JP5361208B2 - Radar equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem wherein a conventional on-vehicle radar in a multi-frequency step ICW system cannot easily detect a distant target having a small target to noise power ratio when simultaneously receiving the leakage of transmission waves although the radar can detect a plurality of targets regardless of their traveling speeds. <P>SOLUTION: The radar device comprises: a switch for switching to the execution of filtering for applying pulsive transmission waves to a target and suppressing signal components having a relative speed of 0 in received signals where reflection waves from the target are received by a receiver when distance to the target is not less than a prescribed value according to the range number of the reception signal and for switching to non-execution when the distance is less than the prescribed value; and a target distance calculation means for performing the frequency analysis of a reception signal by the receiver by using the switch or the filtered reception signal by a frequency analysis means, extracting a target signal from the frequency analysis result by a target detection means, and measuring distance to the target from the target signal. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  The present invention relates to a radar apparatus that irradiates a target with radio waves, receives a reflected wave from the target, and detects a target speed, a distance to the target, and the like.

For the purpose of preventing traffic accidents and reducing the load on the driver, a radar device is installed in a vehicle such as an automobile to automatically detect obstacles around the vehicle and reflect the detection results to make vehicle driving safe. There is a lot of research to improve the nature.
Radar devices used for vehicle travel control are required to detect relative speed information of obstacles and other vehicles with high accuracy, and are currently installed mainly in luxury cars and are now in the stage of practical use. There are also technologies.

  Lowering the price is the key to the spread of automotive radar. In order to reduce the price of radar devices, the FMCW (Frequency Modulated Continuous Wave) method and the two-frequency CW (Continuous Wave) method that can be realized by low-speed signal processing are currently advantageous.

  The FMCW method generates a beat signal between a reception signal and a transmission signal obtained by receiving a reflected wave from a target in two observation periods of a frequency increase period and a frequency decrease period, and a beat signal obtained in the frequency increase period This is a method for detecting the target relative speed and distance by combining the beat signal obtained during the frequency drop period. When a plurality of targets are received in this method, pairing of detected frequencies in the up sweep and the down sweep must be performed.

On the other hand, the two-frequency CW method is a method in which transmission waves of _two frequencies f ₁ and f ₂ are transmitted for a certain period and a target is detected from the frequency and phase information of each reception wave. The two-frequency CW method is effective as a radar method when cost reduction is prioritized because the transmission / reception system is simple and the signal processing load is the same as that of the FMCW method. However, since it is based on the principle of obtaining the distance from the phase difference between the target frequency components of the received signal for the two transmission frequencies, multiple waves (multiple waves of the same frequency with different phases) are present when there are multiple targets at the same speed. ) It becomes an environment, and the problem that malfunction occurs in distance measurement arises.

  As described above, it is difficult for such a conventional radar apparatus to detect a plurality of targets moving at a constant speed. On the other hand, a multi-frequency stepped ICW (Interrupted Continuous Wave) method has been proposed in which the transmission frequency is changed in steps with a fine frequency difference and the transmission wave is pulsed to enable distance separation of constant speed multiple targets. (For example, Non-Patent Document 1).

  In-vehicle radars are required to detect targets at very short distances, and devices and circuits that turn on and off the transmission waves with high accuracy are required to pulse the transmission waves. However, cost reduction is one of the challenges for in-vehicle radars, and it is difficult to employ expensive devices that can turn pulses on and off at high speed and with high accuracy. As a result, since the transmission wave is pulsed, the output cannot be turned off instantaneously, and the reception process of the reflected wave is started before the transmission wave output becomes 0, and a part of the transmission wave is transmitted to the receiver. Inevitably mixed. This is a problem that arises whether or not the transmitting / receiving antenna is shared.

Takayuki Inaba, "Multi-target separation method using multi-frequency stepped ICW radar", IEICE B, 2006-3, Vol. J89-B No.3 pp.373-383.

  The on-vehicle radar using the multi-frequency step ICW method can detect multiple targets regardless of the target moving speed. However, if transmission signal leakage is received at the same time, it may be difficult to detect a target with a small target-to-noise power ratio in the distance.

  The present invention has been made to solve such problems. That is, an in-vehicle radar using a multi-frequency step ICW system includes a filter that suppresses leakage of a transmission wave and limits a distance range in which the filter is operated.

