JP7233226B2 - Surveillance system and surveillance method by radar device and security device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a monitoring system, a radar device, and a monitoring method using a radar device.

Patent document 1 has a security radar sensor that detects moving objects in the vicinity when the vehicle stops and issues an alarm, detects the surroundings when the vehicle starts to stop, and responds to the shaking of trees, etc., in the surroundings. A technique is disclosed for adjusting the detection area so that it does not occur.

JP-A-05-016764

By the way, the technique disclosed in Patent Document 1 requires a radar sensor that is used only when the vehicle is stopped, which causes a problem of high cost.

Moreover, there is a problem that it is necessary to additionally secure a place for mounting the radar sensor.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a monitoring system, a radar device, and a monitoring method using a radar device that do not require securing an additional mounting location and that can suppress an increase in cost.

In order to solve the above-mentioned problems, the present invention provides a monitoring system for monitoring the surroundings of a vehicle, which transmits electromagnetic waves, receives reflected waves reflected by a target, and controls the vehicle based on the received reflected waves. at least one radar device for detecting targets existing in the vicinity of the vehicle; When there is a target, the user is warned, the radar device is intermittently operated when the user is not on the vehicle, and the target is warned when there is a target approaching in the vicinity. and a processor that executes control for performing
With such a configuration, there is no need to secure an additional mounting location, and an increase in cost can be suppressed.

Further, in the present invention, the processor sounds the horn when the approaching target is another vehicle and there is a possibility of contact or collision with the own vehicle when no user is on board the vehicle. and warn.
According to such a configuration, it is possible to prevent other vehicles from contacting or colliding with the own vehicle while the vehicle is parked.

Further, the present invention is characterized in that the processor increases the frequency of intermittent operation of the radar device when the approaching target is another vehicle when no user is on board the vehicle.
According to such a configuration, it is possible to more reliably prevent other vehicles from contacting or colliding with the own vehicle while the vehicle is parked.

Further, the present invention is characterized in that the processor warns by flashing a hazard lamp when the approaching target is a person when no user is on board the vehicle.
According to such a configuration, it is possible to give a warning to people who pass by the own vehicle without making them feel uncomfortable.

In addition, the present invention includes a drive recorder that captures a situation around the vehicle and records it as a still image or a moving image, and the processor detects an approaching target when no user is on board the vehicle. It is characterized by starting recording by the drive recorder when it exists in the vicinity.
According to such a configuration, it is possible to leave evidence in the form of still images or moving images even if some kind of harm or the like is inflicted on the own vehicle.

In addition, the present invention has a security device that detects an intrusion of a person into the vehicle and issues a warning, and the processor, when the user is not in the vehicle, responds to a user's prior instruction. Then, at least one of the radar device and the security device is selected to monitor the surroundings.
According to such a configuration, it is possible to select an appropriate surroundings monitoring mode based on a user's instruction.

Further, the present invention has a security device that detects an intrusion of a person into the vehicle and issues a warning, and the processor controls the radar in accordance with the time when no user is on board the vehicle. At least one of the device and the security device is selected to monitor the surroundings.
According to such a configuration, it is possible to select an appropriate peripheral monitoring mode according to the time.

In addition, the present invention has a security device that detects an intrusion of a person into the vehicle and issues a warning, and the processor controls the radar according to the illuminance when the user is not on board the vehicle. At least one of the device and the security device is selected to monitor the surroundings.
According to such a configuration, it is possible to select an appropriate surroundings monitoring mode according to the illuminance of the surroundings.

The present invention also includes a security device that detects intrusion of a person into the vehicle and issues a warning, and the processor detects that the vehicle is parked when no user is on board the vehicle. At least one of the radar device and the security device is selected according to the latitude information and longitude information of the location to monitor the surroundings.
According to such a configuration, it is possible to select an appropriate mode of perimeter monitoring according to the location where the vehicle is parked.

The present invention also includes a security device that detects intrusion of a person into the vehicle and issues a warning, and the processor detects that the vehicle is parked when no user is on board the vehicle. At least one of the radar device and the security device is selected according to the latitude information and longitude information of the location and history information of the number of detections in the past to monitor the surroundings.
According to such a configuration, it is possible to select an appropriate mode of perimeter monitoring according to past history information as well as the location where the vehicle is parked.

Further, the present invention is a radar apparatus that transmits electromagnetic waves, receives reflected waves reflected by a target, and detects targets existing around a vehicle based on the received reflected waves, wherein: In a radar device that monitors the surroundings of a vehicle according to control, it operates continuously when a user is on board the vehicle, and when there is a possibility of contact or collision with a surrounding target, the user is warned via the processor, operates intermittently when no user is on board the vehicle, and when there is an approaching target in the vicinity, the processor warns the target A warning is issued via
With such a configuration, there is no need to secure an additional mounting location, and an increase in cost can be suppressed.

Further, the present invention is a radar apparatus that transmits electromagnetic waves, receives reflected waves reflected by a target, and detects targets existing around a vehicle based on the received reflected waves, wherein: In the monitoring method using a radar device for monitoring the surrounding conditions of a vehicle according to control, the vehicle operates continuously when a user is on board, and there is a possibility of contact or collision with surrounding targets. When there is a warning to the user via the processor, it operates intermittently when the user is not on board the vehicle, and when there is a target approaching in the vicinity, the target is warned. , and warns via the processor.
According to such a method, there is no need to secure an additional mounting location, and an increase in cost can be suppressed.

ADVANTAGE OF THE INVENTION According to the present invention, it is possible to provide a monitoring system, a radar device, and a monitoring method using a radar device that do not require securing an additional mounting location and can suppress an increase in cost. .

