JP7347608B1 - Control device, control system, control method and program - Google Patents

Abstract

An object of the present invention is to detect the position and speed of a vehicle traveling in another lane with which the traveling vehicle immediately merges or intersects.
[Solution] A reception control unit 21 receives a vehicle radar wave and receives a reflected wave in which the radar wave emitted to a second vehicle is reflected at the second vehicle, and the progress of the reflected wave received by the reception control unit 21. A position specifying unit 22 that specifies the position of the second vehicle based on the direction and timing of reception of the reflected wave; and a speed that specifies the speed of the second vehicle based on the frequency of the reflected wave received by the reception control unit 21. a specifying unit 23; an estimating unit 24 that estimates the frequency, traveling direction, and reception timing of a virtual reflected wave assuming that the vehicle radar wave emitted by the first vehicle is reflected by the second vehicle; On the other hand, it includes a transmission control section 25 that causes radar waves to be transmitted at the frequency, traveling direction, and reception timing estimated by the estimation section 24.
[Selection diagram] Figure 4

Description

The present invention relates to a control device, a control system, a control method, and a program for controlling transmission and reception of radar waves by an array antenna.

2. Description of the Related Art Techniques have been proposed for preventing a vehicle from colliding with another vehicle at a junction where a plurality of lanes with poor visibility from each other merge, such as on a motorway. For example, in Patent Document 1, a plurality of antennas for road-to-vehicle communication are arranged in a plurality of lanes, and only the antenna corresponding to one lane is arranged so that vehicles traveling in each lane do not enter a merging section at the same time. It is described that a proceeding signal is output from the vehicle to permit entry into the confluence.

Japanese Patent Application Publication No. 2002-334392

In the method described in Patent Document 1, at a convergence point where multiple lanes with poor visibility from each other merge, such as on a motorway, an automatically-driving vehicle is traveling on a vehicle that is traveling on another lane that is merging immediately after that. There was a problem that position and speed could not be detected.

The present invention has been made in view of this point, and at a place where a plurality of lanes with poor visibility merge or intersect, a vehicle traveling on the same lane immediately merges with another lane, and the position and location of the vehicle are determined. An object of the present invention is to provide a control device, a control system, a control method, and a program that can detect speed.

A control device according to a first aspect of the present invention includes a first phased array antenna provided on a structure located at a position facing a first lane, and a first phased array antenna on the opposite side of the structure across the first lane and the structure. and a second phased array antenna provided at a position facing a second lane of the vehicle, the control device controls a vehicle radar wave emitted by a first vehicle traveling in the first lane to the first phased array antenna. Receiving from the second phased array antenna reflected waves that are received from the antenna and reflected by the second vehicle from radar waves emitted by the second phased array antenna to a second vehicle traveling in the second lane. a reception control section, a position specifying section that specifies the position of the second vehicle based on the traveling direction of the reflected wave received by the reception control section and the timing of reception of the reflected wave; a speed identification unit that identifies the speed of the second vehicle based on the frequency of the reflected wave; and a virtual reflection when it is assumed that the vehicle radar wave emitted by the first vehicle is reflected at the second vehicle. an estimating unit that estimates the frequency, traveling direction, and timing of reception of a wave; A transmission control unit that causes the antenna to transmit data.

When the reception control unit receives the vehicle radar waves emitted by the first vehicle at predetermined intervals, the transmission control unit transmits the received vehicle radar waves to the first vehicle from the next time onwards. The radar wave may be transmitted by the first phased array antenna at the timing of reception of a reflected wave assuming that the vehicle radar wave received at the second vehicle is reflected at the second vehicle.

