JPH11133144A - Fm-cw radar device - Google Patents
Fm-cw radar deviceInfo
- Publication number
- JPH11133144A JPH11133144A JP29841597A JP29841597A JPH11133144A JP H11133144 A JPH11133144 A JP H11133144A JP 29841597 A JP29841597 A JP 29841597A JP 29841597 A JP29841597 A JP 29841597A JP H11133144 A JPH11133144 A JP H11133144A
- Authority
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- Prior art keywords
- frequency
- signal
- modulation
- reception
- modulation voltage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- Radar Systems Or Details Thereof (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】この発明は例えば走行する車
両に搭載され、前方に存在する走行車両や障害物などの
位置及び速度情報を検出するのに有効に働く装置として
ＦＭ−ＣＷレーダ装置に関するものであり、その原理は
「６０ＧＨｚ帯自動車用ミリ波レーダ」（ＦＵＪＩＴＳ
Ｕ．ｖｏ１４７、４、ｐｐ．３３２−３３７ １９９６
年７月）などに詳述され、広く知られている。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an FM-CW radar device which is mounted on, for example, a traveling vehicle and which works effectively for detecting position and speed information of a traveling vehicle or an obstacle existing in front of the vehicle. The principle is "60 GHz band millimeter wave radar for automobiles" (FUJITS
U. vo147,4, pp. 332-337 1996
, And is widely known.
【０００２】[0002]
【従来の技術】図４は従来のＦＭ−ＣＷレーダ装置の代
表的な系統図を示したもので、図中、１は変調電圧記憶
部、２はタイミング制御部、３はＤ／Ａ変換器、４は電
圧制御発振器、５は高周波増幅器、６は方向性結合器、
７は送信空中線、８は受信空中線、９は受信ミクサ、１
０はビデオ増幅器、１１は低域通過型フィルタ、１２は
Ａ／Ｄ変換器、１３は周波数解析手段、１４は距離・速
度計測手段であり、これらの部品１〜３で変調電圧発生
部１５を、部品４〜６で送信信号変換部１６を、部品７
及び８でアンテナ部１７を、部品９〜１１で受信信号検
出部１８を、部品２及び１２〜１４で受信ベースバンド
信号処理部１９をそれぞれ構成する。2. Description of the Related Art FIG. 4 shows a typical system diagram of a conventional FM-CW radar apparatus, in which 1 is a modulation voltage storage unit, 2 is a timing control unit, and 3 is a D / A converter. 4 is a voltage controlled oscillator, 5 is a high frequency amplifier, 6 is a directional coupler,
7 is a transmitting antenna, 8 is a receiving antenna, 9 is a receiving mixer, 1
Reference numeral 0 denotes a video amplifier, 11 denotes a low-pass filter, 12 denotes an A / D converter, 13 denotes frequency analysis means, and 14 denotes distance / speed measurement means. , The transmission signal conversion unit 16 by the components 4 to 6 and the component 7
And 8 constitute an antenna unit 17, components 9 to 11 constitute a reception signal detection unit 18, and components 2 and 12 to 14 constitute a reception baseband signal processing unit 19.
【０００３】このＦＭ−ＣＷレーダ装置の動作、原理を
概説すると、変調電圧記憶部１には、電圧制御発振器４
において、その発振周波数が特定の下限値と上限値の間
で直線的かつ周期的に増減する送信信号を励振する変調
電圧をディジタルデータとして記憶している。タイミン
グ制御器２はこの変調電圧を所定のタイミングで取り出
すタイミング信号をＤ／Ａ変換器３に出力する。この出
力タイミング信号を受信したＤ／Ａ変換器４は上記のタ
イミングで変調電圧記憶部１よりディジタル変調電圧を
取り出し、変調電圧をディジタル信号からビット数に対
応したアナログ信号に変換し、送受信部の電圧制御発振
器の発振周波数を制御する変調電圧として出力する。The operation and principle of the FM-CW radar device will be briefly described.
, A modulation voltage for exciting a transmission signal whose oscillation frequency linearly increases and decreases between a specific lower limit and an upper limit is stored as digital data. The timing controller 2 outputs a timing signal for extracting the modulation voltage at a predetermined timing to the D / A converter 3. The D / A converter 4 receiving this output timing signal extracts the digital modulation voltage from the modulation voltage storage unit 1 at the above timing, converts the modulation voltage from the digital signal to an analog signal corresponding to the number of bits, and Output as a modulation voltage for controlling the oscillation frequency of the voltage controlled oscillator.
【０００４】電圧制御発振器４は、信号処理部のＤ／Ａ
変換器３から入力された変調電圧に比例した発振周波数
を有する高周波送信信号を励振し、特定の下限値と上限
値の間で直線的かつ周期的に増減する直線周波数変調さ
れた高周波送信信号を出力する。高周波増幅器５は電圧
制御発振器４からの高周波送信信号を入力し、この高周
波送信信号と周波数及び位相が時間的に同期しかつ高周
波増幅された信号を出力する。方向性結合器６はこの高
周波増幅された信号を所定の電力比で２つの高周波送信
信号に分割する。この方向性結合器６の出力信号の一方
は送信空中線７により電磁波に変換され、目標物に照射
される。The voltage controlled oscillator 4 has a D / A of a signal processing unit.
A high-frequency transmission signal having an oscillation frequency proportional to the modulation voltage input from the converter 3 is excited, and a linear-frequency-modulated high-frequency transmission signal that linearly and periodically increases and decreases between a specific lower limit and an upper limit is formed. Output. The high-frequency amplifier 5 receives the high-frequency transmission signal from the voltage-controlled oscillator 4 and outputs a signal whose frequency and phase are time-synchronized with this high-frequency transmission signal and whose high-frequency is amplified. The directional coupler 6 divides the high-frequency amplified signal into two high-frequency transmission signals at a predetermined power ratio. One of the output signals of the directional coupler 6 is converted into an electromagnetic wave by the transmitting antenna 7 and is irradiated on a target.