It is a figure which shows the structural example of the monitoring system which concerns on embodiment of this invention. It is a figure which shows an example of the aspect of mounting to the vehicle of the radar apparatus shown in FIG. 2 is a block diagram showing a configuration example of the radar device shown in FIG. 1; FIG. 4 is a block diagram showing a detailed configuration example of a control/processing unit of the radar device shown in FIG. 3; FIG. It is a figure for demonstrating the outline|summary of operation|movement of this invention. FIG. 2 is a flowchart for explaining an example of main processing executed in FIG. 1; FIG. FIG. 7 is a flowchart for explaining the details of the normal operation shown in FIG. 6; FIG. FIG. 7 is a flowchart for explaining the details of the surroundings monitoring operation shown in FIG. 6; FIG. FIG. 9 is a flowchart for explaining the details of the intermittent operation shown in FIG. 8; FIG. FIG. 9 is a flowchart for explaining the details of the warning process shown in FIG. 8; FIG.

Next, embodiments of the present invention will be described.

(A) Description of Configuration of Embodiment of Present Invention FIG. 1 is a block diagram showing a configuration example of a monitoring system according to an embodiment of the present invention. As shown in FIG. 1, the monitoring system has radar devices 1-1 to 1-4, an ECU (Electric Control Unit) 30, a security device 31, a drive recorder 32, a navigation device 33, and a network 40. .

Here, the radar devices 1-1 to 1-4 are arranged at both front and rear ends of the vehicle C, as shown in FIG. More specifically, the radar device 1-1 is arranged in the front left bumper of the vehicle, the radar device 1-2 is arranged in the front right bumper of the vehicle, and the radar device 1-3 is arranged in the rear left side of the vehicle. The radar device 1-4 is placed inside the bumper on the rear right side of the vehicle. Radar devices 1-1 to 1-4 transmit electromagnetic waves, receive reflected waves reflected by targets, and detect information (position, velocity, azimuth angle, etc.) on targets.

The ECU 30 includes, for example, a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc., and controls each part of the system based on data stored in the ROM and RAM.

The security device 31 includes, for example, a tilt sensor that detects the tilt of the vehicle, a glass break sensor that detects broken glass, a human sensor that detects an intruder into the vehicle, and a door that detects forced opening and closing. and a bonnet sensor that detects the forcible opening and closing of the bonnet. If any abnormality is detected by these sensors, the horn mounted on the vehicle sounds or an electronic sound is emitted from the speaker. to prevent theft, etc.

The drive recorder 32 is installed on the windshield and/or the rear glass of the vehicle, shoots still images or moving images around the vehicle, and records them in, for example, a memory card. Note that still images or moving images from a 360-degree camera capable of photographing the entire surroundings may be recorded.

The navigation device 33 has a function of detecting the position of the vehicle based on GPS signals transmitted from GPS (Global Positioning System) satellites and guiding the vehicle to a destination specified on a map.

The network 40 is configured by, for example, a CAN (Control Area Network) or the like, and interconnects the radar devices 1-1 to 1-4, the ECU 30, the security device 31, the drive recorder 32, and the navigation device 33. Allows data to be exchanged between

FIG. 3 is a diagram showing a configuration example of the radar devices 1-1 to 1-4. Since the radar devices 1-1 to 1-4 have the same configuration, they will be described as the radar device 1 below. As shown in FIG. 3, the radar device 1 has a local oscillation unit 10, a transmission unit 11, a control/processing unit 15, a reception unit 16, and an A/D (Analog to Digital) conversion unit 21 as main components. there is

Here, the local oscillator 10 generates a CW (Continuous Wave) signal of a predetermined frequency and supplies it to the transmitter 11 and receiver 16 .

The transmitting unit 11 has a modulating unit 12 and a transmitting antenna 13. The CW signal supplied from the local oscillator 10 is pulse-modulated by the modulating unit 12 and transmitted to the target via the transmitting antenna 13. do.

The modulation unit 12 of the transmission unit 11 is controlled by the control/processing unit 15, pulse-modulates the CW signal supplied from the local oscillation unit 10, and outputs the modulated signal. The transmitting antenna 13 transmits the pulse signal supplied from the modulating section 12 toward the target.

The control/processing unit 15 controls the local oscillation unit 10, the modulation unit 12, the antenna switching unit 18, and the variable gain amplification unit 19, and performs arithmetic processing on the received data supplied from the A/D conversion unit 21. , the target is detected.

FIG. 4 is a block diagram showing a detailed configuration example of the control/processing unit 15 shown in FIG. As shown in FIG. 4, the control/processing unit 15 has a control unit 15a, a processing unit 15b, a detection unit 15c, and a communication unit 15d. Here, the control section 15a is composed of, for example, a CPU, a ROM, a RAM, etc., and controls each section of the apparatus based on data stored in the ROM and the RAM. The processing unit 15 b is configured by, for example, a DSP (Digital Signal Processor) or the like, and executes processing on the digital signal supplied from the A/D conversion unit 21 . The detection unit 15c is configured by, for example, a DSP or the like and executes processing for detecting a target. The communication unit 15d notifies an external device of the detection result by the detection unit 15c.

Return to FIG. The receiving section 16 has a first receiving antenna 17-1 to an N-th receiving antenna 17-N (N≧2), an antenna switching section 18, a variable gain amplifying section 19, and a demodulating section 20. A signal that is transmitted and reflected by a target object is received, demodulated, and then output to the A/D converter 21 .

