JP6542547B2 - Radar apparatus and object detection method for radar apparatus - Google Patents

Description

  The present invention relates to a radar device and an object detection method for the radar device.

  Conventionally, as a radar apparatus fixed and used at a predetermined place, there are some which are indicated by patent documents 1, for example.

  In the technique disclosed in Patent Document 1, the pulse signal is synchronized by a trigger to prevent interference from occurring.

Japanese Patent Application Publication No. 07-333328

  By the way, in the prior art as disclosed in Patent Document 1, for example, when a fixed object is present on the surface of the earth, the fixed object may produce a fake object, and this fake object is an object. There is a problem of false detection as

  The present invention has been made in view of the above points, and an object of the present invention is to provide a radar device and an object detection method of the radar device capable of preventing false detection of a false target as a target.

In order to solve the above problems, according to the present invention, in a radar device fixed and used at a predetermined place, detection means for irradiating radio waves to an object and detecting the object based on the reflected wave; Based on the positional relationship between the storage means for storing information on fixed objects present in the detection area, the object detected by the detection means, and the fixed objects stored in the storage means And identifying means for identifying the false object, and removing means for removing the fake object identified by the identifying means, wherein the identifying means determines the false object as a mirror image generated from the object due to the presence of the fixed object. thereby identified as objects, if the object is moved, when the operation of the object is transmitted through the fixed object is detected, it identifies the object as a fake object, to characterized in that .
According to such a configuration, it is possible to prevent false detection of a fake target as a target.

Further, according to the present invention, the identification means compares the information on the fixed object stored in the storage means with the information on the object detected by the detection means, and generates a mirror image of the fixed object. It is characterized in that a set of objects located at a symmetrical position is specified, and an object present at a position farther than the fixed object among the set of objects is specified as a fake object.
According to such a configuration, the mirror image generated by the fixed object can be reliably removed by a simple process.

Further, according to the present invention, when the object moves, the object is determined as a fake object when the object is newly detected according to the positional relationship with the fixed object. It is characterized by specifying.
According to such a configuration, the mirror image can be reliably removed by a simple process based on the movement of the object.

Further, the present invention is characterized in that the specifying means learns in advance a mirror image generated for the object, and specifies the fake object based on a learning result.
According to such a configuration, it is possible to reliably remove the mirror image by learning in advance how the mirror image appears according to the characteristics of the fixed object by learning processing.

Further, according to the present invention, in the case where the specific unit detects that the swinging target is detected by the detection unit, the specific unit determines that the target is present at the same position as the fixed target by the information on the fixed target. , The object is identified as a fake object.
According to such a configuration, when the position of the fixed object changes due to an external force or the like, erroneous detection of the fixed object as an object can be prevented.

Further, the present invention is characterized in that the detection means transmits a coherent pulse-like radio wave.
According to such a configuration, since the relative velocity of the object can be detected with high accuracy, false detection of a fake object as the object can be surely prevented.

Further, the present invention is characterized in that the detection means has a spread in the horizontal direction, and transmits a fan-shaped radio wave whose spread in the vertical direction is narrower than that in the horizontal direction.
According to such a configuration, it is possible to reliably prevent false detection of a false target as a target by preventing generation of a mirror image due to a fixed object existing in the vertical direction.

Further, according to the present invention, there is provided an object detection method for a radar device, which is fixed and used at a predetermined place, comprising: detecting an object by irradiating a radio wave to the object and detecting the object based on a reflected wave. False, based on the storage step of storing information on fixed objects present in the area in the storage device, and the positional relationship between the object detected in the detection step and the fixed objects stored in the storage device The identification step of identifying an object, and the removal step of removing the fake object identified in the identification step, wherein the identification step includes a mirror image generated from the object due to the presence of the fixed object. When the movement of the target through the fixed object is detected when the target moves while specifying the target as a false target, the target is false Identified as elephant thereof, characterized in that.
According to such a method, it is possible to prevent false detection of a fake object as an object.

