JP5407412B2 - Radar equipment - Google Patents

Description

  The present invention relates to a radar device mounted on a vehicle.

  As a conventional radar device, for example, one described in Patent Document 1 is known. In the radar apparatus described in Patent Document 1, in a receiving antenna having an array antenna in which a plurality of element antennas are arranged vertically and horizontally, a part of the element antennas are arranged so as to be shifted in the up-down direction, whereby the target object is vertically and horizontally The two-dimensional orientation is detected by the monopulse method.

JP-A-11-287857

  By the way, in the conventional radar apparatus described above, a deviation (axial deviation) may occur in the center axis of the radar beam due to aging degradation or the like. Axial misalignment leads to a decrease in detection accuracy in the radar apparatus, and correction and learning are necessary. In order to correct or learn the axis deviation, it is necessary to calculate the axis deviation amount of the radar beam.

  Accordingly, an object of the present invention is to provide a radar apparatus capable of calculating the amount of axial deviation of the radar beam in the vertical and horizontal directions.

  The present invention provides a radar apparatus capable of detecting the vertical and horizontal directions of a moving target existing in front of the host vehicle, irradiating a radar beam toward the front of the host vehicle, and the distance and upper and lower of the moving target with respect to the host vehicle. Detection means for detecting the left and right direction, detection number determination means for determining whether the detection means has detected the distance of the moving target with respect to the vehicle and the vertical and horizontal directions for the same moving target a predetermined number of times, and detection number determination Based on the data detected a predetermined number of times for the same moving target when the means determines that the detecting means has detected the distance of the moving target relative to the host vehicle and the vertical and horizontal directions for the same moving target a predetermined number of times. And a deviation amount calculating means for calculating an axis deviation amount in the vertical and horizontal directions of the radar beam.

  In the radar apparatus according to the present invention, the distance and the vertical and horizontal directions (angle) of the moving target with respect to the own vehicle are detected a predetermined number of times for the same moving target by irradiating the radar beam toward the front of the own vehicle. The amount of misalignment of the radar beam in the vertical and horizontal directions is calculated based on the detected data. For this reason, the vertical and horizontal axis misalignment of the radar beam is detected by detecting the distance to the host vehicle and the vertical and horizontal directions for the same moving target, such as a preceding vehicle traveling in front of the host vehicle, for a predetermined number of times (observation for a long time). The amount can be calculated.

  Preferably, the vehicle further includes target presence range determining means for determining whether the height, lateral position, and distance of the moving target with respect to the host vehicle are within a predetermined range, and the deviation amount calculating means includes the target presence When the range determination means determines that the height, lateral position, and distance of the moving target with respect to the host vehicle are within predetermined ranges, the amount of axial deviation of the radar beam in the vertical and horizontal directions is calculated. In this case, since the distance of the moving target with respect to the host vehicle and appropriate detection data in the vertical and horizontal directions can be obtained, the vertical and horizontal axis misalignment amounts of the radar beam can be calculated with higher accuracy.

  Preferably, the vehicle further includes traveling path determination means for determining whether or not the host vehicle and the moving target are both traveling on a straight road, and the deviation amount calculating means is configured so that the traveling path determination means uses the traveling path determination means. When it is determined that all marks are traveling on a straight road, the amount of axial deviation of the radar beam in the vertical and horizontal directions is calculated. In this case, since the moving target is present in front of the host vehicle, the distance of the moving target with respect to the host vehicle and appropriate detection in the vertical and horizontal directions are performed. Therefore, it is possible to calculate the amount of axial deviation of the radar beam in the vertical and horizontal directions with higher accuracy.

  According to the present invention, it is possible to calculate the amount of axial deviation of the radar beam in the vertical and horizontal directions. Thereby, the reliability of the target detection by the radar apparatus capable of detecting the vertical and horizontal directions can be maintained.

1 is a block diagram showing a schematic configuration of a radar apparatus according to an embodiment of the present invention. It is a flowchart which shows the detail of the process sequence of angle deviation amount calculation performed by ECU. It is a figure which shows the relationship between the own vehicle and a preceding vehicle.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a preferred embodiment of a radar apparatus according to the invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing a schematic configuration of a radar apparatus according to an embodiment of the present invention. In the figure, a radar device 1 is mounted on a vehicle. The radar apparatus 1 is an apparatus that can detect the vertical and horizontal directions of a vehicle and can calculate the amount of axial deviation of the radar beam in the vertical and horizontal directions.

  The radar apparatus 1 includes a radar 2 and an ECU (Electronic Control Unit) 3 connected to the radar 2.