【０００５】照射された電磁波は送信空中線７から相対
距離Ｒに存在しかつ相対速度Ｖで移動する目標物で反射
され、目標物とＦＭ−ＣＷレーダ装置との相対速度Ｖに
比例したドップラシフトを受けて、かつ目標物との相対
距離Ｒに比例した時間２* Ｒ／Ｃ（Ｃ：光速）だけ遅れ
て、受信空中線８で受信され受信高周波信号に変換され
る。このとき目標物とＦＭ−ＣＷレーダ装置との速度差
により生じる周波数偏移は２* ｆｃ* Ｖ／Ｃ（ｆｃ：送
信信号の中心周波数）となる。The radiated electromagnetic wave is reflected by a target which is located at a relative distance R from the transmitting antenna 7 and moves at a relative speed V, and undergoes a Doppler shift proportional to the relative speed V between the target and the FM-CW radar device. The signal is received by the receiving antenna 8 with a delay of 2 * R / C (C: speed of light) proportional to the relative distance R to the target, and is converted into a received high-frequency signal. At this time, the frequency shift caused by the speed difference between the target and the FM-CW radar device is 2 * fc * V / C (fc: center frequency of the transmission signal).
【０００６】ＦＭ−ＣＷレーダ装置から距離Ｒ、相対速
度Ｖで移動する目標物からの受信高周波信号は受信ミク
サ９において、上記の方向性結合器６の出力である送信
高周波信号と混合され、受信ベースバンド信号に変換さ
れる。この受信ベースバンド信号はビデオ増幅器１０で
所定の利得で増幅された後、低域通過型フィルタ１１に
より、計測に不要な高周波部分を遮断して、目標情報を
含む受信ビート周波数のみを取り出される。[0006] A high frequency signal received from a target moving at a distance R and a relative speed V from the FM-CW radar device is mixed in a reception mixer 9 with a transmission high frequency signal output from the directional coupler 6 and received. It is converted to a baseband signal. After the received baseband signal is amplified by the video amplifier 10 with a predetermined gain, the high-frequency portion unnecessary for measurement is cut off by the low-pass filter 11, and only the received beat frequency including the target information is extracted.
【０００７】図５は従来のＦＭ−ＣＷレーダ装置の送信
空中線７から目標物へ照射される送信信号２８と目標物
から反射してくる受信信号２９の周波数の時間変化を示
したものであり、図中のｆu は送信周波数の上限値、ｆ
1 はその下限値である（この上限値と下限値の差を変調
帯域幅Ｂとする）。送信信号２８は周波数が直線的に増
加する区間３０、周波数が一定の値となる区間３１、周
波数が直線的に減少する区間３２の３つの区間からなり
（これらの区間を以後、それぞれｕｐチャープ、ＣＷ、
ｄｏｗｎチャープとする）、１周期（時間３Ｔｍ／２）
を構成する。受信信号２９は送信信号２８がＦＭ−ＣＷ
レーダ装置から目標までの距離Ｒを伝播し、反射して戻
ってくる電波伝播時間の遅れに相当する時間偏移３３
（τとする）と、両者の速度差から生ずるドップラシフ
トにより周波数偏移３４（Δｆv とする）を受ける。受
信信号検出部１８からの出力として得られた受信ベース
バンド信号は上記の送信信号２８と受信信号２９の周波
数の差分をとった信号（ビート信号）に相当する。この
ビート信号の周波数の時間的な変化を図６に示す。図中
３５がビート信号を表している。図５における各チャー
プに対応した区間３０、３１、３２では上記の相対距離
Ｒによる周波数成分Δｆr と速度ドップラによる周波数
成分Δｆv によって定まるビート周波数ｆup、ｆCW、ｆ
downが得られる。上記の周波数成分及び各チャープのビ
ート周波数はそれぞれ次式のように与えられる。FIG. 5 shows a time change of a frequency of a transmission signal 28 radiated from the transmission antenna 7 to the target and a reception signal 29 reflected from the target in the conventional FM-CW radar apparatus. f u is the upper limit value of the transmission frequency in the figure, f
1 is its lower limit (the difference between this upper limit and the lower limit is referred to as modulation bandwidth B). The transmission signal 28 includes three sections: a section 30 in which the frequency increases linearly, a section 31 in which the frequency has a constant value, and a section 32 in which the frequency decreases linearly (hereinafter, these sections will be referred to as up chirp, CW,
down chirp) 1 cycle (time 3Tm / 2)
Is configured. As for the reception signal 29, the transmission signal 28 is FM-CW.
A time shift 33 corresponding to the delay of the radio wave propagation time which propagates the distance R from the radar device to the target, reflects and returns.
And (tau and) subjected to frequency shift 34 by the Doppler shift resulting from the speed difference between the two (a Delta] f v). The reception baseband signal obtained as an output from the reception signal detection unit 18 corresponds to a signal (beat signal) obtained by calculating the difference between the frequencies of the transmission signal 28 and the reception signal 29 described above. FIG. 6 shows a temporal change in the frequency of the beat signal. In the figure, 35 represents a beat signal. FIG frequency component due to the relative distance R in the above in the section 30, 31 and 32 corresponding to each chirp in 5 Delta] f the frequency component by r and velocity Doppler Delta] f v beat frequency f Stay up-determined by, f CW, f
down is obtained. The frequency components and the beat frequency of each chirp are given by the following equations.
【０００８】[0008]
【数１】 (Equation 1)
【０００９】[0009]
【数２】 (Equation 2)
【００１０】[0010]
【数３】 (Equation 3)
【００１１】[0011]
【数４】 (Equation 4)
【００１２】[0012]
【数５】 (Equation 5)
【００１３】受信信号検出部１８内の低域通過型フィル
タ１１の出力ベースバンド信号は、タイミング制御部２
からＤ／Ａ変換器３に出力された上記のタイミング信号
と時間的に同期したタイミング信号に基づいて、Ａ／Ｄ
変換器１２に入力され、アナログ信号からディジタル信
号に変換される。離散化・量子化された受信ベースバン
ド信号は周波数解析手段１３にて離散フーリエ変換によ
り信号周波数の分析が行われ、図７（Ｂ）及び（Ｃ）の
ように目標の相対距離Ｒによる周波数成分３７（＝Δｆ
r ）と図７（Ａ）のように速度ドップラによる周波数成
分３８（＝Δｆv ）ドップラ周波数を含む周波数スペク
トルとして出力される。検出された周波数スペクトルは
距離・速度計測手段１４により、次式の組み合わせ計算
を行うことによりＦＭ−ＣＷレーダ装置から目標までの
相対距離Ｒ及び相対速度Ｖを算出することが可能とな
る。The output baseband signal of the low-pass filter 11 in the received signal detector 18 is transmitted to the timing controller 2
A / D based on a timing signal temporally synchronized with the timing signal output to the D / A converter 3 from the A / D converter
The signal is input to the converter 12 and converted from an analog signal to a digital signal. The discretized and quantized received baseband signal is subjected to signal frequency analysis by a discrete Fourier transform by the frequency analysis means 13, and as shown in FIG. 7B and FIG. 37 (= Δf
r ) and the frequency spectrum including the frequency component 38 (= Δf v ) Doppler frequency due to the velocity Doppler as shown in FIG. The relative frequency R and the relative velocity V from the FM-CW radar device to the target can be calculated by performing the combination calculation of the following expression on the detected frequency spectrum by the distance / speed measuring means 14.