The radar apparatus according to the present invention is
A pulsed transmission signal is generated, the frequency of this transmission signal is sequentially modulated into a plurality of step frequencies, the frequency-modulated transmission signal is irradiated to the target as a transmission wave, and the reflected wave of the transmission wave reflected from this target In the on- vehicle radar device that calculates the relative speed and distance of the target by analyzing the frequency of the received signal obtained by receiving
A receiver for receiving a reflected wave from the target,
Enter the reception signals transferred from the receiver, a high-pass filter for suppressing a specific frequency component in the received signal,
A switch for turning on / off the suppression processing of the high-pass filter;
The switch is turned on when the distance to the target is greater than or equal to a predetermined value according to the range number of the received signal, and is turned off when the distance is less than the predetermined value, and the received signal or high-pass filter processing at the receiver by the switch A frequency analysis means for inputting a later received signal and analyzing the frequency;
Target detection means for extracting a target signal from the result of the frequency analysis means;
Target distance calculation means for measuring the distance from the result of the target detection means to the target;
Bei to give a,
The switch control means includes
Speed information acquisition means for acquiring the moving speed of the own vehicle;
A high-pass filter processing execution distance determination table in which the predetermined distance for turning on the high-pass filter according to the vehicle speed is determined;
The high-pass filter in which the moving speed of the own vehicle from the speed information acquisition means and the received signal from the receiver are input, and the range number of the received signal is determined in the high-pass filter processing execution distance determination table The signal to turn on the high-pass filter is applied when the distance is longer than the predetermined distance, and the high-pass filter is turned off when the distance is closer than the predetermined distance. Ru is the configuration including the high-pass filter processing execution determination means for outputting a signal.

  According to the radar apparatus of the present invention, a reflected wave reflected from a target is received, and this received signal is input to suppress a specific frequency component in the received signal, for example, a signal component corresponding to a relative speed of 0. When the received signal of the range number whose distance to the target is equal to or greater than the predetermined value is received, the filter processing is performed and output, and when the received signal of the range number less than the predetermined value is received, the filter Since it is configured to output without performing processing, extract the target signal by frequency analysis of the output signal, and measure the distance from the target signal to the target, the conventional multi-frequency step ICW method is used. This makes it possible to detect a distant target when receiving leaking transmission waves simultaneously, which is difficult with an on-vehicle radar.

Embodiments of the present invention will be described below with reference to the drawings.
Embodiment 1 FIG.
1 is a block diagram showing a configuration of a radar apparatus mounted on a vehicle such as an automobile according to Embodiment 1 of the present invention. In the figure, 1 is a transmission / reception antenna, 2 is a transmitter, 3 is a circulator, 4 is a receiver, 5 is a switch for switching a processing path of a received signal from the receiver 4, and 6 is a switch control means for controlling switching of the switch 5. , 7 is a high-pass filter that forms a blocking region for the frequency 0 component of the input signal, 8 is a frequency analysis means for performing frequency analysis on the signal transferred from the high-pass filter 7, and 9 is a frequency analysis. Target detection means 10 for extracting a target signal from the result of means 8 is a target distance calculation means for calculating the distance from the detected target signal to the target.
FIG. 2 is a diagram illustrating a transmission signal modulation method and transmission / reception timing in the multi-frequency step ICW method.

FIG. 3 is a block diagram showing the internal configuration of the high-pass filter 7. In FIG. 3, 22 is a filter coefficient storage means for storing a filter coefficient designed in advance so as to realize a desired suppression amount, and 20 is a received signal transferred from the switch 5 as T _s (M−1). ) × T _s delay units, 21 is a plurality of multipliers for multiplying each delay signal from each delay unit 20 and the filter coefficient h _1, and 23 is all the output signals of each multiplier 21 It is an adder to add.
FIG. 4 is an amplitude characteristic diagram showing an example of the amplitude characteristic of the high-pass filter 7.
FIG. 5 is a block diagram showing the internal configuration of the switch control means 6. In FIG. 5, 11 is speed information acquisition means for acquiring the moving speed of the own vehicle from a speed sensor or the like, and 12 is information on the moving speed of the own vehicle and the distance to the target for executing the processing of the high-pass filter 7. The stored high-pass filter processing execution distance determination table 13 compares the host vehicle speed transferred from the speed information acquisition means 11 with the high-pass filter processing execution distance determination table 12, and executes the high-pass filter processing. High-pass filter processing execution determination means for calculating a distance to be transmitted, determining whether or not to perform high-pass filter processing according to the reception timing of the received signal, and transferring the switch control signal to the switch 5.