A control system according to a second aspect of the present invention includes a first phased array antenna provided on a structure located at a position facing a first lane, and a first phased array antenna on the opposite side across the first lane and the structure. A control system comprising: a second phased array antenna provided at a position facing a second lane; and a control device that controls the first phased array antenna and the second phased array antenna, the control device comprising: , a vehicle radar wave emitted by a first vehicle traveling in the first lane is received from the first phased array antenna, and the second phased array antenna is transmitted to a second vehicle traveling in the second lane. a reception control unit that receives from the second phased array antenna a reflected wave from which an emitted radar wave is reflected at the second vehicle; a traveling direction of the reflected wave received by the reception control unit; and a timing of reception of the reflected wave. a position specifying unit that specifies the position of the second vehicle based on the frequency of the reflected wave received by the reception control unit; a speed specifying unit that specifies the speed of the second vehicle based on the frequency of the reflected wave received by the reception control unit; an estimation unit that estimates the frequency, traveling direction, and timing of reception of a virtual reflected wave when it is assumed that the vehicle radar wave emitted by one vehicle is reflected by the second vehicle; a transmission control unit that causes the first phased array antenna to transmit radar waves at the frequency, the traveling direction, and the reception timing estimated by the unit.

The first phased array antenna is provided on the structure located at a position facing the first lane of the first lane and the second lane that merge with each other, and the second phased array antenna includes: It may be provided at a position facing the second lane.

The first phased array antenna is provided on the structure located at a position facing the first lane of the first lane and the second lane that intersect with each other at the intersection, and the second phased array antenna is provided on the structure facing the first lane. may be provided at a position facing the second lane.

A control method according to a third aspect of the present invention includes a first phased array antenna provided on a structure located at a position facing a first lane; a second phased array antenna provided at a position facing a second lane of the vehicle; A radar wave received from the first phased array antenna and emitted by the second phased array antenna to a second vehicle traveling in the second lane is reflected by the second vehicle, and the reflected wave is transmitted to the second phased array antenna. receiving from an array antenna; determining the position of the second vehicle based on the traveling direction of the received reflected wave and the timing of reception of the reflected wave; and determining the position of the second vehicle based on the frequency of the received reflected wave. , specifying the speed of the second vehicle, and determining the frequency, traveling direction, and reception timing of a virtual reflected wave assuming that the vehicle radar wave emitted by the first vehicle is reflected at the second vehicle. and a step of causing the first vehicle to transmit radar waves to the first phased array antenna at the estimated frequency, traveling direction, and reception timing.

A program according to a fourth aspect of the present invention is configured to cause a computer to transmit vehicle radar waves emitted by a first vehicle traveling in a first lane to a structure provided at a position facing the first lane. The signal is received from the first phased array antenna, and is installed at a position facing the second lane in response to a second vehicle traveling in the second lane on the opposite side of the first lane and the structure. a step of receiving, from the second phased array antenna, a reflected wave in which a radar wave emitted by the second phased array antenna is reflected at the second vehicle; a traveling direction of the received reflected wave; and a timing of receiving the reflected wave; determining the position of the second vehicle based on the frequency of the received reflected wave; determining the speed of the second vehicle based on the frequency of the received reflected wave; and determining the vehicle radar wave emitted by the first vehicle. estimating the frequency, traveling direction, and reception timing of a virtual reflected wave assuming that the wave is reflected at the second vehicle; A step of causing the first phased array antenna to transmit a radar wave at a timing is executed.

According to the present invention, when a plurality of lanes with poor visibility to each other, such as on a motorway, merge or intersect, the position of a vehicle that is traveling in another lane that merges or intersects immediately after a traveling self-driving vehicle This has the effect of detecting speed and speed.

FIG. 1 is a diagram for explaining an overview of a control system according to a first embodiment. FIG. 1 is a diagram for explaining an overview of a control system according to a first embodiment. FIG. 1 is a diagram for explaining an overview of a control system according to a first embodiment. The configuration of the control system is shown. 2 is a flowchart showing a processing procedure for transmitting radar waves by the control system. The configuration of the control system of this modification is shown.