【００１４】[0014]
【数６】 (Equation 6)
【００１５】[0015]
【数７】 (Equation 7)
【００１６】[0016]
【発明が解決しようとする課題】従来のＦＭ−ＣＷレー
ダ装置はこのように構成されかつ動作するから、このＦ
Ｍ−ＣＷレーダ装置を車両に搭載した図８に示すよう
に、受信信号検出部１８の出力として得られる受信ベー
スバンド信号に、送信空中線７と受信空中線８との間の
相互結合（電磁波の漏れ込み）３８や通常送信空中線７
及び受信空中線８前方に配置されるレドーム３９の反射
４０などにより生ずる直流及び低周波成分が含まれてお
り、ＦＭ−ＣＷレーダ装置から特定の距離に存在しかつ
相対速度で移動する目標の受信ビ−ト信号の振幅レベル
が図９の４１（ｂ）に示すように、上記の直流及び低周
波成分４２の振幅レベルに比べて低い場合、当該目標物
の検出が不可能となるという問題があった。Since the conventional FM-CW radar apparatus is constructed and operates in this manner,
As shown in FIG. 8 in which the M-CW radar device is mounted on a vehicle, a mutual coupling between the transmitting antenna 7 and the receiving antenna 8 (electromagnetic wave leakage) 38) and normal transmission antenna 7
DC and low-frequency components generated by the reflection 40 of the radome 39 disposed in front of the receiving antenna 8 and the like, and the target receiving vehicle which exists at a specific distance from the FM-CW radar apparatus and moves at a relative speed. If the amplitude level of the target signal is lower than the amplitude levels of the DC and low frequency components 42 as shown at 41 (b) in FIG. 9, the target cannot be detected. Was.
【００１７】図１０は上記のＦＭ−ＣＷレーダ装置を搭
載した自車両と道路及び先行走行車両の相対的な位置関
係を示した図である。図中の４３はＦＭ−ＣＷレーダ装
置、４４は自車両、４５は先行走行車両、４６は道路、
４７、４８は送信波及び受信波をそれぞれ表している。
送信中心周波数ｆc を６０．５ＧＨｚ、変調帯域幅Ｂを
１５０ＭＨｚ、掃引時間Ｔｍを８．４ｍｓとしたＦＭ−
ＣＷレーダ装置４３を搭載した車両４４の前方を図１０
のように相対速度４０ｋｍ／ｈで先行車両４５が遠ざか
る場合、前述のｕｐチャープ、ＣＷ、ｄｏｗｎチャープ
におけるビート周波数の相対距離Ｒに対する変化は図１
１のようになる。この図において、直流及び低周波の漏
れ込み５２により７００Ｈｚ以下のビート周波数をもつ
目標信号が検出できないとすると、先行車両がＦＭ−Ｃ
Ｗレーダ装置より１６ｍから２１置の距離範囲内ではｄ
ｏｗｎチャープの受信ベースバンド信号５０が検出でき
ないため、測距・測速度が不可能となる。図１２におけ
る５３は上記と同様の条件で受信ベースバンド信号が検
出できないために生ずる不検知領域を示している。図中
の横軸の相対速度、縦軸の相対速度を持つ移動目標から
の受信信号レベルが十分な大きさであっても検知が不可
能となる。以上のように、直流及び低周波の漏れ込みに
よって発生する不検知領域は実用上の必然的な問題とな
り、改善が望まれている。FIG. 10 is a diagram showing a relative positional relationship between a host vehicle equipped with the above-mentioned FM-CW radar device, a road and a preceding vehicle. In the figure, 43 is an FM-CW radar device, 44 is a host vehicle, 45 is a preceding traveling vehicle, 46 is a road,
47 and 48 represent a transmission wave and a reception wave, respectively.
60.5GHz transmission center frequency f c, the modulation bandwidth B 150 MHz, and a sweep time Tm and 8.4 ms FM-
FIG. 10 shows the front of a vehicle 44 on which the CW radar device 43 is mounted.
When the preceding vehicle 45 moves away at a relative speed of 40 km / h as shown in FIG. 1, the change in the beat frequency with respect to the relative distance R in the above-described up chirp, CW, and down chirp is shown in FIG.
It looks like 1. In this figure, if it is assumed that a target signal having a beat frequency of 700 Hz or less cannot be detected due to the leakage 52 of DC and low frequency, the preceding vehicle is FM-C
D within a distance range of 16 m to 21 places from the W radar device
Since the own baseband signal 50 of the own chirp cannot be detected, distance measurement and speed measurement become impossible. Reference numeral 53 in FIG. 12 denotes a non-detection region generated because a reception baseband signal cannot be detected under the same conditions as described above. Even if the level of the received signal from the moving target having the relative speed on the horizontal axis and the relative speed on the vertical axis in the drawing is sufficiently large, detection becomes impossible. As described above, the non-detection area generated by the leakage of the direct current and the low frequency becomes a practically inevitable problem, and improvement is desired.
【００１８】この発明はかかる問題に鑑みてなされたも
のであり、目標物の距離や速度の如何に関わらず、受信
ベースバンド信号に含まれる直流及び低周波により発生
する上記の目標物の不検知領域を低減することを目的と
する。SUMMARY OF THE INVENTION The present invention has been made in view of such a problem, and does not detect the above-mentioned target generated by DC and low frequency included in the received baseband signal regardless of the distance or speed of the target. The purpose is to reduce the area.