  According to the present invention, it is possible to provide a radar device and an object detection method of the radar device capable of preventing false detection of a fake object as the object.

It is a figure showing an example of composition of a radar installation concerning a 1st embodiment of the present invention. It is a figure explaining operation | movement of 1st Embodiment of this invention. It is a figure explaining operation | movement of 1st Embodiment of this invention. It is a flowchart explaining the detail of operation | movement of 1st Embodiment of this invention. It is a figure explaining operation | movement of 1st Embodiment of this invention. It is a figure explaining operation | movement of 2nd Embodiment of this invention. It is a figure explaining operation | movement of 2nd Embodiment of this invention. It is a flowchart explaining the detail of operation | movement of 2nd Embodiment of this invention. It is a figure explaining operation | movement of 3rd Embodiment of this invention. It is a flowchart explaining the detail of operation | movement of 3rd Embodiment of this invention. It is a flowchart explaining the detail of operation | movement of the modification of this invention. It is a figure explaining operation of modification embodiment of the present invention.

  Next, an embodiment of the present invention will be described.

(A) Description of Configuration of First Embodiment of the Present Invention FIG. 1 is a block diagram showing a configuration example of a radar device according to a first embodiment of the present invention. As shown in FIG. 1, the radar apparatus according to the first embodiment of the present invention includes a transmitting antenna TX, receiving antennas RX1 and RX2, a received signal switching unit 10, a control unit 11, a transmitting unit 12, an oscillating unit 13, and a receiving unit. 14, an A / D (Analog to Digital) conversion unit 15, a calculation unit 16, a false target removal unit 17, and a storage unit 18 are main components. The radar apparatus according to the first embodiment is fixedly disposed at a predetermined place, transmits a plurality of coherent pulse signals to an object such as a person, an animal, a bicycle, a car, etc. The radar apparatus measures the distance to the object and the relative velocity of the object by Fourier transforming the reflected wave of.

  Here, the transmission antenna TX is an antenna that transmits the pulse signal supplied from the transmission unit 12 to the object as a radio wave. A radio wave transmitted from the transmission antenna TX is, for example, in a millimeter wave or quasi-millimeter wave band, has a horizontal spread, and has a fan-shaped directivity having a beam width narrower than that in the horizontal direction in the vertical direction. . The receiving antennas RX1 and RX2 receive radio waves transmitted from the transmitting antenna TX and reflected by an object present in the detection area (area corresponding to the time to be sampled by the A / D converter 15), It is an antenna supplied to the reception signal switching unit 10 as a signal. The receiving antennas RX1 and RX2 are arranged horizontally at a predetermined distance.

  The reception signal switching unit 10 receives a reception signal from the reception antennas RX1 and RX2 and generates a sum signal obtained by adding the both and a difference signal that is the difference between the two, and selects either the sum signal or the difference signal To the receiving unit 14.

  The control unit 11 controls the transmission unit 12 to transmit a pulse signal at a predetermined timing, and controls the reception signal switching unit 10 to supply a sum signal or a difference signal to the reception unit 14.

  The transmission unit 12 modulates the high frequency signal supplied from the oscillation unit 13 to generate a high frequency pulse signal and radiates it into space via the transmission antenna TX.

  The oscillating unit 13 oscillates at a predetermined frequency, and supplies the obtained high frequency signal (local signal) to the receiving unit 14 and the transmitting unit 12.

  The receiving unit 14 demodulates the reception signal supplied from the reception signal switching unit 10 with the high frequency signal supplied from the oscillation unit 13 and supplies the demodulated signal to the A / D conversion unit 15.

  The A / D conversion unit 15 samples the signal supplied from the reception unit 14 at a predetermined cycle, converts the signal into a digital signal by A / D conversion, and supplies the digital signal to the calculation unit 16.

