JP7417471B2 - レーダ装置 - Google Patents
レーダ装置 Download PDFInfo
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- JP7417471B2 JP7417471B2 JP2020087330A JP2020087330A JP7417471B2 JP 7417471 B2 JP7417471 B2 JP 7417471B2 JP 2020087330 A JP2020087330 A JP 2020087330A JP 2020087330 A JP2020087330 A JP 2020087330A JP 7417471 B2 JP7417471 B2 JP 7417471B2
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- 238000001514 detection method Methods 0.000 claims description 50
- 238000000034 method Methods 0.000 claims description 23
- 238000004364 calculation method Methods 0.000 claims description 14
- 238000012545 processing Methods 0.000 description 21
- 238000012937 correction Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 230000007423 decrease Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 6
- 230000004048 modification Effects 0.000 description 6
- 230000001788 irregular Effects 0.000 description 5
- 238000001228 spectrum Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000000819 phase cycle Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/36—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
- G01S13/38—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal wherein more than one modulation frequency is used
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/343—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using sawtooth modulation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/347—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using more than one modulation frequency
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
- G01S13/44—Monopulse radar, i.e. simultaneous lobing
- G01S13/4454—Monopulse radar, i.e. simultaneous lobing phase comparisons monopulse, i.e. comparing the echo signals received by an interferometric antenna arrangement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q21/00—Antenna arrays or systems
- H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
- H01Q21/08—Arrays of individually energised antenna units similarly polarised and spaced apart the units being spaced along or adjacent to a rectilinear path
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
- H01Q3/2605—Array of radiating elements provided with a feedback control over the element weights, e.g. adaptive arrays
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/356—Receivers involving particularities of FFT processing
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Description
図3は本実施例にかかるレーダ装置の好適な構成を示している。レーダ装置1はアレーアンテナを含むアナログ部2とアナログ部に接続されたデジタル部3とを含む。アナログ部はアナログ回路であり、送信アンテナを含む送信部4と受信アンテナを含む受信部5を含む。デジタル部は周波数制御部6と信号処理部7と記憶部8とを含む。
図4にアナログ部2の構成の詳細を示す。アナログ部2は送信部4と受信部5からなる。送信部4はシンセサイザ41、アンプ42、送信アンテナ43を有する。シンセサイザ41では後述する周波数制御部6で指定された中心周波数のチャープ信号が生成される。この信号はアンプ42を通じて増幅され送信アンテナ43から送信信号として送信される。送信信号は物標で反射され、反射波となる。
デジタル部3は周波数制御部6と信号処理部7と記憶部8とを有する。周波数制御部6は図2に示すような第一変調波と第二変調波を含むチャープ信号の変調帯域幅、中心周波数、チャープ周期を制御する。
以上説明した本実施例1によれば、以下の効果が得られる。
また、従来技術であるチャープ周期の異なるチャープ波を送信することにより最大検知速度を延ばす手法では空送時間を多くとる必要があるが、本実施例では中心周波数を異ならせることで最大検知速度を異ならせているため、チャープ空送時間を短くすることができ、受信電力の減少を防ぐことが可能である。したがって、より遠方まで物標検知可能になる。
第一変調波の受信信号による方位推定と第二変調波の受信信号による方位推定を分けて二度の方位推定を行ってもよい。二度の方位推定を行う場合の処理を図8に示す。
受信部において受信アンテナの間隔は不等間隔であってもよい。受信アンテナの間隔が不等間隔であっても上記で説明した処理と同様に距離、速度を求める。方位推定において、位相情報列d1、d2の要素が不等間隔になるが、方位推定の計算は同様である。
送信するチャープ信号のチャープ周期t1、t2は一定でなく、不等間隔であってもよい。チャープ周期t1、t2を変化させながらチャープ信号を送信することで、より正確な速度折返し補正が可能になる。
2 アナログ部
3 デジタル部
4 送信部
5 受信部
6 周波数制御部
7 信号処理部
8 メモリ部
9 距離・速度検出部
10 折返し補正速度算出部
11 方位推定部
12 位相情報結合部
13 方位計算処理部