【００１９】[0019]
【課題を解決するための手段】この発明によるＦＭ−Ｃ
Ｗレーダ装置は、従来のＦＭ−ＣＷレーダ装置の信号処
理部内の変調電圧発生部及び受信ベースバンド信号処理
部の構成を以下のように変更したものである。SUMMARY OF THE INVENTION An FM-C according to the present invention.
In the W radar device, the configurations of the modulation voltage generation unit and the reception baseband signal processing unit in the signal processing unit of the conventional FM-CW radar device are changed as follows.
【００２０】即ち、電圧制御発振器において、ｕｐチャ
ープ、ＣＷ、ｄｏｗｎチャープの１周期毎に送信中心周
波数を起点とした特定の変調帯域幅を有する送信信号
と、上記の変調帯域幅とは異なる変調帯域幅を有する送
信信号を励振する２種類の変調電圧を記憶する変調電圧
記憶部と、これらの変調電圧信号を１周期毎に切り替え
るタイミングでタイミング信号を発生させるタイミング
制御部と、変調電圧記憶部から上記のタイミング信号に
基づいて出力変調電圧を切り替えるスイッチと、上記の
タイミング信号に基づいて変調電圧を入力し、アナログ
ーディジタル変換を行い、電圧制御発振器に出力するＤ
／Ａ変換器とで構成する。That is, in the voltage controlled oscillator, a transmission signal having a specific modulation bandwidth starting from the transmission center frequency for each cycle of up chirp, CW, and down chirp, and a modulation bandwidth different from the above-described modulation bandwidth. A modulation voltage storage unit that stores two types of modulation voltages that excite a transmission signal having a width, a timing control unit that generates a timing signal at a timing at which these modulation voltage signals are switched every cycle, and a modulation voltage storage unit. A switch for switching the output modulation voltage based on the timing signal, and a D for inputting the modulation voltage based on the timing signal, performing analog-to-digital conversion, and outputting to the voltage controlled oscillator
/ A converter.
【００２１】一方、受信ベースバンド信号処理部は上記
のタイミング制御部により、上記の異なる変調電圧によ
り励振される異なる変調帯域幅を有する受信ベースバン
ド信号を上記のタイミングでＡ／Ｄ変換器へ入力させ、
かつ上記の変調帯域幅に対応した周波数解析、相対距離
・相対速度計算を行う周波数解析手段及び距離・速度計
測手段とで構成する。On the other hand, the reception baseband signal processing section inputs the reception baseband signals having different modulation bandwidths excited by the different modulation voltages to the A / D converter at the above timing by the timing control section. Let
In addition, it comprises frequency analysis means for performing frequency analysis and relative distance / relative speed calculation corresponding to the modulation bandwidth and distance / speed measurement means.
【００２２】[0022]
実施の形態１．図１はこの発明の実施の形態１を示すＦ
Ｍ−ＣＷレーダ装置の構成図であり、１は変調電圧記憶
部、２０はスイッチ、２はタイミング制御部、３はＤ／
Ａ変換器であり、これらの部品１〜３及び部品２０で変
調電圧発生部１５を構成する。また、図中の１２はＡ／
Ｄ変換器、１３は周波数解析手段、１４は距離・速度計
測手段であり、これらの部品１２〜１４及び部品２で受
信ベースバンド信号処理部１９を構成する。なお、この
発明は従来のＦＭ−ＣＷレーダ装置の一部を変更したも
のであるため、従来のものと同一機能を有する部品につ
いては、同一の符号を付してその説明を省略する。Embodiment 1 FIG. FIG. 1 is a diagram showing an embodiment 1 of the present invention.
FIG. 1 is a configuration diagram of an M-CW radar device, wherein 1 is a modulation voltage storage unit, 20 is a switch, 2 is a timing control unit, and 3 is a D / D
This is an A-converter, and the components 1 to 3 and the component 20 constitute the modulation voltage generating unit 15. 12 in the figure is A /
A D converter, 13 is a frequency analyzing means, 14 is a distance / speed measuring means, and these parts 12 to 14 and the part 2 constitute a reception baseband signal processing unit 19. Since the present invention is a modification of the conventional FM-CW radar apparatus, parts having the same functions as those of the conventional FM-CW radar apparatus are denoted by the same reference numerals and the description thereof will be omitted.
【００２３】変調電圧記憶部１には、図２の２１のよう
に出力送信周波数が特定の下限値ｆ1 と上限値ｆu の間
で直線的かつ周期的に増減するように電圧制御発振器４
を制御する変調電圧と、２２のように出力送信周波数が
下限２ｆl −ｆc と上限値２ｆu −ｆc の間で直線的か
つ周期的に増減するように電圧制御発振器４を制御する
変調電圧が記憶されている。電圧制御発振器４は印加電
圧に比例した周波数を有する高周波送信信号を励振する
電圧制御発振器である。上記の２種類の変調帯域幅を有
する送信信号の周波数の時間変化は図２に示すように、
時間Ｔｍ／２毎に周波数が直線的に増加する区間２３、
周波数が一定の値となる区間２４、周波数が直線的に減
少する区間２５の３つの区間からなり、１周期（時間３
Ｔｍ／２）を構成する。The modulation voltage memory unit 1, the voltage controlled oscillator 4 as the output transmit frequency increases or decreases linearly and periodically between specific lower limit f 1 and the upper limit value f u as 21 in FIG. 2
A modulation voltage for controlling the modulation of the output transmission frequency as 22 to control the voltage controlled oscillator 4 to increase or decrease linearly and periodically between a lower limit 2f l -f c and the upper limit value 2f u -f c The voltage is stored. The voltage-controlled oscillator 4 is a voltage-controlled oscillator that excites a high-frequency transmission signal having a frequency proportional to an applied voltage. The time variation of the frequency of the transmission signal having the above two types of modulation bandwidths is as shown in FIG.
Section 23 in which the frequency increases linearly every time Tm / 2,
It consists of three sections, a section 24 in which the frequency has a constant value and a section 25 in which the frequency decreases linearly, and one period (time 3
Tm / 2).