  The calculation unit 16 includes an azimuth calculation unit 16-1, a distance calculation unit 16-2, and a relative speed calculation unit 16-3 as main components. Here, the direction calculation unit 16-1 calculates the direction of the object. The distance calculation unit 16-2 calculates the distance to the object. The relative velocity computing unit 16-3 detects the velocity relative to the object.

  The fake object removing unit 17 refers to the information on the fixed object stored in the storage unit 18 to identify the fake object, and outputs information after removing the identified fake object. In the present specification, a fixed object refers to an object (for example, a wall, a tree, a structure, etc.) that reflects radio waves fixedly disposed in a detection area of a radar device. In addition, a fake object refers to a mirror image or the like generated from a true object (for example, a person, an animal, a bicycle, a car, etc.) by the influence of a fixed object.

  The storage unit 18 stores information on the position, size, and the like of fixed objects such as walls, trees, and structures, which are present in the detection area of the radar device.

(B) Description of Operation of the First Embodiment of the Present Invention Next, the operation of the first embodiment of the present invention will be described. FIG. 2 is a diagram for explaining the operation of the first embodiment shown in FIG. In FIG. 2, the XY plane indicates a horizontal plane, and the Z-axis direction indicates a vertical direction. The fixed object 50 is parallel to the Z-Y plane, has a certain size, reflects radio waves, for example, is constituted by a wall or the like, and is disposed in a fixed state so that its position does not move There is. The object 60 is, for example, a person, an animal, a bicycle, a car or the like.

  In FIG. 2, the radio wave transmitted from the transmitting antenna TX propagates in the X axis direction, is reflected by the object 60, propagates in the reverse direction in the X axis direction, and is then received by the receiving antennas RX1 and RX2 . Thereby, the object 60 is detected. By the way, a part of the radio wave transmitted from the transmitting antenna TX is reflected by the fixed object 50 and then reflected by the object 60, reflected again by the fixed object 50, and received by the receiving antennas RX1 and RX2. The reflected wave thus multi-reflected is detected by the radar device as an object 61 present at a mirror-symmetrical position with respect to the fixed object 50. This object 61 is a fake object that does not actually exist.

  In the first embodiment, as described above, the object 61 that does not actually exist is identified and removed by arithmetic processing. The principle of operation will be described with reference to FIG. FIG. 3A shows information on detection results by the radar device, and FIG. 3B shows information on fixed objects stored in the storage unit 18 shown in FIG. 1 and information obtained from information on fixed objects. It shows. The storage unit 18 stores information on the position and the size of the fixed object 50. In the radar apparatus according to the first embodiment, when the information of the detection result as shown in FIG. 3A is obtained by the calculation of the calculation unit 16, the false target removal unit 17 is stored in the storage unit 18. The information on the fixed object is referred to, and objects in mirror-symmetrical relationship with the fixed object 50 are identified. In the example of FIG. 3A, three objects 70 to 72 are detected. The radar apparatus refers to the information on the fixed object as shown in FIG. 3B stored in the storage unit 18, and determines that the object 71 in FIG. 3A is the fixed object from its position. . Further, it is determined that the objects 70 and 72 exist in mirror-symmetrical positions with respect to the object 71 which is the fixed object 50. Next, the fake target object removing unit 17 determines that the target object 72 having a longer distance among the subjects 71 and 72 in the relation of the mirror image target is the fake target object. That is, as shown in FIG. 3B, when the object 60 is present in front of the fixed object 50, the object detected at the mirror image position with respect to the fixed object 50 is a false image because it is a mirror image. Determined as an object. Then, such a fake object is subjected to removal processing, and then output to the circuit in the subsequent stage. The fixed object 50 may also be removed from the detection result.

  Next, with reference to FIG. 4, the details of the process performed in the first embodiment will be described. When the flowchart shown in FIG. 4 is started, the following steps are performed.

  In step S10, the control unit 11 controls the transmission unit 12 to transmit a pulse signal from the transmission antenna TX. The pulse signal thus transmitted is reflected by the object and returns as a reflected wave.

