JP6957820B2 - Radio sensor, adjustment method and adjustment program - Google Patents

Description

The present invention relates to radio wave sensors, adjustment methods and adjustment programs.

In recent years, in-vehicle radars used for collision prevention of automobiles have been developed. For example, Japanese Patent Application Laid-Open No. 2006-308542 (Patent Document 1) discloses the following electron scanning millimeter-wave radar apparatus. That is, the electronic scanning millimeter-wave radar device Fourier transforms the digitized beat signal and generates a beam signal at a predetermined pitch angle based on the Fourier transform. Next, the electron scanning millimeter-wave radar device detects the direction and distance of the object from the generated beam signal. Then, the electronic scanning millimeter-wave radar device detects whether or not there are a plurality of objects at substantially the same distance in the beat signal corresponding to each Fourier transformed receiving antenna based on the detected object's orientation and distance. Then, the beat signal is separated.

Japanese Unexamined Patent Publication No. 2006-308542

Koji Quarter, 2 outsiders, "Expanding Millimeter Wave Technology Application", Shimada Rika Giho, 2011, No. 21, P.M. 37-48 Takayuki Inaba, Tetsuro Kirimoto, "In-Vehicle Millimeter Wave Radar", Automotive Technology, February 2010, Vol. 64, No. 2, P.M. 74-79 Nobuyoshi Kikuma, "Adaptive Signal Processing by Array Antenna", First Edition, Science and Technology Publishing Co., Ltd., November 1998, p. 181 and p. 194

For example, in the vehicle-mounted radio wave sensor described in Patent Document 1, the detection target area of the object is set based on the relative angle and distance with respect to the radio wave sensor.

For example, when the above radio wave sensor is used for a pedestrian collision prevention support system when turning right, which is an example of a safe driving support system (DSSS: Driving Safety Support Systems) for supporting safe driving of a driver, a pedestrian crossing or the like may be used. The detection target area is set.

In such a case, for example, if the direction of the radio wave sensor deviates from the reference direction, the radio wave sensor mistakenly directs the direction from itself to the pedestrian even if the pedestrian is actually located on the pedestrian crossing. It may be measured and mistakenly determined that the pedestrian is not on the pedestrian crossing. In addition, even if the pedestrian is not actually located on the pedestrian crossing, the radio wave sensor may erroneously measure the direction from the self to the pedestrian and erroneously determine that the pedestrian is located on the pedestrian crossing. ..

Further, in the case of a sensor using an image captured by a camera, adjustment can be performed while viewing an image based on the captured image. However, in the case of a radio wave sensor, it is difficult for the sensor installer to grasp the direction of the radio wave sensor.

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a radio wave sensor, an adjustment method, and an adjustment program capable of measuring a direction toward an object with higher accuracy.

(1) In order to solve the above problems, the radio wave sensor according to a certain aspect of the present invention is a radio wave sensor, which is a transmitting unit that transmits radio waves to a target area, a receiving unit that receives radio waves, and the receiving unit. Based on the radio waves received by the radio wave sensor, the radio wave sensor measures the measurement direction, which is the direction from the radio wave sensor to the reference object in the target area, and the measurement direction measured by the measurement unit. It is provided with a calculation unit for calculating the deviation of the reference object from the reference direction.

(5) In order to solve the above problems, the radio wave sensor according to another aspect of the present invention is a radio wave sensor, which is a transmitting unit that transmits radio waves to a target area, a receiving unit that receives radio waves, and the receiving unit. Based on the radio wave received by the unit, the measurement unit that measures the measurement direction, which is the direction from the radio wave sensor to the reference object in the target area, and the direction information indicating the measurement direction measured by the measurement unit are output. The measuring unit includes an output unit for correcting the deviation of the measuring direction measured by the measuring unit from the radio wave sensor to the reference object with respect to the reference direction, and the measuring unit includes an acquisition unit for acquiring correction information for correcting the deviation of the measuring direction from the radio wave sensor to the reference object. Further, based on the radio wave received by the receiving unit, the target direction, which is the direction from the radio wave sensor to the object in the target area, is measured, and the radio wave sensor is further measured by the measuring unit. A correction unit that corrects the target direction based on the correction information acquired by the acquisition unit is provided.

(7) In order to solve the above problems, the adjustment method according to a certain aspect of the present invention is an adjustment method used in a radio wave sensor that transmits radio waves to a target area and receives radio waves, and is based on the received radio waves. A step of measuring the measurement direction, which is the direction from the radio wave sensor to the reference object in the target area, and a step of calculating the deviation of the measured measurement direction from the radio wave sensor to the reference object with respect to the reference direction. including.

(11) In order to solve the above problems, the adjustment program according to a certain aspect of the present invention is an adjustment program used in a radio wave sensor that transmits radio waves to a target area and receives radio waves, and receives a computer. A measuring unit that measures a measurement direction that is a direction from the radio wave sensor to the reference object in the target area based on the radio wave, and a measuring unit that measures the measuring direction measured by the measuring unit from the radio wave sensor to the reference object. This is a program for functioning as a calculation unit for calculating the deviation with respect to the reference direction.

(12) In order to solve the above problems, the adjustment program according to another aspect of the present invention is an adjustment program used in a radio wave sensor that transmits radio waves to a target area and receives radio waves, and receives a computer. A measuring unit that measures the measurement direction, which is the direction from the radio wave sensor to the reference object in the target area, and an output unit that outputs direction information indicating the measurement direction measured by the measuring unit. , A program for functioning as an acquisition unit for acquiring correction information for correcting a deviation of the measurement direction measured by the measurement unit from the radio wave sensor to the reference object with respect to the reference direction. The unit further measures the target direction, which is the direction from the radio wave sensor to the object in the target area, based on the radio wave received by the receiving unit, and further measures the computer by the measuring unit. This is a program for making the target direction function as a correction unit that corrects the target direction based on the correction information acquired by the acquisition unit.

The present invention can be realized not only as a radio wave sensor provided with such a characteristic processing unit, but also as a semiconductor integrated circuit that realizes a part or all of the radio wave sensor, or as a system provided with a radio wave sensor. Can be done.

According to the present invention, the direction to an object can be measured more accurately.

FIG. 1 is a diagram showing a configuration of a safe driving support system according to the first embodiment of the present invention. FIG. 2 is a diagram showing a state in which an installation example of the safe driving support system according to the first embodiment of the present invention at an intersection is viewed from diagonally above. FIG. 3 is a diagram showing a configuration of a radio wave sensor in the safe driving support system according to the first embodiment of the present invention. FIG. 4 is a diagram showing an example of a time change in the frequency of radio waves transmitted and received by a radio wave sensor in the safe driving support system according to the first embodiment of the present invention. FIG. 5 is a diagram showing an example of arrangement when the transmitting antenna and the receiving antenna according to the first embodiment of the present invention are viewed from above. FIG. 6 is a diagram showing a configuration of a signal processing unit in the radio wave sensor according to the first embodiment of the present invention. FIG. 7 is a diagram showing an example of a power spectrum generated by the FFT processing unit in the radio wave sensor according to the first embodiment of the present invention. FIG. 8 is a diagram showing an example of a measurement result table showing a peak detection result by the FMCW processing unit in the radio wave sensor according to the first embodiment of the present invention. FIG. 9 is a flowchart defining an example of the procedure of the adjustment method of the radio wave sensor according to the first embodiment of the present invention. FIG. 10 is a diagram showing an example of the arrangement of the radio wave sensor according to the first embodiment of the present invention and the arrangement around the intersection where the radio wave sensor is provided when viewed from above. FIG. 11 is a diagram showing an example of a measurement result by a radio wave sensor according to the first embodiment of the present invention and an actual measurement result by a sensor installer. FIG. 12 is a diagram showing an example of a measurement result by a radio wave sensor according to the first embodiment of the present invention and an actual measurement result by a sensor installer. FIG. 13 is a diagram showing an example of the arrangement of the radio wave sensor according to the first embodiment of the present invention and the arrangement around the intersection where the radio wave sensor is provided when viewed from above. FIG. 14 is a diagram showing an example of a measurement result by a radio wave sensor according to the first embodiment of the present invention and an actual measurement result by a sensor installer. FIG. 15 is a flowchart defining an example of a procedure for adjusting the orientation of the radio wave sensor according to the first embodiment of the present invention. FIG. 16 is a diagram showing a configuration of a radio wave sensor in a safe driving support system according to a second embodiment of the present invention. FIG. 17 is a flowchart defining an example of a procedure of a method in which the radio wave sensor according to the second embodiment of the present invention automatically corrects the azimuth angle.

First, the contents of the embodiments of the present invention will be listed and described.

(1) The radio wave sensor according to the embodiment of the present invention is a radio wave sensor, which is based on a transmitting unit that transmits radio waves to a target area, a receiving unit that receives radio waves, and radio waves received by the receiving unit. The measurement unit that measures the measurement direction, which is the direction from the radio wave sensor to the reference object in the target area, and the measurement direction measured by the measurement unit with respect to the reference direction from the radio wave sensor to the reference object. It is provided with a calculation unit for calculating the deviation.

In this way, by measuring the direction to the reference object and calculating the deviation of the measurement direction with respect to the reference direction, the deviation of the direction of the radio wave sensor can be recognized from the calculation result. Therefore, for example, the direction of the radio wave sensor can be determined. It is possible to make physical adjustments, or to have the radio wave sensor perform corrections for aligning the measurement direction of the radio wave sensor with the reference direction. As a result, the deviation of the measurement direction with respect to the reference direction can be made smaller. Therefore, the direction to the object can be measured more accurately.

(2) Preferably, the measuring unit measures a plurality of the measuring directions based on the radio waves received by the receiving unit, and the calculating unit measures the plurality of measuring directions measured by the measuring unit. The deviations with respect to the plurality of corresponding reference directions are calculated, and each of the calculated deviations is statistically processed.

In this way, the deviation calculation accuracy can be improved by a configuration in which a plurality of deviations are calculated using the measurement results of the reference object at a plurality of positions and each of the calculated deviations is statistically processed.

(3) Preferably, the measuring unit measures a plurality of measuring sets, which is a set of the measuring direction and the distance between the radio wave sensor and the reference object, based on the radio wave received by the receiving unit. The calculation unit includes one or a plurality of straight lines or one or a plurality of curves based on a plurality of sets of a reference direction and a distance between the radio wave sensor and the reference object, and a plurality of the above measures measured by the measurement unit. The deviation is calculated based on the positional relationship with one or more straight lines or one or more curves based on the measurement set.

In this way, the deviation is calculated based on the positional relationship between one or more straight lines or between one or more curves, so that the position of the reference object at the time of measurement of the radio wave sensor and the direction and distance for reference are actually measured. The deviation can be calculated without associating with the position of the reference object in. As a result, it is possible to easily calculate whichever is more accurate. Further, even when a curved road is set as a detection target area, the deviation can be easily calculated by using, for example, the roadside zone and the center line provided on the road as a reference.

(4) Preferably, the measuring unit further measures the target direction, which is the direction from the radio wave sensor to the object in the target area, based on the radio wave received by the receiving unit, and the radio wave sensor measures the target direction. Further, it is provided with a correction unit that corrects the target direction measured by the measurement unit based on the deviation calculated by the calculation unit.

With such a configuration, for example, a more correct target direction can be easily calculated without physically adjusting the orientation of the radio wave sensor.

(5) The radio wave sensor according to the embodiment of the present invention is a radio wave sensor, which is based on a transmitting unit that transmits radio waves to a target area, a receiving unit that receives radio waves, and radio waves received by the receiving unit. A measurement unit that measures the measurement direction, which is the direction from the radio wave sensor to the reference object in the target area, an output unit that outputs direction information indicating the measurement direction measured by the measurement unit, and the measurement unit. The measurement unit includes an acquisition unit that acquires correction information for correcting the deviation of the measurement direction from the radio wave sensor to the reference object with respect to the reference direction, and the measurement unit is further received by the reception unit. Based on the radio waves, the target direction, which is the direction from the radio wave sensor to the object in the target area, is measured, and the radio wave sensor further obtains the target direction measured by the measuring unit. It is provided with a correction unit that corrects based on the correction information acquired by.

In this way, with the configuration of outputting the direction information, for example, the installer of the radio wave sensor can calculate the deviation of the direction of the radio wave sensor 101, so that the correction information having more correct contents can be created. In addition, by acquiring correction information and correcting the measured target direction based on the acquired correction information, for example, a more correct target direction can be simplified without physically adjusting the direction of the radio wave sensor. Can be calculated. Therefore, the direction to the object can be measured more accurately.

(6) More preferably, the radio wave sensor further includes a detection unit that detects the object in the target area based on the target direction corrected by the correction unit.

In this way, the accuracy of detecting the object can be improved by the configuration that detects the object based on the more correct target direction.

(7) The adjustment method according to the embodiment of the present invention is an adjustment method used in a radio wave sensor that transmits radio waves to a target area and receives radio waves, and the adjustment method is described from the radio wave sensor based on the received radio waves. It includes a step of measuring a measurement direction which is a direction toward a reference object in a target area, and a step of calculating a deviation of the measured measurement direction from the radio wave sensor to the reference object with respect to the reference direction.

In this way, by measuring the direction to the reference object and calculating the deviation of the measurement direction with respect to the reference direction, the deviation of the direction of the radio wave sensor can be recognized from the calculation result. Therefore, for example, the direction of the radio wave sensor can be determined. It is possible to make physical adjustments, or to have the radio wave sensor perform corrections for aligning the measurement direction of the radio wave sensor with the reference direction. As a result, the deviation of the measurement direction with respect to the reference direction can be made smaller. Therefore, the direction to the object can be measured more accurately.