The first receiving antenna 17-1 to the Nth receiving antenna 17-N of the receiving unit 16 are composed of N antenna elements, and receive reflected waves transmitted from the transmitting antenna 13 and reflected by the target. It is supplied to the switching section 18 . Note that the first receiving antenna 17-1 to the Nth receiving antenna 17-N are arranged, for example, at regular intervals in the horizontal direction. azimuth angle can be detected.

The antenna switching unit 18 is controlled by the control unit 15a of the control/processing unit 15, selects any one of the first receiving antenna 17-1 to the Nth receiving antenna 17-N, and amplifies the received signal with variable gain. Supply to section 19. The variable gain amplifier 19 has its gain controlled by the controller 15 a of the controller/processor 15 , amplifies the received signal supplied from the antenna switching unit 18 with a predetermined gain, and outputs the amplified signal to the demodulator 20 . The demodulator 20 demodulates the received signal supplied from the variable gain amplifier 19 using the CW signal supplied from the local oscillator 10 and outputs the demodulated signal.

The A/D converter 21 samples the received signal supplied from the demodulator 20 at a predetermined cycle, converts it into a digital signal, and supplies it to the control/processing unit 15 .

(B) Description of the operation of the embodiment of the present invention Next, the operation of the embodiment of the present invention will be described. Since the radar devices 1-1 to 1-4 can detect targets existing in the vicinity of the vehicle, it is conceivable that the radar devices 1-1 to 1-4 can be used to prevent vandalism, theft, etc. while the vehicle is stopped. However, since the radar devices 1-1 to 1-4 consume a large amount of power, it has been difficult to use them when the vehicle is stopped. In the embodiment of the present application, the surroundings can be monitored by the radar devices 1-1 to 1-4 when the vehicle is stopped by the following method.

FIG. 5 is a diagram outlining the operation of an embodiment of the present invention. FIG. 5(A) is a diagram showing a normal operation for monitoring targets existing around the vehicle when the user gets into the vehicle (while the vehicle is running). During normal operation, all four radar devices 1-1 to 1-4 operate at intervals of 10 ms. Assume that the power consumption per unit time at this time is 1. FIG. 5B is a diagram showing a case where only one of the four radar devices 1-1 to 1-4 is operated. When only one unit is operated, the power consumption is 1/4 of that in FIG. 5(A). FIG. 5(C) is a diagram showing a case where only one of the four radar devices 1-1 to 1-4 is operated once in 160 ms. When only one unit is operated once for 160 ms, the power consumption is 1/16 of that in FIG. 5(A). FIG. 5(D) is a diagram showing a case where only one of the four radar devices 1-1 to 1-4 is operated once for 1.6 seconds. When only one unit is operated once for 1.6 seconds, the power consumption is 1/160 of that in FIG. 5(A).

Here, each of the radar devices 1-1 to 1-4 consumes several hundred mA of current. Therefore, when four units are operated at the same time, a current of ampere order flows. When the vehicle is stopped, the alternator does not charge the battery, so the current flowing through the load must be suppressed to about several tens of mA in order to prevent the chargeable battery from running out. As shown in FIG. 5, by operating one of the four radar devices 1-1 to 1-4, for example, once every 1.6 sec, the current flowing through the radar device is reduced to about 10 mA. can be suppressed. This makes it possible to monitor the surroundings with the radar device.

Next, more detailed operations will be described. When the user gets into the vehicle C and starts the prime mover such as the engine or the motor, the ECU 30 controls the radar devices 1-1 to 1-4 to operate normally.

As a result, the radar devices 1-1 to 1-4 perform normal operations. Since the operations of the radar devices 1-1 to 1-4 are the same, they will be described as the radar device 1 below. In normal operation, the radar device 1 transmits, for example, a pulse-shaped transmission signal from the transmission antenna 13, and receives reflected waves reflected by targets (vehicles, two-wheeled vehicles, pedestrians, obstacles, etc.) as a first reception signal. The signals are received by the antennas 17-1 to N-th receiving antenna 17-N.

The antenna switching unit 18 selects any one of the first receiving antenna 17-1 to the Nth receiving antenna 17-N and supplies the received signal to the variable gain amplifying unit 19. FIG. The variable gain amplifier 19 amplifies the received signal and supplies it to the demodulator 20 .

The demodulator 20 demodulates (for example, down-converts) the received signal based on the local oscillation signal supplied from the local oscillator 10 and supplies the demodulated signal to the A/D converter 21 .

The A/D converter 21 converts the signal output from the demodulator 20 into a digital signal and outputs the digital signal. In the control/processing unit 15, the processing unit 15b processes the digital signal supplied from the A/D conversion unit 21, and the detection unit 15c executes processing for detecting a target. More specifically, the detection unit 15c performs a clustering process in which reflected waves from a plurality of reflection points are combined into one target, and a tracking process in which the clusters obtained by the clustering process are tracked. , to identify the target. Further, the detection unit 15c detects the distance to the target from the time from the transmission of the pulse signal to the arrival of the reflected wave, detects the speed of the target from the change in the frequency of the reflected wave, and detects the transmission antenna 13, The azimuth angle of the target is detected based on the phase difference of the received signal between the transmission and reception sequences in combination with each of the first to N-th receiving antennas 17-1 to 17-N.

The detection unit 15c calculates TTC (Time to Collision) based on the detected position, speed, and azimuth angle of the target and the position, speed, and traveling direction of the own vehicle, and when the TTC becomes less than a predetermined threshold value. In this case, for example, the user is warned by emitting a warning sound from a speaker or blinking an LED (Light Emitting Diode).