  In step S11, the control unit 11 receives a pulse signal. More specifically, the control unit 11 controls the reception signal switching unit 10 to select the sum signal or the difference signal, and supplies the sum signal or the difference signal to the reception unit 14. The receiving unit 14 demodulates the signal supplied from the reception signal switching unit 10 with the high frequency signal supplied from the oscillating unit 13 and outputs the demodulated signal.

  In step S12, the calculation unit 16 executes an object analysis process. More specifically, the pulse signal received by the receiving unit 14 is A / D-changed by the A / D conversion unit 15 and then supplied to the calculation unit 16. The azimuth computing unit 16-1, the distance computing unit 16-2, and the relative velocity computing unit 16-3 of the computing unit 16 execute analysis processing on an object. Information on an object obtained by such analysis processing is supplied to the false object removal unit 17.

  In step S13, the fake target object removing unit 17 acquires, from the storage unit 18, fixed object information which is information related to the fixed object. For example, information on the position and size of the fixed object 50 shown in FIG. 2 is acquired.

  In step S14, the fake object removing unit 17 refers to the information on the object obtained in step S12 and the information on the fixed object obtained in step S13, and uses, for example, a ray tracing method. Identify the object that is in the relative position (the relative position of mirror symmetry). For example, in the example of FIG. 3 (A), the objects 70 and 72 are identified as objects having a positional relationship of mirror symmetry.

  In step S15, the fake object removing unit 17 identifies a mirror image from the positional relationship with the fixed object among the objects in the positional relationship of the mirror image identified in step S14. For example, in the example of FIG. 3A, among the objects 70 and 72, the object 72 located farther than the object 71 is identified as a mirror image.

  In step S16, the fake object removing unit 17 removes the mirror image identified in step S15 as a fake object. For example, in the example of FIG. 3A, the object 72 is removed as a false object.

  In step S17, the fake target object removing unit 17 outputs the information obtained by removing the fake target object as target object information. The fixed object may also be removed.

  In step S18, the control unit 11 determines whether to repeat the process, and if the process is repeated (step S18: Yes), the process returns to step S10 to repeat the same process as the above-described case, otherwise The process ends (step S18: No).

  According to the above process, the mirror image generated by the fixed object can be identified as a fake object and removed.

  In the first embodiment described above, a fixed object having a planar shape is described as an example to explain the operation principle, but for example, a fixed object having an L-shaped cross section shown in FIG. 5 exists In some cases even fake objects can be removed. That is, in the example of FIG. 5, the cross-sectional shape has an L-shape, and has a predetermined length in the Z direction, and a fixed object 50 fixedly arranged is shown. When such a fixed object 50 is present, when the object 60 is present at the position shown in FIG. 5, the analysis result includes two mirror images 60g1 and 60g2. In such a case, the object 60 and the mirror image 60g1 have a positional relationship of mirror symmetry, and the object 60 and a mirror image 60g2 also have a positional relationship of mirror symmetry. Furthermore, the mirror images 60g1 and 60g2 are present at positions farther than the object 60. From this, the mirror images 60g1 and 60g2 can be identified as fake objects and removed.

(C) Description of Second Embodiment of the Present Invention Next, a second embodiment of the present invention will be described. The configuration of the second embodiment is the same as that of FIG. 1, but the processing to be executed is different. Below, the process performed in 2nd Embodiment is demonstrated.

  6 and 7 are diagrams for explaining the operation principle of the second embodiment. In FIG. 6, a fixture 50 having a planar shape parallel to the XZ plane is disposed. When such a fixed object 50 is present, it is assumed that the object 60 has moved in the X-axis direction from the bottom to the top of the figure (the direction of the arrow). In this case, in the radar device, when the object 60 moves to the lower end of the fixed object 50, a mirror image 60g is detected, and the mirror image 60g moves following the movement of the object 60. Thus, since it can be determined that an object that appears newly according to the movement of the object 60 and follows the movement of the object 60 is a mirror image, such a mirror image can be removed as a fake object. it can.