Next, the operation of the radar apparatus according to Embodiment 1 of the present invention will be described. Let T _C be the minimum observation time required on the principle of frequency analysis processing in order to satisfy the velocity resolution required for the radar apparatus.
The transmitter 2 is a circuit that generates a transmission signal and modulates the frequency of the generated transmission signal into a predetermined waveform. The transmitter 2 is provided with a voltage control oscillator, and a reference signal whose frequency is periodically modulated is generated as a transmission signal by controlling an input voltage to the voltage control oscillator. This reference signal is frequency-converted into a transmission signal in an RF (Radio Frequency) band. Then, a transmission pulse signal is generated by pulsing the RF-converted transmission signal at a predetermined pulse repetition time.

The reference signal generated by the transmitter 2 repeats the frequency modulation process for increasing the frequency of the reference signal by Δf M times within T _C during the minimum observation time. Here, M is a natural number of 2 or more. FIG. 2 is a waveform diagram of the reference signal generated in this way. The repeated frequency modulation process is to increase the frequency of the reference signal by Δf over N stages (where N is a natural number of 2 or more) every time T _PRI . The time width T _S of one frequency modulation process is given by T _S = T _PRI × N. The range (bandwidth) B of the frequency to be modulated is obtained from B = Δf × N.
The reference signal generated in this way is converted into a transmission signal in the RF band, further converted into a transmission pulse signal, and transmitted as a transmission wave from the antenna 1 via the circulator 3 for each pulse repetition number m in the frequency modulation process. Radiated by changing little by little. A part of the transmission wave irradiated to the target reaches the antenna 1 again as an echo (reflected wave).

  The circulator 3 is a switch for switching the connection between the transmission pulse signal generated by the transmitter 2 and the antenna 1 and the connection between the receiver 4 and the antenna 1 in a time division manner. That is, the transmitter 2 and the antenna 1 are directly connected at the timing of irradiating the target with the transmission pulse signal as a transmission wave. On the other hand, at the timing when the transmission wave is reflected by the target and returns to the antenna 1 as an echo (reflected wave), the receiver 4 and the antenna 1 are directly connected. By doing so, the antenna 1 can be used for both transmission and reception, and the circuit scale and device scale can be reduced.

The receiver 4 converts the RF band received signal transferred from the circulator 3 to a video band signal and performs baseband conversion so that the received signal can be processed by a lower speed signal processing circuit. It is.
The antenna 1 receives the reflected wave and outputs an analog reception signal. The analog reception signal is baseband converted by the receiver 4 and the baseband converted reception signal is output. When the target number is I, the repetition number of the frequency modulation process is m, and the step number of the step frequency is n, the received signal after the baseband conversion of the step number n in the pulse repetition number m of the frequency modulation process is X Assuming that (n, m), X (n, m) is expressed by equation (1).

Here, σ _i , v _i , and R _i are radar reflection cross sections, relative velocities, and distances of each target, and φ _i is a constant phase term for each target.

  The received signal is also A / D converted by the receiver 4 and converted into a digital received signal. The switch 5 is a device that switches whether the baseband digital received signal transferred from the receiver 4 is transferred to the high-pass filter 7 or the frequency analysis means 8. The switch control timing is controlled by the switch control means 6.

In-vehicle radar devices are often aimed at detecting short-range targets. Here, in addition to that, a radar apparatus that is intended to detect a far-distant target is assumed.
In the on-vehicle radar device, it is important to reduce the cost since the price of the automobile body is being suppressed. For this reason, it is often impossible to use high-performance products for components and circuits constituting the radar apparatus. Therefore, the transmission signal may leak directly into the receiver. Although it is desirable to use a device capable of performing high-speed and stable processing for transmission signal on / off control during transmission pulse formation, such a product cannot always be used.