【００２４】タイミング制御部２はこれらの変調電圧を
図２に示す１周期毎（時間３Ｔｍ／２）に切り替えるタ
イミング信号を発生し、スイッチ２０に出力する。タイ
ミング信号を受信したスイッチ２０はそれまでに接続し
ていた端子と別のもう一方の端子に接続を切り替えて、
変調電圧記憶部１からそれまで読み込んでいた変調電圧
（これを＃１とする）とは別のもう一方の変調電圧（こ
れを＃２とする）の読み込みを開始し、この変調電圧＃
２をＤ／Ａ変換器３に転送する。スイッチを切り替えて
３Ｔｍ／２時間後に、再びタイミング制御部２からタイ
ミング信号が発生し、このタイミング信号に基づいて再
びスイッチ２０を切り替えて、変調電圧＃１がＤ／Ａ変
換器３に転送される。以後同様に、時間３Ｔｍ／２毎に
スイッチ２０が切り替わり、変調電圧＃１と＃２が交互
にＤ／Ａ変換器３に転送される。The timing control section 2 generates a timing signal for switching these modulation voltages for each cycle (time 3 Tm / 2) shown in FIG. The switch 20 that has received the timing signal switches the connection between the terminal that has been connected so far and another terminal,
Reading of another modulation voltage (this is # 2) different from the modulation voltage (this is # 1) that has been read from the modulation voltage storage unit 1 is started, and this modulation voltage #
2 is transferred to the D / A converter 3. 3Tm / 2 hours after the switch is switched, a timing signal is again generated from the timing control unit 2. Based on this timing signal, the switch 20 is switched again, and the modulation voltage # 1 is transferred to the D / A converter 3. . Thereafter, similarly, the switch 20 is switched every 3 Tm / 2, and the modulation voltages # 1 and # 2 are alternately transferred to the D / A converter 3.
【００２５】Ｄ／Ａ変換器４は変調電圧記憶部１から読
み込んだディジタルの変調電圧信号を所定のビット数に
相当するアナログ変調電圧信号に変換する。変換された
変調電圧信号は従来のＦＭ−ＣＷレーダ装置と同様に電
圧制御発振器４に出力される。The D / A converter 4 converts the digital modulation voltage signal read from the modulation voltage storage section 1 into an analog modulation voltage signal corresponding to a predetermined number of bits. The converted modulated voltage signal is output to the voltage controlled oscillator 4 as in the case of the conventional FM-CW radar device.
【００２６】送信信号変換部１６では従来のＦＭ−ＣＷ
レーダ装置と同様に、変調電圧に比例した発振周波数を
有する高周波送信信号を出力し、高周波増幅を行った
後、送信空中線７より目標物に送信波として照射され
る。目標物から相対速度に比例したドップラシフトを受
けて反射し、相対距離に比例した電波伝播時間の遅れを
もった反射波は再び受信空中線８で受信され、受信信号
検出部１８にて周波数変換、中間周波数増幅、濾波され
た後、受信ベースバンド信号が出力される。この際得ら
れる受信ベースバンド信号は上記の変調電圧の１周期即
ち３Ｔｍ／２時間毎に異なる変調帯域幅を有している。In the transmission signal converter 16, the conventional FM-CW
As in the case of the radar device, a high-frequency transmission signal having an oscillation frequency proportional to the modulation voltage is output, and after high-frequency amplification is performed, the target antenna is irradiated from the transmission antenna 7 as a transmission wave. A reflected wave having a Doppler shift proportional to the relative speed and reflected from the target, and having a delay in radio wave propagation time proportional to the relative distance is received by the receiving antenna 8 again, and is subjected to frequency conversion by the received signal detecting unit 18. After the intermediate frequency amplification and filtering, the received baseband signal is output. The reception baseband signal obtained at this time has a different modulation bandwidth every one cycle of the modulation voltage, that is, every 3 Tm / 2 hours.
【００２７】上記の異なる変調帯域幅を有する受信ベー
スバンド信号は、受信ベースバンド信号処理部１９内の
タイミング制御部２により、時間３Ｔｍ／２毎の単位で
Ａ／Ｄ変換器１２へ入力され、ディジタル信号に変換す
る。離散化・量子化された受信ベースバンド信号は周波
数解析手段１３にて離散フーリエ変換により信号周波数
の分析が行われ、目標のドップラ周波数を含む周波数ス
ペクトルとして出力される。検出された周波数スペクト
ルは距離・速度計測手段１４により、上記の変調帯域幅
に対応した相対距離・相対速度計算が行われ（具体的に
は、数６及び数７の計算が行われ）、目標の位置・速度
情報を得る。The reception baseband signals having the different modulation bandwidths are input to the A / D converter 12 by the timing control unit 2 in the reception baseband signal processing unit 19 in units of 3 Tm / 2. Convert to digital signal. The discretized and quantized reception baseband signal is subjected to signal frequency analysis by a discrete Fourier transform by the frequency analysis means 13 and is output as a frequency spectrum including a target Doppler frequency. For the detected frequency spectrum, the relative distance / velocity calculation corresponding to the above-mentioned modulation bandwidth is performed by the distance / velocity measuring means 14 (specifically, the calculations of Equations 6 and 7 are performed), and the target is calculated. Obtain position / velocity information.
【００２８】上記の２種類の異なる変調帯域幅を有する
受信ベースバンド信号には、前述のように直流及び低周
波成分の漏れ込みが含まれており、この周波数帯域に目
標の受信ビート信号が得られた場合、受信ビート信号ス
ペクトルが直流及び低周波成分のフロアノイズに隠れて
しまい、当該目標物の検出が不可能となる。例えば送信
中心周波数ｆcを６０．５ＧＨｚ、掃引時間Ｔｍを８．
４ｍｓとし、２つの変調帯域幅Ｂを１５０ＭＨｚ及び３
００ＭＨｚに設定した場合、直流及び低周波の漏れ込み
によりフロアノイズの拡がりが７００Ｈｚとすると、ビ
ート信号が検出できないために生ずる不検知領域は図３
の２６ようになる。図中の変調帯域幅３００ＭＨｚの送
信信号に対する不検知領域を、変調帯域幅１５０ＭＨｚ
の場合の不検知領域５３に比べた場合、同一相対速度に
対して目標を検知できない相対距離は半分となる。以上
のように変調帯域幅を大きくすることにより、不検知領
域を低減することが可能となる。The reception baseband signals having the two different modulation bandwidths include the leakage of the DC and low frequency components as described above, and the target reception beat signal is obtained in this frequency band. In this case, the received beat signal spectrum is hidden by DC and low-frequency component floor noise, making it impossible to detect the target. For example, the transmission center frequency fc is 60.5 GHz, and the sweep time Tm is 8.