[Overview of control system]
FIG. 1, FIG. 2, and FIG. 3 are diagrams for explaining an overview of the control system S of this embodiment. FIG. 1 shows the configuration of the control system S. 2 and 3 show examples of the operation of the control system S. The control system S includes a phased array antenna 200 (hereinafter also referred to as a first phased array antenna), a phased array antenna 300 (hereinafter also referred to as a second phased array antenna), and a control device 100.

The control system S shown in FIG. 1 includes four first phased array antennas 200 (200a to 200d) and four second phased array antennas 300 (300a to 300d). In the following description, when explaining the common functions of the respective phased array antennas 200, these will be referred to as the first phased array antenna 200, and when explaining the common functions of the respective second phased array antennas 300. In some cases, these are referred to as a second phased array antenna 300.

The first phased array antenna 200 is provided on a structure located at a position facing the first lane of the first lane and the second lane that merge with each other at the merging section. In the example of FIG. 1, the first lane is a merging lane that merges with the main line of the motorway. The structure is, for example, a protective wall that separates the first lane from the second lane, but may also be a sound insulating wall or a guardrail that separates the first lane from the second lane. The second lane is a lane on the opposite side of the structure from the first lane. The second phased array antenna 300 is provided at a position facing the second lane. The second lane is the main line of the motorway.

The first phased array antenna 200 and the second phased array antenna 300 receive radar waves using a plurality of antenna elements. The first phased array antenna 200 and the second phased array antenna 300 transmit radar waves using a plurality of antenna elements. The first phased array antenna 200 and the second phased array antenna 300 transmit radar waves at the frequency, traveling direction, and transmission timing instructed by the control device 100.

Control device 100 is, for example, a computer. The control device 100 communicates with the first phased array antenna 200 and the second phased array antenna 300 by wire or wirelessly. The control device 100 controls transmission and reception of radio waves by the first phased array antenna 200 and the second phased array antenna 300. Control device 100 receives radar waves via first phased array antenna 200 and second phased array antenna 300. The control device 100 specifies the frequency, traveling direction, and timing of reception of the received radar waves. For example, the control device 100 specifies the traveling direction of the received radar waves by analyzing the phase of the radar waves received by the first phased array antenna 200 and the second phased array antenna 300 for each antenna element.

The control device 100 instructs the frequency, traveling direction, and timing of transmission of radar waves to be transmitted to the first phased array antenna 200 and the second phased array antenna 300, and transmits the radar waves of the instructed frequencies to the first phased array antenna 200. and causes the second phased array antenna 300 to transmit.

The source vehicle 400 (corresponding to the first vehicle) detects the position and speed of other vehicles by emitting vehicle radar waves and receiving reflected waves obtained by reflecting the vehicle radar waves from nearby vehicles. . The source vehicle 400, for example, travels automatically in the first lane. Note that the source vehicle 400 is not limited to the example of traveling in the first lane on the merging lane side, but may travel on the second lane on the main lane side.

The flow of processing of the control system S will be described below. As shown in FIG. 1, the source vehicle 400 is traveling in the first lane and is about to merge into the second lane. The detection target vehicle 500 (corresponding to the second vehicle) is traveling in the second lane. In the example of FIG. 1, the vehicle radar waves emitted by the source vehicle 400 are blocked by structures and do not reach the detection target vehicle 500.

As shown in FIG. 2, the first phased array antenna 200c receives vehicle radar waves emitted by the source vehicle 400 ((1) in FIG. 2). Control device 100 specifies the traveling direction, reception timing, and frequency of vehicle radar waves received via first phased array antenna 200c.

When the first phased array antenna 200c receives a vehicle radar wave, the control device 100 transmits the radar wave to a second lane on the opposite side of the structure from the first lane using the second phased array antenna 300c. ((2) in Figure 2). The second phased array antenna 300c receives a reflected wave that is a radar wave emitted by the second phased array antenna 300c toward the detection target vehicle 500 and reflected at the detection target vehicle 500. The control device 100 identifies the traveling direction, reception timing, and frequency of the reflected wave received via the second phased array antenna 300c.

