KR100979943B1 - Apparatus and method for adjusting angle of vehicle radar antenna - Google Patents

Abstract

PURPOSE: An apparatus and a method for adjusting the angle of a vehicle radar antenna are provided to efficiently detect a target by sequentially controlling the angle of the vehicle radar antenna. CONSTITUTION: An apparatus for controlling the angle of the vehicle radar antenna comprise: an antenna unit having a plurality of RX-antennas and at least one TX-antenna; a transmitting/receiving unit(403) transmitting a signal to at least two target and receiving a reflected signal from the target; and controller(401) controlling the angle by using distance between the transmitting unit and a target.

Description

Apparatus and method for adjusting the angle of a vehicle radar antenna {APPARATUS AND METHOD FOR ADJUSTING ANGLE OF VEHICLE RADAR ANTENNA}

The present invention relates to a vehicle radar antenna, and more particularly, to an apparatus and method for adjusting the angle of the vehicle radar antenna.

Domestic traffic environment is rapidly falling due to heavy traffic, and at the same time, traffic safety is also very dangerous. Lowering the efficiency of the vehicle's movement basically leads to an increase in energy waste, automobile exhaust pollutants, etc., leading to a decrease in productivity, thereby degrading the quality of life. In order to prevent such deterioration of vehicle mobility, the introduction of an intelligent transportation system (I T S) has been confirmed.

The purpose of the intelligent transportation system is to solve the traffic problem by using the advanced technology more efficiently and by providing new transportation services.

In order to build such an intelligent transportation system, vehicle radar technology has been proposed. Here, the vehicle radar technology is a core technology applied to help the driver's safe driving by providing information on the surrounding environment of the front and rear and side to the driver by using radio waves and controlling the vehicle when necessary.

In general, since the vehicle radar is fixed to the front of the vehicle, the target can be detected only within a predetermined beam area, and thus the beam area of the vehicle radar can actively change the area according to the moving target. There was no. As such, since the beam area of the vehicle radar is not actively changed, there is a problem in that the moving target cannot be effectively detected.

The present invention proposes an apparatus and method for adjusting the angle of a vehicle radar antenna for effectively detecting a moving target.

In addition, the present invention proposes an apparatus and method for adjusting the angle of the radar antenna for a vehicle based on the target of the host vehicle and the shortest distance among the targets to effectively detect the moving target.

In addition, the present invention proposes an apparatus and method for detecting targets by sequentially adjusting the angle of the vehicle radar antenna in order of distance between the host vehicle and the target, in order to efficiently detect the moving target.

In the device for adjusting the angle of the vehicle radar antenna for solving the problems of the present invention, at least two through a plurality of receiving antennas, an antenna unit including at least one transmission antenna, and the at least one transmission antenna A transmitter / receiver for transmitting signals to at least one target and receiving signals reflected from the target, and between the target and the target side equipped with the vehicle radar antenna using the transmitted signal and the received signals. Calculate angles and distances, determine a target closest to the transmitting side using the calculated distances, detect an angle corresponding to the determined target among the calculated angles, and detect the angle by the detected angle. Characterized in that the control unit for adjusting the angle of the radar antenna.

In the method for adjusting the angle of the vehicle radar antenna for solving the problems of the present invention, transmitting signals to at least two or more targets through at least one or more transmission antennas, and receives the signals reflected from the target And calculating angles and distances between the target on which the vehicle radar antenna is mounted and the targets by using the transmitted signal and the received signals, and using the calculated distances to determine a target closest to the transmitting side. And determining an angle corresponding to the determined target among the calculated angles, and adjusting the angle of the vehicle radar antenna by the detected angle.

The present invention can effectively detect the target by adjusting the angle of the vehicle radar antenna.

In addition, the present invention can effectively detect the target by adjusting the angle of the vehicle radar antenna based on the target of the host vehicle and the shortest distance among the targets.

In addition, the present invention can efficiently detect the targets while sequentially adjusting the angle of the vehicle radar antenna in the order of the distance between the host vehicle and the targets.