Since the moving speed of the vehicle is high, the above-described processing is repeatedly executed, for example, in units of 10 ms, as shown in FIG. 5(A).

Next, assume that the user gets out of the vehicle and operates a button on the remote controller to lock the vehicle door. At this time, for example, the mode of monitoring can be selected by the number of times the button is operated.

For example, when parking in a parking lot of a large store for shopping, there are many people passing by the vehicle. Press the controller button once. As a result, the ECU 30 completely stops the operation of the radar devices 1-1 to 1-4 and starts the operation of the security device 31. FIG.

On the other hand, when the vehicle is parked in an environment where people and other vehicles rarely approach the vehicle, the user presses two buttons on the remote controller to select monitoring by the radar devices 1-1 to 1-4. times. As a result, the ECU 30 turns off the security device 31 and causes the radar devices 1-1 to 1-4 to monitor the surroundings.

It should be noted that the monitoring mode described above may be changed by a method other than the number of times the remote controller is operated. For example, the mode of monitoring may be changed according to where the vehicle is parked. For example, the user operates the navigation device 33 to associate and register the parking place and the mode of monitoring in advance. Then, when the engine is stopped, the navigation device 33 identifies the current parking location (latitude and longitude information) from the GPS signal, and displays information indicating the mode of monitoring associated with the identified parking location. The information may be supplied to the ECU 30, and the ECU 30 may select a mode of monitoring based on such information.

Also, the mode of monitoring may be determined based on the parking location and past history. For example, in the case of a place where the vehicle is parked for the first time, the radar devices 1-1 to 1-4 are caused to perform perimeter monitoring operations, and the number of detections at that time is stored. When the number of detections is large, it is determined that there are many vehicles and pedestrians. When the vehicle is parked next time, the security device 31 monitors the vehicle. If the vehicle is determined to be in a place where there is little traffic, and the next time the vehicle is parked, the surroundings may be monitored by the radar devices 1-1 to 1-4.

In addition, it is conceivable that the situation may change depending on the time zone even in the same place. may be monitored by the security device 31. Alternatively, referring to the output from an illuminance sensor (for example, an illuminance sensor for controlling the on/off of headlights), when the illuminance around the vehicle falls below a predetermined threshold, radar devices 1-1 to 1 -4 may be used to monitor the surroundings, and the security device 31 may be used to monitor other areas. Further, determination may be made by combining the time and/or illumination with the aforementioned parking location, or by combining the time and/or illumination with the aforementioned parking location and past history.

When the peripheral monitoring operation is started, the radar devices 1-1 to 1-4 shift to an intermittent operation mode as shown in FIGS. 5(B) to 5(D). More specifically, for example, it operates once every 1.6 seconds and otherwise stops operating (for example, shifts to a sleep mode that operates with low power). That is, one of the radar devices 1-1 to 1-4 operates once every 1.6 seconds, and otherwise stops operating. Such operations are repeated, for example, in the order of the radar devices 1-1 to 1-4.

For example, when a person enters the detection area of the radar device 1-1 while the radar device 1-1 is operating, the ECU 30 activates the drive recorder 32 and intermittently operates the radar device 1-1. increase the frequency of For example, the operation is increased from once every 1.6 sec to once every 0.8 sec. Then, for example, when a person approaches the vehicle by a predetermined distance or more (for example, when the person approaches within 1 m), the ECU 30 activates the security device 31 and flashes the hazard lamp to prevent the person from issue a warning. As a result, if an approaching person intends to steal, the hazard lamp can be used to warn the person, and the drive recorder 32 can record the approaching person. In addition, if an attempt is made to break into the vehicle, the security device 31 can sound the horn, for example.

Further, when, for example, another vehicle enters the detection area of the radar device 1-1, the ECU 30 activates the drive recorder 32 and increases the frequency of the intermittent operation of the radar device 1-1. For example, the operation is increased from once every 1.6 sec to once every 10 msec. Then, for example, the ECU 30 calculates the TTC of the other vehicle, determines that there is a possibility of collision with the other vehicle, and sounds the horn, for example, when the TTC is less than a predetermined threshold. This alerts drivers of other vehicles to avoid contact or collision.

As described above, according to the embodiment of the present invention, the radar devices 1-1 to 1-4, which monitor the surroundings while the vehicle is running, are diverted to monitor the surroundings when the vehicle is stopped. As well as preventing the increase, it becomes unnecessary to secure an additional mounting place.

In addition, in the embodiment of the present invention, the radar devices 1-1 to 1-4 are intermittently operated when monitoring the surroundings of the vehicle while the vehicle is stopped. become. This can prevent the rechargeable battery from running out.

Next, an example of processing executed in the embodiment of the present invention will be described with reference to FIGS. 6 to 10. FIG.

First, FIG. 6 is a flowchart for explaining an example of main processing executed in the ECU 30. As shown in FIG. When the process of the flowchart shown in FIG. 6 is started, the following steps are executed.

In step S10, the ECU 30 determines whether or not an engine (not shown) has been started by the user operating an ignition switch, for example. If it is determined that the engine has been started (step S10: Y), step The process proceeds to S11, and in other cases (step S10: N), similar processing is repeated.

In step S11, the ECU 30 causes all the radar devices 1-1 to 1-4 to perform normal operations. The normal operation is an operation mode in which all four radar devices 1-1 to 1-4 operate continuously, as shown in FIG. 5(A). Details of the normal operation will be described later with reference to FIG.

In step S12, the ECU 30 determines whether or not the ignition switch is operated by the user to stop the engine. The same operation is repeated in step S12:N).