  The radar 2 is disposed in the front part of the host vehicle. The radar 2 irradiates a radar beam two-dimensionally left and right and up and down, receives a reflected wave reflected on the surface of a target (for example, another vehicle, roadside object, pedestrian, etc.), and The distance from the target, the direction (angle) of the target relative to the host vehicle, and the relative speed between the host vehicle and the target are detected. The distance from the target is detected by using the time from when the radar beam is irradiated until the reflected wave returns, and the direction of the target is detected by using the angle of the reflected wave and is relative to the target. The velocity is detected by utilizing the frequency change (Doppler effect) of the reflected wave. A detection signal of the radar 2 is sent to the ECU 3. As the radar 2, a laser radar, a radio wave radar, or the like is used.

  The ECU 3 performs a predetermined process based on the detection signal sent from the radar 2 and calculates the amount of axial deviation of the radar beam in the vertical and horizontal directions. Specifically, the ECU 3 extracts a preceding vehicle (moving target) that travels ahead on the same lane as the host vehicle based on the detection signal. When the ECU 3 determines that the distance to the host vehicle and the up / down / left / right direction of the extracted preceding vehicle have been detected a predetermined number of times, the ECU 3 moves the radar beam up / down / left / right based on the data detected by the radar 2 a predetermined number of times. The direction angle deviation amounts Δθx and Δθy (axis deviation amounts) are calculated. Data indicating the angular deviation amounts Δθx and Δθy in the vertical and horizontal directions of the radar beam calculated by the ECU 3 is used for correction and learning of the axial deviation. Further, for example, when any of the angle deviation amounts Δθx and Δθy is larger than a predetermined angle (for example, 10 °), the ECU 3 may cause the driver to teach that fact by means of teaching.

  FIG. 2 is a flowchart showing details of a processing procedure for calculating the angular deviation amount executed by the ECU 3.

  In FIG. 2, first, a radar beam is irradiated in front of the host vehicle by the radar 2 (step S01). Next, the reflected wave of the irradiated radar beam is received by the radar 2, and the distance to the target ahead of the host vehicle and the vertical and horizontal directions of the target are detected (step S02).

  Subsequently, a moving target (preceding vehicle) whose reflection level of the reflected wave of the irradiated radar beam is equal to or higher than a predetermined value is selected (procedure S03). This predetermined value is a value set so that a moving target (for example, a motorcycle) other than the four-wheeled vehicle is excluded from the moving target traveling in front of the host vehicle. As shown in FIG. 3A, for example, the motorcycle B traveling in front of the host vehicle M1 may travel on an end in the host lane (lane). Therefore, if motorcycle B is selected as the preceding vehicle, there is a possibility that the left and right directions of the radar beam are erroneously learned. Therefore, it is preferable to exclude motorcycle B from the preceding vehicle. Accordingly, by selecting a moving target having a reflection level equal to or higher than the predetermined value, a preceding vehicle other than the motorcycle traveling in front of the host vehicle M1 is selected.

  Next, a preceding vehicle on the own lane where the own vehicle M1 travels is extracted (procedure S04). Specifically, as shown in FIG. 3B, the host vehicle M1 travels by statistically calculating the ratio that the preceding vehicle exists within a predetermined range from the center of the traveling direction of the host vehicle M1. A preceding vehicle M2 traveling in the same lane as the own lane is extracted.

  When the preceding vehicle M2 on the own lane where the own vehicle M1 travels is extracted, it is determined whether or not the own vehicle M1 and the preceding vehicle M2 are traveling on a straight line (straight road) (step S05). Specifically, whether or not the host vehicle M1 is traveling on a straight line is determined based on an average value of a steering angle of a steering wheel, a yaw rate, or the like sent from a sensor mounted on the host vehicle M1, or a statistical processing result. Is done. On the other hand, whether or not the preceding vehicle M2 is traveling on a straight line is determined by estimating the road shape (straight road or curve) ahead in the traveling direction by an image sensor, radar 2 or the like mounted on the host vehicle M1. It is judged by. For example, as shown in FIG. 3C, even when the host vehicle M1 and the preceding vehicle M2 are traveling on the same lane, the host vehicle M1 is traveling on a straight line and the preceding vehicle M2 is curved. When traveling, the detection data of the preceding vehicle M2 is excluded from the learning data for calculating the angle deviation amounts Δθx and Δθy. If it is determined that the host vehicle M1 and the preceding vehicle M2 are traveling on a straight line, the process proceeds to step S06. On the other hand, if it is determined that either one or both of the host vehicle M1 and the preceding vehicle M2 is not traveling on a straight line, the process ends.