(8) More preferably, in the step of measuring the measurement direction, a plurality of the measurement directions are measured based on the received radio wave, and in the step of calculating the deviation, the measured directions of the plurality of measurement directions are measured. The deviations with respect to the plurality of corresponding reference directions are calculated, and each of the calculated deviations is statistically processed.

In this way, the deviation calculation accuracy can be improved by a configuration in which a plurality of deviations are calculated using the measurement results of the reference object at a plurality of positions and each of the calculated deviations is statistically processed.

(9) More preferably, in the step of measuring the measurement direction, a plurality of measurement sets, which are a set of the measurement direction and the distance between the radio wave sensor and the reference object, are measured based on the received radio wave. In the step of calculating the deviation, one or a plurality of straight lines or one or a plurality of curves based on a plurality of sets of the reference direction and the distance between the radio wave sensor and the reference object, and a plurality of the measured above. The deviation is calculated based on the positional relationship with one or more straight lines or one or more curves based on the measurement set.

In this way, the deviation is calculated based on the positional relationship between one or more straight lines or between one or more curves, so that the position of the reference object at the time of measurement of the radio wave sensor and the direction and distance for reference are actually measured. The deviation can be calculated without associating with the position of the reference object in. As a result, it is possible to easily calculate whichever is more accurate. Further, even when a curved road is set as a detection target area, the deviation can be easily calculated by using, for example, the roadside zone and the center line provided on the road as a reference.

More preferably, the adjustment method further includes a step of adjusting the orientation of the radio wave sensor based on the calculated deviation.

With such a configuration, the measurement direction of the radio wave sensor can be adjusted to the reference direction. Therefore, for example, the correct measurement direction can be measured without causing the radio wave sensor to make a correction for aligning the measurement direction of the radio wave sensor with the reference direction. can do. This makes it possible to simplify the internal processing of the radio wave sensor.

(11) The adjustment program according to the embodiment of the present invention is an adjustment program used in a radio wave sensor that transmits radio waves to a target area and receives radio waves, and the computer is based on the received radio waves. Calculates the deviation between the measuring unit that measures the measurement direction, which is the direction from the sensor to the reference object in the target area, and the measurement direction measured by the measuring unit with respect to the reference direction from the radio wave sensor to the reference object. It is a program to function as a calculation unit.

In this way, by measuring the direction to the reference object and calculating the deviation of the measurement direction with respect to the reference direction, the deviation of the direction of the radio wave sensor can be recognized from the calculation result. Therefore, for example, the direction of the radio wave sensor can be determined. It is possible to make physical adjustments, or to have the radio wave sensor perform corrections for aligning the measurement direction of the radio wave sensor with the reference direction. As a result, the deviation of the measurement direction with respect to the reference direction can be made smaller. Therefore, the direction to the object can be measured more accurately.

(12) The adjustment program according to the embodiment of the present invention is an adjustment program used in a radio wave sensor that transmits radio waves to a target area and receives radio waves, and the computer is based on the received radio waves. A measurement unit that measures a measurement direction that is a direction from a sensor to a reference object in the target area, an output unit that outputs direction information indicating the measurement direction measured by the measurement unit, and a measurement unit that measures the measurement. It is a program for functioning as an acquisition unit for acquiring correction information for correcting a deviation of the measurement direction from the radio wave sensor to the reference object with respect to the reference direction, and the measurement unit further comprises the reception unit. Based on the radio wave received by the radio wave sensor, the target direction, which is the direction from the radio wave sensor to the target object in the target area, is measured, and the computer obtains the target direction measured by the measuring unit. It is a program for functioning as a correction unit that corrects based on the correction information acquired by.

In this way, with the configuration of outputting the direction information, for example, the installer of the radio wave sensor can calculate the deviation of the direction of the radio wave sensor 101, so that the correction information having more correct contents can be created. In addition, by acquiring correction information and correcting the measured target direction based on the acquired correction information, for example, a more correct target direction can be simplified without physically adjusting the direction of the radio wave sensor. Can be calculated. Therefore, the direction to the object can be measured more accurately.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The same or corresponding parts in the drawings are designated by the same reference numerals, and the description thereof will not be repeated. In addition, at least a part of the embodiments described below may be arbitrarily combined.

<First Embodiment>
[Configuration and basic operation]
FIG. 1 is a diagram showing a configuration of a safe driving support system according to the first embodiment of the present invention. FIG. 2 is a diagram showing a state in which an installation example of the safe driving support system according to the first embodiment of the present invention at an intersection is viewed from diagonally above.

With reference to FIGS. 1 and 2, the safe driving support system 301 includes a radio wave sensor 101, a terminal device 111, a relay device 141, a signal control device 151, a wireless transmission device 152, an antenna 153, and a pedestrian. A signal lamp 161 for use is provided. The signal control device 151 and the pedestrian signal lamp 161 in the safe driving support system 301 constitute a traffic signal, and are installed near, for example, an intersection CS1.

[Around the intersection]
For example, as shown in FIG. 2, a pedestrian crossing PC1 is provided near the intersection CS1. Here, the road on which the pedestrian crossing PC1 is provided is defined as the target road Rd1. The target road Rd1 forms an intersection CS1. Further, the road that intersects the target road Rd1 at the intersection CS1 is defined as the intersection road Rd2.

That is, the portion where the target road Rd1 and the intersection road Rd2 intersect is the intersection CS1. In other words, the intersection CS1 overlaps with the target road Rd1 and overlaps with the intersection road Rd2. At the intersection CS1, a larger number of roads may intersect.

The target road Rd1 includes an outflow road Rde on which the automobile Tgt1 (not shown) flowing out from the intersection CS1 travels and an inflow road Rdi on which the automobile Tgt1 flowing into the intersection CS1 travels. For example, a lane TL is provided between the outflow road Rde and the inflow road Rdi.

At the opposite end of the inflow road Rdi with respect to the outflow road Rde, for example, a sidewalk Pv1 is provided so as to extend along the target road Rd1. The sidewalk Pv1 changes the extending direction from the direction along the target road Rd1 to the direction along the intersection road Rd2 by extending along the arc-shaped corner cut CCe in the vicinity of the intersection CS1.

Further, at the end opposite to the outflow road Rde with respect to the inflow road Rdi, a sidewalk Pv2 is provided so as to extend along the target road Rd1, for example. The sidewalk Pv2 changes the extending direction from the direction along the target road Rd1 to the direction along the intersection road Rd2 by extending along the arc-shaped corner cut CCi in the vicinity of the intersection CS1.

For example, the sensor installer who is the installer of the radio wave sensor 101 sets a plurality of sub-areas as the detection target areas of the crossing object crossing the road using the pedestrian crossing PC1. Here, the crossing object is, for example, a pedestrian Tgt2. Further, the pedestrian Tgt2 is not limited to a walking person, and includes a bicycle and the like.

Specifically, the sensor installer sets four sub-areas, for example, sub-areas SAes, SAer, SAir, and SAis. The number of sub-areas is not limited to four, and may be two, three, or five or more.

The sub-area SAes includes, for example, a part of the sidewalk Pv1 and adjacent to the pedestrian crossing PC1. The sub-area SAes is, for example, a waiting area for pedestrian Tgt2.

The sub-area SAes have, for example, a quadrangular shape. Hereinafter, of the four corners in the sub-area SAes, the positions of the two corners on the opposite side of the target road Rd1 are also referred to as index positions C1 and C2 in order from the intersection CS1 side. Further, among the four corners in the sub-area SAes, the positions of the two corners on the target road Rd1 side are also referred to as index positions C3 and C4 in order from the intersection CS1 side.

The sub-area SAer includes, for example, an area where the pedestrian crossing PC1 and the outflow road Rde overlap. The sub-area SAer is, for example, an area through which the pedestrian Tgt2 passes along the pedestrian crossing PC1 when the pedestrian signal lamp 161 is lit "Recommendation", and turns right or left from the intersection road Rd2. This is an area through which the automobile Tgt1 (not shown) passes along the target road Rd1.

The sub-area SAer has, for example, a quadrangular shape, and is adjacent to the sub-area SAes via a line connecting the index positions C3 and C4. Hereinafter, of the four corners in the sub-area SAer, the positions of the two corners on the opposite side of the sidewalk Pv1 are also referred to as index positions C5 and C6 in order from the intersection CS1 side.

The sub-area SAir includes, for example, an area where the pedestrian crossing PC1 and the inflow road Rdi overlap. The sub-area SAir is, for example, an area through which the pedestrian Tgt2 passes along the pedestrian crossing PC1 when the pedestrian signal lamp 161 is lit with "recommendation".

The sub-area SAir has, for example, a quadrangular shape, and is adjacent to the sub-area SAer via a line connecting the index positions C5 and C6. Hereinafter, of the four corners in the sub-area SAir, the positions of the two corners on the opposite side of the sidewalk Pv1 are also referred to as index positions C7 and C8 in order from the intersection CS1 side.

The sub-area SAis includes, for example, a part of the sidewalk Pv2 and adjacent to the pedestrian crossing PC1. The sub-area SAis is, for example, a waiting area for pedestrian Tgt2.

The sub-area SAis has, for example, a quadrangular shape, and is adjacent to the sub-area SAir via a line connecting the index positions C7 and C8. Hereinafter, of the four corners in the sub-area SAis, the positions of the two corners on the opposite side of the target road Rd1 are also referred to as index positions C9 and C10 in order from the intersection CS1 side.

The radio wave sensor 101 can detect the target object Tgt in the target area A1 including the pedestrian crossing PC1. For example, the radio wave sensor 101 can detect the target object Tgt in the target area A1 including the sub-areas SAes, SAer, SAir, and SAis. Here, the object Tgt includes an automobile Tgt1 that travels along the target road Rd1 and passes through the pedestrian crossing PC1 in addition to the above-mentioned crossing object.

Further, in the target area A1, as an example of the reference object, a reflector R1 which is an object having a large radar cross section of the radio wave transmitted by the radio wave sensor 101 is temporarily provided by the sensor installer. The reflector R1 may be held by a person or fixed to the ground. The reference object is not limited to the reflector R1 temporarily provided, for example, a signal lamp column such as a column PV shown in FIG. 2 provided near the intersection CS1, an illumination column and a guardrail (not shown), and the like. It may be a permanently fixed structure.

[Installation position of radio wave sensor]
The radio wave sensor 101 is installed near, for example, the target road Rd1. Specifically, the radio wave sensor 101 is fixed to, for example, a support column PW installed on the opposite side of the target road Rd1 with respect to the sidewalk Pv1. More specifically, the radio wave sensor 101 is provided, for example, on an extension line of the pedestrian crossing PC1 to the sidewalk Pv1 side.

The relay device 141 is fixed to, for example, a support column PW. Although not shown in FIG. 2, the radio wave sensor 101 and the relay device 141 are connected by, for example, a signal line. The relay device 141 performs a relay process of transmitting the information received from the radio wave sensor 101 to the signal control device 151, for example.

The signal control device 151 and the radio transmission device 152 are fixed to a support column PV installed on the opposite side of the target road Rd1 with respect to the sidewalk Pv2, for example. Further, the antenna 153 is fixed to the top of the support column PV, for example.

The two pedestrian signal lamps 161 are fixed to the columns PW and PV, respectively. Although the signal control device 151, the wireless transmission device 152, the relay device 141, and the two pedestrian signal lamps 161 are not shown in FIG. 2, they are connected to each other by, for example, a signal line. Although not shown in FIG. 2, the wireless transmitter 152 and the antenna 153 are connected by, for example, a signal line.

The radio wave sensor 101 transmits radio waves to the target area A1. The object Tgt located in the target area A1 reflects, for example, a radio wave transmitted from the radio wave sensor 101. The radio wave sensor 101 receives the radio wave reflected by the object Tgt.

The radio wave sensor 101 detects the target object Tgt for each sub-area based on the received radio wave, and transmits, for example, the detection result to the signal control device 151 via the relay device 141.

The pedestrian signal lamp 161 lights and displays "recommendation" or "tomare" for pedestrian Tgt2 crossing the pedestrian crossing PC1, for example, according to the control of the signal control device 151.

For example, the detection result is that the signal control device 151 has detected the pedestrian Tgt2 in at least one of the sub-areas SAir and SAer when the remaining time for turning on the "recommendation" in the pedestrian signal lamp 161 is short. When indicating, extend the remaining time. The signal control device 151 may, for example, notify the pedestrian Tgt2 by voice that the remaining time for turning on the “recommendation” is short.

Further, the detection result is that the signal control device 151 has detected the pedestrian Tgt2 in at least one of the sub-areas SAir and SAer when, for example, the pedestrian signal lamp 161 is lit "Tomare". When indicating, the pedestrian Tgt2 is warned by voice that it is dangerous.

Further, the signal control device 151 provides a service to the automobile Tgt1 based on the detection result received from the radio wave sensor 101.

Specifically, the signal control device 151 detects, for example, that the detection result indicates that the pedestrian Tgt2 has been detected in the SAer, or that the pedestrian Tgt2 in the subarea SAir or SAes can enter the subarea SAer. When the result indicates, pedestrian warning information indicating that the pedestrian Tgt2 on the pedestrian crossing PC1 should be noted is created, and the created pedestrian warning information is transmitted to the wireless transmission device 152.

When the wireless transmission device 152 receives pedestrian warning information from the signal control device 151, for example, it generates a radio wave including the received pedestrian warning information and transmits the generated radio wave via the antenna 153 to the vicinity of the intersection CS1. Pedestrian warning information is notified to the automobile Tgt1 located in.