4 ms, the two modulation bandwidths B are 150 MHz and 3
When the frequency is set to 00 MHz and the floor noise spreads to 700 Hz due to the leakage of the direct current and the low frequency, the undetected area generated due to the inability to detect the beat signal is shown in FIG.
It becomes like 26 of. The undetected area for a transmission signal having a modulation bandwidth of 300 MHz in the figure is a modulation bandwidth of 150 MHz.
In comparison with the non-detection area 53 in the case of (1), the relative distance over which the target cannot be detected at the same relative speed is halved. By increasing the modulation bandwidth as described above, it is possible to reduce the non-detection area.
【００２９】一方、変調電圧発生部１５と受信ベースバ
ンド信号処理部１９において、送信信号の変調帯域幅を
時間３Ｔｍ／２毎に切り替えて、相対距離・相対速度計
測を行うことにより、異なる変調帯域幅に対する目標の
不検知領域は図３のように、時間３Ｔｍ／２毎に領域２
６と領域５３に変化するため、図中の領域２７以外の不
検知領域に存在する目標は、相対距離・相対速度を２回
計測する内の１回は検出されることになる。即ち、図中
の領域２７以外の不検知領域は時間的に半分に低減され
たことになる。On the other hand, the modulation voltage generator 15 and the reception baseband signal processor 19 switch the modulation bandwidth of the transmission signal at intervals of 3 Tm / 2 and measure the relative distance and relative velocity, so that different modulation bandwidths are obtained. As shown in FIG. 3, the target non-detection area with respect to the width is the area 2 every 3 Tm / 2.
6 and the area 53, the target existing in the non-detection area other than the area 27 in the figure is detected once in the measurement of the relative distance / relative speed twice. That is, the non-detection area other than the area 27 in the figure is reduced in time by half.
【００３０】[0030]
【発明の効果】この発明によれば、ＦＭ−ＣＷレーダ装
置において受信ベースバンド信号に直流及び低周波成分
が混入し、目標のドップラ周波数スペクトルが検出でき
ない不検出領域を時間的に低減することができる。According to the present invention, it is possible to temporally reduce an undetected area where a target Doppler frequency spectrum cannot be detected by mixing direct current and low frequency components in a received baseband signal in an FM-CW radar apparatus. it can.
【００３１】また、この発明では変調電圧発生部の出力
変調電圧のみを変化させることにより送信信号の変調帯
域幅を制御し、送信信号変換部、受信信号検出部及びア
ンテナ部のハードウエア部品を変更する必要がないた
め、従来のＦＭ−ＣＷレーダ装置からの構成部品変更や
改修の規模が小さく、かつ受信ベースバンド信号の検波
方式を変更していないために、信号の送受信におけるＳ
／Ｎの劣化を少なくすることができる。Further, in the present invention, the modulation bandwidth of the transmission signal is controlled by changing only the output modulation voltage of the modulation voltage generation unit, and the hardware components of the transmission signal conversion unit, the reception signal detection unit, and the antenna unit are changed. Since there is no need to perform this operation, the scale of component changes or modification from the conventional FM-CW radar device is small, and the detection method of the received baseband signal is not changed.
/ N can be reduced.
【００３２】更に変調電圧発生部では、記憶部への変調
電圧の追加と、記憶部からの読み出しの切り替えだけで
送信信号の変調帯域幅を制御できるため、タイミング制
御器のタイミング信号発生周期やタイミング信号品質に
対する性能・条件は変更されないため、容易にこの発明
の構成が実現できる。同時に受信ベースバンド信号処理
部では、相対距離・相対速度の算出係数の変更のみで目
標の位置・速度情報が得られるため、従来のＦＭ−ＣＷ
レーダ装置と比べて信号処理負荷が大きく増大しない。Further, in the modulation voltage generation section, the modulation bandwidth of the transmission signal can be controlled only by adding the modulation voltage to the storage section and switching the reading from the storage section. Since the performance / condition for the signal quality is not changed, the configuration of the present invention can be easily realized. At the same time, the reception baseband signal processing unit can obtain the target position / speed information only by changing the calculation coefficients of the relative distance / relative speed.
The signal processing load does not increase significantly compared to the radar device.
【図１】 この発明によるＦＭ−ＣＷレーダ装置の実施
の形態１の構成を示すシステムブロック図である。FIG. 1 is a system block diagram illustrating a configuration of a first embodiment of an FM-CW radar device according to the present invention.
【図２】 この発明によるＦＭ−ＣＷレーダ装置の実施
の形態１の送信信号の変調周波数の時間変化を示す図で
ある。FIG. 2 is a diagram illustrating a temporal change of a modulation frequency of a transmission signal in the FM-CW radar apparatus according to the first embodiment of the present invention.
【図３】 この発明によるＦＭ−ＣＷレーダ装置の実施
の形態１の不検知領域を示す図である。FIG. 3 is a diagram illustrating a non-detection area according to the first embodiment of the FM-CW radar device according to the present invention;
【図４】 従来のＦＭ−ＣＷレーダ装置の構成を示すシ
ステムブロック図である。FIG. 4 is a system block diagram showing a configuration of a conventional FM-CW radar device.
【図５】 従来のＦＭ−ＣＷレーダ装置の送信信号と受
信信号の周波数の時間変化を示す図である。FIG. 5 is a diagram illustrating a change over time of the frequency of a transmission signal and a frequency of a reception signal of a conventional FM-CW radar device.
【図６】 従来のＦＭ−ＣＷレーダ装置のビート信号の
周波数の時間変化を示す図である。FIG. 6 is a diagram showing a time change of the frequency of a beat signal of the conventional FM-CW radar device.
【図７】 従来のＦＭ−ＣＷレーダ装置のビート信号の
周波数スペクトルを示す図である。FIG. 7 is a diagram showing a frequency spectrum of a beat signal of the conventional FM-CW radar device.