In step S13, the ECU 30 determines whether or not the user has instructed to lock the doors by operating the remote controller from outside the vehicle. , and in other cases (step S13: N), similar processing is repeated.

In step S14, the ECU 30 determines whether or not the user has operated the button of the remote controller a plurality of times. (Step S14: N), the process proceeds to step S17.

In step S15, the ECU 30 turns off the security device 31 . As a result, power supply to the security device 31 is stopped.

In step S16, the ECU 30 causes all of the radar devices 1-1 to 1-4 to perform surrounding monitoring operations. Note that the peripheral monitoring operation is, for example, as shown in FIG. 5(D), an operation in which the radar devices 1-1 to 1-4 operate sequentially at intervals of 1.6 sec to monitor moving targets existing in the vicinity. mode.

In step S<b>17 , the ECU 30 turns on the power of the security device 31 . This causes the security device 31 to start operating. When the security device 31 detects an abnormality by a tilt sensor, a glass break sensor, a motion sensor, a door open/close sensor, a bonnet sensor, or the like, the security device 31 issues a warning by, for example, sounding a horn.

In step S18, the ECU 30 turns off the power of all the radar devices 1-1 to 1-4. As a result, the power supply to the radar devices 1-1 to 1-4 is stopped.

In step S19, the ECU 30 determines whether or not the user operates the remote controller from outside the vehicle to give an instruction to unlock the doors. Otherwise, the process is terminated (step S19: N), and the same process is repeated.

Next, details of the "normal operation" in step S11 shown in FIG. 6 will be described with reference to FIG. When the process of the flowchart shown in FIG. 7 is started, the following steps are executed.

In step S30, the control unit 15a sets 1 as an initial value to a variable i that counts the number of times of processing.

In step S31, the controller 15a controls the transmitter 11 to transmit a pulse signal. More specifically, the control unit 15 a controls the modulation unit 12 to pulse-modulate the CW signal output from the local oscillation unit 10 and transmit it from the transmission antenna 13 . The pulse signal transmitted in this manner is reflected by the target and received as reflected waves by the first receiving antenna 17-1 to the Nth receiving antenna 17-N.

In step S32, the control unit 15a controls the antenna switching unit 18 to select the i-th receiving antenna, and receives the reflected wave by the i-th receiving antenna. For example, when i=1, the reflected wave is received by the first receiving antenna 17-1. The reflected wave received in this manner is amplified to a predetermined signal level by the variable gain amplifier 19 and then supplied to the demodulator 20 . The demodulator 20 demodulates the pulse-modulated received signal into the original signal. The A/D conversion section 21 converts the demodulated signal into a digital signal and supplies the digital signal to the control/processing section 15 .

At step S33, the controller 15a increments the value of the variable i by one. As a result, i=2 when i=1.

In step S34, the control unit 15a determines whether or not i>N is satisfied. If i>N is satisfied (step S34: Y), the process proceeds to step S35; otherwise (step S34: N). Then, the process returns to step S31 and repeats the same operation as in the above case.

In step S35, the control unit 15a determines whether or not the process has been repeated a predetermined number of times. If it is determined that the process has been repeated a predetermined number of times (step S35: Y), the process proceeds to step S36; At step S35:N), the process returns to step S31 and repeats the same processing as described above. For example, when data for executing FFT (Fast Fourier Transform) are prepared, it is determined as Y and the process proceeds to step S36.

In step S36, the detection unit 15c executes a clustering process of grouping a plurality of detection points for each target.

In step S37, the detection unit 15c executes a tracking process, which is a process of tracking the detection points grouped together by the clustering process.

In step S38, the processing unit 15b calculates the TTC based on the position, speed, and azimuth angle of the target and the position, speed, and traveling direction of the own vehicle.

In step S39, the processing unit 15b determines whether there is a possibility of contact or collision between the target and the own vehicle. More specifically, for example, it is determined whether the TTC calculated in step S38 is equal to or less than a predetermined threshold Th, and if it is equal to or less than the predetermined threshold Th (step S39: Y), the possibility of contact or collision is determined, and the process proceeds to step S40. Otherwise (step S39: N), the process proceeds to step S41.

In step S40, the control unit 15a executes warning processing. More specifically, the controller 15a requests the ECU 30 to issue a warning. As a result, the ECU 30 warns, for example, by emitting a warning sound from a speaker or blinking an LED.

In step S41, the control unit 15a determines whether or not to repeat the process. If it is determined to repeat the process (step S41: Y), the process returns to step S30 to repeat the same process as described above. Otherwise (step S41: N), the process ends.

Next, referring to FIG. 8, the peripheral monitoring operation of step S16 shown in FIG. 6 will be described. When the process of the flowchart shown in FIG. 8 is started, the following steps are executed.

In step S50, the ECU 30 sets 1.6 sec to the variable T for setting the duration of the sleep mode of the radar devices 1-1 to 1-4. Note that the sleep mode will be described later with reference to FIG.

In step S51, the ECU 30 substitutes 1 as an initial value for the variable j that counts the number of times of processing.

In step S52, the ECU 30 intermittently operates the radar device 1-j. For example, the radar device 1-1 is intermittently operated when j=1, and the radar device 1-2 is intermittently operated when j=2. Details of the intermittent operation will be described later with reference to FIG.

In step S53, the ECU 30 determines whether or not an abnormality has been detected as a result of the intermittent operation of the radar device 1-j. Otherwise (step S53: N), the process proceeds to step S55.