For example, when an automobile Tgt1 (not shown) trying to pass a pedestrian crossing PC1 by turning right or left from an intersection road Rd2 receives a radio wave transmitted from a radio transmission device 152, it acquires pedestrian warning information included in the received radio wave. Then, based on the acquired pedestrian warning information, the driver of the automobile Tgt1 is notified that he / she should pay attention to the crossing object on the pedestrian crossing PC1.

Further, although not shown in FIG. 2, the radio wave sensor 101 and the terminal device 111 can be connected by, for example, a signal line.

The terminal device 111 can accept the operation of the sensor installer. Upon receiving the operation of the sensor installer, the terminal device 111 creates operation information indicating the received operation content, and transmits the created operation information to the radio wave sensor 101 via the signal line.

Specifically, the sensor installer, for example, operates the terminal device 111 to set the mode of the radio wave sensor 101, start the measurement of the radio wave sensor 101, input parameters to the radio wave sensor 101, and the like.

Further, the terminal device 111 has, for example, a display as a display unit, and when the measurement result information indicating the measurement result of the radio wave sensor 101 is received from the radio wave sensor 101 via the signal line, the content of the received measurement result information is displayed. Display on.

[Radio wave sensor configuration]
FIG. 3 is a diagram showing a configuration of a radio wave sensor in the safe driving support system according to the first embodiment of the present invention.

With reference to FIG. 3, the radio wave sensor 101 includes a transmission unit 1, a reception unit 2, a difference signal generation unit 3, a control unit 4, a signal processing unit 5, a setting unit 6, and a detection unit 7. A communication unit (acquisition unit and output unit) 8 and a correction unit 9 are provided.

The transmitting unit 1 includes a transmitting antenna 21, a power amplifier 22, a directional coupler 23, a VCO (Voltage-Controlled Oscillator) 24, and a voltage generating unit 25.

The receiving unit 2 includes receiving antennas 31A, 31B, 31C, 31D and low noise amplifiers 32A, 32B, 32C, 32D. Hereinafter, each of the receiving antennas 31A, 31B, 31C, and 31D will also be referred to as a receiving antenna 31. Each of the low noise amplifiers 32A, 32B, 32C, and 32D is also referred to as a low noise amplifier 32.

The low noise amplifier 32 is provided corresponding to, for example, the receiving antenna 31. Although FIG. 3 typically shows four sets of the receiving antenna 31 and the corresponding low noise amplifier 32, two, three, or five or more sets may be provided.

The difference signal generation unit 3 includes mixers 33A, 33B, 33C, 33D, IF (Intermediate Frequency) amplifiers 34A, 34B, 34C, 34D, low-pass filters 35A, 35B, 35C, 35D, and an A / D converter (ADC). Includes 36A, 36B, 36C, 36D.

Hereinafter, each of the mixers 33A, 33B, 33C, and 33D will also be referred to as a mixer 33. Each of the IF amplifiers 34A, 34B, 34C, and 34D is also referred to as an IF amplifier 34. Each of the low-pass filters 35A, 35B, 35C, and 35D is also referred to as a low-pass filter 35. Each of the AD converters 36A, 36B, 36C, and 36D is also referred to as an AD converter 36.

The mixer 33, the IF amplifier 34, the low-pass filter 35, and the A / D converter 36 are provided corresponding to, for example, the receiving antenna 31. FIG. 3 typically shows four sets of the mixer 33, the IF amplifier 34, the low-pass filter 35, and the A / D converter 36, but even if two, three, or five or more sets thereof are provided. good.

The radio wave sensor 101 includes, for example, Non-Patent Document 1 (Koji Quarter, 2 outsiders, "Expanding Millimeter Wave Technology Application", Shimada Rika Giho, 2011, No. 21, P.37-48) and non-patent. FM-CW (Frequency Modified) described in Document 2 (Takayuki Inaba, Tetsuro Kirimoto, "In-Vehicle Millimeter Wave Radar", Automotive Technology, February 2010, Vol. 64, No. 2, P.74-79). -Continuous Wave) is a radar that detects an object Tgt according to the method. The radio wave sensor 101 is not limited to the FM-CW method, and may be a radar that detects the object Tgt according to another method such as the pulse method.

The communication unit 8 in the radio wave sensor 101 transmits / receives information to / from the terminal device 111.

The control unit 4 sets, for example, the operation mode of its own radio wave sensor 101 to either the initial adjustment mode or the normal operation mode.

More specifically, when the control unit 4 receives, for example, the operation information Mu indicating the operation of the sensor installer for setting the initial adjustment mode from the terminal device 111 via the communication unit 8, the control unit 4 operates its own radio wave sensor 101. Set the mode to the initial adjustment mode.

Further, for example, when the control unit 4 receives the operation information Mc indicating the operation of the sensor installer for setting the normal operation mode from the terminal device 111 via the communication unit 8, the control unit 4 normally sets the operation mode of its own radio wave sensor 101. Set to operation mode.

FIG. 4 is a diagram showing an example of a time change in the frequency of radio waves transmitted and received by a radio wave sensor in the safe driving support system according to the first embodiment of the present invention.

In FIG. 4, the horizontal axis represents time and the vertical axis represents frequency. The frequency Ft of the radio wave to be transmitted is represented by a solid line, and the frequency Fr of the radio wave to be received is represented by a broken line. FIG. 4 shows the delay of the received radio wave with respect to the transmitted radio wave.

With reference to FIGS. 3 and 4, when the control unit 4 receives the operation information Mm indicating the operation of the sensor installer for performing the unit measurement from the terminal device 111 via the communication unit 8 in the initial adjustment mode, 1 Set one unit sequence US.

Then, the control unit 4 transmits the measurement result information indicating the measurement result based on the received radio wave to the terminal device 111 via the communication unit 8. Details of the measurement result information will be described later.

Further, the control unit 4 repeatedly sets the unit sequence US in the normal operation mode. Here, the length of the unit sequence US is, for example, 100 milliseconds.

With reference to FIGS. 3 and 4, the control unit 4 sets the frequency sweep width Δf used in the FM-CW method and the sweep time Ts, which is the length of the transmission period P1, as initial setting values, and the transmission unit 1 and the signal processing unit 5 Output to.

The control unit 4 generates control signals Ss1 and Se1 at the start timing and the end timing of the transmission period P1, respectively. The control unit 4 outputs the generated control signals Ss1 and Se1 to the transmission unit 1 and the signal processing unit 5.

The transmission unit 1 transmits radio waves to the target area A1. More specifically, the VCO 24 in the transmission unit 1 generates a transmission wave RFt having a frequency corresponding to the magnitude of the voltage received from the voltage generation unit 25.

When the voltage generation unit 25 receives the control signal Ss1 from the control unit 4, the voltage generation unit 25 uses the frequency sweep width Δf and the sweep time Ts previously received from the control unit 4 as initial setting values until the voltage generation unit 25 receives the control signal Se1 from the control unit 4. , A voltage whose magnitude increases at a constant rate, that is, an FM modulation voltage is generated and output to the VCO 24.

The VCO 24 generates, for example, a transmission wave RFt3 in the 24 GHz band having a frequency sweep width Δf of 180 MHz and outputs it to the directional coupler 23 according to the FM modulation voltage received from the voltage generation unit 25.

The directional coupler 23 distributes the transmitted wave RFt received from the VCO 24 to the power amplifier 22 and the difference signal generation unit 3.

The power amplifier 22 amplifies the transmitted wave RFt received from the directional coupler 23, and transmits the amplified transmitted wave RFt to the target area A1 via the transmitting antenna 21. Here, the transmitting antenna 21 is provided at the same height Hs as the receiving antenna 31.

FIG. 5 is a diagram showing an example of arrangement when the transmitting antenna and the receiving antenna according to the first embodiment of the present invention are viewed from above.

With reference to FIGS. 3 and 5, the receiving antennas 31A to 31D are located, for example, in the vicinity of the transmitting antenna 21. More specifically, the receiving antennas 31A to 31D are arranged horizontally side by side at a height Hs above the ground, for example. The receiving antennas 31 are arranged in the order of the receiving antennas 31A to 31D from the transmitting antenna 21 side with an interval d.

Here, the sensor coordinate system is defined as follows. That is, the sensor coordinate system is, for example, a coordinate system represented by the x-axis and the y-axis and in which the radio wave sensor 101 is located at the origin. The direction of the y-axis is the direction in which the radio wave sensor 101 is in front of the radio wave sensor 101 as a result of measuring the direction of the object. More specifically, the direction of the y-axis is a direction in which all of the phase spectra PS1 to PS4, which will be described later, substantially coincide with each other. The x-axis is perpendicular to the y-axis, parallel to the ground, and the receiving antennas 31A to 31D are oriented in the order of the receiving antennas 31D, 31C, 31B, and 31A.

The sensor coordinate system may adopt the following definitions. That is, the sensor coordinate system is, for example, a coordinate system in which the intermediate position of the receiving antennas 31A to 31D is located at the origin. The direction of the x-axis is the direction in which the receiving antennas 31A to 31D are arranged in the order of the receiving antennas 31D, 31C, 31B, 31A. Further, the y-axis is perpendicular to the x-axis, parallel to the ground, and oriented in the direction in which the transmitted radio wave propagates.

The distance from the origin in the sensor coordinate system to the reflector R1 or the object Tgt is defined as the detection distance Lt. Further, the distance from the origin to the reflector R1 or the object Tgt in the plan view of the target area A1 viewed from above is defined as the detection plane distance Lc. Specifically, for example, when the height of the receiving antennas 31A to 31D from the ground is Hs and the height of the reflector R1 or the object Tgt from the ground is Hr, the detection plane distance Lc is {Lt. It is the square root of × Lt- (Hs-Hw) × (Hs-Hw)}.

The azimuth angle φc of the reflector R1 or the object Tgt in the sensor coordinate system is defined so that the x-axis direction becomes 0 ° and increases counterclockwise when viewed from above the target area A1.

The receiving antennas 31A to 31D may be arranged at positions away from the transmitting antenna 21, but are preferably arranged in the vicinity of the transmitting antenna 21 in order to simplify the configuration of the radio wave sensor 101.

Further, the configuration is not limited to the configuration in which the transmitting antenna 21 and the plurality of receiving antennas 31 are separate antennas, and a configuration in which any one of the plurality of receiving antennas 31 is used as the transmitting antenna may be used.

With reference to FIG. 3, the receiving unit 2 receives radio waves from the target area A1 and the like. More specifically, the radio waves received by the receiving unit 2 include radio waves reflected by the reflector R1, radio waves reflected by the object Tgt, reference objects and structures other than the object Tgt, such as guard rails. Radio waves reflected by poles, radio waves from radio wave transmitters that transmit radio waves, and the like are included.

More specifically, the receiving antennas 31A to 31D in the receiving unit 2 receive radio waves from the target area A1 respectively.

The low noise amplifiers 32A to 32D amplify the received waves RFr1 to RFr4, which are radio waves received by the receiving antennas 31A to 31D, respectively, and output them to the difference signal generation unit 3.

The difference signal generation unit 3 generates, for example, a difference signal having a frequency component of the difference between the frequency component of the radio wave transmitted by the transmission unit 1 and the frequency component of the radio wave received by the reception unit 2.

More specifically, the mixer 33A in the difference signal generation unit 3 generates a difference signal Ba1 having a frequency component of the difference between the transmission wave RFt received from the transmission unit 1 and the reception wave RFr1 received from the low noise amplifier 32A, and the generated difference. The signal Ba1 is output to the IF amplifier 34A.

Similarly, the mixers 33B to 33D generate difference signals Ba2 to Ba4 having a frequency component of the difference between the transmitted wave RFt received from the transmitting unit 1 and the received waves RFr2 to RFr4 received from the low noise amplifiers 32B to 32D, respectively. The mixers 33B to 33D output, for example, the generated difference signals Ba2 to Ba4 to the IF amplifiers 34B to 34D, respectively.

The IF amplifiers 34A to 34D amplify the difference signals Ba1 to Ba4 received from the mixers 33A to 33D, respectively, and output them to the low-pass filters 35A to 35D.

The low-pass filters 35A to 35D attenuate components having a predetermined frequency or higher among the frequency components of the difference signals Ba1 to Ba4 amplified by the IF amplifiers 34A to 34D, respectively.

The A / D converter 36A performs sampling processing of the difference signal Ba1 at a predetermined sampling frequency fsmpl, for example. More specifically, the A / D converter 36A uses, for example, q bits (q is an integer of 2 or more) for each sampling period (1 / fsmpl) of the difference signal Ba1, which is an analog signal that has passed through the low-pass filter 35A. It is converted into the digital difference signal Bd1 of.

Similarly, the A / D converters 36B to 36D perform sampling processing of the difference signals Ba2 to Ba4 at the sampling frequency fsmpl, respectively, and convert the analog difference signals Ba2 to Ba4 into the digital difference signals Bd2 to Bd4.

The A / D converters 36A to 36D output the converted difference signals Bd1 to Bd4 to the signal processing unit 5, respectively.

FIG. 6 is a diagram showing a configuration of a signal processing unit in the radio wave sensor according to the first embodiment of the present invention.

With reference to FIG. 6, the signal processing unit 5 includes a memory 41, an FFT (Fast Fourier Transform) processing unit 42, and an FMCW processing unit (measuring unit) 43.

FIG. 7 is a diagram showing an example of a power spectrum generated by the FFT processing unit in the radio wave sensor according to the first embodiment of the present invention.