  In the on-vehicle radar device, such a leak of the transmission signal is detected as a target having a relative speed of 0 when viewed from the own vehicle. Moreover, it is recognized that such false targets exist at all distances, and it is difficult to perform normal target detection. Moreover, there is a possibility that a signal with a small reflected power such as a far target cannot be detected. Therefore, in the present embodiment, a radar apparatus capable of improving the target detection performance by suppressing the leakage of the transmission signal with the high-pass filter 7 is presented.

FIG. 3 shows an example of the structure of the high-pass filter 7. FIG. 3 shows an implementation example using a FIR (Finite Impulse Response) filter, but an IIR (Infinite Impulse Response) filter may be used.
As shown in FIG. 2, the digital reception signal transferred from the switch 5 is received as a digital signal at a constant sampling interval after the transmission pulse is transmitted. This sampling timing appears as a difference in distance from the radar. The high-pass filter 7 processes the received signal collected in this way for each distance and for each frequency at the time of modulation, thereby suppressing the leakage of the transmission signal. First, the digital reception signal (hereinafter, referred to as the received signal) is divided into each range number, and the received signal when it is transmitted at the frequency f _n of the time of modulation and X (n, m, r). Here, r is a range number.

By processing this received signal with a digital filter having an amplitude characteristic as shown in FIG. 4, it is possible to suppress the Doppler frequency of 0, that is, the signal component having a relative speed of 0 with the own vehicle radar.
The filter coefficient _hl is designed in advance so as to realize a desired amount of suppression, and is stored in the filter coefficient storage means 22. The received signal transferred from the switch 5 is delayed by T _s to (M−1) × T _s by the delay unit 20 and then multiplied by the filter coefficient h ₁ by the multiplier 21. All the output signals of the multiplier 21 are added by the adder 23 to become an output signal X _HPF (n, m, r). This is expressed by the following equation.

  The processing of Expression (2) is performed in the m direction, that is, the pulse hit direction with n and r fixed. This is performed for all combinations of r and n.

  Since the leakage of the transmission signal is an unnecessary signal for the target detection for the radar, it is desirable to suppress the leakage signal existing at all distances if possible. However, the processing of the high-pass filter 7 is not performed on the received signals from all distances, and the switch 5 is switched according to the result of the switch control means 6 to perform the high-pass filter processing on the received signals. Is turned on and off. The reason why the high-pass filter 7 is turned on / off will be described below. Here, the case where the distance from the vehicle radar to the target is a short distance and a long distance will be described separately.

When the target is a long distance:
What we want to detect even if the distance to the target at this point is far away is that the vehicle is traveling at a higher speed than the own vehicle and approaches from behind, or the vehicle is slower than the own vehicle and the vehicle gradually moves from the rear. It is a vehicle or other object that is traveling in front of a distance approaching. A vehicle that travels at a relative speed of 0, i.e., at the same speed as the host vehicle, may be far from the vehicle, and for the time being, it does not interfere with the host vehicle. As described above, since the leak of the transmission signal is detected as a component having a relative speed of 0, it can be suppressed by performing a high-pass filter process. At the same time, echoes (reflected waves) from a vehicle moving at a constant speed with the host vehicle at a long distance as described above are also suppressed, but it is unlikely to hinder the vehicle's travel, and can be ignored. It doesn't matter. The processing by the high-pass filter 7 is performed with priority given to suppressing unnecessary signals that hinder the detection of a target approaching the host vehicle.

When the target is a short distance:
When the distance from the target at the present time is close, it is necessary to detect all of them regardless of the moving speed of the target. There is a possibility of sudden braking or a sudden change of course even when the front car is moving at the same speed as the own car when the distance between the cars is not enough to follow You have to keep an eye on it. However, the amplitude characteristic of the high-pass filter 7 is designed so as to remove the leakage component of the transmission signal in which the frequency components are concentrated on the Doppler frequency 0 as shown in FIG. The target signal will be suppressed. Such a situation is dangerous because it misses the target to be detected. Therefore, the processing of the high-pass filter 7 is not performed at a distance where such a situation can occur. Fortunately, since the distance to the target is close, the reflected signal power from the target is often larger than the leakage power of the transmitted signal, and there is no problem in operation even if high-pass filtering is not performed. Conceivable.