FIG. 1A is a view of a vehicle adjusting an angle of a vehicle radar antenna according to an embodiment of the present disclosure; FIG.
FIG. 1B is a view of a vehicle adjusting an angle of a vehicle radar antenna according to an embodiment of the present disclosure; FIG.
2 is a block diagram of a vehicle radar antenna according to an embodiment of the present invention;
3 is a view for adjusting the angle of the vehicle radar antenna according to an embodiment of the present invention,
4 is a block diagram of a vehicle radar according to an embodiment of the present invention;
5 is a flowchart for adjusting the angle of the vehicle radar antenna according to the first embodiment of the present invention;
6 is a flow chart for adjusting the angle of the vehicle radar antenna according to a second embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that in the following description, only parts necessary for understanding the operation according to the present invention will be described, and descriptions of other parts will be omitted so as not to distract from the gist of the present invention.

1A and 1B are diagrams in which a vehicle adjusts an angle of a vehicle radar antenna according to an exemplary embodiment of the present invention.

의 영역을 가지는 차량 레이더 안테나의 제1빔 영역(107)과, 제1빔 영역(107) 내에 위치하는 타차들(103, 105)이 도시되어 있다. 여기서 자차(101)와 제1타차(103)간의 거리가 자차(101)와 제2타차(105)간의 거리 보다 더 짧은 것을 확인할 수 있다. 1A and 1B, attached to the front of the host vehicle 101 and the host vehicle 101,

The first beam region 107 of the vehicle radar antenna having the region of and the other carriages 103 and 105 located in the first beam region 107 are shown. In this case, it can be seen that the distance between the host vehicle 101 and the first wheels 103 is shorter than the distance between the host vehicle 101 and the second wheels 105.

First, the host vehicle 101 measures a distance and an angle between itself and the first wheel 103 and a distance and an angle between the wheel and the second wheel 105 using a vehicle radar. For example, the host vehicle 101 calculates a difference value between the transmission time of the transmission signal output from the vehicle radar and the reception time of the reception signal reflected from the first vehicle 103, and calculates the difference value and the speed of the transmission signal. Calculate the distance between the host vehicle 101 and the first trajectory 103 using. The host vehicle 101 calculates an angle between the host vehicle 101 and the first vehicle 103 using an angle between the transmission signal output from the vehicle radar and the reception signal reflected from the first vehicle 103.

The host vehicle 101 determines the shortest distance among the measured distances, and determines the other vehicle corresponding to the determined shortest distance. Referring to FIG. 1A, it may be confirmed that the tacha existing at the shortest distance from the host vehicle 101 is the first tacha 103. That is, the host vehicle 101 determines the first wheel 103 as the first wheel corresponding to the shortest distance.

In addition, the host vehicle 101 rotates the angle of the vehicle radar antenna to the left side based on the vehicle traveling direction by the angle measured between the first vehicle 103 and the host vehicle 103, and thus, based on the first vehicle 103. The beam area is changed from the one beam area 107 to the second beam area 109.

In addition, the host vehicle 101 may identify a vehicle that is rapidly approaching the host vehicle 101 among the first and second vehicle 103 and the second vehicle 105, and may notify the user of the collision risk of the identified vehicle. In more detail, the host vehicle 101 stores previously calculated first distances between the host vehicle 101 and the other cars 103, 105, and the current between the current vehicle 101 and the other cars 103, 105. Calculate 2 distances. The host vehicle 101 calculates a difference between the first distance and the second distance for each other, determines a distance greater than a predetermined distance, for example, 5 m, for the difference between the first distance and the second distance, and determines the determined difference. It is understood that the other car is rapidly approaching with the own car 101. The host vehicle 101 rotates the angle of the vehicle radar antenna or informs the user of the collision risk of the other vehicle based on the identified other vehicle. In this case, the host vehicle 101 may display a predetermined voice signal or a predetermined symbol on a screen, for example, a navigation screen, or notify the user of the risk of collision by using the voice signal and the symbol together.

As described above, the present invention changes the beam area of the vehicle radar antenna by changing the angle of the vehicle radar antenna on the basis of the other vehicle located at the shortest distance from the own vehicle. Here, since the other car located at the shortest distance with the own car most likely collides with the own car, the present invention can prevent the risk of an accident in advance by detecting the vicinity of the own car based on the other car located at the shortest distance having a high risk of accident. Has the effect.

2 is a block diagram of a vehicle radar antenna according to an embodiment of the present invention.

Referring to FIG. 2, the vehicle radar antenna 201 includes a transmitting antenna element (AT) 203 and receiving antenna elements AR1, AR2,..., ARN 205, 207,..., 209. The transmit antenna element 203 and the receive antenna elements 205, 207, ..., 209 are formed on one substrate.