With reference to FIGS. 6 and 7, the memory 41 in the signal processing unit 5 stores the difference signals Bd1 to Bd4 received from the A / D converters 36A to 36D, respectively.

The FFT processing unit 42 recognizes the transmission period P1 (see FIG. 4) based on the control signals Ss1 and Se1 received from the control unit 4.

When the FFT processing unit 42 completes the storage of the difference signals Bd1 to Bd4 in the memory 41 during the transmission period P1, the FFT processing unit 42 acquires the difference signals Bd1 to Bd4 stored in the memory 41, and obtains the difference signals Bd1 to Bd4 with respect to the acquired difference signals Bd1 to Bd4. FFT processing is performed for each.

More specifically, the FFT processing unit 42 generates the power spectrum FS1 and the phase spectrum PS1 by performing FFT processing on the difference signal Bd1. Here, the power spectrum FS1 indicates the amplitude of each frequency component included in the difference signal Bd1 accumulated in the transmission period P1. Further, the phase spectrum PS1 indicates the phase of each frequency component included in the difference signal Bd1 accumulated in the transmission period P1.

Similarly, the FFT processing unit 42 generates power spectra FS2, FS3, and FS4 by performing FFT processing on the difference signals Bd2, Bd3, and Bd4 accumulated in the transmission period P1, and also generates the phase spectra PS2 and PS2. PS3 and PS4 are generated respectively.

The FFT processing unit 42 outputs the generated power spectra FS1 to FS4 and phase spectra PS1 to PS4 to the FMCW processing unit 43.

FIG. 8 is a diagram showing an example of a measurement result table showing a peak detection result by the FMCW processing unit in the radio wave sensor according to the first embodiment of the present invention. In the measurement result table 400 shown in FIG. 8, the measurement positions corresponding to the detected peaks, which are the measurement positions in polar coordinates, are listed. The measurement position is represented by the detection plane distance L and the azimuth angle φ.

With reference to FIG. 8, the FMCW processing unit 43 can measure the measurement direction, which is the direction from the radio wave sensor 101 to the reference object in the target area A1, based on the radio wave received by the reception unit 2.

Specifically, the FMCW processing unit 43 can measure an azimuth (hereinafter, also referred to as a reference azimuth) indicating a measurement direction from its own radio wave sensor 101 to the reflector R1.

Further, the FMCW processing unit 43 can measure the detection distance between its own radio wave sensor 101 and the reference object and the corresponding detection plane distance (hereinafter, also referred to as reference distance).

Here, "measurable" means that, for example, when the reference object is in the target area A1 at a lineable position of the radio wave sensor 101, the reference azimuth angle and the reference distance are measured by the measuring unit 46, and the reference distance is measured. When an obstacle such as an automobile Tgt1 exists between the radio wave sensor 101 and the reference object, the reference azimuth angle and the reference distance to be measured are not measured by the measuring unit 46, and the azimuth angle and the distance with respect to the obstacle. Means that is measured by the measuring unit 46.

In this example, the FMCW processing unit 43 measures, for example, the peak intensity, the detection plane distance (L), and the azimuth angle (φ) of a plurality of objects, specifically, a reference object, and an object different from the reference object. , A measurement result table 400 showing the measurement results is created.

More specifically, when the FMCW processing unit 43 receives the power spectra FS1 to FS4 and the phase spectra PS1 to PS4 from the FFT processing unit 42, the FMCW processing unit 43 performs the following processing.

That is, the FMCW processing unit 43 converts the frequencies of the received power spectra FS1 to FS4 into distances. More specifically, the FMCW processing unit 43 converts the frequencies of the power spectra FS1 to FS4 into distances using the frequency sweep width Δf and the sweep time Ts received from the control unit 4.

Then, the FMCW processing unit 43 performs peak detection processing on the generated power spectrum. More specifically, the FMCW processing unit 43 analyzes the power spectrum and attempts to detect a peak having an intensity equal to or higher than the threshold value Thfm.

In this example, the FMCW processing unit 43 detects three peaks, assigns peak numbers of Pn1 to Pn3 to each detected peak, and writes the assigned peak numbers and the corresponding peak intensities in the measurement result table 400.

Further, the FMCW processing unit 43 calculates the measurement position, which is the position in the polar coordinates of the object corresponding to the detected peak, for each peak.

More specifically, the FMCW processing unit 43 calculates the detection distance from the position of the peak having the peak number of Pn1, Pn2, Pn3, respectively. Then, the FMCW processing unit 43 converts each of the calculated detection distances into detection plane distances Ls1, Ls2, and Ls3, respectively, and writes them in the measurement result table 400.

Further, the FMCW processing unit 43 calculates the azimuth angle φs1 corresponding to the peak of the peak number Pn1 based on the peak frequency Fb of the peak number Pn1 and the phase spectra PS1 to PS4.

More specifically, the FMCW processing unit 43 describes, for example, Non-Patent Document 3 (Nobuyoshi Kikuma, "Adaptive Signal Processing by Array Antenna", First Edition, Science and Technology Publishing Co., Ltd., November 1998, p.181, p. The azimuth angle φs1 corresponding to the peak of the peak number Pn1 is calculated according to the MUSIC (Multiple Signal Classification) method, the Capon method or the beamforming method described in 194).

Similarly, the FMCW processing unit 43 calculates the azimuth angles φs2 and φs3 corresponding to the peaks of the peak numbers Pn2 and Pn3, respectively. The FMCW processing unit 43 writes the calculated azimuth angles φs1, φs2, and φs3 in the measurement result table 400.

When the mode of its own radio wave sensor 101 is the initial adjustment mode, the FMCW processing unit 43 outputs the measurement result information showing the created measurement result table 400 to the control unit 4. The measurement result information is an example of direction information indicating the measurement direction measured by the FMCW processing unit 43.

With reference to FIG. 3 again, when the control unit 4 receives the measurement result information from the FMCW processing unit 43, the control unit 4 outputs the received measurement result information to the communication unit 8.

When the communication unit 8 outputs the direction information, specifically, when the measurement result information is received from the control unit 4, the communication unit 8 transmits the received measurement result information to the terminal device 111.

When the terminal device 111 receives the measurement result information from the radio wave sensor 101, the terminal device 111 controls to display the measurement result table 400 indicating the received measurement result information on the display unit.

[Operation flow]
Each device in the safe driving support system 301 includes a computer, and an arithmetic processing unit such as a CPU in the computer reads a program including a part or all of each step of the following sequence diagram or flowchart from a memory (not shown). Run. The programs of these plurality of devices can be installed from the outside. The programs of these plurality of devices are distributed in a state of being stored in a recording medium.

[Method of inputting correction value to radio wave sensor 101]
FIG. 9 is a flowchart defining an example of the procedure of the adjustment method of the radio wave sensor according to the first embodiment of the present invention.

With reference to FIG. 9, it is assumed that the reflector R1 is provided in the target area A1.

First, the sensor installer installs the radio wave sensor 101 (step S102). More specifically, the sensor installer fixes the radio wave sensor 101 to the support column PW while visually adjusting the direction of the radio wave sensor 101 so that the radio wave from the radio wave sensor 101 is irradiated to the target area A1.

Next, the sensor installer sets the operation mode of the radio wave sensor 101 to the initial adjustment mode by operating the terminal device 111 (step S104).

More specifically, the sensor installer performs an operation on the terminal device 111 to set the operation mode of the radio wave sensor 101 to the initial adjustment mode. Upon receiving the operation of the sensor installer, the terminal device 111 creates the operation information Mu according to the received operation content, and transmits the created operation information Mu to the radio wave sensor 101. The radio wave sensor 101 receives the operation information Mu from the terminal device 111 and sets its own operation mode to the initial adjustment mode.

Next, the sensor installer actually measures the position of the reflector R1 with respect to the radio wave sensor 101 with a measure or the like, and calculates the coordinates of the reflector R1 in the map coordinate system (step S106).

FIG. 10 is a diagram showing an example of the arrangement of the radio wave sensor according to the first embodiment of the present invention and the arrangement around the intersection where the radio wave sensor is provided when viewed from above.

With reference to FIG. 10, the map coordinate system is defined as follows. That is, the map coordinate system is, for example, a coordinate system represented by the X-axis and the Y-axis and in which the radio wave sensor 101 is located at the origin. The direction of the Y-axis is, for example, the direction defined by the sensor installer as the front.

In this example, the Y-axis is parallel to, for example, the extension direction Dp of the pedestrian crossing PC1 and is oriented in the direction in which the transmitted radio wave from the radio wave sensor 101 propagates. The X-axis is perpendicular to the Y-axis, parallel to the ground, and points to the right from the radio wave sensor 101 toward the pedestrian crossing PC1.

Further, the azimuth angle in the map coordinate system is defined so that the X-axis direction becomes 0 ° and increases counterclockwise when viewed from above the radio wave sensor 101.

In this example, the direction from the radio wave sensor 101 to the reflector R1 is the reference direction. The azimuth angle in the reference direction is φm1. Specifically, the sensor installer calculates (Xm1, Ym1) as the coordinates of the reflector R1 in the map coordinate system. Then, the sensor installer calculates the distance Lm1 from the coordinate origin to the reflector R1 and the azimuth angle φm1 of the reflector R1 in the map coordinate system based on the calculated (Xm1, Ym1).

The method of determining the axis in the map coordinate system is arbitrary, and may be determined based on, for example, the north, south, east, and west directions. Further, the position of the reflector R1 with respect to the radio wave sensor 101 may be obtained from an aerial photograph, a map, or the like.

With reference to FIG. 9 again, the radio wave sensor 101 then measures the measurement direction, which is the direction from itself to the reference object in the target area A1, based on the received radio wave. Specifically, the sensor installer causes the radio wave sensor 101 to perform unit measurement by operating the terminal device 111, and acquires the measurement result by the radio wave sensor 101 (step S108).

More specifically, the sensor installer performs an operation on the terminal device 111 to perform unit measurement. Upon receiving the operation of the sensor installer, the terminal device 111 creates the operation information Mm according to the received operation content, and transmits the created operation information Mm to the radio wave sensor 101.

When the radio wave sensor 101 receives the operation information Mm from the terminal device 111, it sets one unit sequence US and transmits the radio wave to the target area A1. Then, the radio wave sensor 101 creates measurement result information based on the received radio wave, and transmits the created measurement result information to the terminal device 111.

When the terminal device 111 receives the measurement result information from the radio wave sensor 101, the terminal device 111 controls to display the measurement result table 400 (see FIG. 8) showing the received measurement result information on the display unit. The sensor installer recognizes the measurement result of the radio wave sensor 101 by looking at the measurement result table 400 displayed on the terminal device 111.

Next, the sensor installer calculates the deviation of the measurement direction measured by the radio wave sensor 101 from the radio wave sensor 101 to the reference object with respect to the reference direction. Specifically, the sensor installer compares his / her own actual measurement result with the measurement result by the radio wave sensor 101, and calculates the deviation based on the comparison result (step S110).

FIG. 11 is a diagram showing an example of a measurement result by a radio wave sensor according to the first embodiment of the present invention and an actual measurement result by a sensor installer. FIG. 11 shows a map coordinate system.

With reference to FIG. 11, the coordinates (Xm1, Ym1) of the reflector R1 and the position Ps1 of the reflector R1 based on the detection plane distance Ls1 and the azimuth angle φs1 measured by the radio wave sensor 101 are plotted.

When the Y-axis in the map coordinate system and the y-axis in the sensor coordinate system do not match, the azimuths φm1 and the azimuths φs1 corresponding to the coordinates (Xm1, Ym1) do not match, as shown in FIG.

The sensor installer acquires the reference distance and the reference azimuth based on the reflector R1 from the measurement results in the measurement result table 400.

More specifically, the sensor installer obtains the reference distance and the reference azimuth based on the reflector R1, for example, using the intensity of the peak and the comparison result between the measurement position and the position based on the distance Lm1 and the azimuth angle φm1. do. In this example, the sensor installer acquires the detection plane distance Ls1 and the azimuth φs1 as the reference distance and the reference azimuth, respectively.

The sensor installer calculates, for example, the difference between the azimuth angle φm1 and the azimuth angle φs1, that is, (φm1-φs1), which is an example of the deviation, as the correction value.

With reference to FIG. 9 again, the sensor installer then inputs the calculated correction value to the radio wave sensor 101 by operating the terminal device 111 (step S112).

More specifically, the sensor installer performs an operation for inputting the calculated correction value to the radio wave sensor 101 to the terminal device 111.

The terminal device 111 creates, for example, correction information for correcting the deviation of the measurement direction measured by the radio wave sensor 101 from the radio wave sensor 101 to the reflector R1 with respect to the reference direction.

More specifically, when the terminal device 111 receives an operation from the sensor installer, it creates correction information including a correction value according to the received operation content, and transmits the created correction information to the radio wave sensor 101.

With reference to FIG. 3 again, the communication unit 8 in the radio wave sensor 101 acquires the correction information. More specifically, when the communication unit 8 receives the correction information from the terminal device 111, the communication unit 8 outputs the received correction information to the correction unit 9.

With reference to FIG. 9 again, the sensor installer then sets the operation mode of the radio wave sensor 101 to the normal operation mode by operating the terminal device 111 (step S114).

More specifically, the sensor installer performs an operation on the terminal device 111 to set the operation mode of the radio wave sensor 101 to the normal operation mode. Upon receiving the operation of the sensor installer, the terminal device 111 creates the operation information Mc according to the received operation content, and transmits the created operation information Mc to the radio wave sensor 101.

The radio wave sensor 101 receives the operation information Mc from the terminal device 111 and sets its own operation mode to the normal operation mode.