  On the other hand, in FIG. 7, a fixed object 50 having a substantially T-shaped cross section is disposed. The fixture 50 has a portion 51 parallel to the XZ plane and a portion 52 parallel to the YZ plane, and has a substantially T-shaped cross section. In the presence of such a fixed object 50, if the object 60 moves in the X-axis direction from the top to the bottom of the figure (the direction of the arrow), the mirror image 60g is similarly from the top to the bottom of the figure. Moving. At this time, the mirror image 60g moves so as to transmit the portion 52. For this reason, it can be judged that the mirror image 60g moved so as to permeate the fixed object 50 is not a true object but a fake object.

  Based on the above principle, processing for identifying and removing a mirror image will be described with reference to FIG. The parts in FIG. 8 corresponding to those in FIG. 4 are assigned the same reference numerals and descriptions thereof will be omitted. Steps S10 to S12 in FIG. 8 are the same as those in FIG.

  After the process of step S10 to step S12 is performed, in step S30, the calculation unit 16 executes a process of tracking an object. The tracking is a process of tracking the movement of the object while specifying the identity of the object detected by the discrete time process.

  In step S31, operation unit 16 determines whether a new target has been detected according to the movement of the target. If a new target has been detected (step S31: Yes), the process proceeds to step S32 Otherwise (step S31: No), the process proceeds to step S36. For example, as shown in FIG. 6, the object 60 moves in the direction of the fixed object 50, and as a result, a mirror image 60g appears, and when it is detected, it is determined Yes and the process proceeds to step S32.

  In step S32, the fake target object removing unit 17 acquires stationary object information from the storage unit 18. More specifically, the fake target object removing unit 17 acquires, for example, information indicating the position and size of the fixed object 50 illustrated in FIG. 6 or 7 from the storage unit 18.

  In step S33, the fake target object removal unit 17 determines whether the newly detected target object is a mirror image. As a result, if it is determined that the new object detected in step S31 is a mirror image from the positional relationship with the fixed object (step S33: Yes), the process proceeds to step S35, and otherwise (step S33: No) To step S34. For example, in FIG. 6, when the object 60 is specified as a mirror image because it is present at a position of mirror symmetry with respect to the fixed object 50, it is determined as Yes and the process proceeds to step S35.

  In step S34, the fake target object removing unit 17 determines whether or not the motion of the newly detected target object is abnormal. If it is determined that the object is abnormal (step S34: Yes), the processing proceeds to step S35. The process proceeds to step S36 otherwise (step S34: No). For example, in FIG. 7, when an operation is detected such that the object (mirror image 60g in FIG. 7) passes through the portion 52 of the fixed object 50, it is determined as abnormal and the process proceeds to step S35.

  In step S35, the fake object removing unit 17 executes a process of removing the mirror image as a fake object. Specifically, the mirror image 60g shown in FIGS. 6 and 7 is removed.

  In step S36, the fake target object removing unit 17 outputs the information obtained by removing the fake target object as target object information. The fixed object may also be removed.

  In step S37, the control unit 11 determines whether or not to repeat the process, and if the process is repeated (step S37: Yes), the process returns to step S10 to repeat the same process as described above, otherwise The process ends (step S37: No).

  According to the above process, the mirror image generated by the fixed object can be identified as a fake object and removed. In the process shown in FIG. 8, when it is determined that the image is not a mirror image in step S33, the process proceeds to step S34 to determine whether the movement of the object is normal. However, the order of these processes is reversed. May be Alternatively, only one of these determinations may be performed.

(D) Description of Third Embodiment of the Present Invention Next, a third embodiment of the present invention will be described. The configuration of the third embodiment is the same as that of FIG. 1, but the processing to be executed is different. Below, the process performed in 3rd Embodiment is demonstrated.