Here, the transmit antenna element 203 is located on one side of the substrate, transmits a radar wave, and the transmit beam region that can cover the receive beam region of all the receiving antenna elements (205, 207, ..., 209) Form. The receiving antenna elements 205, 207,..., 209 are located at one side of the substrate and receive radar waves reflected from the target. In addition, since the reception beams of the reception antenna elements 205, 207,..., 209 are designed to overlap each other, the orientation of the target can be calculated using the phase difference between the transmitted radar wave and the reflected radar wave.

In addition, although the receiving antenna elements 205, 207,..., 209 are arranged in a line at equal intervals in FIG. 2, this arrangement is only one embodiment, and other arrangements are possible. For example, the receiving antenna elements 205, 207,..., 209 may be arranged in all directions at regular intervals to form a rectangular shape.

3 is a view for adjusting the angle of the vehicle radar antenna according to an embodiment of the present invention.

만큼　 회전한 제2형태(301)와, 차량용 레이더 안테나의 각도가 제1형태(201)보다 차량 진행 방향을 기준으로 우측으로

만큼 회전한 제3형태(303)가 도시되어 있다. 여기서

,

는 차량 레이더 안테나의 방사를 나타내는 각도이다.3 shows a first shape 201 in which the vehicle radar antenna is not biased to the left or the right, and an angle of the vehicle radar antenna to the left based on the vehicle traveling direction from the first shape 201.

And the angle of the second shape 301 and the vehicle radar antenna rotated by the right side of the vehicle from the first shape 201 to the right.

A third form 303 is shown rotated by. here

,

Is an angle representing the emission of the vehicle radar antenna.

만큼　 회전한 제2빔 영역(307)이며, 제3형태(303)일 때의 레이더 안테나 빔 영역은 제1형태(201)의 빔 영역(305) 보다 우측으로　

만큼 회전한 제3빔 영역(309)이다.3, the beam area of the radar antenna in the second shape 301 is to the left of the first beam area 305 of the first shape 201.

The second beam region 307 rotated by, and the radar antenna beam region in the third form 303 is to the right than the beam region 305 of the first form 201.

The third beam area 309 rotated by.

For example, as shown in FIG. 1A, when the radar antenna of the vehicle 101 is not rotated in the left or right direction, the radar antenna may be regarded as the first shape 201, and the beam area of the radar antenna at this time may be the first. It may be referred to as a beam region 303. As shown in FIG. 1B, when the radar antenna of the vehicle 101 rotates in the right direction, the radar antenna may be regarded as the third shape 303, and the beam area of the radar antenna at this time may be the third beam area 309. It can be seen.

4 is a block diagram of a vehicle radar according to an embodiment of the present invention.

Referring to FIG. 4, the vehicle radar includes a controller 401, a transmitter / receiver 403, an antenna unit 405, a storage unit 407, and a motor unit 409.

Looking at each of the components, the transmission / reception unit 403 transmits a transmission signal for measuring the distance and angle between the transmission side and the target through the transmission antenna (AT) of the antenna unit 405, the reception reflected from the target The signal is received through the reception antennas AR1 to ARN of the antenna unit 405. In addition, the antenna unit 405 includes at least one transmitting antenna AT and at least one receiving antenna AR1 to ARN. The antenna unit 405 has a direction of travel of the host vehicle through the motor unit 409 driven by the controller 401. The angle is adjusted from side to side. The angle adjusted here is appropriately adjusted according to the speed, distance, and position of the other wheel, and this adjustment is controlled by the controller 401.

 In addition, the signal input from the transmitter / receiver 403 is transmitted to the outside through the transmission antenna AT or the signal received from the outside is output to the transmitter / receiver 403 through the reception antennas AR1 to ARN, and is stored. 407 stores distances and angles between the transmitter and targets calculated by the controller 401, and the motor unit 409 adjusts the rotation angle of the radar antenna under the control of the controller 401.

In addition, the controller 401 controls each component of the vehicle radar. In more detail, the controller 401 performs different operations in the first or second embodiment.

First, in the first embodiment, the control unit 401 calculates the distances and angles between the transmitting side and the targets by using the signal transmitted to the target and the signals received from the target. For example, the controller 401 calculates a difference value between the transmission time of the transmission signal output from the vehicle radar and the reception time of the reception signal reflected from the target, and uses the calculated difference value and the speed of the transmission signal. The distance between the target and the target can be calculated. The controller 401 may calculate an angle between the transmitting side and the target by using an angle between the transmission signal output from the vehicle radar and the reception signal reflected from the target.