Control device 100 specifies the distance from second phased array antenna 300c to detection target vehicle 500 based on the time required from second phased array antenna 300c transmitting a radar wave to receiving a reflected wave. . The control device 100 identifies the position of the detection target vehicle 500 based on the traveling direction of the reflected wave received by the second phased array antenna 300c and the distance from the second phased array antenna 300c to the detection target vehicle 500 ( (3) in Figure 2).

Since the detection target vehicle 500 is traveling, the frequency of the reflected wave received by the second phased array antenna 300c is different from the frequency of the original radar wave emitted by the second phased array antenna 300c due to the Doppler effect. The control device 100 identifies the speed of the detection target vehicle 500 based on the frequency of the reflected wave received by the second phased array antenna 300 ((3) in FIG. 2).

As shown in FIG. 3(a), when it is assumed that the vehicle radar wave of the source vehicle 400 received by the first phased array antenna 200c passes through the structure as it is, the control device 100 determines whether this vehicle radar is the detection target. It is determined whether the light is reflected at the vehicle 500 ((4) in FIG. 3(a)). As shown in FIG. 3(b), when the control device 100 determines that the vehicle radar is reflected by the detection target vehicle 500, the control device 100 determines the frequency and traveling direction of this reflected wave (hereinafter also referred to as a virtual reflected wave), The timing at which the source vehicle 400 receives this virtual reflected wave is estimated ((5) in FIG. 3(b)).

As shown in FIG. 3C, the control device 100 causes the first phased array antenna 200b to transmit the radar waves with the estimated frequency and direction of travel so that the source vehicle 400 receives them at the estimated reception timing ( (6) in Figure 3(c)). In this way, the control device 100 transmits the radar waves in the same traveling direction, frequency, and reception timing as when receiving a virtual reflected wave in which the radar waves emitted by the source vehicle 400 are reflected by the detection target vehicle 500. The source vehicle 400 can receive the information. Therefore, the source vehicle 400 can detect the detection target vehicle 500 traveling in the opposite lane across the structure.

[Configuration of control system S]
FIG. 4 shows the configuration of the control system S. The control system S includes first phased array antennas 200a, 200b, 200c, and 200d, second phased array antennas 300a, 300b, 300c, and 300d, and a control device 100. The control device 100 includes a storage section 1 and a control section 2. The control section 2 includes a reception control section 21 , a position specification section 22 , a speed specification section 23 , an estimation section 24 , and a transmission control section 25 .

The storage unit 1 includes, for example, a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage unit 1 stores various programs and various data for making the control unit 2 function. The control unit 2 is, for example, a CPU (Central Processing Unit). The control unit 2 functions as a reception control unit 21 , a position identification unit 22 , a speed identification unit 23 , an estimation unit 24 , and a transmission control unit 25 by executing a program stored in the storage unit 1 .

The reception control unit 21 receives radar waves via the first phased array antenna 200 and the second phased array antenna 300. The reception control unit 21 receives the vehicle radar waves received by the first phased array antenna 200 from the first phased array antenna 200 . The reception control unit 21 specifies the traveling direction, frequency, and reception timing of the received vehicle radar wave.

When the second phased array antenna 300 emits a radar wave toward the detection target vehicle 500 under the control of the transmission control section 25 , the reception control section 21 receives the reflected wave via the phased array antenna 300 . The reception control unit 21 specifies the traveling direction, frequency, and reception timing of the received reflected wave. The reception control unit 21 outputs information indicating the traveling direction and reception timing of the identified reflected wave to the position specifying unit 22.

The reception control unit 21 outputs information indicating the frequency of the reflected wave received by the second phased array antenna 300 to the speed identification unit 23. The reception control unit 21 outputs information indicating the traveling direction, frequency, and reception timing of the specified vehicle radar wave to the estimation unit 24.