In step S54, the ECU 30 executes warning processing that is executed when an abnormality is detected while the vehicle is stopped. Details of the warning process will be described later with reference to FIG.

In step S55, the ECU 30 increments by one the value of the variable j that counts the number of times. For example, if j=1, then j=2.

In step S56, the ECU 30 determines whether or not j>4 is satisfied. If it is determined that j>4 is satisfied (step S56: Y), the process proceeds to step S57; ), the process returns to step S52 and repeats the same processing as described above. By repeating the processing of steps S52 to S56, the radar devices 1-1 to 1-4 are sequentially operated intermittently, and when an abnormality is detected, warning processing is executed.

In step S57, the ECU 30 determines whether or not to repeat the process. If it is determined to repeat the process (step S57: Y), the process returns to step S51 to repeat the same process as described above. If so (step S57: N), the original processing is returned (returned).

Next, details of the intermittent operation shown in step S52 of FIG. 8 will be described with reference to FIG. When the process of the flowchart shown in FIG. 9 is started, the following steps are executed.

In step S70, the control unit 15a shifts the radar device 1 to a sleep mode, which is a low power consumption mode. Note that the sleep mode includes, for example, stopping the operation of some circuits of the control unit/processing unit 15, reducing the clock frequency, local oscillation unit 10, modulating unit 12, variable gain amplifying unit 19, The operation of the demodulator 20 and the A/D converter 21 can be stopped.

In step S71, the control unit 15a determines whether or not the predetermined time T has passed. If it is determined that the predetermined time T has passed (step S71: Y), the process proceeds to step S72. If so (step S71: N), the process returns to step S70 and repeats the same processing as in the above case. It should be noted that the sleep mode is continued for 1.6 seconds if, for example, T=1.6 seconds as a result of the processing in steps S70 and S71.

In step S72, the control unit 15a transitions from the sleep mode to the normal operation mode. It should be noted that the normal operation mode means a mode of continuous operation as shown in FIG. 5(A).

In step S73, the control unit 15a sets 1 as an initial value to a variable i that counts the number of times of processing.

In step S74, the controller 15a controls the transmitter 11 to transmit a pulse signal. More specifically, the control unit 15 a controls the modulation unit 12 to pulse-modulate the CW signal output from the local oscillation unit 10 and transmit it from the transmission antenna 13 . The pulse signal transmitted in this manner is reflected by the target and received as reflected waves by the first receiving antenna 17-1 to the Nth receiving antenna 17-N.

In step S75, the control unit 15a controls the antenna switching unit 18 to select the i-th receiving antenna, and receives the reflected wave by the i-th receiving antenna. For example, when i=1, the reflected wave is received by the first receiving antenna 17-1. The reflected wave received in this manner is amplified to a predetermined signal level by the variable gain amplifier 19 and then supplied to the demodulator 20 . The demodulator 20 demodulates the pulse-modulated received signal into the original signal. The A/D conversion section 21 converts the demodulated signal into a digital signal and supplies the digital signal to the control/processing section 15 .

At step S76, the controller 15a increments the value of the variable i by one. As a result, i=2 when i=1.

In step S77, the control unit 15a determines whether or not i>N is satisfied. If i>N is satisfied (step S77: Y), the process proceeds to step S78; otherwise (step S77: N). Otherwise, the process returns to step S74 and repeats the same processing as in the above case.

In step S78, the control unit 15a determines whether or not the process has been repeated a predetermined number of times. If it is determined that the process has been repeated a predetermined number of times (step S78: Y), the process proceeds to step S79; At step S78:N), the process returns to step S73 and repeats the same processing as described above. For example, if the data for executing the FFT are complete, the determination is Y and the process proceeds to step S79.

In step S79, the detection unit 15c executes a clustering process of grouping a plurality of detection points for each target.

In step S80, the detection unit 15c executes a tracking process, which is a process of tracking the detection points grouped together by the clustering process.

In step S<b>81 , the detection unit 15 c outputs the detection result to the ECU 30 via the network 40 .

In step S82, the control unit 15a determines whether or not to repeat the process. If it is determined to repeat the process (step S82: Y), the process returns to step S70 to repeat the same process as described above. Otherwise (step S82: N), the original processing is returned (returned).

Next, FIG. 10 is a flowchart for explaining details of the warning process shown in step S54 of FIG. When the process of the flowchart in FIG. 10 is started, the following steps are executed.

In step S90, the ECU 30 activates the drive recorder 32. As a result, the drive recorder 32 captures an image of the surroundings of the vehicle and records it in the memory as a still image or moving image.

In step S91, the ECU 30 determines whether or not the target detected in step S52 is a vehicle (including a two-wheeled vehicle). In the case of (step S91: N), the process proceeds to step S98.

In step S92, the ECU 30 sets 10 msec to the variable T for setting the duration of the sleep mode. Note that 0 msec may be set instead of 10 msec. As a result, the operation can be realized at intervals similar to those of the normal operation.

In step S93, the ECU 30 intermittently operates the radar device 1-j. More specifically, the radar device 1-j that has detected an abnormality according to the flow chart shown in FIG. 8 performs intermittent operation according to the flow chart shown in FIG. In the present example, T is set to 10 msec, so other vehicles approaching the host vehicle are detected at intervals of 10 msec.

In step S94, the ECU 30 calculates TTC based on the detection processing in step S93. More specifically, the TTCs of other vehicles approaching the own vehicle are calculated.