The controller 401 determines the target of the shortest distance using the calculated distances between the transmitting side and the targets. In more detail, the controller 401 stores the distance between the transmitter and the targets, which are calculated corresponding to each of the targets, in the storage 407. For example, when the distance between the transmitting side and the first target is 5 m and the angle between the transmitting side and the first target is 15 degrees to the left, the control unit 401 corresponds to the distance 5 m and the angle corresponding to the first target. (15 degrees to the left) can be stored.

The controller 401 detects the shortest distance among the distances between the transmitter and the targets, and determines a target corresponding to the detected shortest distance as the shortest distance target. For example, when each of the calculated distances between the transmitter and the targets is 4m, 7m, and 10m, the controller 401 may determine a target corresponding to 4m as the shortest distance target.

The controller 401 adjusts the angle of the antenna by an angle with respect to the target of the shortest distance determined using the motor unit 409. In more detail, the control unit 401 detects an angle corresponding to the determined shortest distance target from the storage unit 407 and rotates the motor unit 409 to rotate the angle of the radar antenna by the detected angle. To adjust the angle of the radar antenna. For example, when the angle corresponding to the determined shortest distance target is 20 degrees to the left, the controller 401 operates the motor unit 409 to rotate the radar antenna angle by 20 degrees to the left.

In the second embodiment, the controller 401 calculates distances and angles between the transmitter and the targets using the transmitted signal and the received signals. For example, the controller 401 calculates a difference value between the transmission time of the transmission signal output from the vehicle radar and the reception time of the reception signal reflected from the target, and uses the calculated difference value and the speed of the transmission signal. The distance between the target and the target can be calculated. The controller 401 may calculate an angle between the transmitting side and the target by using an angle between the transmission signal output from the vehicle radar and the reception signal reflected from the target.

The controller 401 transmits a signal for measuring an accurate distance to each of the targets by using the calculated distances and angles between the target and the target through the transmission antenna AT of the antenna unit 405. In more detail, the controller 401 stores the distance between the transmitter and the targets calculated in correspondence with the targets in the storage 407. For example, when the distance between the transmitting side and the first target is 5 m and the angle between the transmitting side and the first target is 15 degrees to the left, the control unit 401 corresponds to the distance 5 m and the angle corresponding to the first target. (15 degrees to the left) can be stored. The controller 401 aligns angles between targets stored in the storage unit 407 in a right to left rotation direction or a left to right rotation direction, and then drives the motor unit 409 in the sorted order to rotate the antenna. By unicasting the signal for measuring the exact distance between the transmitting side and the target to each target (unicasting).

For example, when the angle of the first target is 20 degrees to the right, the angle of the second target is 20 degrees to the left, the angle of the third target is 5 degrees to the left, and the angles between the stored targets are aligned from the right to the left rotation directions. The controller 401 aligns the angles of the first target to the third target in the order of the angle of the first target, the angle of the third target, and the angle of the second target, and rotates the angle of the radar antenna 20 degrees to the right. After the signal is transmitted to the first target, the angle of the radar antenna is rotated 25 degrees to the left, the signal is transmitted to the third target, the angle of the radar antenna is rotated 15 degrees to the left, and then the second target is rotated. Transmit the signal to.

As another example, the angle of the first target is 20 degrees to the right, the angle of the second target is 20 degrees to the left, the angle of the third target is 5 degrees to the left, and the angles between the stored targets are aligned from left to right In this case, the controller 401 arranges the angles of the first target to the third target in the order of the angle of the second target, the angle of the third target, and the angle of the first target, and rotates the radar antenna angle by 20 degrees to the left. After that, the signal is transmitted to the second target, the angle of the radar antenna is rotated 15 degrees to the right, the signal is transmitted to the third target, and the angle of the radar antenna is rotated 25 degrees to the right, the first Send the signal to the target.

The controller 401 calculates accurate distances between the receiving side and the targets using the signals received from the targets. The controller 401 arranges the detection order of the target using the calculated distances. Here, the controller 401 may sort the detection order of the target in ascending order of the calculated distances or in descending order of the calculated distances.

