. In comparison with the vehicle code pattern in order from the other vehicle code pattern of the radar means of the other vehicle present,
When the instruction means gives an instruction to the radar means of the other vehicle, the other vehicle in order from the radar means of the other vehicle that is present at a position close to the radar position of the own vehicle among the radar positions of the other vehicle. The radar interference avoidance device according to claim 8 , wherein an instruction to change the code pattern is given. The communication means obtains information indicating the other vehicle side area where the electromagnetic wave radiated from the radar means of the other vehicle reaches is associated with the radar means of the other vehicle,
The area overlap radar specifying means includes: the radar means of the other vehicle associated with the other vehicle side area overlapping with the own vehicle side area to which the electromagnetic wave radiated from the radar means of the own vehicle reaches; The radar interference avoidance device according to claim 1 , wherein the radar interference avoidance device is specified based on information. The communication means associates the other vehicle side area including the opposite lane of the lane in which the electromagnetic wave radiated from the radar means of the other vehicle reaches and the other vehicle is traveling with the radar means of the other vehicle. Information
The area overlap radar specifying means is the other vehicle side that overlaps with the own vehicle side area including the opposite lane of the lane in which the own vehicle is traveling and the electromagnetic wave radiated from the radar means of the own vehicle travels. identifying based radar unit of the other vehicle associated with regions in the radar information, the radar interference avoiding device according to claim 1. Based on the radiated electromagnetic wave and the received reflected wave, an acquisition step of acquiring information on the own vehicle that measures the object and radar information of other vehicles;
Whether the radar of the own vehicle and the radar of the other vehicle may interfere with each other based on the radar information of the own vehicle acquired in the acquisition step and the radar information indicating the information of the radar of the other vehicle. A judgment step to judge;
An instruction step for instructing at least one of the radar of the host vehicle and the radar of the other vehicle to change the radiated electromagnetic wave to a state in which interference is not caused when it is determined that there is a possibility of interference in the determination step; Prepared ,
The obtaining step obtains information indicating a predetermined other vehicle side region including at least a region where an electromagnetic wave radiated from the radar of the other vehicle reaches is associated with the radar of the other vehicle,
The determination step includes
Based on the radar information, the radar of the other vehicle associated with the other vehicle side region overlapping with a predetermined own vehicle side region including at least a region where the electromagnetic wave radiated from the radar of the own vehicle reaches. A region overlap radar identification step to identify,
A radar interference avoidance method for determining whether or not the radar of the other vehicle specified in the region overlap radar specifying step and the radar of the own vehicle may interfere with each other .

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