The order of steps S104 and S106 is not limited to the above, and the order may be changed.

Further, the order of steps S106 and S108 is not limited to the above, and the order may be changed.

The operation of each processing unit in the radio wave sensor 101 set to the normal operation mode will be described with reference to FIG. 6 again.

The FMCW processing unit 43 in the signal processing unit 5 measures the target direction, which is the direction from its own radio wave sensor 101 to the target object Tgt in the target area A1, based on the radio wave received by the receiving unit 2.

As described above, since the unit sequence US is repeatedly set in the normal operation mode, the FMCW processing unit 43 creates the measurement result table 400 for each unit sequence US. The measurement result table 400 includes, for example, the peak intensity, the detection plane distance (L), and the azimuth angle (φ) for the object Tgt.

The azimuth angle (φ) with respect to the object Tgt is an angle formed by the x-axis and the object direction from the origin to the object Tgt in the sensor coordinate system shown in FIG. The FMCW processing unit 43 outputs the measurement result information showing the created measurement result table 400 to the correction unit 9.

With reference to FIG. 3 again, the correction unit 9 corrects the target direction measured by the FMCW processing unit 43 based on the correction information acquired by the communication unit 8.

Specifically, when the correction unit 9 receives the correction information from the communication unit 8, the correction unit 9 registers the correction value included in the received correction information.

When the correction unit 9 receives the measurement result information from the signal processing unit 5, for example, in the measurement result table 400 (see FIG. 8) showing the received measurement result information, the correction unit 9 adds a correction value to the azimuth angle φ, that is, φs1 to φs3. Therefore, the azimuth angle φ in the measurement result table 400 is corrected. The correction unit 9 outputs the corrected measurement result information (hereinafter, also referred to as corrected measurement result information) to the detection unit 7.

In the setting unit 6, the coordinates (hereinafter, also referred to as index coordinates) in the map coordinate system of the index positions C1 to C10 shown in FIG. 2 are registered.

The detection unit 7 detects the target object Tgt in the target area A1 based on, for example, the target direction corrected by the correction unit 9.

More specifically, when the operation mode of its own radio wave sensor 101 is set to the normal operation mode, the detection unit 7 acquires the index coordinates registered in the setting unit 6 from the setting unit 6.

Then, when the detection unit 7 receives the corrected measurement result information from the correction unit 9, the detection unit 7 detects the object Tgt for each sub-area based on the received corrected measurement result information and the index coordinates.

More specifically, the detection unit 7 converts the corrected azimuth angle φ and the detection plane distance L into Cartesian coordinates for each peak in the measurement result table 400 shown by the corrected measurement result information, for example. The position (X, Y) in the system is calculated for each peak.

For example, the detection unit 7 compares the calculated position (X, Y) with the position of each sub-area based on the index coordinates, and based on the comparison result, the calculated position (X, Y) is one of the sub-areas. Judge whether or not it is included in.

For example, when the detection unit 7 determines that the calculated position (X, Y) is included in any of the sub-areas, the detection unit 7 identifies the sub-area containing the calculated position (X, Y) and the corresponding peak. The type of object Tgt is specified based on the strength.

The detection unit 7 creates detection result information indicating the type of the object Tgt, the sub-area including the object Tgt, and the peak intensity.

On the other hand, when the detection unit 7 determines, for example, that the calculated positions (X, Y) are not included in any of the sub-areas, the detection result information indicating that the object Tgt is not located in any of the sub-areas. To create.

The detection unit 7 transmits the created detection result information to the signal control device 151 via the relay device 141.

[Modification 1 of the correction value calculation method]
In step S108 shown in FIG. 9, the radio wave sensor 101 measures the measurement direction for one reference object, and in step S110 shown in FIG. 9, the sensor installer measures the reference object from the radio wave sensor 101 in one measurement direction. The configuration is such that the deviation with respect to one reference direction is calculated, but the present invention is not limited to this.

In step S108, for example, the radio wave sensor 101 measures a plurality of measurement directions based on the received radio waves. Then, in step S110, for example, the sensor installer calculates the deviations of the plurality of measurement directions measured by the radio wave sensor 101 with respect to the corresponding plurality of reference directions, and statistically processes each of the calculated deviations.

FIG. 12 is a diagram showing an example of a measurement result by a radio wave sensor according to the first embodiment of the present invention and an actual measurement result by a sensor installer. FIG. 12 shows a map coordinate system.

With reference to FIG. 12, it is assumed that two reference objects, specifically reflectors R1 and R2, are provided in the target area A1.

The sensor installer actually measures the positions of the reflectors R1 and R2 with respect to the radio wave sensor 101 with a measure or the like, and calculates (Xm1, Ym1) and (Xm2, Ym2) as the coordinates of the reflectors R1 and R2 in the map coordinate system.

Then, the sensor installer calculates the distance Lm1 from the coordinate origin to the reflector R1 and the azimuth angle φm1 of the reflector R1 in the map coordinate system based on the calculated (Xm1, Ym1).

Similarly, the sensor installer calculates the distance Lm2 from the coordinate origin to the reflector R2 and the azimuth angle φm2 of the reflector R2 in the map coordinate system based on the calculated (Xm2, Ym2).

The sensor installer causes the radio wave sensor 101 to perform unit measurement by operating the terminal device 111.

The radio wave sensor 101 measures a plurality of measurement directions based on the received radio waves according to the operation of the sensor installer.

More specifically, the FMCW processing unit 43 in the radio wave sensor 101 measures the detection plane distance Ls1 and the azimuth angle φs1, respectively, as the reference distance and the reference azimuth angle based on the reflector R1. Further, the FMCW processing unit 43 measures the detection plane distance Ls2 and the azimuth angle φs2 as the reference distance and the reference azimuth angle based on the reflector R2, respectively.

The radio wave sensor 101 transmits the measurement result information to the terminal device 111. When the terminal device 111 receives the measurement result information from the radio wave sensor 101, the terminal device 111 controls to display the measurement result table 400 indicating the received measurement result information on the display unit.

Then, the sensor installer calculates the deviations of the plurality of measurement directions measured by the radio wave sensor 101 with respect to the corresponding plurality of reference directions, and statistically processes each of the calculated deviations.

More specifically, the sensor installer recognizes the measurement result of the radio wave sensor 101 by looking at the measurement result table 400.

In this example, the sensor installer acquires the detection plane distance Ls1 and the azimuth angle φs1, respectively, as the reference distance and the reference azimuth angle based on the reflector R1. Similarly, the sensor installer acquires the detection plane distance Ls2 and the azimuth angle φs2 as the reference distance and the reference azimuth angle based on the reflector R2, respectively.

The sensor installer calculated and calculated the difference between the azimuth angle φm1 and the azimuth angle φs1, that is, (φm1-φs1), and the difference between the azimuth angle φm2 and the azimuth angle φs2, that is, (φm2-φs2) (φm1-φs1). And the average value of (φm2-φs2) is calculated as a correction value.

The configuration is not limited to the configuration in which two reference objects are provided in the target area A1, and the configuration may be such that three or more reference objects are provided in the target area A1. In this case, the sensor installer calculates the difference between the azimuth measured by the sensor installer and the azimuth measured by the radio wave sensor 101 (hereinafter, also referred to as a target difference) for each reference object, and each calculated target difference. The average value of the above may be calculated as a correction value, or the median value of each target difference may be calculated as a correction value.

Further, in the adjustment method of the radio wave sensor according to the first embodiment of the present invention, a plurality of measurement directions are measured by performing one unit measurement in a state where a plurality of reference objects are provided in the target area A1. However, it is not limited to this. For example, a plurality of measurement directions may be measured by performing unit measurement each time the reflector R1 is moved.

[Modification 2 of the correction value calculation method]
In step S108 shown in FIG. 9, for example, the radio wave sensor 101 measures a plurality of measurement sets, which is a set of the measurement direction and the distance between the radio wave sensor 101 and the reference object, based on the received radio wave. Then, in step S110 shown in FIG. 9, for example, the sensor installer is based on one straight line based on a plurality of sets of the reference direction and the distance between the radio wave sensor 101 and the reference object, and a plurality of measured measurement sets. The deviation is calculated based on the positional relationship with one straight line.

FIG. 13 is a diagram showing an example of the arrangement of the radio wave sensor according to the first embodiment of the present invention and the arrangement around the intersection where the radio wave sensor is provided when viewed from above. FIG. 13 shows a map coordinate system.

With reference to FIG. 13, the sensor installer sets a locus Trm1, which is an example of a straight line based on a plurality of sets of the reference direction and the distance between the radio wave sensor 101 and the reference object.

Specifically, the sensor installer sets the locus Trm1 based on the pair of the azimuth angle φm1 and the distance Lm1 and the pair of the azimuth angle φm2 and the distance Lm2 in the map coordinate system.

More specifically, the sensor installer sets the locus Trm1 along the end of the pedestrian crossing PC1 on the intersection CS1 side, from the start point Sp to the end point Ep.

The sensor installer moves the reflector R1 from the start point Sp to the end point Ep on the set locus Trm1.

More specifically, the sensor installer causes the radio wave sensor 101 to perform unit measurement by operating the terminal device 111 in a state where the reflector R1 is located at the start point Sp.

The radio wave sensor 101 measures the measurement set based on the received radio wave according to the operation of the sensor installer.

More specifically, the FMCW processing unit 43 in the radio wave sensor 101 measures the detection plane distance Ls1 and the azimuth angle φs1 as a measurement set based on the reflector R1 located at the start point Sp.

The radio wave sensor 101 transmits the measurement result information to the terminal device 111. When the terminal device 111 receives the measurement result information from the radio wave sensor 101, the terminal device 111 controls to display the measurement result table 400 indicating the received measurement result information on the display unit.

The sensor installer looks at the measurement result table 400 and acquires a measurement set based on the reflector R1 located at the starting point Sp, that is, a detection plane distance Ls1 and an azimuth angle φs1. The sensor installer converts the acquired detection plane distance Ls1 and azimuth angle φs1, that is, the coordinate components of polar coordinates into orthogonal coordinates (hereinafter, also referred to as start point coordinates Crds).

Next, the sensor installer causes the radio wave sensor 101 to perform unit measurement in a state where the reflector R1 is located at one location on the locus that does not include the start point Sp and the end point Ep, and the reflector R1 located at that location. Obtain a measurement set based on. The sensor installer converts the acquired measurement set into Cartesian coordinates (hereinafter, also referred to as intermediate coordinates Crdm). The sensor installer may calculate a plurality of intermediate coordinates.

Then, the sensor installer causes the radio wave sensor 101 to perform unit measurement in a state where the reflector R1 is located at the end point Ep, and acquires a measurement set based on the reflector R1 located at the end point Ep. The sensor installer converts the acquired measurement set into Cartesian coordinates (hereinafter, also referred to as end point coordinates Crde).

FIG. 14 is a diagram showing an example of a measurement result by a radio wave sensor according to the first embodiment of the present invention and an actual measurement result by a sensor installer. FIG. 14 shows a map coordinate system.

With reference to FIGS. 13 and 14, the sensor installer actually measures the positions of the start point Sp and the end point Ep with a measure or the like, and calculates the coordinates of the start point Sp and the end point Ep in the map coordinate system from the actual measurement results.

Specifically, the sensor installer calculates a set of azimuth angle Lm1 and distance Lm1 which are polar coordinates of the start point Sp, and a set of azimuth angle Lm2 and distance Lm2 which are polar coordinates of the end point Ep.

The sensor installer converts each of the calculated sets into Cartesian coordinates, and calculates a linear function indicating the locus Trm1 based on the converted coordinates.

Further, the sensor installer calculates a straight line based on a plurality of measurement sets measured by the radio wave sensor 101. More specifically, the sensor installer calculates a linear function indicating the locus Trs1 using the least squares method based on the start point coordinate Crds, one or more intermediate coordinates Crdm, and the end point coordinate Crde.

The sensor installer rotates the linear function indicating the locus Trs1 in the XY plane with the axis passing through the origin and perpendicular to the X-axis and the Y-axis as the rotation axis, and the rotation angle φr overlapping the linear function indicating the locus Trm1. Is calculated as a correction value.

In the method for adjusting the radio wave sensor according to the first embodiment of the present invention, the deviation is calculated based on the positional relationship between the locus Trm1 and the locus Trs1, but the deviation is not limited to this. The deviation is calculated based on the positional relationship between one or more curves based on a plurality of sets of the reference direction and the distance between the radio wave sensor 101 and the reference object and one or more curves based on a plurality of measurement sets. May be good. In this case, the curved locus is approximated by a polynomial, for example. Further, the method of calculating the deviation based on the positional relationship between the curves is useful, for example, when calculating the deviation on a curved road or the like. Further, the deviation may be calculated based on the positional relationship between a plurality of straight lines based on a plurality of sets of the reference direction and the distance between the radio wave sensor 101 and the reference object and a plurality of straight lines based on a plurality of measurement sets. ..

Further, in the method for adjusting the radio wave sensor according to the first embodiment of the present invention, a plurality of measurement sets are measured by performing unit measurement each time the reflector R1 is moved along the locus Trm1. It is not limited to. For example, a plurality of measurement sets may be measured by performing one unit measurement in a state where a plurality of reference objects are provided along the locus Trm1.

Further, in the method for adjusting the radio wave sensor according to the first embodiment of the present invention, the sensor installer uses the start point coordinates Crds and the end point coordinates Crde corresponding to the start point Sp and the end point Ep measured by the sensor, respectively. The configuration is such that a linear function indicating Trs1 is calculated, but the present invention is not limited to this. The sensor installer may be configured to calculate a linear function indicating the locus Trs1 without using the coordinates corresponding to the position actually measured by the sensor. Specifically, the sensor installer can calculate, for example, a linear function indicating the locus Trs1 based on a plurality of intermediate coordinates.