The position specifying unit 22 specifies the position of the detection target vehicle 500 based on the traveling direction of the reflected wave received by the reception control unit 21 and the timing of reception of the reflected wave. More specifically, the position specifying unit 22 determines the distance from the second phased array antenna 300 to the detection target vehicle 500 based on the time required for the second phased array antenna 300 to transmit a radar wave and receive a reflected wave. Determine distance. The position specifying unit 22 specifies the position of the detection target vehicle 500 based on the specified distance and the traveling direction of the reflected wave. The position specifying unit 22 outputs information indicating the specified position of the detection target vehicle 500 to the estimating unit 24.

As the speed of the detection target vehicle 500 increases, the frequency of the reflected wave received by the second phased array antenna 300 becomes a value farther from the frequency of the original radar wave transmitted to the detection target vehicle 500 by the second phased array antenna 300. Become. Using this principle, the speed specifying section 23 specifies the speed of the detection target vehicle 500 based on the frequency of the reflected wave received by the reception control section 21. The speed specifying unit 23 outputs information indicating the specified speed of the detection target vehicle 500 to the estimating unit 24.

The estimation unit 24 calculates a virtual signal that is received by one of the phased array antennas 300 on the source vehicle 400 side when it is assumed that the vehicle radar waves emitted by the source vehicle 400 pass through a structure and are reflected at the detection target vehicle 500. Estimate the frequency, direction of movement, and timing of reception of the reflected wave. First, based on the traveling direction of the vehicle radar wave of the source vehicle 400 received by the first phased array antenna 200, the estimation unit 24 determines whether the position specifying unit 22 determines if the vehicle radar wave passes through the structure as it is. It is determined whether the vehicle radar wave is reflected at the specified position of the detection target vehicle 500 (see FIG. 3(a)).

When the estimation unit 24 determines that the vehicle radar wave is reflected by the detection target vehicle 500, the estimation unit 24 estimates the traveling direction and frequency of the reflected virtual reflected wave (see FIG. 3(b)). For example, the estimation unit 24 determines the direction in which the radar waves are sent back to the source of the vehicle radar waves emitted by the source vehicle 400 as the traveling direction of the virtual reflected waves. The estimation unit 24 determines the frequency of the virtual reflected wave based on the speed of the detection target vehicle 500 specified by the speed identification unit 23.

When the estimation unit 24 determines that the vehicle radar wave is reflected by the detection target vehicle 500, the estimation unit 24 estimates the timing at which the second phased array antenna 300 on the detection target vehicle 500 side receives the reflected virtual reflected wave (see FIG. 3). b)). For example, the estimation unit 24 calculates the time required for the vehicle radar to travel back and forth from the position of the second phased array antenna 300 on the detection target vehicle 500 side to the position of the detection target vehicle 500 in the first phased array antenna on the source vehicle 400 side. The timing after the timing when the antenna 200 receives the vehicle radar wave from the source vehicle 400 is calculated. The estimation unit 24 estimates the calculated timing as the timing at which the phased array antenna 300 receives the virtual reflected wave.

The transmission control unit 25 transmits radar waves via the phased array antennas 200 and 300. When the reception control unit 21 receives the vehicle radar wave of the source vehicle 400d, the transmission control unit 25 transmits the radar wave to the lane on the opposite side of the lane from the source vehicle 400 across the structure. It is transmitted by a two-phased array antenna 300. When it is determined that the vehicle radar waves are reflected by the detection target vehicle 500, the transmission control unit 25 sends the radar waves at the frequency and traveling direction estimated by the estimation unit 24 to the source vehicle 400 at the source vehicle 400 side. 1 phased array antenna 200 for transmission. The timing of transmission of this radar wave is made to coincide with the timing of reception of the virtual reflected wave estimated by the estimation unit 24.