  Here, the operation of the switch control means 6 will be described. The point of determination as to whether or not to perform the processing of the high-pass filter 7 is from which distance the constant velocity moving target can be ignored by the in-vehicle radar device. In the first embodiment, the switch control means 6 holds a distance for turning on the high-pass filter 7 in accordance with the speed of the host vehicle as a table, and operates so as to turn on / off the switch 5 accordingly. . FIG. 5 shows a configuration example of the switch control means 6 having a table of the vehicle speed and the distance for turning on the high-pass filter 7.

In the switch control unit 6, first, the moving speed of the own vehicle is transferred from the speed information acquisition unit 11 to the high-pass filter processing execution determination unit 13. This is a numerical value obtained from a speed sensor or the like. Next, the high-pass filter processing execution determination means 13 refers to the high-pass filter processing execution distance determination table 12 to obtain a high-pass filter processing execution distance corresponding to the obtained vehicle speed. For example, the high-pass filter processing execution distance determination table 12 is R ₃ m or more when the speed is 30 to 40 km / h, R ₂ m or more when the speed is 41 to 50 km / h, and R ₃ when the speed is 51 to 60 km / h. If the vehicle speed is determined such that it is more than m, a distance R _HPF for turning on the high-pass filter is set to be output. Based on this result, when the range number of the received signal is smaller than R _{HPF, the} high-pass filter 7 is not processed, and only when the range number is R _HPF or higher, the high-pass filter processing is performed. Transfer the control signal to switch between.

  The frequency analysis means 8 performs frequency analysis on a part of the reception signal obtained from the reflected wave of the transmission signal modulated at the same step frequency over a plurality of frequency modulation processes and processed by the high-pass filter 7. . In this processing, among the stored reception signals X (n, m, r), n is fixed for each range number r, and X (n, m, r) obtained for a plurality of pulse repetition numbers m. ) And frequency analysis. If Fourier transform is used as the frequency analysis method, the frequency analysis result is expressed by Expression (3).

  In the following description, k in Equation (3) is referred to as a frequency component number.

The target detection means 9 detects a target from the frequency analysis result obtained by Expression (3). First, the sum of the amplitude values of F _k (n, r) expressed by the equation (3) is calculated as in the equation (4), for example.

Subsequently, the target detection unit 9 obtains the frequency component number k at which the value of G _k (r) in the equation (4) peaks. This process is performed by searching for a frequency component number k _peak (r) that maximizes the value of the left side G _k of equation (4). On the other hand, the peak frequency f _peak (n, r) of the received signal after passing through the high-pass filter 7 represented by Expression (2) is given by Expression (5).

The target detection means 9 obtains the target relative speed v _i from the peak frequency number that maximizes the formula (4) and the formula (5), and outputs this v _i as the relative speed.
Moreover, the information of the peak frequency used for calculation of this relative speed is output as frequency analysis information. The frequency analysis information refers to, for example, the frequency analysis result (result of expression (3)) output by the frequency analysis means 8 and the frequency component number (expression (4)) that becomes the peak of the amplitude value of this frequency analysis result. K).

  The target distance calculation means 10 also obtains the peak frequency over a plurality of frequency modulation processes obtained for one n in Equation (3) for the other n, and the interphase displacement (degree of change, change) of each peak frequency. This is a part that separates the distances of a plurality of constant speed targets based on the rate. This process corresponds to obtaining the phase gradient of the peak frequency in the n direction when the step frequency is monotonously increased or monotonously decreased in the frequency modulation process.

  Specifically, the target distance calculation means 10 uses a super-resolution frequency estimation method for a received signal obtained by receiving an echo (reflected wave) of a transmission wave modulated at the same step frequency of a plurality of repeated frequency modulation processes. Frequency analysis. Such super-resolution frequency estimation methods include MUSIC (Multiple Signal Classification) method, ESPRIT (Estimation of Signal Parameters via Rotational Invariance Technique) method, ML (Maximum Likelihood) method, Capon method, maximum entropy method, linear prediction method, Although the minimum norm method can be used, a specific example of processing will be described here using the MUSIC method as an example.