[Method of adjusting the orientation of the radio wave sensor 101]
FIG. 15 is a flowchart defining an example of a procedure for adjusting the orientation of the radio wave sensor according to the first embodiment of the present invention.

With reference to FIG. 15, it is assumed that the reflector R1 is provided in the target area A1. Further, in the correction unit 9 of the radio wave sensor 101, zero is registered as a correction value.

First, the sensor installer installs the radio wave sensor 101 (step S202).

Next, the sensor installer sets the operation mode of the radio wave sensor 101 to the initial adjustment mode by operating the terminal device 111 (step S204).

Next, the sensor installer actually measures the position of the reflector R1 with respect to the radio wave sensor 101 with a measure or the like, and calculates the coordinates of the reflector R1 in the map coordinate system (step S206).

Next, the sensor installer causes the radio wave sensor 101 to perform unit measurement by operating the terminal device 111, and acquires the measurement result by the radio wave sensor 101, that is, the measurement result table 400 (see FIG. 8) (step S208). ..

Next, the sensor installer compares the actual measurement result of the sensor with the measurement result of the radio wave sensor 101, and calculates the target difference for the reflector R1 based on the comparison result (step S210).

Next, the sensor installer physically adjusts the orientation of the radio wave sensor 101 based on the calculated deviation when the target difference is not included in the predetermined allowable range (NO in step S212). The orientation of the radio wave sensor 101 is physically adjusted with reference to the target difference (step S214).

Next, the sensor installer causes the radio wave sensor 101 to perform unit measurement by operating the terminal device 111, and acquires a new measurement result by the radio wave sensor 101 (step S208).

On the other hand, when the target difference is included in the predetermined allowable range (YES in step S212), the sensor installer sets the operation mode of the radio wave sensor 101 to the normal operation mode by operating the terminal device 111 (step S216). ).

The order of steps S204 and S206 is not limited to the above, and the order may be changed.

Further, in the radio wave sensor according to the first embodiment of the present invention, the FMCW processing unit 43 is configured to measure both the measurement direction and the detection plane distance based on the radio wave received by the reception unit 2. However, it is not limited to this. The FMCW processing unit 43 may be configured to measure the measurement direction based on the radio wave received by the reception unit 2. In this case, it is possible to calculate the correction value in the cases of FIGS. 11 and 12.

Further, in the radio wave sensor according to the first embodiment of the present invention, the difference between the azimuth angle φm1 actually measured by the sensor installer and the azimuth angle φs1 measured by the radio wave sensor 101, that is, (φm1-φs1) is corrected. However, the configuration is not limited to this. The difference between the azimuth angle φs1 and the azimuth angle φm1, that is, (φs1-φm1) may be calculated as a correction value. In this case, the correction unit 9 in the radio wave sensor 101 corrects the azimuth angle φ in the measurement result table 400 by subtracting the correction value from the azimuth angle φ, that is, φs1 to φs3 in the measurement result table 400 (see FIG. 8), for example. do.

Further, the radio wave sensor according to the first embodiment of the present invention is provided with a setting unit 6 and a detection unit 7, but the present invention is not limited to this. The setting unit 6 and the detection unit 7 may be provided outside the radio wave sensor 101.

By the way, for example, in the vehicle-mounted radio wave sensor described in Patent Document 1, the detection target area of the object is set based on the relative angle and distance with respect to the radio wave sensor.

For example, when the above radio wave sensor is used for a pedestrian collision prevention support system when turning right, which is an example of a safe driving support system for supporting safe driving of a driver, a detection target area such as a pedestrian crossing is set.

In such a case, for example, if the direction of the radio wave sensor deviates from the reference direction, the radio wave sensor mistakenly directs the direction from itself to the pedestrian even if the pedestrian is actually located on the pedestrian crossing. It may be measured and mistakenly determined that the pedestrian is not on the pedestrian crossing. In addition, even if the pedestrian is not actually located on the pedestrian crossing, the radio wave sensor may erroneously measure the direction from the self to the pedestrian and erroneously determine that the pedestrian is located on the pedestrian crossing. ..

Specifically, for example, if the direction of the radio wave sensor deviates by 1 degree from the reference direction, the horizontal error 30 meters away from the radio wave sensor is about 0.5 m, and is the pedestrian located on the pedestrian crossing? It becomes difficult to accurately determine whether or not.

Further, in the case of a sensor using an image captured by a camera, adjustment can be performed while viewing an image based on the captured image. However, in the case of a radio wave sensor, it is difficult for the sensor installer to grasp the direction of the radio wave sensor.

As a method of adjusting the direction of the radio wave sensor to the reference direction, it is conceivable to use a camera or aim at the radio wave sensor, but it is difficult for the sensor installer to grasp the direction of the radio wave sensor. It is difficult to accurately align the direction of the radio wave sensor with the reference direction. Further, for example, even if the orientation of the housing of the radio wave sensor can be adjusted to the reference direction, the direction of the antenna directivity and the direction of the housing may deviate depending on the tightening of the screws for fixing the antenna. There is. In this case, the measurement direction measured by the radio wave sensor and the reference direction deviate from each other.

Therefore, in the radio wave sensor according to the first embodiment of the present invention, the transmission unit 1 transmits radio waves to the target area A1. The receiving unit 2 receives radio waves. The FMCW processing unit 43 measures the measurement direction, which is the direction from the radio wave sensor 101 to the reference object in the target area A1, based on the radio wave received by the reception unit 2. The communication unit 8 outputs direction information indicating the measurement direction measured by the FMCW processing unit 43. The communication unit 8 acquires correction information for correcting the deviation of the measurement direction measured by the FMCW processing unit 43 from the radio wave sensor 101 to the reference object with respect to the reference direction. The FMCW processing unit 43 further measures the target direction, which is the direction from the radio wave sensor 101 to the target object Tgt in the target area A1, based on the radio wave received by the receiving unit 2. Then, the correction unit 9 corrects the target direction measured by the FMCW processing unit 43 based on the correction information acquired by the communication unit 8.

In this way, with the configuration of outputting the direction information, for example, the installer of the radio wave sensor 101 can calculate the deviation of the direction of the radio wave sensor 101, so that the correction information having more correct contents can be created. Further, by acquiring the correction information and correcting the measured target direction based on the acquired correction information, the orientation of the radio wave sensor 101 is physically determined, for example, when the above-mentioned target difference is included in a predetermined allowable range. It is possible to easily calculate a more correct target direction without performing the work of adjusting the target direction. Therefore, the direction to the object can be measured more accurately.

Further, in the radio wave sensor according to the first embodiment of the present invention, the detection unit 7 detects the target object Tgt in the target area A1 based on the target direction corrected by the correction unit 9.

In this way, the accuracy of detecting the object can be improved by the configuration that detects the object based on the more correct target direction.

Further, in the adjustment method according to the first embodiment of the present invention, first, the measurement direction, which is the direction from the radio wave sensor 101 to the reference object in the target area A1, is measured based on the received radio wave. Next, the deviation of the measured measurement direction from the radio wave sensor 101 to the reference object with respect to the reference direction is calculated.

In this way, by measuring the direction to the reference object and calculating the deviation of the measurement direction with respect to the reference direction, the deviation of the direction of the radio wave sensor 101 can be recognized from the calculation result. Therefore, for example, the radio wave sensor 101. It is possible to physically adjust the orientation, or to have the radio wave sensor 101 perform corrections for aligning the measurement direction of the radio wave sensor 101 with the reference direction. As a result, the deviation of the measurement direction with respect to the reference direction can be made smaller. Therefore, the direction to the object can be measured more accurately.

Further, in the adjustment method according to the first embodiment of the present invention, in the step of measuring the measurement direction, a plurality of measurement directions are measured based on the received radio wave. Then, in the step of calculating the deviation, the deviations of the plurality of measured measurement directions with respect to the corresponding plurality of reference directions are calculated, and each calculated deviation is statistically processed.

In this way, the deviation calculation accuracy can be improved by a configuration in which a plurality of deviations are calculated using the measurement results of the reference object at a plurality of positions and each of the calculated deviations is statistically processed.

Further, in the adjustment method according to the first embodiment of the present invention, in the step of measuring the measurement direction, a set of the measurement direction and the distance between the radio wave sensor 101 and the reference object is used based on the received radio wave. A plurality of measurement sets are measured. Then, in the step of calculating the deviation, one or a plurality of straight lines or one or a plurality of curves based on a plurality of sets of the reference direction and the distance between the radio wave sensor 101 and the reference object, and a plurality of measured measurement sets are used. The deviation is calculated based on the positional relationship with one or more straight lines or one or more curves based on.

In this way, the deviation is calculated based on the positional relationship between one or a plurality of straight lines or one or a plurality of curves, and the position of the reference object at the time of measurement by the radio wave sensor 101 and the actual measurement of the reference direction and distance are measured. The deviation can be calculated without associating with the position of the reference object at time. As a result, it is possible to easily calculate whichever is more accurate. Further, even when a curved road is set as a detection target area, the deviation can be easily calculated by using, for example, the roadside zone and the center line provided on the road as a reference.

Further, the adjustment method according to the first embodiment of the present invention further includes a step of adjusting the direction of the radio wave sensor 101 based on the calculated deviation.

With such a configuration, the measurement direction of the radio wave sensor 101 can be adjusted to the reference direction. Therefore, for example, correct measurement is performed without causing the radio wave sensor 101 to make corrections for aligning the measurement direction of the radio wave sensor 101 with the reference direction. The direction can be measured. This makes it possible to simplify the internal processing of the radio wave sensor 101.

Next, other embodiments of the present invention will be described with reference to the drawings. The same or corresponding parts in the drawings are designated by the same reference numerals, and the description thereof will not be repeated.

<Second Embodiment>
The present embodiment relates to a radio wave sensor that automatically calculates a correction value as compared with the radio wave sensor according to the first embodiment. Except for the contents described below, the same is true for the radio wave sensor according to the first embodiment.

FIG. 16 is a diagram showing a configuration of a radio wave sensor in a safe driving support system according to a second embodiment of the present invention.

With reference to FIG. 16, the radio wave sensor 102 includes a transmission unit 1, a reception unit 2, a difference signal generation unit 3, a control unit 4, a signal processing unit 5, a setting unit 6, and a detection unit 7. It includes a communication unit (acquisition unit) 8, a correction unit 9, and a calculation unit 10.

The operations of the transmission unit 1, the reception unit 2, the difference signal generation unit 3, the control unit 4, the signal processing unit 5, the setting unit 6, the detection unit 7, the communication unit 8, and the correction unit 9 in the radio wave sensor 102 are shown in FIG. The same applies to the transmission unit 1, the reception unit 2, the difference signal generation unit 3, the control unit 4, the signal processing unit 5, the setting unit 6, the detection unit 7, the communication unit 8, and the correction unit 9 in the radio wave sensor 101, respectively.

The control unit 4 of the radio wave sensor 102 sets, for example, the operation mode of its own radio wave sensor 102 to either the automatic adjustment mode or the normal operation mode.

More specifically, when the control unit 4 receives the operation information Ma indicating the operation of the sensor installer for setting the automatic adjustment mode from the terminal device 111 via the communication unit 8, the control unit 4 operates its own radio wave sensor 102. Set the mode to auto-adjust mode.

[Method in which the radio wave sensor 102 automatically calculates the correction value]
FIG. 17 is a flowchart defining an example of a procedure of a method in which the radio wave sensor according to the second embodiment of the present invention automatically corrects the azimuth angle.

With reference to FIGS. 2, 16 and 17, it is assumed that the reflector R1 is provided in the target area A1.

First, the sensor installer installs the radio wave sensor 102 (step S302).

Next, the sensor installer sets the operation mode of the radio wave sensor 102 to the automatic adjustment mode by operating the terminal device 111 (step S304).

More specifically, the sensor installer performs an operation on the terminal device 111 to set the operation mode of the radio wave sensor 102 to the automatic adjustment mode. Upon receiving the operation of the sensor installer, the terminal device 111 creates the operation information Ma according to the received operation content, and transmits the created operation information Ma to the radio wave sensor 102. The radio wave sensor 102 receives the operation information Ma from the terminal device 111 and sets its own operation mode to the automatic adjustment mode.

Next, the sensor installer actually measures the position of the reflector R1 with respect to the radio wave sensor 102 with a measure or the like, and calculates the coordinates of the reflector R1 in the map coordinate system, specifically (Xm1, Ym1) (step S306). ..

Next, the sensor installer inputs the calculated coordinates to the radio wave sensor 102 by operating the terminal device 111 (step S308).

More specifically, the sensor installer performs an operation for inputting the calculated coordinates to the radio wave sensor 102 to the terminal device 111. Upon receiving the operation of the sensor installer, the terminal device 111 creates coordinate information including the coordinates according to the received operation content, and transmits the created coordinate information to the radio wave sensor 102.

The communication unit 8 in the radio wave sensor 102 acquires, for example, the reference direction. Specifically, when the communication unit 8 receives the coordinate information from the terminal device 111, the communication unit 8 outputs the received coordinate information to the calculation unit 10.

When the calculation unit 10 receives the coordinate information from the communication unit 8, it converts the received coordinate information, that is, (Xm1, Ym1) into polar coordinates, and registers the converted distance Lm1 and the azimuth angle φm1 as registered coordinates.