The transmission control unit 25 instructs the traveling direction of the radar waves by instructing the phase of the radar waves emitted by the phased array antennas 200 and 300 for each antenna element. When determining that the vehicle radar wave is not reflected by the detection target vehicle 500, the transmission control unit 25 does not cause the source vehicle 400 to transmit the radar wave to the first phased array antenna 200 on the source vehicle 400 side.

[Next, transmission of radar waves corresponding to the timing of reception]
When the reception control unit 21 receives the vehicle radar waves emitted by the source vehicle 400 at predetermined intervals, the transmission control unit 25 transmits the received vehicle radar waves to the source vehicle 400 from the next time onwards. The timing at which the second phased array antenna 300 on the side of the detection target vehicle 500 receives a reflected wave, which is assumed to be a vehicle radar wave passing through a structure and reflected at the detection target vehicle 500, is specified. The transmission control unit 25 may transmit the radar wave using the first phased array antenna 200 on the source vehicle 400 side at a transmission timing that matches the specified timing. The predetermined period is, for example, the cycle at which the source vehicle 400 emits vehicle radar waves.

For example, the transmission control unit 25 determines that the reception control unit 21 receives vehicle radar waves emitted by the source vehicle 400 at every reception period of T seconds, and the reception timing of the virtual reflected wave estimated by the estimation unit 24 corresponds to the transmission source vehicle radar wave. Assume that A seconds have passed since the reception control unit 21 received the vehicle radar wave of the vehicle 400.

In this case, the transmission control unit 25 transmits the radar wave after A+T seconds, which is A seconds after the timing at which the reception control unit 21 receives the vehicle radar wave from the source vehicle 400 and adds T seconds, which is the reception period. The signal may be transmitted by the first phased array antenna 200 on the source vehicle 400 side. At this time, the transmission control unit 25 transmits the radar wave in the traveling direction and frequency as estimated by the estimation unit 24 as the traveling direction and frequency of the virtual reflected wave, assuming that the received vehicle radar wave itself is reflected at the detection target vehicle 500. is transmitted to the source vehicle 400.

Due to the long time required to estimate the frequency, traveling direction, and transmission timing of the virtual reflected wave, the radar wave is transmitted by the first phased array antenna 200 on the source vehicle 400 side at the estimated transmission timing. Sometimes things are difficult. The transmission control unit 25 transmits the radar wave at the same transmission timing as the second phased array antenna 300 receives a reflected wave assuming that the vehicle radar wave to be received from the next time is reflected at the detection target vehicle 500. As a result, the source vehicle 400 that has received this radar wave can accurately detect the distance from its own vehicle to the detection target vehicle 500.

[Processing procedure for radar wave transmission by control system S]
FIG. 5 is a flowchart showing a processing procedure for transmitting radar waves by the control system S. This processing procedure is started, for example, while the phased array antennas 200, 300 are in operation.

First, the reception control unit 21 determines whether any of the first phased array antennas 200 has received a vehicle radar wave (S101). When the transmission control unit 25 determines that a vehicle radar wave has been received (YES in S101), the transmission control unit 25 moves the second phased gate facing the lane to the lane on the opposite side across the structure from the lane in which the vehicle radar wave was received. Radar waves are transmitted from the array antenna 300 (S102). After the transmission control unit 25 transmits the radar wave, the reception control unit 21 determines whether a reflected wave is received from the detection target vehicle 500 (S103). When the reception control unit 21 determines that the reflected wave has been received from the detection target vehicle 500 (YES in S103), the position specifying unit 22 locates the detection target vehicle 500 based on the traveling direction of the reflected wave and the timing of reception. The position is specified (S104).