  FIG. 9 is a diagram for explaining the principle of the third embodiment. In FIG. 7, the tree 80 is present at a predetermined distance from the transmitting antenna TX. In the tree 80, for example, branches and trunks may be shaken by the influence of wind. The radar apparatus may erroneously detect the tree 80 swayed by the wind in this way as an object whose position changes. In the third embodiment, when an object whose position changes is detected, the fixed object information stored in the storage unit 18 is referred to, and when the variable object is at the same position as the fixed object, It is determined that the object is not a stationary object but a fixed object and removed. According to such processing, it is possible to prevent false detection of a fixed object that fluctuates due to an external force or the like as an object.

  Based on the above principle, processing for removing a fixed object whose position changes as a fake object will be described with reference to FIG. In FIG. 10, parts corresponding to those in FIG. 4 are assigned the same reference numerals and descriptions thereof will be omitted. Steps S10 to S12 in FIG. 10 are the same as those in FIG.

  After executing the processing of step S10 to step S12, in step S50, the calculation unit 16 executes processing of tracking an object. The tracking is a process of tracking the movement of the object while specifying the identity of the object detected by the discrete time process.

  In step S51, the fake target object removing unit 17 proceeds to step S52 when it is detected that there is an object whose position changes as a result of the tracking process in step S50 (step S51: Yes), In the case of (step S51: No), the process proceeds to step S55. For example, in the case where there is a tree 80 fluctuating by wind as shown in FIG. 9, it is determined as Yes and the process proceeds to step S52.

  In step S52, the fake target object removing unit 17 acquires stationary object information from the storage unit 18. For example, in the example of FIG. 9, since the tree 80 is stored in advance as a fixed object, the false target removing unit 17 acquires fixed object information on the tree 80.

  In step S53, the fake object removing unit 17 compares the fixed object information acquired in step S52 with the information of the fluctuating object detected in step S50, and when these positions substantially match (step At S53: Yes, the moving object is determined to be a fixed object, and the process proceeds to Step S54, and otherwise (No at Step S53), the process proceeds to 55. For example, in the example of FIG. 9, the tree 80 is stored as a fixed object, and since the fixed object information and the position of the tree 80 actually detected are substantially coincident, it is determined as Yes and the process proceeds to step S54.

  In step S54, the fake target object removing unit 17 executes a process of removing the target object determined as the fixed object in step S53 as a fake target object. For example, in the example of FIG. 9, the tree 80 is removed as a fake object.

  In step S55, the fake target object removal unit 17 outputs the information obtained by removing the fake target object as target object information.

  In step S56, the control unit 11 determines whether or not to repeat the process, and if the process is repeated (step S56: Yes), the process returns to step S10 to repeat the same process as described above, otherwise The process ends (step S56: No).

  According to the above process, it is possible to determine and remove a fixed object whose position changes as a fake target object.

(C) Description of Modified Embodiments It goes without saying that the above embodiment is an example, and the present invention is not limited only to the case as described above. For example, in each of the above embodiments, the fixed object information is stored in the storage unit 18, and the target and the fake target are distinguished based on the fixed object information. However, based on the fixed object information, the mirror image It may be possible to learn in advance how the occurrence of the problem occurs, and to distinguish the false object and the object by referring to the learning result. Thus, for example, even if the fixed object has a shape other than the planar shape or if the reflection pattern by the fixed object is complicated (for example, if attenuation or a change in polarization occurs), by performing prior learning. It can correspond. FIG. 11 is a diagram showing an example of processing for learning fixed objects and mirror images when the radar device according to the present embodiment is newly installed. The process shown in FIG. 11 is executed, for example, when a button for performing initial setting is operated after the radar device is installed. When the process of the flowchart shown in FIG. 11 is started, the following steps are performed.

  In step S70, control unit 11 determines whether or not fixed object storage processing is to be started, and if it is determined that fixed object storage processing is to be started (step S70: Yes), the process proceeds to step S71, otherwise The same process is repeated in (Step S70: No). For example, when a predetermined button for instructing start of storage of a fixed object is operated, it is determined as Yes and the process proceeds to step S71.