【図８】 従来のＦＭ−ＣＷレーダ装置の受信ベースバ
ンド信号へ直流及び低周波の漏れ込みが混入する原理を
示す図である。FIG. 8 is a diagram showing the principle that DC and low-frequency leakage mix into a received baseband signal of a conventional FM-CW radar device.
【図９】 従来のＦＭ−ＣＷレーダ装置の直流及び低周
波の漏れ込みとビート信号の周波数スペクトルの関係を
説明するための図である。FIG. 9 is a diagram for explaining the relationship between DC and low-frequency leakage and the frequency spectrum of a beat signal in a conventional FM-CW radar device.
【図１０】 従来のＦＭ−ＣＷレーダ装置を搭載した自
車両と先行車両との位置関係を示す図である。FIG. 10 is a diagram showing a positional relationship between a host vehicle equipped with a conventional FM-CW radar device and a preceding vehicle.
【図１１】 従来のＦＭ−ＣＷレーダ装置のビート信号
と相対距離の関係を示す図である。FIG. 11 is a diagram illustrating a relationship between a beat signal and a relative distance of a conventional FM-CW radar device.
【図１２】 従来のＦＭ−ＣＷレーダ装置の不検知領域
を示す図である。FIG. 12 is a diagram showing a non-detection area of a conventional FM-CW radar device.
１ 変調電圧記憶部、２ タイミング制御器、３ Ｄ／
Ａ変換器、４ 電圧制御発振器、５ 高周波増幅器、６
方向性結合器、７ 送信空中線、８ 受信空中線、９
受信ミクサ、１０ ビデオ増幅器、１１ 低域通過型
フィルタ、１２Ａ／Ｄ変換器、１３ 周波数解析手段、
１４ 距離・速度計測手段、１５ 変調電圧発生部、１
６ 送信信号変換部、１７ アンテナ部、１８ 受信信
号検出部、１９ 受信ベースバンド信号検出部、２０
スイッチ、２１ １５０ＭＨｚ変調波形、２２ ３００
ＭＨｚ変調波形、２３ ｕｐチャープ、２４ ＣＷ、２
５ ｄｏｗｎチャープ、２６ 変調帯域幅３００ＭＨｚ
のときの不検知領域、２７ 変調帯域幅１５０ＭＨｚ、
３００ＭＨｚの両方が検知できない領域、２８送信信
号、２９ 受信信号、３０ ｕｐチャープ、３１ Ｃ
Ｗ、３２ ｄｏｗｎチャープ、３３ 遅延時間、３４
周波数偏移、３５ ビート信号、 ３６ ドップラシフ
ト、３７ 距離による周波数偏移、３８ 送信アンテナ
から受信アンテナヘの漏れ込み、３９ レドーム、４０
レドームによる反射、４１ ビート周波数、４２ 直
流及び低周波の漏れ込みによるフロアノイズ、４３ 従
来のＦＭ−ＣＷレーダ装置、４４ 自車両、４５ 先行
走行車両、４６ ２車線の道路、４７ 送信波、４８
受信波、４９ ｕｐチャープのビート周波数、５０ ｄ
ｏｗｎチャープのビート周波数、５１ ＣＷのビート周
波数、５２ 直流及び低周波の漏れ込みによる不検知領
域、５３ 変調帯域幅１５０ＭＨｚのときの不検知領
域。1 Modulation voltage storage unit, 2 timing controller, 3 D /
A converter, 4 voltage controlled oscillator, 5 high frequency amplifier, 6
Directional coupler, 7 transmitting antenna, 8 receiving antenna, 9
Reception mixer, 10 video amplifier, 11 low-pass filter, 12 A / D converter, 13 frequency analysis means,
14 distance / speed measuring means, 15 modulation voltage generator, 1
6 transmission signal conversion unit, 17 antenna unit, 18 reception signal detection unit, 19 reception baseband signal detection unit, 20
Switch, 21 150 MHz modulation waveform, 22 300
MHz modulation waveform, 23 up chirp, 24 CW, 2
5 down chirp, 26 modulation bandwidth 300 MHz
Non-detection area at the time of 27 modulation bandwidth 150MHz,
Region where both 300 MHz cannot be detected, 28 transmit signal, 29 receive signal, 30 up chirp, 31 C
W, 32 down chirp, 33 delay time, 34
Frequency deviation, 35 beat signal, 36 Doppler shift, 37 frequency deviation due to distance, 38 leakage from transmitting antenna to receiving antenna, 39 radome, 40
Reflection by radome, 41 beat frequency, 42 floor noise due to leakage of direct current and low frequency, 43 conventional FM-CW radar device, 44 own vehicle, 45 preceding vehicle, 46 two-lane road, 47 transmission wave, 48
Received wave, beat frequency of 49 up chirp, 50 d
Own beat beat frequency, 51 CW beat frequency, 52 Non-detection area due to leakage of DC and low frequency, 53 Non-detection area when modulation bandwidth is 150 MHz.