In step S95, the ECU 30 refers to the TTC and determines whether or not there is a possibility that another vehicle will contact or collide with the host vehicle. More specifically, the ECU 30 compares the TTC calculated in step S94 with a predetermined threshold value Th, and if TTC<Th (step S95: Y), the host vehicle contacts or collides with another vehicle. It is determined that there is a possibility, and the process proceeds to step S96. Otherwise (step S95: N), the process proceeds to step S97.

In step S96, the ECU 30 issues a warning to drivers of other vehicles approaching by sounding the horn.

In step S97, the ECU 30 determines whether or not another vehicle has passed. returns to step S92 and repeats the same processing as in the above case.

In step S98, the ECU 30 determines whether or not the detected target is a person. return to the processing of

In step S99, the ECU 30 sets 0.8 sec to the variable T for setting the duration of the sleep mode. A value other than 0.8 sec may be set. It should be noted that the reason why a value smaller than that in step S92 is set is that the moving speed of a person is slower than that of a vehicle.

In step S100, the ECU 30 intermittently operates the radar device 1-j. More specifically, according to the flow chart shown in FIG. 8, the radar device 1-j that has detected an abnormality is intermittently operated according to the flow chart shown in FIG. In the present example, since T is set to 0.8 sec, a person approaching the own vehicle is detected by an action considerably slower than the normal action.

In step S101, the ECU 30 determines whether or not a person has approached the own vehicle by a predetermined distance (for example, 1 m) or more. Otherwise (step S101: N), the process proceeds to step S104.

In step S<b>102 , the ECU 30 activates the security device 31 . As a result, power is supplied to the security device 31, and an alarm can be issued by the output from the sensor described above. be able to.

In step S103, the ECU 30 warns an approaching person by flashing the hazard lamp.

In step S104, the ECU 30 determines whether or not a person has passed through. In N), the process returns to step S100 and repeats the same processing as described above.

As described above, according to the flowcharts shown in FIGS. 6 to 10, the operations of the above-described embodiment can be realized.

(C) Description of Modified Embodiments The above-described embodiments are examples, and needless to say, the present invention is not limited to the cases described above. For example, in the configuration shown in FIG. 3, one transmitting antenna 13 and N first receiving antennas 17-1 to N-th receiving antennas 17-N are provided. It may have one receive antenna and multiple transmit antennas.

In the above embodiment, power consumption is reduced by intermittently operating all four radar devices 1-1 to 1-4. may Also, the power consumption may be reduced by operating any one of the first receiving antenna 17-1 to the Nth receiving antenna 17-N.

In addition, in the embodiment shown in FIG. 2, a total of four radar devices 1-1 to 1-4 are provided on the left, right, front and rear of the vehicle, but two radar devices are provided on the left and right of the front or two on the left and right of the rear. or only one unit may be provided.

Further, in the configuration shown in FIG. 3, a pulse signal is used as the type of signal transmitted from the transmitting antenna 13, but an FMCW (Frequency Modulated Continuous Wave) signal may be used.

In addition, in each of the above embodiments, the radar device 1 detects a target by transmitting electromagnetic waves. .

Also, the flowcharts shown in FIGS. 6 to 10 are examples, and the present invention is not limited to the processes shown in these.

For example, in the flowchart shown in FIG. 8, the radar devices 1-1 to 1-4 are operated in order, but some of them may be operated instead of all of them. Specifically, the user can select the radar device to operate, or the detection history of each of the radar devices 1-1 to 1-4 is recorded, and those with a large number of detections are excluded from the target of operation. You may make it so.

Further, a communication function unit may be added to the configuration of FIG. 1 to share information detected by the communication function unit with an external device. For example, when an intrusion into a vehicle, a collision, or the like is detected, the mobile terminal owned by the user of the vehicle may be notified of the detection as character information or moving image information. Also, the detected information may be shared with other vehicles. For example, when an intrusion into a vehicle is detected, another vehicle may be notified and the other vehicle may activate the security device 31 .

1-1 to 1-4 radar device 10 local oscillation unit 11 transmission unit 12 modulation unit 13 transmission antenna 15 control/processing unit 15a control unit 15b processing unit 15c detection unit 15d communication unit 16 reception unit 17-1 to 17-N 1 Receiving Antenna to Nth Receiving Antenna 18 Antenna Switching Section 19 Gain Variable Amplifier Section 20 Demodulation Section 21 A/D Conversion Section 30 ECU
31 security device 32 drive recorder 33 navigation device 40 network

Claims (12)