First, one of the frequencies at which the amplitude value in the Fourier transform output by the frequency analysis means 8 obtained by the target detection means 9 has a peak is defined as a frequency number k _peak . The target distance calculating means 10 performs frequency averaging processing by combining the frequency component corresponding to the frequency number k _peak and several frequency components before and after this frequency component in the frequency analysis result.

In the following description, as an example, one frequency component corresponding to the frequency number k _peak and one frequency component before and after this frequency component are used. That is, three components are used: a frequency component corresponding to the frequency number k _peak −1, a frequency component corresponding to the frequency number k _peak, and a frequency component corresponding to the frequency number k _peak +1.

In order to separate the distance of each target when there are multiple targets in the frequency component of frequency number k _peak, the frequency between the received signals is separated between each step frequency part of the frequency modulation process of the transmission signal. There is a need to. In order to be able to separate frequencies with different step frequency numbers n (n = 1 to N) in the frequency modulation process, first, data sampling with different step frequency numbers n is set as a sub-matrix Fq composed of N _s .

And the average processing of the correlation matrix of the sub-matrix Fq is performed as shown in Equation (7).

  Here, H represents a complex conjugate transpose of a matrix, and <> represents an average operation with respect to q.

Subsequently, the target distance calculation means 10 performs eigenvalue expansion of the correlation matrix R obtained by frequency averaging according to the equation (7), and the eigenvector e _α (α = 1,..., N _S −P corresponding to the noise eigenvalue. ) Noise space E = [e ₁ ... E _Ns−P ]. Here, P is the number of signals, and is obtained from, for example, the number of eigenvalues larger than the eigenvalue of noise.

  Thereafter, the target distance calculation means 10 performs frequency estimation processing to calculate the distances of a plurality of targets, respectively. This frequency estimation process is as follows. That is, a mode vector that maximizes the value of the evaluation function MUSIC (R) represented by the mode vector a (R) and the noise space E is calculated as in equation (8).

Here, the mode vector a (R) is given by equation (9).
In other words, a plurality of Rs that give the mode vector a (R) of Expression (9) that maximizes the evaluation function MUSIC (R) of Expression (8) are calculated, and these are output as the distances of the respective targets.

  As described above, according to the first embodiment of the present invention, detection of a distant target when receiving a leakage of a transmission wave at the same time, which is difficult with an on-vehicle radar using the conventional multi-frequency step ICW method, is performed. Is possible.

  In the above description, the Fourier transform has been described as an example of the frequency analysis method. However, it is easy for a person having ordinary knowledge in this field to change the frequency analysis using the super-resolution method.

  In the frequency modulation process, the transmitter 2 monotonically increases the frequency of the reference signal step by step by Δf. However, since the configuration required here is only to modulate to a plurality of frequencies, frequency modulation may be performed by other methods such as a configuration that monotonously decreases the frequency or a configuration that modulates to a random frequency.

  Although the first embodiment has been described on the assumption of a radar using the multi-frequency step ICW method, the method of performing on / off control of the high-pass filter for each distance performs frequency modulation on the transmission signal. The same effect can be expected in a radar apparatus using a normal pulse Doppler system that does not.

  In the first embodiment, the radar apparatus configured to share the transmitting antenna and the receiving antenna is presented. However, the same effect can be expected in a radar apparatus configured separately including the transmitting antenna and the receiving antenna.

Embodiment 2. FIG.
FIG. 6 is a block diagram of a radar apparatus according to Embodiment 2 of the present invention. In the figure, the same reference numerals as those in FIG. The characteristic part compared with the radar apparatus according to the first embodiment is that the signal selection means 30 is provided, and the signal that passes through the high-pass filter 7 and the signal that does not pass through the high-pass filter 7 are retained. It is in.

  Next, the operation of the radar apparatus according to Embodiment 2 of the present invention will be described. Also in the radar apparatus according to the second embodiment of the present invention, the processing until the transmission signal is generated by the transmitter 2, radiated from the antenna 1, and the reflected wave is received is the same as in the first embodiment. In the second embodiment, the result obtained by processing the reception signal output from the receiver 4 by the high-pass filter 7, the frequency analysis unit 8, and the target detection unit 9 and the frequency analysis unit without passing through the high-pass filter 7. 8. Both the results processed by the target detection means 9 are held and transferred to the signal selection means 30.