Claims (1)
力送信信号の発振周波数が特定の下限値と上限値の間で
直線的かつ周期的に増減するように上記電圧制御発振器
の制御を行う変調電圧を記憶する変調電圧記憶部、上記
の変調電圧を変調電圧記憶部から所定の掃引時間毎に読
み出すタイミング信号を出力するタイミング制御器、お
よび上記の変調電圧記憶部に記憶されている変調電圧を
上記のタイミングで読み込みディジタル−アナログ変換
を行い変調電圧を出力するＤ／Ａ変換器からなる変調電
圧発生部と、この変調電圧発生部から変調電圧を入力し
この電圧に比例した発振周波数を有する出力送信信号を
励振し出力する電圧制御発振器、上記の出力送信信号と
周波数及び位相が時間的に同期しかつ電力増幅した高周
波送信信号を出力する高周波増幅器、および上記の高周
波送信信号を所定の電力比に分配し出力する方向性結合
器からなる送信信号変換部と、この送信信号変換部から
出力される高周波送信信号を電磁波に変換して目標物に
照射する送信空中線、及び目標物からの反射電磁波を受
信して高周波の受信信号に変換する受信空中線からなる
アンテナ部と、上記受信空中線から取り出された高周波
受信信号と上記の方向性結合器からの高周波送信信号の
一方とを周波数混合して受信ベースバンド信号を出力す
る受信ミクサ、この受信ベースバンド信号と周波数及び
位相が時間的に同期しかつ所定の利得で増幅された受信
ベースバンド信号を出力するビデオ増幅器、および受信
ベースバンド信号において計測に不要な高周波部分を遮
断して目標情報を含む受信ビート周波数のみを取り出す
低域通過型フィルタからなる受信信号検出部と、この受
信信号検出部の出力信号を上記の変調電圧の掃引時間毎
に取り込むタイミング信号を出力するタイミング制御
器、上記のタイミングで受信ベースバンド信号を入力し
アナログ−ディジタル変換を行うＡ／Ｄ変換器、上記の
Ａ／Ｄ変換器により離散化・量子化された受信ベースバ
ンド信号の周波数解析を行いこの信号に含まれる複数の
周波数成分を分離する周波数解析手段、およびこの周波
数解析手段によって検出された周波数成分から目標の位
置及び速度情報を検出する距離・速度計測手段からなる
受信ベースバンド信号処理部とで構成されるＦＭ−ＣＷ
レーダ装置において、上記の変調電圧発生部は、その下
限値と上限値の周波数幅が上記の下限値と上限値の周波
数幅とは異なる２種類の変調帯域幅を有する送信信号を
励振する異なる２種類の変調電圧を記憶する変調電圧記
憶部、上記の２種類の変調電圧を所定のタイミングで切
り替えて出力するスイッチ及びタイミング制御器、およ
び変調電圧をディジタル信号からアナログ信号に変換す
るＤ／Ａ変換器とにより構成され、上記の受信ベースバ
ンド信号処理部は上記の変調電圧発生部の変調電圧出力
タイミングと時間的に同期したタイミングで変調帯域幅
の異なる受信信号毎に受信信号検出部の出力ベースバン
ド信号を入力しベースバンド信号をアナログからディジ
タルに変換するＡ／Ｄ変換器、離散化・量子化された受
信ベースバンド信号を離散フーリエ変換により信号周波
数の分析を行い目標のドップラ周波数を含む周波数スペ
クトルとして出力する周波数解祈手段、および検出され
た周波数スペクトルを変調帯域幅の異なる受信信号毎に
算出係数を変えて距離・速度計算を行う距離・速度計測
手段とで構成したことを特徴としたＦＭ−ＣＷレーダ装
置。1. A modulation voltage for controlling a voltage-controlled oscillator such that an oscillation frequency of an output transmission signal to be excited linearly and periodically increases and decreases between a specified lower limit and an upper limit. A timing controller that outputs a timing signal for reading the modulation voltage from the modulation voltage storage unit at predetermined sweep times, and a modulation voltage stored in the modulation voltage storage unit. , A modulation voltage generator comprising a D / A converter for performing a digital-to-analog conversion and outputting a modulation voltage at the timing, and a modulation voltage input from the modulation voltage generator and output transmission having an oscillation frequency proportional to the voltage. A voltage-controlled oscillator that excites and outputs a signal, and outputs a high-frequency transmission signal whose frequency and phase are time-synchronized and power-amplified with the output transmission signal. A high-frequency amplifier, and a transmission signal conversion unit including a directional coupler that distributes and outputs the high-frequency transmission signal at a predetermined power ratio, and converts the high-frequency transmission signal output from the transmission signal conversion unit into an electromagnetic wave. A transmitting antenna for irradiating a target, and an antenna unit including a receiving antenna for receiving a reflected electromagnetic wave from the target and converting it to a high-frequency receiving signal; and a high-frequency receiving signal extracted from the receiving antenna and the directional coupling described above. Mixer for outputting a reception baseband signal by frequency-mixing one of the high-frequency transmission signals from the receiver and a reception baseband whose frequency and phase are time-synchronized with this reception baseband signal and amplified with a predetermined gain A video amplifier that outputs a signal, and a reception beat frequency that includes target information by cutting off high-frequency portions unnecessary for measurement in the reception baseband signal. A reception signal detection unit comprising a low-pass filter for extracting only a reception signal; a timing controller for outputting a timing signal for capturing an output signal of the reception signal detection unit every sweep time of the modulation voltage; A / D converter that receives a band signal and performs analog-to-digital conversion, analyzes the frequency of a received baseband signal that has been discretized and quantized by the A / D converter, and performs a plurality of frequency components included in the signal. FM-CW comprising a frequency analyzing means for separating the target signal and a receiving baseband signal processing unit comprising a distance / speed measuring means for detecting target position and speed information from the frequency components detected by the frequency analyzing means.
In the radar apparatus, the modulation voltage generating unit may be configured to generate two different modulation bandwidths that excite a transmission signal having two types of modulation bandwidths whose lower limit and upper limit are different from the lower limit and the upper limit. A modulation voltage storage unit for storing different types of modulation voltages, a switch and a timing controller for switching and outputting the above two types of modulation voltages at a predetermined timing, and a D / A converter for converting the modulation voltages from digital signals to analog signals The reception baseband signal processing unit is configured to control the output base of the reception signal detection unit for each reception signal having a different modulation bandwidth at a timing synchronized with the modulation voltage output timing of the modulation voltage generation unit. A / D converter for inputting a band signal and converting a baseband signal from analog to digital, a discretized and quantized received baseband signal Frequency analysis means for analyzing a signal frequency by a discrete Fourier transform and outputting as a frequency spectrum including a target Doppler frequency, and changing a calculation coefficient for a detected frequency spectrum for each received signal having a different modulation bandwidth by changing a distance and a frequency. An FM-CW radar device comprising: a distance / speed measuring means for calculating a speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29841597A JP3613952B2 (en) | 1997-10-30 | 1997-10-30 | FM-CW radar equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29841597A JP3613952B2 (en) | 1997-10-30 | 1997-10-30 | FM-CW radar equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH11133144A true JPH11133144A (en) | 1999-05-21 |
| JP3613952B2 JP3613952B2 (en) | 2005-01-26 |
Family
ID=17859418
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP29841597A Expired - Lifetime JP3613952B2 (en) | 1997-10-30 | 1997-10-30 | FM-CW radar equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3613952B2 (en) |
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