  In step S71, the control unit 11 controls the transmission unit to transmit a pulse signal from the transmission antenna TX.

  In step S72, the control unit 11 controls the reception signal switching unit 10 to receive the pulse signal transmitted in step S71.

  In step S73, the calculation unit 16 analyzes the received signal received in step S72, and executes a process of analyzing a fixed object. For example, in FIG. 2, when the fixed object learning process is performed, only the fixed object 50 is set, so that the position and size of the fixed object 50 are detected in the process of step S73.

  In step S74, the fake target object removing unit 17 causes the storage unit 18 to store information on the fixed object detected in step S73 as fixed object information. For example, in the example of FIG. 2, information indicating the position and size of the fixed object 50 is stored in the storage unit 18 as fixed object information.

  In step S75, the control unit 11 determines whether or not mirror image learning processing is to be performed. If it is determined to be performed (step S75: Yes), the process proceeds to step S76, and otherwise (step S75: No) Repeat the same process for. For example, when a predetermined button for instructing start of mirror image learning is operated, it is determined as Yes and the process proceeds to step S76. In the following processing, for example, in FIG. 2, a dummy target object 60 is disposed, and the target object 61 generated by the dummy target object 60 is subjected to learning processing.

  In step S76, the control unit 11 controls the transmission unit to transmit a pulse signal from the transmission antenna TX.

  In step S77, the control unit 11 controls the reception signal switching unit 10 to receive the pulse signal transmitted in step S76.

  In step S78, the calculation unit 16 analyzes the received signal received in step S77, and executes a process of analyzing a dummy target. For example, in the example of FIG. 2, as described above, since the dummy target object 60 is disposed, the processing of analyzing the target object 61 appearing according to the dummy target object 60 is executed.

  In step S79, the fake target object removing unit 17 stores the dummy target object 60 obtained as a result of the analysis in step S78 and the target object 61 as a mirror image in the storage unit 18. For example, in the example of FIG. 2, the storage unit 18 stores information indicating the positional relationship and the size of the target 60 and the target 61 as a mirror image.

  In step S80, the control unit 11 determines whether or not to repeat the process, and if it is repeated (step S80: Yes), the process returns to step S76 to repeat the same process as described above, otherwise (step The process ends at S80: No). For example, when performing analysis processing by changing the position of the object 60, or when performing analysis processing using a dummy object 60 having different sizes and reflectances, it is determined as Yes and step S76. Return to

  According to the above-described processing, when a radar device is newly installed, it is possible to perform learning processing on fixed objects existing in the periphery, and also learning processing on the tendency of mirror image appearance using a dummy object. By thus executing the learning process in advance, it becomes possible to detect fixed objects reliably and to efficiently detect a mirror image which is a false object.

  In each of the above embodiments, although the radio wave transmitted from the transmitting antenna TX is not described in detail, it has a beam spread in the horizontal direction, and the beam spread in the vertical direction is compared in the horizontal direction. It is desirable to use a narrow fan-shaped beam. This will be described with reference to FIG. In FIG. 12, the Z direction (the upper direction in the figure) is the vertical direction. In the example shown in FIG. 12, a fixed object 50 having a portion 51 parallel to the XZ plane and a portion 52 parallel to the XY plane and having an L-shaped cross section is shown. When such a fixed object 50 is present, it is assumed that the object 60 is present at the position shown in FIG. Under such circumstances, when a beam having a vertical spread is used, a part of the beam is reflected by the portion 52, so that a mirror image 60g appears at a symmetrical position with respect to the portion 52. By the way, since the receiving antennas RX1 and RX2 of the radar apparatus are disposed at a predetermined distance in the horizontal direction to detect the position of the object on the XY plane, the symmetrical positions with respect to the portion 52 As shown in FIG. 12, the mirror image 60g appearing in is detected as the mirror image 60gp which is equidistant from the transmitting antenna TX (or the receiving antennas RX1, RX2). Therefore, by using a fan-shaped beam whose spread in the vertical direction is narrow, it is possible to prevent the reflection by the portion 52, so it is possible to prevent the mirror image 60 gp from being erroneously detected.