Two sets of peak values of G _k (r), a frequency component number k indicating the peak, and a target relative speed according to the equation (5) are input to the signal selection unit 30. First, the signal selection unit 30 checks whether or not the peak value is G ₀ (r) indicating the peak of the signal component of the frequency 0 based on the processing result data that does not pass through the high-pass filter 7. If the peak value is not a component of frequency 0, it is determined that the moving target is correctly detected, and the target detection result that does not pass through the high-pass filter 7 is transferred to the target distance calculation means 10 as it is. On the other hand, if the peak value of G _k (r) input to the signal selection means 30 is equal to the number of the frequency 0 component, it is determined that a false detection due to transmission signal leakage has occurred, and the high-pass filter The target detection result via 7 is transferred to the target distance calculation means 10. By performing this for all range numbers, a processing result in which the high-pass filter processing is switched for each distance can be obtained.

  Further, if the determination by the signal selection means 30 is not carried out for all range numbers, and if data passing through the high-pass filter is continuously selected, the same result may be obtained at a further distance. Therefore, the processing result via the high-pass filter 7 may be automatically selected.

  In the second embodiment, the processing result that passes through the high-pass filter 7 and the processing result that does not pass through are both held. However, as shown in the first embodiment, the high-pass filter is switched by a switch. It may be configured to control on / off.

  As described above, according to the second embodiment of the present invention, detection of a distant target when receiving a leak of a transmission wave at the same time, which is difficult with an on-vehicle radar using the conventional multi-frequency step ICW method, is performed. Is possible.

  The radar device according to the present invention is intended to prevent traffic accidents and reduce the load on the driver, and is mounted on a vehicle such as an automobile to automatically detect obstacles around the vehicle and reflect the detection result. It can be used to increase the safety of vehicle travel.

It is a block diagram which shows the structure of the radar apparatus by Embodiment 1 of this invention. It is a figure which shows the modulation method and transmission / reception timing of the transmission signal in a multifrequency step ICW system. It is a block diagram which shows the internal structure of a high-pass filter. It is an amplitude characteristic figure which shows an example of the amplitude characteristic of a high-pass filter. It is a block diagram which shows the internal structure of a switch control means. It is a block diagram of the radar apparatus by Embodiment 2 of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1; Transmission / reception antenna, 2; Transmitter, 3; Circulator, 4; Receiver, 5; Switch, 6; Switch control means, 7: High-pass filter, 8; Frequency analysis means, 9; Target distance calculation means, 11; speed information acquisition means, 12; high-pass filter processing execution distance determination table, 13; high-pass filter processing execution determination means, 20; delay unit, 21; multiplier, 22; Means, 23; adder.

Claims (1)

A pulsed transmission signal is generated, the frequency of this transmission signal is sequentially modulated into a plurality of step frequencies, the frequency-modulated transmission signal is irradiated to the target as a transmission wave, and the reflected wave of the transmission wave reflected from this target In the on- vehicle radar device that calculates the relative speed and distance of the target by analyzing the frequency of the received signal obtained by receiving
A receiver for receiving a reflected wave from the target,
Enter the reception signals transferred from the receiver, a high-pass filter for suppressing a specific frequency component in the received signal,
A switch for turning on / off the suppression processing of the high-pass filter;
The switch, the distance to the target is turned on when the predetermined value or more by the range number of the received signal, the received signal or a high-pass filter processing in the switch control means and the receiver according to the switch to turn off when less than the predetermined value A frequency analysis means for inputting a later received signal and analyzing the frequency;
Target detection means for extracting a target signal from the result of the frequency analysis means;
Target distance calculation means for measuring the distance from the result of the target detection means to the target;
Bei to give a,
The switch control means includes
Speed information acquisition means for acquiring the moving speed of the own vehicle;
A high-pass filter processing execution distance determination table in which the predetermined distance for turning on the high-pass filter according to the vehicle speed is determined;
The high-pass filter in which the moving speed of the own vehicle from the speed information acquisition means and the received signal from the receiver are input, and the range number of the received signal is determined in the high-pass filter processing execution distance determination table The signal to turn on the high-pass filter is applied when the distance is longer than the predetermined distance, and the high-pass filter is turned off when the distance is closer than the predetermined distance. A radar apparatus comprising a high-pass filter processing execution determination means for outputting a signal .

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