In step S06, it is determined whether or not the lateral position and height of the preceding vehicle M2 are within a predetermined value. Specifically, the lateral position X of the preceding vehicle M2 with respect to the host vehicle M1 is in the range of X _max >X> X _min , and the height H of the preceding vehicle M2 with respect to the host vehicle M1 is H _max >H> H _min. It is determined whether it is within the range. If the lateral position X of the preceding vehicle M2 is not within the range of X _max >X> X _min , for example, learning data indicating that the preceding vehicle is deviating from the front of the host vehicle M1, a preceding vehicle traveling in an adjacent lane, or the like. Excluded from. Further, when the height H of the preceding vehicle M2 is not within the range of H _max >H> H _min , it may be reflected from below the apparent road surface due to, for example, a large truck or road surface reflection. It is excluded from the learning data as a so-called ghost (a value with a large negative height) that can be seen. If it is determined that the lateral position X and height H of the preceding vehicle M2 are within the predetermined values, the process proceeds to step S07. On the other hand, when it is determined that either one or both of the lateral position X and the height H of the preceding vehicle M2 are not within the predetermined value, the process ends.

In step S07, it is determined whether the inter-vehicle distance between the host vehicle M1 and the preceding vehicle M2 is within a predetermined range. Specifically, it is determined whether the inter-vehicle distance L between the host vehicle M1 and the preceding vehicle M2 is within a range of L _max >L> L _min . The preceding vehicle M2 whose distance L between the host vehicle M1 and the host vehicle M1 is too close is excluded from the learning data because the change in the vertical and horizontal angles of the reflection position (point) of the radar beam is large. On the other hand, the preceding vehicle M2, which is too far from the host vehicle M1, is more likely to be a vehicle in an adjacent lane, and is excluded from the learning data because the change in the vertical and horizontal angles is small. If it is determined that the inter-vehicle distance L between the host vehicle M1 and the preceding vehicle M2 is within a predetermined range, the process proceeds to step S08. On the other hand, when it is determined that the inter-vehicle distance L between the host vehicle M1 and the preceding vehicle M2 is not within the predetermined range, the process ends.

  In step S08, it is determined whether or not the same preceding vehicle M2 has been detected a predetermined number of times or more. Specifically, by performing tracking (tracking), it is determined whether or not the same preceding vehicle M2 has been detected a predetermined number of times or more. The detection data detected for the same preceding vehicle M2 is temporarily stored in the memory (not shown) of the ECU 3 as learning data. If the same preceding vehicle M2 is detected a predetermined number of times or more, the process proceeds to step S09. On the other hand, if the same preceding vehicle M2 has not been detected a predetermined number of times, the process ends.

  In step S09, the angle deviation amounts Δθx and Δθy in the vertical and horizontal directions of the laser beam are calculated. Specifically, average value processing and statistical processing are performed on learning data that is detected a predetermined number of times or more for the same preceding vehicle M2 and is temporarily stored in the memory of the ECU 3. Then, by calculating the difference between the vertical and horizontal angles of the radar beam indicated by the data subjected to the average value processing and statistical processing and the preset reference angle of the radar beam, the vertical and horizontal directions of the laser beam are calculated. The angle deviation amounts Δθx and Δθy in the direction are calculated. The reference angle is an angle set in advance for each radar 2 mounted on the vehicle. As described above, the angle deviation amounts Δθx and Δθy (axis deviation amounts) of the radar beam in the vertical and horizontal directions are calculated.

  In the above, the steps S01 to S03 of the radar 2 and the ECU 3 constitute detection means for irradiating a radar beam toward the front of the host vehicle and detecting the distance and the vertical and horizontal directions of the moving target with respect to the host vehicle. The above steps S04 and S05 of the ECU 3 constitute a travel path determination means for determining whether or not both the host vehicle and the moving target are traveling on a straight road. The above steps S06 and S07 of the ECU 3 constitute a target presence range judging means for judging whether or not the height, lateral position and distance of the moving target with respect to the own vehicle are within a predetermined range. The above-described procedure S08 of the ECU 3 constitutes a detection number determination unit that determines whether or not the detection unit has detected the distance of the moving target with respect to the own vehicle and the vertical and horizontal directions for the same moving target a predetermined number of times. Step S09 of the ECU 3 is performed when the detection number determination unit determines that the detection unit has detected the distance of the moving target with respect to the host vehicle and the vertical and horizontal directions for the same moving target a predetermined number of times. Based on the data detected for a predetermined number of times, a deviation amount calculating means for calculating an axial deviation amount of the radar beam in the vertical and horizontal directions is configured.

  As described above, in the radar apparatus 1 of the present embodiment, the preceding vehicle that travels in front of the vehicle on the straight road on the same lane as the host vehicle M1 by irradiating the radar beam toward the front of the host vehicle M1. Extract M2. Then, when the distance and the vertical and horizontal directions of the preceding vehicle M2 with respect to the host vehicle M1 are detected a predetermined number of times for the extracted preceding vehicle M2, the angular deviation amount Δθx of the radar beam in the vertical and horizontal directions is detected based on the detected data. Δθy (axis deviation) is calculated. Therefore, for example, when the host vehicle M1 travels following the preceding vehicle M2, the distance and the up / down / left / right direction of the preceding vehicle M2 with respect to the own vehicle M1 are detected (observed for a long time) a predetermined number of times, and the up / down and left / right directions of the radar beam are detected. The direction angle deviation amounts Δθx and Δθy can be calculated simultaneously. Thereby, the reliability of the target detection by the radar apparatus 1 capable of detecting the vertical and horizontal directions can be maintained.