101 第一方位推定部
102 第二方位推定部
103 虚像除去部
601 第一変調波アンテナ座標列
602 第二変調波アンテナ座標列
Claims (7)
- レーダ装置であって、
単一の送信アンテナから帯域幅が同一で中心周波数が異なる複数のチャープ波を時間的に交互に送信する送信部と、前記チャープ波による物標からの反射波を受信する複数の受信アンテナを備えた受信部と、中心周波数が異なる前記反射波からの受信信号それぞれに基づいて、前記物標の速度を検出し、前記速度の検出結果に基づき速度折返しを補正する速度算出部と、複数の前記受信アンテナで位相情報を取得し、取得した前記位相情報に基づき前記物標の方位角度を検出する方位推定部と、を備え、
前記方位推定部は、中心周波数の異なる前記受信信号から得られる位相情報列を中心周波数に基づき補正、結合する位相情報結合部と、結合した前記位相情報列を用いて方位計算を行う方位計算処理部を有する、
ことを特徴とするレーダ装置。 - 請求項1に記載のレーダ装置であって、
前記位相情報結合部は、特定の前記受信アンテナでの受信信号で振幅、位相を規格化する、
ことを特徴とするレーダ装置。 - 請求項1に記載のレーダ装置であって、
前記位相情報結合部は、前記中心周波数の異なる位相情報列から、それぞれ方位角度を算出し、前記方位角度で生じる虚像を補正する、
ことを特徴とするレーダ装置。 - 請求項1に記載のレーダ装置であって、
前記中心周波数の偏差が前記帯域幅より大きい、
ことを特徴とするレーダ装置。 - 請求項1に記載のレーダ装置であって、
複数の前記受信アンテナのアンテナ間隔が不等間隔である、
ことを特徴とするレーダ装置。 - 請求項1に記載のレーダ装置であって、
複数の前記チャープ波のチャープ周期が略同一である、
ことを特徴とするレーダ装置。 - 請求項6に記載のレーダ装置であって、
前記チャープ波の時間周期が不等間隔である、
ことを特徴とするレーダ装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2020087330A JP7417471B2 (ja) | 2020-05-19 | 2020-05-19 | レーダ装置 |
PCT/JP2021/001394 WO2021234998A1 (ja) | 2020-05-19 | 2021-01-18 | レーダ装置 |
DE112021001476.5T DE112021001476T5 (de) | 2020-05-19 | 2021-01-18 | Radarvorrichtung |
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JP2020087330A JP7417471B2 (ja) | 2020-05-19 | 2020-05-19 | レーダ装置 |
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JP2021181920A JP2021181920A (ja) | 2021-11-25 |
JP7417471B2 true JP7417471B2 (ja) | 2024-01-18 |
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JP2020087330A Active JP7417471B2 (ja) | 2020-05-19 | 2020-05-19 | レーダ装置 |
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JP (1) | JP7417471B2 (ja) |
DE (1) | DE112021001476T5 (ja) |
WO (1) | WO2021234998A1 (ja) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009025159A (ja) | 2007-07-19 | 2009-02-05 | Mitsubishi Electric Corp | レーダ装置 |
US20150331096A1 (en) | 2012-11-15 | 2015-11-19 | Robert Bosch Gmbh | Rapid-chirps-fmcw radar |
JP2019536011A (ja) | 2016-11-09 | 2019-12-12 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | 自動車のためのレーダセンサ |
JP2020016474A (ja) | 2018-07-23 | 2020-01-30 | 株式会社東芝 | レーダシステム及び信号処理方法 |
US20200041611A1 (en) | 2018-08-02 | 2020-02-06 | Infineon Technologies Ag | Radar apparatus and method for producing different directional characteristics |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6954863B2 (ja) | 2018-04-06 | 2021-10-27 | 株式会社Soken | レーダシステム |
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2020
- 2020-05-19 JP JP2020087330A patent/JP7417471B2/ja active Active
-
2021
- 2021-01-18 DE DE112021001476.5T patent/DE112021001476T5/de active Pending
- 2021-01-18 WO PCT/JP2021/001394 patent/WO2021234998A1/ja active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009025159A (ja) | 2007-07-19 | 2009-02-05 | Mitsubishi Electric Corp | レーダ装置 |
US20150331096A1 (en) | 2012-11-15 | 2015-11-19 | Robert Bosch Gmbh | Rapid-chirps-fmcw radar |
JP2019536011A (ja) | 2016-11-09 | 2019-12-12 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | 自動車のためのレーダセンサ |
JP2020016474A (ja) | 2018-07-23 | 2020-01-30 | 株式会社東芝 | レーダシステム及び信号処理方法 |
US20200041611A1 (en) | 2018-08-02 | 2020-02-06 | Infineon Technologies Ag | Radar apparatus and method for producing different directional characteristics |
Also Published As
Publication number | Publication date |
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DE112021001476T5 (de) | 2023-01-05 |
JP2021181920A (ja) | 2021-11-25 |
WO2021234998A1 (ja) | 2021-11-25 |
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