Next, the sensor installer causes the radio wave sensor 102 to perform unit measurement by operating the terminal device 111, and acquires the measurement result by the radio wave sensor 102 (step S310).

More specifically, the sensor installer performs an operation on the terminal device 111 to perform unit measurement. Upon receiving the operation of the sensor installer, the terminal device 111 creates the operation information Mm according to the received operation content, and transmits the created operation information Mm to the radio wave sensor 102.

When the radio wave sensor 102 receives the operation information Mm from the terminal device 111, it sets one unit sequence US and transmits the radio wave to the target area A1. Then, the radio wave sensor 102 creates measurement result information based on the received radio wave, and transmits the created measurement result information to the terminal device 111.

When the terminal device 111 receives the measurement result information from the radio wave sensor 102, the terminal device 111 controls to display the measurement result table 400 (see FIG. 8) showing the received measurement result information on the display unit. The sensor installer recognizes the measurement result of the radio wave sensor 102 by looking at the measurement result table 400 displayed on the terminal device 111.

Next, the sensor installer selects the reference distance and the reference azimuth based on the reflector R1 from the measurement results in the measurement result table 400 (step S312).

In this example, the sensor installer selects the detection plane distance Ls1 and the azimuth angle φs1 as the reference distance and the reference azimuth angle based on the reflector R1, respectively.

Next, the sensor installer inputs the selection result to the radio wave sensor 102 by operating the terminal device 111 (step S314).

More specifically, the sensor installer performs an operation on the terminal device 111 to input the selection result to the radio wave sensor 102. Upon receiving the operation of the sensor installer, the terminal device 111 creates selection result information indicating the selected detection plane distance Ls1 and the azimuth angle φs1 according to the received operation content, and transmits the created selection result information to the radio wave sensor 102. do.

Next, the calculation unit 10 in the radio wave sensor 102 calculates the deviation of the measurement direction measured by the FMCW processing unit 43 from the radio wave sensor 102 to the reference object with respect to the reference direction (step S316).

More specifically, when the communication unit 8 receives the selection result information from the terminal device 111, the communication unit 8 outputs the received selection result information to the calculation unit 10.

When the calculation unit 10 receives the selection result information from the communication unit 8, the calculation unit 10 calculates the correction value based on the received selection result information and the registered coordinates.

Specifically, the calculation unit 10 calculates the difference between the registered azimuth angle φm1 and the azimuth angle φs1 indicated by the selection result information, that is, (φm1-φs1) as a correction value, and creates correction information including the calculated correction value. And output to the correction unit 9.

When the correction unit 9 receives the correction information from the calculation unit 10, the correction unit 9 registers the correction value included in the received correction information.

Next, the radio wave sensor 102 sets its own operation mode to the normal operation mode (step S318).

More specifically, the control unit 4 monitors, for example, the processing in the correction unit 9, and when it confirms that the correction unit 9 has registered the correction value, the control unit 4 sets the operation mode of its own radio wave sensor 102 to the normal operation mode. ..

The order of steps S304 and S306 is not limited to the above, and the order may be changed.

[Modification 1 of the correction value calculation method]
The radio wave sensor 102 is configured to calculate the correction value based on one measurement direction and one reference direction, but the present invention is not limited to this. As shown in FIG. 12, the correction value may be calculated based on a plurality of measurement directions and a plurality of reference directions.

Specifically, the FMCW processing unit 43 measures a plurality of measurement directions based on, for example, the radio waves received by the receiving unit 2. The calculation unit 10 calculates, for example, the deviations of the plurality of measurement directions measured by the FMCW processing unit 43 with respect to the corresponding plurality of reference directions, and statistically processes each of the calculated deviations.

With reference to FIGS. 2 and 16 again, for example, the sensor installer installs the reflector R1, measures the position of the reflector R1, and registers the measured result in the radio wave sensor 102.

Then, the sensor installer causes the radio wave sensor 102 to perform unit measurement, and selects a reference distance and a reference azimuth based on the reflector R1 from the results of the unit measurement. The sensor installer performs an operation on the terminal device 111 to input the selection result to the radio wave sensor 102.

Upon receiving the operation of the sensor installer, the terminal device 111 creates selection result information indicating the selected detection plane distance Ls1 and the azimuth angle φs1 according to the received operation content, and transmits the created selection result information to the radio wave sensor 102. do.

When the calculation unit 10 in the radio wave sensor 102 receives the selection result information from the terminal device 111 via the communication unit 8, the calculation unit 10 registers the received selection result information.

Then, the sensor installer moves the reflector R1 to another position, measures the position of the reflector R1, and registers the measured result in the radio wave sensor 102. Then, the sensor installer causes the radio wave sensor 102 to perform unit measurement, selects the reference distance and the reference azimuth based on the moving reflector R1 from the unit measurement results, and registers the selection result in the radio wave sensor 102. do.

In this way, two sets of the azimuth angle indicated by the selection result information and the azimuth angle set registered as the registered coordinates (hereinafter, also referred to as the azimuth angle set) are registered in the calculation unit 10 of the radio wave sensor 102.

The calculation unit 10 calculates the correction value based on the two registered azimuth angle sets. More specifically, the calculation unit 10 calculates the difference between the azimuth angle of the registered coordinates, for example, φm1 in the first azimuth angle set and the azimuth angle, for example, φs1 indicated by the selection result information, that is, (φm1-φs1).

Further, the calculation unit 10 calculates the difference between the azimuth angle of the registered coordinates in the second azimuth set, for example, φm2, and the azimuth angle indicated by the selection result information, for example, φs2, that is, (φm2-φs2).

For example, the calculation unit 10 calculates the average values of the calculated (φm1-φs1) and (φm2-φs2) as correction values, and outputs the correction information including the calculated correction values to the correction unit 9.

The radio wave sensor 102 is not limited to the configuration in which the correction value is calculated based on two azimuth angle sets, and may be configured in which the correction value is calculated based on three or more azimuth angle sets. In this case, the calculation unit 10 calculates the target difference, which is the difference between the azimuth angle of the registered coordinates and the azimuth angle indicated by the selection result information, for each azimuth angle set, and uses the average value of the calculated target differences as the correction value. It may be calculated, or the median value of each target difference may be calculated as a correction value.

Further, the radio wave sensor according to the second embodiment of the present invention has a configuration in which a plurality of azimuth angle sets are registered by performing unit measurement each time the reflector R1 is moved. It is not limited. For example, as shown in FIG. 12, by providing a plurality of reference objects in the target area A1, a plurality of azimuth angle sets may be registered from one unit measurement.

[Modification 2 of the correction value calculation method]
The radio wave sensor 102 is configured to calculate the correction value based on one measurement direction and one reference direction, but the present invention is not limited to this. As shown in FIG. 14, the deviation may be calculated based on the positional relationship between the locus Trm1 and the locus Trs1.

More specifically, the FMCW processing unit 43 measures a plurality of measurement sets, which is a set of the measurement direction and the distance between the radio wave sensor 102 and the reference object, based on, for example, the radio wave received by the receiving unit 2. The calculation unit 10 has, for example, a positional relationship between a straight line based on a plurality of sets of the reference direction and the distance between the radio wave sensor 102 and the reference object and a straight line based on the plurality of measurement sets measured by the FMCW processing unit 43. Calculate the deviation based on.

With reference to FIGS. 2, 13, 14 and 16, for example, the sensor installer actually measures the positions of the start point Sp and the end point Ep with a measure or the like, and calculates a linear function indicating the locus Trm1 from the actual measurement results. ..

The sensor installer performs an operation on the terminal device 111 to input the calculation result to the radio wave sensor 102. Upon receiving the operation of the sensor installer, the terminal device 111 creates trajectory information indicating the calculated linear function according to the received operation content, and transmits the created trajectory information to the radio wave sensor 102.

When the calculation unit 10 in the radio wave sensor 102 receives the locus information from the terminal device 111 via the communication unit 8, the calculation unit 10 registers the received locus information.

The sensor installer, for example, causes the radio wave sensor 102 to perform unit measurement after installing the reflector R1 at the starting point Sp. Then, the sensor installer selects the reference distance and the reference azimuth angle based on the reflector R1 from the unit measurement results, that is, the measurement set, and registers the selection result in the radio wave sensor 102.

Then, the sensor installer causes the radio wave sensor 102 to perform unit measurement after moving the reflector R1 to a position between the start point Sp and the end point Ep in the locus Trm1. Then, the sensor installer selects the reference distance and the reference azimuth based on the moving reflector R1 from the unit measurement results, and registers the selection result in the radio wave sensor 102.

Then, the sensor installer causes the radio wave sensor 102 to perform unit measurement after moving the reflector R1 to the end point Ep. Then, the sensor installer selects the reference distance and the reference azimuth based on the reflector R1 at the end point Ep from the results of the unit measurement, and registers the selection result in the radio wave sensor 102.

In this way, the calculation unit 10 of the radio wave sensor 102 registers the selection result information about the three positions in the locus Trm1. The calculation unit 10 may register selection result information about four or more positions including the start point Sp and the end point Ep in the locus Trm1.

The calculation unit 10 acquires the start point coordinate Crds, one or more intermediate coordinates Crdm, and the end point coordinate Crde by converting the reference distance and the reference azimuth indicated by each of the registered selection result information into Cartesian coordinates.

Based on each of the calculated coordinates, the calculation unit 10 calculates a linear function indicating the locus Trs1 by using, for example, the least squares method.

For example, the calculation unit 10 rotates a linear function indicating the locus Trs1 in the XY plane with an axis passing through the origin and perpendicular to the X-axis and the Y-axis as the rotation axis, and sets the degree of overlap with the locus Trm1 as an evaluation value. calculate. For example, the calculation unit 10 calculates the rotation angle φr at which the evaluation value is maximized as the correction value, and outputs the correction information including the calculated correction value to the correction unit 9.

In the radio wave sensor according to the second embodiment of the present invention, the calculation unit 10 is configured to calculate the deviation based on the positional relationship between the locus Trm1 and the locus Trs1, but the present invention is limited to this. is not it. The calculation unit 10 determines the positional relationship between one or a plurality of curves based on a plurality of sets of the reference direction and the distance between the radio wave sensor 102 and the reference object and one or a plurality of curves based on the plurality of measurement sets. The deviation may be calculated based on the above. In this case, the calculation unit 10 approximates the curved locus with, for example, a polynomial. Further, a configuration in which the deviation is calculated based on the positional relationship between the curves is useful, for example, when calculating the deviation on a curved road or the like. Further, the calculation unit 10 determines the deviation based on the positional relationship between a plurality of straight lines based on a plurality of sets of the reference direction and the distance between the radio wave sensor 102 and the reference object and a plurality of straight lines based on the plurality of measurement sets. It may be a configuration to be calculated.

Further, in the radio wave sensor according to the second embodiment of the present invention, a plurality of measurement sets are registered in the calculation unit 10 by performing unit measurement each time the reflector R1 is moved along the locus Trm1. However, it is not limited to this. For example, a plurality of measurement sets may be registered in the calculation unit 10 by performing one unit measurement in a state where a plurality of reference objects are provided along the locus Trm1.

Further, in the radio wave sensor according to the second embodiment of the present invention, the calculation unit 10 uses the start point coordinates Crds and the end point coordinates Crde corresponding to the start point Sp and the end point Ep actually measured by the sensor installer, and the locus Trs1 Although it is assumed that the configuration is such that a linear function indicating the above is calculated, the present invention is not limited to this. The calculation unit 10 may be configured to calculate a linear function indicating the locus Trs1 without using the coordinates corresponding to the positions actually measured by the sensor installer. Specifically, the calculation unit 10 can calculate a linear function indicating the locus Trs1 based on, for example, a plurality of intermediate coordinates.

As described above, in the radio wave sensor according to the second embodiment of the present invention, the transmission unit 1 transmits radio waves to the target area A1. The receiving unit 2 receives radio waves. The FMCW processing unit 43 measures the measurement direction, which is the direction from the radio wave sensor 102 to the reference object in the target area A1, based on the radio wave received by the reception unit 2. Then, the calculation unit 10 calculates the deviation of the measurement direction measured by the FMCW processing unit 43 from the radio wave sensor 102 to the reference object with respect to the reference direction.

In this way, by measuring the direction to the reference object and calculating the deviation of the measurement direction with respect to the reference direction, the deviation of the direction of the radio wave sensor 102 can be recognized from the calculation result. Therefore, for example, the radio wave sensor 102 It is possible to physically adjust the orientation, or to have the radio wave sensor 102 perform corrections for aligning the measurement direction of the radio wave sensor 102 with the reference direction. As a result, the deviation of the measurement direction with respect to the reference direction can be made smaller. Therefore, the direction to the object can be measured more accurately.

Further, in the radio wave sensor according to the second embodiment of the present invention, the FMCW processing unit 43 measures a plurality of measurement directions based on the radio wave received by the receiving unit 2. Then, the calculation unit 10 calculates the deviations of the plurality of measurement directions measured by the FMCW processing unit 43 with respect to the corresponding plurality of reference directions, and statistically processes each of the calculated deviations.

In this way, the deviation calculation accuracy can be improved by a configuration in which a plurality of deviations are calculated using the measurement results of the reference object at a plurality of positions and each of the calculated deviations is statistically processed.

Further, in the radio wave sensor according to the second embodiment of the present invention, the FMCW processing unit 43 determines the measurement direction and the distance between the radio wave sensor 102 and the reference object based on the radio wave received by the receiving unit 2. Measurement that is a set Measure a plurality of sets. Then, the calculation unit 10 includes one or a plurality of straight lines or one or a plurality of curves based on a plurality of sets of the reference direction and the distance between the radio wave sensor 102 and the reference object, and a plurality of measurements measured by the FMCW processing unit 43. The deviation is calculated based on the positional relationship with one or more straight lines or one or more curves based on the measurement set.