  Further, the radar apparatus 1 according to the present embodiment determines whether the height H, the lateral position X, and the inter-vehicle distance L of the preceding vehicle M2 with respect to the host vehicle M1 are within predetermined ranges. Thereby, the motorcycle B, the truck, and the like are excluded from the preceding vehicle M2, and an appropriate change in the vertical and horizontal angles of the reflection position of the radar beam in the preceding vehicle M2 is obtained. When it is determined that the height H, the lateral position X, and the inter-vehicle distance L of the preceding vehicle M2 with respect to the host vehicle M are within predetermined ranges, the angular deviation amounts Δθx, Δθy of the radar beam in the vertical and horizontal directions are calculated. Therefore, the angular deviation amounts Δθx and Δθy can be calculated with higher accuracy.

  The present invention is not limited to the above embodiment. For example, in the above embodiment, as a method of extracting the preceding vehicle M2 on the own lane where the own vehicle M1 travels, the ratio of the preceding vehicle M2 existing within a predetermined range from the center of the traveling direction of the own vehicle M1 is statistically calculated. Although it is calculating, it may be extracted by other methods. For example, a vector (relative vector) is calculated from the motion of the preceding vehicle M2, and the preceding vehicle M2 on the own lane on which the own vehicle M1 travels depends on whether the direction of the vector is toward or away from the center of the own vehicle M1. It may be extracted.

  Further, in the above embodiment, based on the yaw rate of the host vehicle M1 and the shape of the road on which the preceding vehicle M2 travels, it is determined whether the host vehicle M1 and the preceding vehicle M2 are traveling on a straight line, and the vehicle travels on a curve. Although the detection data of the preceding vehicle M2 is excluded from the learning data, the detection data may be excluded from the learning data by other methods. For example, in the learning data temporarily stored in the memory of the ECU 3 in order to calculate the angle deviation amounts Δθx and Δθy, the detection data of the preceding vehicle M2 is traced back a predetermined time from the time when the host vehicle M1 traveled the curve. May be excluded from the learning data. More specifically, when the host vehicle M1 is traveling on a curve at t = T1 among the data temporarily stored in the memory, t = T1- (L / V) (L: host vehicle) The detection data of the time corresponding to the inter-vehicle distance between M and the preceding vehicle M2, V: the speed of the own vehicle M1 at that time) is excluded from the statistical processing.

  DESCRIPTION OF SYMBOLS 1 ... Radar apparatus, 2 ... Radar (detection means), 3 ... ECU (detection means, detection frequency judgment means, deviation amount calculation means, target existence range judgment means, travel path judgment means), Δθx, Δθy, angular deviation amount (Axis deviation).

Claims (3)

In a radar device capable of detecting the vertical and horizontal directions of a moving target existing in front of the host vehicle,
Irradiating a radar beam toward the front of the host vehicle, detecting the distance and vertical and horizontal directions of the moving target with respect to the host vehicle, and the reflected level of the reflected wave of the radar beam is a moving object other than a four-wheel vehicle. Detecting means for selecting a moving target greater than or equal to a predetermined value for excluding the target ;
A detection number determination means for determining whether the distance and the vertical and horizontal directions of the moving target with respect to the host vehicle have been detected a predetermined number of times for the same moving target selected by the detection means;
If the detection means determines that the detection means has detected the distance and the vertical and horizontal directions of the moving target with respect to the host vehicle for the same moving target a predetermined number of times. A radar apparatus comprising: a deviation amount calculating means for calculating an axis deviation amount in the vertical and horizontal directions of the radar beam based on the data detected a predetermined number of times. Further comprising target presence range judging means for judging whether the height, lateral position and distance of the moving target with respect to the own vehicle are within a predetermined range,
The deviation amount calculating means determines that the radar beam is detected when the target presence range determining means determines that the height, lateral position and distance of the moving target with respect to the host vehicle are within a predetermined range. The radar apparatus according to claim 1, wherein the amount of axial deviation in the vertical and horizontal directions is calculated. The vehicle further includes a travel path determination means for determining whether the host vehicle and the moving target are both traveling on a straight road,
The deviation amount calculation means calculates an axial deviation amount of the radar beam in the vertical and horizontal directions when the travel path determination means determines that the host vehicle and the moving target are both traveling on a straight road. The radar apparatus according to claim 1, wherein the radar apparatus calculates the radar apparatus.

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