JP6500838B2 - 速度検出装置 - Google Patents
速度検出装置 Download PDFInfo
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- JP6500838B2 JP6500838B2 JP2016099849A JP2016099849A JP6500838B2 JP 6500838 B2 JP6500838 B2 JP 6500838B2 JP 2016099849 A JP2016099849 A JP 2016099849A JP 2016099849 A JP2016099849 A JP 2016099849A JP 6500838 B2 JP6500838 B2 JP 6500838B2
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- 238000001514 detection method Methods 0.000 title claims description 33
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 description 10
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- 230000010354 integration Effects 0.000 description 4
- 238000005070 sampling Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/345—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using triangular modulation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
Description
<構成>
まず、図1を参照して、レーダ装置1の構成について説明する。レーダ装置1は、発振器11と、増幅器12と、分配器14と、送信アンテナ16と、受信アンテナ部20と、受信スイッチ21と、増幅器22と、ミキサ23と、フィルタ24と、A/D変換器25と、を備え、車両に搭載されたミリ波レーダである。
次に、相対速度Vrの折り返しについて説明する。ここでは、パルスi−2〜i+2から、相対速度Vrを算出する場合について説明する。
次に、観測範囲Rgの設定の仕方について説明する。図5に、設定した観測範囲Rgを示す。相対速度Vr=物標の速度−自車速度Vsとしており、物標の速度が自車速度Vsと同じ向きで自車速度Vsよりも大きい場合に、正の値となっている。通常、自車速度Vsに応じて、どのような相対速度Vrを持った物標を注意すべきかが決まるため、自車速度Vsに応じて、観測範囲Rgを限定する。詳しくは、次の(1)〜(3)の条件を満たすように、観測範囲Rgを設定する。さらに、ナイキスト数を一意に決めるために、観測範囲Rgは、ナイキスト速度Vnの2倍となる幅よりも小さい範囲に設定する。
次に、物標の相対速度Vrを検出する処理手順について、図6のフローチャートを参照して説明する。本処理手順は、IF信号が検出される都度、処理装置10が実行する。
続いて、ステップS20では、車速センサ50の測定値から自車速度Vsを検出する。
続いて、ステップS60では、ステップS50で検出した測定値Vdと式(4)とから、相対速度Vrの候補値を算出する。例えば、ナイキスト数を−5〜5として、相対速度Vrの候補値を複数算出する。
以上説明した本実施形態によれば、以下の効果が得られる。
(1)観測範囲Rgを、自車速度Vsに応じた範囲で、且つナイキスト速度Vnの2倍となる幅よりも小さい範囲に設定したことにより、1種類の周期ΔTを用いて、観測対象として適切な物標の相対速度Vrを一意に検出することができる。
(3)自車速度Vsが大きいほど、観測範囲Rgの上限値を小さくすることで、観測対象として不適切な物標を観測範囲Rgから除外し、観測範囲Rgを効率的に設定することができる。特に、自車速度Vsが大きいほど、静止物の相対速度Vrの大きさが大きくなるので、観測範囲Rgの下限値を小さくしなければならないが、上限値を小さくすることで、相対速度Vrが一意に決まる範囲内に下限値を収めることができる。
以上、本発明を実施するための形態について説明したが、本発明は上述の実施形態に限定されることなく、種々変形して実施することができる。
Claims (4)
- 一定の幅のパルス状に変調され且つ一定の周期で繰り返す送信信号に基づくレーダ波を送信し、前記レーダ波を反射した物標からの反射波を受信する車載レーダ(1)により受信された受信信号から、前記車載レーダが搭載された車両に対する前記物標の相対速度を検出する速度検出装置(10)であって、
前記車両の自車速度を検出する速度検出部(S20)と、
前記受信信号に含まれるパルス同士の位相差に応じた前記相対速度の候補を検出する候補検出部(S30〜S60)と、
前記相対速度の観測範囲を、前記速度検出部により検出された前記自車速度に応じた範囲で、且つ、前記パルスの繰り返し周期に応じたナイキスト速度の2倍となる幅よりも小さい範囲に設定する範囲設定部(S70)と、
前記候補検出部により検出された前記相対速度の候補のうち、前記範囲設定部により設定された前記観測範囲に入る候補を前記相対速度として選択する選択部(S80)と、を備える、速度検出装置。 - 前記範囲設定部は、前記速度検出部により取得された前記自車速度が予め設定された速度閾値よりも小さい場合は、前記観測範囲を予め設定された基準範囲よりも狭く設定する、または、自車速度Vsが小さいほど、前記観測範囲が狭くなるように設定した、請求項1に記載の速度検出装置。
- 前記範囲設定部は、前記速度検出部により取得された前記自車速度が大きいほど、前記観測範囲の上限値を小さく設定する、請求項1又は2に記載の速度検出装置。
- 前記範囲設定部は、前記観測範囲を、前記自車速度を負にした値に等しい前記相対速度が入るように設定する、請求項1〜3のいずれか1項に記載の速度検出装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016099849A JP6500838B2 (ja) | 2016-05-18 | 2016-05-18 | 速度検出装置 |
US16/302,256 US10871557B2 (en) | 2016-05-18 | 2017-05-18 | Velocity detection apparatus |
PCT/JP2017/018666 WO2017200041A1 (ja) | 2016-05-18 | 2017-05-18 | 速度検出装置 |
DE112017002559.1T DE112017002559T5 (de) | 2016-05-18 | 2017-05-18 | Geschwindigkeitserfassungsvorrichtung |
CN201780030467.2A CN109154652B (zh) | 2016-05-18 | 2017-05-18 | 速度检测装置 |
Applications Claiming Priority (1)
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JP2016099849A JP6500838B2 (ja) | 2016-05-18 | 2016-05-18 | 速度検出装置 |
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JP2017207368A JP2017207368A (ja) | 2017-11-24 |
JP6500838B2 true JP6500838B2 (ja) | 2019-04-17 |
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Country Status (5)
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US (1) | US10871557B2 (ja) |
JP (1) | JP6500838B2 (ja) |