The speed identifying unit 23 identifies the speed of the detection target vehicle 500 based on the frequency of the reflected wave (S104). The estimating unit 24 calculates whether the vehicle radar waves emitted by the source vehicle 400 pass through a structure and are reflected at the detection target vehicle 500, and when one of the second phased array antennas 300 on the detection target vehicle 500 side receives the vehicle radar waves. The frequency, traveling direction, and reception timing of the virtual reflected wave are estimated (S105). The transmission control unit 25 transmits the radar wave with the frequency and traveling direction estimated by the estimation unit 24 to the source vehicle 400 (S106). The transmission control unit 25 matches the timing of transmitting this radar wave with the timing of receiving the virtual reflected wave estimated by the estimation unit 24, and ends the process.

When the reception control unit 21 determines that the vehicle radar wave is not received in the determination in S101 (NO in S101), the reception control unit 21 repeats the determination in S101. When the reception control unit 21 determines in the determination in S103 that the reflected wave is not received from the detection target vehicle 500 (NO in S103), the reception control unit 21 ends the process.

<Modified example>
The phased array antenna is not limited to an example in which the phased array antenna is placed at a position immediately before the first lane and the second lane merge with each other. For example, the phased array antenna may be placed at an intersection where the first lane and the second lane intersect with each other.

FIG. 6 shows the configuration of the control system S of this modification. In the example of FIG. 6, the first phased array antennas 200a and 200b are provided on a structure located at a position facing the first lane (the lane extending in the left-right direction in FIG. 6) at an intersection. The radar waves emitted by the source vehicle 400 traveling in the first lane are blocked by this structure, and therefore do not reach the detection target vehicle 500 traveling in the second lane extending in the vertical direction in FIG.

Second phased array antennas 300a and 300b are provided at positions facing the second lane. Regarding the operations of the first phased array antennas 200a and 200b, the second phased array antennas 300a and 300b, and the control device 600, the first phased array antenna 200, the second phased array antenna 300, and the control device 100 in FIG. Since they are similar, the explanation will be omitted.

[Effects of the control device 100 of the present disclosure]
The control device 100 sends the radar waves to the source vehicle 400 in the same traveling direction, frequency, and reception timing as when receiving a virtual reflected wave in which the radar waves emitted by the source vehicle 400 are reflected by the detection target vehicle 500. can be received. Therefore, the source vehicle 400 can detect the detection target vehicle 500 traveling in the opposite lane across the structure.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes can be made within the scope of the gist. be. For example, all or part of the device can be functionally or physically distributed and integrated into arbitrary units. In addition, new embodiments created by arbitrary combinations of multiple embodiments are also included in the embodiments of the present invention. The effects of the new embodiment resulting from the combination have the effects of the original embodiment.

1 Storage section 2 Control section 21 Reception control section 22 Position specifying section 23 Speed specifying section 24 Estimating section 25 Transmission control section 100 Control device 200a First phased array antenna 200b First phased array antenna 200c First phased array antenna 200d First phased Array antenna 300a Second phased array antenna 300a Second phased array antenna 300b Second phased array antenna 300c Second phased array antenna 300d Second phased array antenna 400 Source vehicle 500 Detection target vehicle 600 Control device S Control system

Claims (7)