In the monitoring system that monitors the situation around the vehicle,
at least one radar device that transmits an electromagnetic wave, receives a reflected wave reflected by a target, and detects a target existing around the vehicle based on the received reflected wave;
When the user is on board the vehicle, the radar device is continuously operated, and when there is a possibility of contact or collision with surrounding targets, the user is warned, and the user is on the vehicle. a processor that intermittently operates the radar device when the vehicle is not on board and issues a warning to the target when there is a target approaching nearby;
a security device that detects an intrusion of a person into the vehicle and issues a warning;
A monitoring system according to claim 1, wherein said processor selects at least one of said radar device and said security device according to the time of day to monitor the surroundings when no user is on board said vehicle. In the monitoring system that monitors the situation around the vehicle,
at least one radar device that transmits an electromagnetic wave, receives a reflected wave reflected by a target, and detects a target existing around the vehicle based on the received reflected wave;
When the user is on board the vehicle, the radar device is continuously operated, and when there is a possibility of contact or collision with surrounding targets, the user is warned, and the user is on the vehicle. a processor that intermittently operates the radar device when the vehicle is not on board and issues a warning to the target when there is a target approaching nearby;
a security device that detects an intrusion of a person into the vehicle and issues a warning;
1. A monitoring system according to claim 1, wherein said processor selects at least one of said radar device and said security device according to illuminance to monitor the surroundings when no user is on board said vehicle. In the monitoring system that monitors the situation around the vehicle,
at least one radar device that transmits an electromagnetic wave, receives a reflected wave reflected by a target, and detects a target existing around the vehicle based on the received reflected wave;
When the user is on board the vehicle, the radar device is continuously operated, and when there is a possibility of contact or collision with surrounding targets, the user is warned, and the user is on the vehicle. a processor that intermittently operates the radar device when the vehicle is not on board and issues a warning to the target when there is a target approaching nearby;
a security device that detects an intrusion of a person into the vehicle and issues a warning;
The processor selects at least one of the radar device and the security device in accordance with latitude information and longitude information of a place where the vehicle is parked when no user is on board the vehicle. A monitoring system characterized by monitoring the In the monitoring system that monitors the situation around the vehicle,
at least one radar device that transmits an electromagnetic wave, receives a reflected wave reflected by a target, and detects a target existing around the vehicle based on the received reflected wave;
When the user is on board the vehicle, the radar device is continuously operated, and when there is a possibility of contact or collision with surrounding targets, the user is warned, and the user is on the vehicle. a processor that intermittently operates the radar device when the vehicle is not on board and issues a warning to the target when there is a target approaching nearby;
a security device that detects an intrusion of a person into the vehicle and issues a warning;
When no user is on board the vehicle, the processor controls the radar device and the security device according to latitude information and longitude information of a place where the vehicle is parked and history information of the number of detections in the past. A monitoring system characterized by selecting at least one of and monitoring the surroundings. The processor warns by sounding the horn when the approaching target is another vehicle and there is a possibility of contacting or colliding with the own vehicle when no user is on board the vehicle. The monitoring system according to any one of claims 1 to 4, characterized by: 5. The processor according to any one of claims 1 to 4, wherein the processor increases the frequency of the intermittent operation of the radar device when there is no user on board the vehicle and the approaching target is another vehicle. or the monitoring system according to claim 1 . 7. The processor warns by blinking a hazard lamp when the approaching target is a person when no user is on board the vehicle. The surveillance system described in . Having a drive recorder that captures the situation around the vehicle and records it as a still image or a moving image,
The processor causes the drive recorder to start recording when an approaching target exists in the vicinity when no user is on board the vehicle.
The monitoring system according to any one of claims 1 to 7 , characterized in that: A radar device that transmits electromagnetic waves, receives reflected waves reflected by a target, and detects targets existing around a vehicle based on the received reflected waves, wherein the vehicle is controlled by a processor. and a security device that detects an intrusion of a person into the vehicle and issues a warning, wherein the security device monitors the situation around the vehicle according to control from the processor. In the monitoring method by
When a user is on board the vehicle , the radar device operates continuously, and warns the user via the processor when there is a possibility of contact or collision with a target in the vicinity. when the user is not on board the vehicle , the radar device operates intermittently, and when there is an approaching target in the vicinity, the target is warned via the processor ;
When the user is not on board the vehicle, the processor selects at least one of the radar device and the security device according to the time to monitor the surroundings.
A monitoring method using a radar device and a security device, characterized by: A radar device that transmits electromagnetic waves, receives reflected waves reflected by a target, and detects targets existing around a vehicle based on the received reflected waves, wherein the vehicle is controlled by a processor. and a security device that detects an intrusion of a person into the vehicle and issues a warning, wherein the security device monitors the situation around the vehicle according to control from the processor. In the monitoring method by
When a user is on board the vehicle, the radar device operates continuously, and warns the user via the processor when there is a possibility of contact or collision with a surrounding target. when the user is not on board the vehicle, the radar device operates intermittently, and when there is an approaching target in the vicinity, the target is warned via the processor;
When the user is not on board the vehicle, the processor selects at least one of the radar device and the security device according to the illuminance to monitor the surroundings.
A monitoring method using a radar device and a security device, characterized by: A radar device that transmits electromagnetic waves, receives reflected waves reflected by a target, and detects targets existing around a vehicle based on the received reflected waves, wherein the vehicle is controlled by a processor. and a security device that detects an intrusion of a person into the vehicle and issues a warning, wherein the security device monitors the situation around the vehicle according to control from the processor. In the monitoring method by
When a user is on board the vehicle, the radar device operates continuously, and warns the user via the processor when there is a possibility of contact or collision with a surrounding target. when the user is not on board the vehicle, the radar device operates intermittently, and when there is an approaching target in the vicinity, the target is warned via the processor;
When no user is on board the vehicle, the processor selects at least one of the radar device and the security device according to latitude information and longitude information of the place where the vehicle is parked, monitor the
A monitoring method using a radar device and a security device, characterized by: A radar device that transmits electromagnetic waves, receives reflected waves reflected by a target, and detects targets existing around a vehicle based on the received reflected waves, wherein the vehicle is controlled by a processor. and a security device that detects an intrusion of a person into the vehicle and issues a warning, wherein the security device monitors the situation around the vehicle according to control from the processor. In the monitoring method by
When a user is on board the vehicle, the radar device operates continuously, and warns the user via the processor when there is a possibility of contact or collision with a surrounding target. when the user is not on board the vehicle, the radar device operates intermittently, and when there is an approaching target in the vicinity, the target is warned via the processor;
When no user is on board the vehicle, the processor controls the radar device and the security device according to latitude information and longitude information of the place where the vehicle is parked and history information of the number of detections in the past. to monitor the surroundings,
A monitoring method using a radar device and a security device, characterized by:

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