CN (1) | CN109154652B (ja) |
DE (1) | DE112017002559T5 (ja) |
WO (1) | WO2017200041A1 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6494712B2 (ja) * | 2017-09-05 | 2019-04-03 | 三菱電機株式会社 | レーダ装置 |
JP2020030140A (ja) * | 2018-08-23 | 2020-02-27 | 株式会社デンソーテン | 物標検出装置および物標検出方法 |
JP2020139776A (ja) * | 2019-02-27 | 2020-09-03 | 沖電気工業株式会社 | Fmcw方式レーダ装置 |
JP7116000B2 (ja) * | 2019-03-15 | 2022-08-09 | 株式会社Soken | 物体追跡装置 |
US20220146664A1 (en) * | 2019-03-28 | 2022-05-12 | Sony Semiconductor Solutions Corporation | Signal processing device, signal processing method, program, and information processing device |
CN112444803B (zh) * | 2019-08-29 | 2024-02-27 | 比亚迪股份有限公司 | 车载雷达的目标检测方法和检测装置、车辆 |
CN112444802A (zh) * | 2019-08-29 | 2021-03-05 | 比亚迪股份有限公司 | 车载雷达的目标检测方法和检测装置、车辆 |
US11592548B2 (en) * | 2019-09-27 | 2023-02-28 | Intel Corporation | Methods and apparatus to improve doppler velocity estimation |
JP7351706B2 (ja) * | 2019-10-15 | 2023-09-27 | 株式会社Soken | 物体追跡装置 |
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US5027122A (en) * | 1990-03-12 | 1991-06-25 | Raytheon Company | Method and apparatus for doppler velocity de-aliasing |
JP2910476B2 (ja) * | 1993-02-19 | 1999-06-23 | 日産自動車株式会社 | 車両近接警報装置 |
JP3915776B2 (ja) * | 2003-12-09 | 2007-05-16 | 日産自動車株式会社 | 先行車両検出装置、自車両制御装置及び先行車両検出方法 |
US7053813B1 (en) * | 2004-04-22 | 2006-05-30 | University Corporation For Atmospheric Research | Radar system |
FR2886737B1 (fr) * | 2005-06-02 | 2007-09-07 | Meteo France Etablissement Pub | Procede de mesure de la vitesse de l'air par radar doppler |
US7504989B2 (en) * | 2006-08-09 | 2009-03-17 | Fujitsu Ten Limited | On-vehicle radar device |
US7605744B1 (en) * | 2008-06-03 | 2009-10-20 | Vaisala Oyj | Method for extension of unambiguous range and velocity of a weather radar |
WO2011007828A1 (ja) * | 2009-07-16 | 2011-01-20 | 国立大学法人 千葉大学 | Fm-cwレーダ装置、ドップラ速度測定方法 |
DE102009057191A1 (de) * | 2009-12-05 | 2011-06-09 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum eindeutigen Bestimmen einer Entfernung und/oder einer relativen Geschwindigkeit eines Objektes, Fahrerassistenzeinrichtung und Kraftfahrzeug |
JP2011149871A (ja) * | 2010-01-22 | 2011-08-04 | Toshiba Corp | 周波数検出器、この周波数検出器を備える合成帯域レーダ、及び飛翔体誘導装置 |
JP5811804B2 (ja) * | 2011-11-24 | 2015-11-11 | トヨタ自動車株式会社 | 車両用周辺監視装置 |
JP6075846B2 (ja) * | 2012-10-30 | 2017-02-08 | 古野電気株式会社 | レーダ装置、及び速度算出方法 |
JP6369035B2 (ja) * | 2013-02-05 | 2018-08-08 | 株式会社デンソー | 物標検出装置 |
US20150070207A1 (en) * | 2013-09-06 | 2015-03-12 | Valeo Radar Systems, Inc. | Method and Apparatus For Self Calibration of A Vehicle Radar System |
JP6364986B2 (ja) * | 2014-06-13 | 2018-08-01 | 株式会社デンソー | レーダ装置 |
JP6303964B2 (ja) * | 2014-10-03 | 2018-04-04 | 株式会社デンソー | レーダ装置 |
JP6511253B2 (ja) | 2014-11-25 | 2019-05-15 | 日本光電工業株式会社 | 生体情報表示装置 |
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2016
- 2016-05-18 JP JP2016099849A patent/JP6500838B2/ja active Active
-
2017
- 2017-05-18 US US16/302,256 patent/US10871557B2/en active Active
- 2017-05-18 WO PCT/JP2017/018666 patent/WO2017200041A1/ja active Application Filing
- 2017-05-18 CN CN201780030467.2A patent/CN109154652B/zh active Active
- 2017-05-18 DE DE112017002559.1T patent/DE112017002559T5/de active Pending
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Publication number | Publication date |
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CN109154652A (zh) | 2019-01-04 |
US20190120953A1 (en) | 2019-04-25 |
JP2017207368A (ja) | 2017-11-24 |
DE112017002559T5 (de) | 2019-02-21 |
CN109154652B (zh) | 2022-12-13 |
WO2017200041A1 (ja) | 2017-11-23 |
US10871557B2 (en) | 2020-12-22 |
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