A first phased array antenna installed on a structure facing the first lane, and a first phased array antenna installed facing a second lane on the opposite side of the first lane and the structure. A control device that controls a second phased array antenna,
A vehicle radar wave emitted by a first vehicle traveling in the first lane is received from the first phased array antenna, and the second phased array antenna emits a vehicle radar wave to a second vehicle traveling in the second lane. a reception control unit that receives, from the second phased array antenna, a reflected wave from which the radar wave reflected by the second vehicle;
a position specifying unit that specifies the position of the second vehicle based on the traveling direction of the reflected wave received by the reception control unit and the timing of reception of the reflected wave;
a speed identification unit that identifies the speed of the second vehicle based on the frequency of the reflected wave received by the reception control unit;
an estimation unit that estimates the frequency, traveling direction, and timing of reception of a virtual reflected wave assuming that the vehicle radar wave emitted by the first vehicle is reflected by the second vehicle;
a transmission control unit that causes the first vehicle to transmit radar waves to the first phased array antenna at the frequency, the traveling direction, and the reception timing estimated by the estimation unit;
A control device comprising: When the reception control unit receives the vehicle radar waves emitted by the first vehicle at predetermined intervals, the transmission control unit transmits the received vehicle radar waves to the first vehicle from the next time onwards. transmitting a radar wave by the first phased array antenna at the timing of reception of a reflected wave assuming that the vehicle radar wave received by the second vehicle is reflected at the second vehicle;
The control device according to claim 1. A first phased array antenna installed on a structure facing the first lane, and a first phased array antenna installed facing a second lane on the opposite side of the first lane and the structure. A control system comprising a second phased array antenna, and a control device that controls the first phased array antenna and the second phased array antenna,
The control device includes:
A vehicle radar wave emitted by a first vehicle traveling in the first lane is received from the first phased array antenna, and the second phased array antenna emits a vehicle radar wave to a second vehicle traveling in the second lane. a reception control unit that receives, from the second phased array antenna, a reflected wave from which the radar wave reflected by the second vehicle;
a position specifying unit that specifies the position of the second vehicle based on the traveling direction of the reflected wave received by the reception control unit and the timing of reception of the reflected wave;
a speed identification unit that identifies the speed of the second vehicle based on the frequency of the reflected wave received by the reception control unit;
an estimation unit that estimates the frequency, traveling direction, and timing of reception of a virtual reflected wave assuming that the vehicle radar wave emitted by the first vehicle is reflected by the second vehicle;
a transmission control unit that causes the first vehicle to transmit radar waves to the first phased array antenna at the frequency, the traveling direction, and the reception timing estimated by the estimation unit;
has,
control system. The first phased array antenna is provided on the structure located at a position facing the first lane of the first lane and the second lane that merge with each other, and the second phased array antenna includes: Provided at a position facing the second lane,
A control system according to claim 3. The first phased array antenna is provided on the structure located at a position facing the first lane of the first lane and the second lane that intersect with each other at the intersection, and the second phased array antenna is provided on the structure facing the first lane. is provided at a position facing the second lane,
A control system according to claim 3. A first phased array antenna installed on a structure facing the first lane, and a first phased array antenna installed facing a second lane on the opposite side of the first lane and the structure. A control method executed by a control device that controls a second phased array antenna,
A vehicle radar wave emitted by a first vehicle traveling in the first lane is received from the first phased array antenna, and the second phased array antenna emits a vehicle radar wave to a second vehicle traveling in the second lane. receiving from the second phased array antenna a reflected wave of the radar wave reflected at the second vehicle;
specifying the position of the second vehicle based on the traveling direction of the received reflected wave and the timing of reception of the reflected wave;
determining the speed of the second vehicle based on the frequency of the received reflected wave;
estimating the frequency, traveling direction, and reception timing of a virtual reflected wave assuming that the vehicle radar wave emitted by the first vehicle is reflected by the second vehicle;
causing the first vehicle to transmit radar waves to the first phased array antenna at the estimated frequency, the traveling direction, and the reception timing;
A control method comprising: to the computer,
A vehicle radar wave emitted by a first vehicle traveling in the first lane is received from a first phased array antenna installed on a structure located at a position facing the first lane. A second vehicle traveling in a second lane on the opposite side of the structure receives radar waves emitted from a second phased array antenna installed at a position facing the second lane. receiving the reflected wave reflected from the vehicle from the second phased array antenna;
specifying the position of the second vehicle based on the traveling direction of the received reflected wave and the timing of reception of the reflected wave;
determining the speed of the second vehicle based on the frequency of the received reflected wave;
estimating the frequency, traveling direction, and reception timing of a virtual reflected wave assuming that the vehicle radar wave emitted by the first vehicle is reflected by the second vehicle;
causing the first vehicle to transmit radar waves to the first phased array antenna at the estimated frequency, the traveling direction, and the reception timing;
A program to run.

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