  Further, the configuration example shown in FIG. 1 is an example, and it goes without saying that the present invention is not limited to only the configuration shown in FIG.

  Further, in the above-described respective embodiments, although the reception process is not described in detail, for example, radio waves are received by a plurality of receivers, and the phase difference of each receiver is detected and corrected to be recombined. That is, so-called RAKE reception processing may be performed. According to such RAKE reception, for example, since each amplitude of the mirror image is a derived reflection of the amplitude of the real image, these can be combined to enhance the real image intensity and reduce false detection.

  In each of the above embodiments, the mirror image is determined based on the position of mirror symmetry as a method of specifying the mirror image. However, the determination may be performed based on the signal intensity. That is, the mirror image generated by the multiple reflection may be determined not only based on the position but also on the basis of the intensity of the signal, since the intensity of the signal is weak compared to the true object.

  Also, in each of the above embodiments, the case where only one mirror image is generated for one fixed object and object is described as an example, but a plurality of mirror images are generated for one fixed object and object. The present invention can also be applied to cases.

TX transmitting antenna RX1, RX2 Receiving antenna 10 Reception signal switching unit 11 Control unit 12 Transmission unit 13 Oscillator 14 Reception unit 15 A / D conversion unit 16 Operation unit 16-1 Direction operation unit 16-2 Distance operation unit 16-3 Relative Speed calculation unit 17 fake object removal unit 18 storage unit

Claims (8)

In a radar device fixed and used at a predetermined place,
Detecting means for irradiating the object with radio waves and detecting the object based on the reflected wave;
Storage means for storing information on fixed objects present in the detection area;
Specifying means for specifying a false target based on the positional relationship between the target detected by the detection means and the fixed object stored in the storage means;
Removing means for removing the fake object identified by the identification means ;
The specifying means specifies a mirror image generated from the object as the fake object due to the presence of the fixed object, and a movement of the object through the fixed object is detected when the object moves. If the target object is identified as a fake target object,
A radar device characterized by The identification means compares the information on the fixed object stored in the storage means with the information on the object detected by the detection means, and is a set at a mirror-symmetrical position with respect to the fixed object The radar apparatus according to claim 1, characterized in that the target object of (1) is specified, and an object present at a position farther than the fixed object among the one set of objects is specified as a false target. The specifying means specifies the target as a fake target when the target is newly detected according to the positional relationship with the fixed object when the target moves. The radar apparatus according to claim 1. The radar apparatus according to claim 2, wherein the specifying unit learns in advance a mirror image generated for the object, and specifies the false object based on a learning result. The identification means falsely detects the target when it is found that the target is present at the same position as the fixed object when the swinging object is detected by the detection means. The radar apparatus according to claim 1, wherein the radar apparatus is identified as an object. The radar apparatus according to any one of claims 1 to 5, wherein the detection means transmits coherent pulse radio waves. The radar according to any one of claims 1 to 6, wherein the detection means has a spread in the horizontal direction and transmits a fan-shaped radio wave whose spread in the vertical direction is narrower than that in the horizontal direction. apparatus. In an object detection method of a radar device fixed and used at a predetermined place,
A detection step of irradiating the object with radio waves and detecting the object based on the reflected wave;
Storing, in a storage device, information on fixed objects present in the detection area;
A specifying step of specifying a false target based on a positional relationship between the target detected in the detecting step and the fixed object stored in the storage device;
Removing the fake object identified in the identifying step;
In the identification step, a mirror image generated from the object due to the presence of the fixed object is specified as the fake object, and when the object moves, a movement of the object through the fixed object is detected. If the target object is identified as a fake target object,
A method of detecting an object of a radar device characterized in that.

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