In this way, the deviation is calculated based on the positional relationship between one or a plurality of straight lines or one or a plurality of curves, and the position of the reference object at the time of measurement by the radio wave sensor 102 and the actual measurement of the reference direction and distance are measured. The deviation can be calculated without associating with the position of the reference object at time. As a result, it is possible to easily calculate whichever is more accurate. Further, even when a curved road is set as a detection target area, the deviation can be easily calculated by using, for example, the roadside zone and the center line provided on the road as a reference.

Further, in the radio wave sensor according to the second embodiment of the present invention, the FMCW processing unit 43 further transfers the radio wave sensor 102 to the object Tgt in the target area A1 based on the radio wave received by the receiving unit 2. Measure the target direction, which is the direction. Then, the correction unit 9 corrects the target direction measured by the FMCW processing unit 43 based on the deviation calculated by the calculation unit 10.

With such a configuration, for example, a more correct target direction can be easily calculated without physically adjusting the orientation of the radio wave sensor 102.

Since other configurations and operations are the same as those of the radio wave sensor according to the first embodiment, detailed description will not be repeated here.

It is also possible to appropriately combine some or all of the components and operations of the devices according to the first embodiment and the second embodiment of the present invention.

It should be considered that the above embodiments are exemplary in all respects and not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

The above description includes the features described below.

[Appendix 1]
It ’s a radio wave sensor,
A transmitter that transmits radio waves to the target area,
The receiver that receives radio waves and
A measuring unit that measures a measuring direction, which is a direction from the radio wave sensor to a reference object in the target area, based on the radio wave received by the receiving unit.
It is provided with a calculation unit for calculating the deviation of the measurement direction measured by the measurement unit from the radio wave sensor to the reference object with respect to the reference direction.
The target area includes a pedestrian crossing
The pedestrian crossing is provided near the intersection and
The transmitting unit transmits radio waves to the target area according to the FM-CW (Frequency Modulated-Continuous Wave) method.
The reference object is a reflector provided in the target area and having a large radar cross section of radio waves.
The receiver includes four antennas.
The measuring unit measures the measuring direction based on the radio waves received by the four antennas, respectively.
The calculation unit is a radio wave sensor that calculates the difference between the azimuth angle in the reference direction and the azimuth angle in the measurement direction as the deviation.

[Appendix 2]
The radio wave sensor further
The radio wave sensor according to Appendix 1, further comprising an acquisition unit that acquires the reference direction.

[Appendix 3]
It ’s a radio wave sensor,
A transmitter that transmits radio waves to the target area,
The receiver that receives radio waves and
A measuring unit that measures a measuring direction, which is a direction from the radio wave sensor to a reference object in the target area, based on the radio wave received by the receiving unit.
An output unit that outputs directional information indicating the measurement direction measured by the measurement unit, and an output unit.
It is provided with an acquisition unit for acquiring correction information for correcting the deviation of the measurement direction measured by the measurement unit from the radio wave sensor to the reference object with respect to the reference direction.
The measuring unit further measures the target direction, which is the direction from the radio wave sensor to the object in the target area, based on the radio wave received by the receiving unit.
The radio wave sensor further
A correction unit for correcting the target direction measured by the measurement unit based on the correction information acquired by the acquisition unit is provided.
The target area includes a pedestrian crossing
The pedestrian crossing is provided near the intersection and
The transmitting unit transmits radio waves to the target area according to the FM-CW method.
The reference object is a reflector provided in the target area and having a large radar cross section of radio waves.
The receiver includes four antennas.
The measuring unit measures the measuring direction based on the radio waves received by the four antennas, respectively.
The acquisition unit acquires correction information including the difference between the azimuth angle in the reference direction and the azimuth angle in the measurement direction.
The correction unit is a radio wave sensor that corrects the target direction by adding the difference included in the correction information to the azimuth angle of the target direction.

1 Transmitter 2 Receiver 3 Difference signal generator 4 Control 5 Signal processing 6 Setting 7 Detection 8 Communication (acquisition and output)
9 Correction unit 10 Calculation unit 21 Transmission antenna 22 Power amplifier 23 Directional coupler 24 VCO
25 Voltage generator 31 Receiving antenna 32 Low noise amplifier 33 Mixer 34 IF amplifier 35 Low-pass filter 36 A / D converter 41 Memory 42 FFT processing unit 43 FMCW processing unit (measurement unit)
101, 102 Radio wave sensor 111 Terminal device 141 Relay device 151 Signal control device 152 Wireless transmitter 153 Antenna 161 Pedestrian signal light device 301 Safe driving support system

Claims (9)

It ’s a radio wave sensor,
A transmitter that transmits radio waves to the target area,
The receiver that receives radio waves and
Based on the radio waves received by the receiving section, a measuring section for measuring the measurement direction is a direction from the radio wave sensor fixed to a stationary object to a reference object fixed to the stationary object in the target area,
An acquisition unit that acquires a reference direction from the radio wave sensor to the reference object based on the actual measurement result of the position of the reference object using a surveying instrument.
Wherein the measuring direction is measured by the measurement unit, e Bei a calculation unit for calculating a deviation with respect to the reference direction acquired by the acquisition unit,
The receiving unit includes a receiving antenna.
Based on the radio wave received by the receiving unit, the measuring unit measures a plurality of measuring sets which are a set of the measuring direction and the detection plane distance between the radio wave sensor and the reference object.
The calculation unit includes one or a plurality of straight lines or one or a plurality of curves based on a plurality of sets of a reference direction and a distance between the radio wave sensor and the reference object, and a plurality of the above-mentioned measures measured by the measuring unit. The deviation is calculated based on the positional relationship with one or more straight lines or one or more curves based on the measurement set.
The measuring unit is a radio wave sensor that calculates the detection plane distance based on the distance to the reference object, the height of the reference object, and the height of the receiving antenna. The measuring unit further measures the target direction, which is the direction from the radio wave sensor to the object in the target area, based on the radio wave received by the receiving unit.
The radio wave sensor further
The radio wave sensor according to claim 1, further comprising a correction unit that corrects the target direction measured by the measurement unit based on the deviation calculated by the calculation unit. It ’s a radio wave sensor,
A transmitter that transmits radio waves to the target area,
The receiver that receives radio waves and
Based on the radio waves received by the receiving section, a measuring section for measuring the measurement direction is a direction from the radio wave sensor fixed to a stationary object to a reference object fixed to the stationary object in the target area,
An output unit that outputs directional information indicating the measurement direction measured by the measurement unit, and an output unit.
Acquires correction information for correcting the deviation of the measurement direction from the radio wave sensor to the reference object with respect to the reference direction based on the actual measurement result of the position of the reference object using a surveying instrument. Equipped with an acquisition department
The measuring unit further measures the target direction, which is the direction from the radio wave sensor to the object in the target area, based on the radio wave received by the receiving unit.
The radio wave sensor further
The target direction measured by the measuring unit, e Bei correction unit for correcting on the basis of the said corrected information acquired by the acquisition unit,
The receiving unit includes a receiving antenna.
Based on the radio wave received by the receiving unit, the measuring unit measures a plurality of measuring sets which are a set of the measuring direction and the detection plane distance between the radio wave sensor and the reference object.
The acquisition unit includes one or a plurality of straight lines or one or a plurality of curves based on a plurality of sets of a reference direction and a distance between the radio wave sensor and the reference object, and a plurality of the above-mentioned measures measured by the measuring unit. The correction information for correcting the deviation calculated based on the positional relationship with one or a plurality of straight lines or one or a plurality of curves based on the measurement set is acquired, and the correction information is acquired.
The measuring unit is a radio wave sensor that calculates the detection plane distance based on the distance to the reference object, the height of the reference object, and the height of the receiving antenna. The radio wave sensor further
The radio wave sensor according to claim 2 or 3 , further comprising a detection unit that detects the object in the target area based on the target direction corrected by the correction unit. This is an adjustment method used in radio wave sensors that transmit radio waves to the target area and receive radio waves.
Based on the received radio waves, and measuring the measurement direction is a direction from the radio wave sensor fixed to a stationary object to a fixed reference object to a stationary object in the target area,
A step of acquiring a reference direction from the radio wave sensor to the reference object based on the actual measurement result of the position of the reference object using a surveying instrument, and
The measured the measurement direction, it viewed including the step of calculating a deviation with respect to the reference direction acquired,
The radio wave sensor includes a receiving antenna.
In the step of measuring the measurement direction, a plurality of measurement sets, which are a set of the measurement direction and the detection plane distance between the radio wave sensor and the reference object, are measured based on the received radio wave.
In the step of calculating the deviation, one or more straight lines or one or more curves based on a plurality of sets of the reference direction and the distance between the radio wave sensor and the reference object, and a plurality of the measured measurements. The deviation is calculated based on the positional relationship with one or more straight lines or one or more curves based on the set.
An adjustment method for calculating the detection plane distance based on the distance to the reference object, the height of the reference object, and the height of the receiving antenna in the step of measuring the measurement direction. The adjustment method further
The adjustment method according to claim 5, further comprising a step of adjusting the orientation of the radio wave sensor based on the calculated deviation. This is an adjustment method used in radio wave sensors that transmit radio waves to the target area and receive radio waves.
Based on the received radio wave, the step of measuring the measurement direction, which is the direction from the radio wave sensor fixed to the stationary object to the reference object fixed to the stationary object in the target area, and
A step of outputting direction information indicating the measured measurement direction and
Includes a step of acquiring correction information for correcting the deviation of the measured direction from the radio wave sensor to the reference object with respect to the reference direction based on the actual measurement result of the position of the reference object using a surveying instrument. ,
In the step of measuring the measurement direction, the target direction, which is the direction from the radio wave sensor to the target object in the target area, is further measured based on the received radio wave.
The adjustment method further
Including a step of correcting the measured target direction based on the acquired correction information.
The radio wave sensor includes a receiving antenna.
In the step of measuring the measurement direction, a plurality of measurement sets, which are a set of the measurement direction and the detection plane distance between the radio wave sensor and the reference object, are measured based on the received radio wave.
In the step of acquiring the correction information, one or a plurality of straight lines or one or a plurality of curves based on a plurality of sets of the reference direction and the distance between the radio wave sensor and the reference object, and a plurality of the measured above. The correction information for correcting the deviation calculated based on the positional relationship with one or a plurality of straight lines or one or a plurality of curves based on the measurement set is acquired, and the correction information is acquired.
An adjustment method for calculating the detection plane distance based on the distance to the reference object, the height of the reference object, and the height of the receiving antenna in the step of measuring the measurement direction. An adjustment program used in radio wave sensors that transmit radio waves to the target area and receive radio waves.
Computer,
Based on the received radio waves, and a measuring unit for measuring a measurement direction is a direction from the radio wave sensor fixed to a stationary object to a reference object fixed to the stationary object in the target area,
An acquisition unit that acquires a reference direction from the radio wave sensor to the reference object based on the actual measurement result of the position of the reference object using a surveying instrument.
A calculation unit that calculates the deviation of the measurement direction measured by the measurement unit with respect to the reference direction acquired by the acquisition unit.
It is a program to function as
The radio wave sensor includes a receiving antenna.
Based on the radio wave received by the receiving unit, the measuring unit measures a plurality of measuring sets which are a set of the measuring direction and the detection plane distance between the radio wave sensor and the reference object.
The calculation unit includes one or a plurality of straight lines or one or a plurality of curves based on a plurality of sets of a reference direction and a distance between the radio wave sensor and the reference object, and a plurality of the above-mentioned measures measured by the measuring unit. The deviation is calculated based on the positional relationship with one or more straight lines or one or more curves based on the measurement set.
The measuring unit is an adjustment program that calculates the detection plane distance based on the distance to the reference object, the height of the reference object, and the height of the receiving antenna. An adjustment program used in radio wave sensors that transmit radio waves to the target area and receive radio waves.
Computer,
Based on the received radio waves, and a measuring unit for measuring a measurement direction is a direction from the radio wave sensor fixed to a stationary object to a reference object fixed to the stationary object in the target area,
An output unit that outputs directional information indicating the measurement direction measured by the measurement unit, and an output unit.
Acquires correction information for correcting the deviation of the measurement direction from the radio wave sensor to the reference object with respect to the reference direction based on the actual measurement result of the position of the reference object using a surveying instrument. Acquisition department,
It is a program to function as
The measuring unit further measures the target direction, which is the direction from the radio wave sensor to the object in the target area, based on the radio wave received by the receiving unit.
In addition, the computer,
A correction unit that corrects the target direction measured by the measurement unit based on the correction information acquired by the acquisition unit.
It is a program to function as
The radio wave sensor includes a receiving antenna.
Based on the radio wave received by the receiving unit, the measuring unit measures a plurality of measuring sets which are a set of the measuring direction and the detection plane distance between the radio wave sensor and the reference object.
The acquisition unit includes one or a plurality of straight lines or one or a plurality of curves based on a plurality of sets of a reference direction and a distance between the radio wave sensor and the reference object, and a plurality of the above-mentioned measures measured by the measuring unit. The correction information for correcting the deviation calculated based on the positional relationship with one or a plurality of straight lines or one or a plurality of curves based on the measurement set is acquired, and the correction information is acquired.
The measuring unit is an adjustment program that calculates the detection plane distance based on the distance to the reference object, the height of the reference object, and the height of the receiving antenna.

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