For example, the calculated distances between the transmitting side and the targets are 10m between the transmitting side and the first target, 20m between the transmitting side and the second target, and 5m between the transmitting side and the third target. When sorting the detection order in ascending order of the calculated distances, the controller 401 may sort the detection order of the target in the order of the third target, the first target, and the second target. For another example, the calculated distances between the transmitting side and the targets are 10m between the transmitting side and the first target, 20m between the transmitting side and the second target, and 5m between the transmitting side and the third target. When the detection order of the data is arranged in descending order of the calculated distances, the controller 401 may arrange the detection order of the target in the order of the second target first target and the third target.

The controller 401 detects the targets by adjusting the angle of the antenna by driving the motor unit 407 according to the sorted detection order. In more detail, the control unit 401 sequentially detects angles corresponding to each of the targets from the storage unit 407 in the sorted detection order, and operates the motor unit 409 for adjusting the angle of the radar antenna. The angle of the radar antenna is rotated sequentially by the detected angles.

For example, the target detection order is the third target, the first target, and the second target, and the angle corresponding to the third target is 5 degrees left, the angle corresponding to the second target is 20 degrees left, and the third target. If the corresponding angle is 15 degrees to the right, the controller 401 detects an angle with respect to the third target from the storage unit 407 in the target detection order, and operates the motor unit 409 to the left by 5 degrees to the left. Rotate the angle. The controller 401 detects an angle with respect to the first target, which is then a target, and operates the motor 409 to rotate the radar antenna angle by 15 degrees (an angle difference between left 20 degrees and left 5 degrees) to the left. . Then, the controller 401 detects an angle with respect to the second target that is the target, and operates the motor unit 409 to rotate the radar antenna angle by 35 degrees (an angle difference of 15 right and 20 left) to the right. .

At this time, the control unit 401 makes the number of transmission of signals for detecting the target and the target different from each other according to the target detection order. That is, since the collision risk increases as the distance between the transmitter and the target increases, the controller 401 frequently transmits the radar wave to a target having a higher collision probability than a target having a low collision probability.

For example, when the target detection order is arranged in ascending order of distances between the transmitter and the targets, and the third target, the first target, and the second target are in order, the third target has a higher risk of collision than the first target and the first target. Since the collision risk is higher than that of the second target, the controller 401 transmits the radar wave three times to the third target, rotates the radar antenna at an angle with respect to the first target, and then moves the radar wave to the first target. After transmitting twice, the radar antenna may transmit the radar wave once to the second target.

5 is a flow chart of adjusting the angle of the vehicle radar antenna according to the first embodiment of the present invention.

First, it is assumed that the vehicle radar antenna is provided on the transmitting side, for example, the host vehicle, and rotates to the left / right side within a predetermined angle, for example, 45 degrees.

Referring to FIG. 5, in step 501, a transmitter / receiver 403 of a vehicle radar transmits a signal for measuring a distance and an angle between a transmitter and a target through a transmitter antenna AT of the antenna unit 405. . Here, the targets may be other cars. The transmitter / receiver 403 receives the signals reflected from the targets through the reception antennas AR1 to ARN of the antenna unit 405, and then proceeds to step 503.

In operation 503, the controller 401 of the vehicle radar calculates distances and angles between the transmitter and targets using the transmitted signal and the received signals, and then proceeds to step 505. For example, the controller 401 calculates a difference value between the transmission time of the transmission signal output from the vehicle radar and the reception time of the reception signal reflected from the target, and uses the calculated difference value and the speed of the transmission signal. The distance between the target and the target can be calculated. The controller 401 may calculate an angle between the transmitting side and the target by using an angle between the transmission signal output from the vehicle radar and the reception signal reflected from the target.

In operation 505, the controller 401 determines the shortest distance target by using the calculated distances between the transmitter and targets, and then proceeds to operation 507.

In more detail, the controller 401 stores the distance between the transmitter and the targets, which are calculated corresponding to each of the targets, in the storage 407. For example, when the distance between the transmitting side and the first target is 5 m and the angle between the transmitting side and the first target is 15 degrees to the left, the control unit 401 corresponds to the distance 5 m and the angle corresponding to the first target. (15 degrees to the left) can be stored.

The controller 401 detects the shortest distance among the distances between the transmitter and the targets, and determines a target corresponding to the detected shortest distance as the shortest distance target. For example, when each of the calculated distances between the transmitter and the targets is 4m, 7m, and 10m, the controller 401 may determine a target corresponding to 4m as the shortest distance target.

In operation 507, the controller 401 adjusts the angle of the antenna by an angle with respect to the target having the shortest distance determined using the motor unit 409.

In more detail, the control unit 401 detects an angle corresponding to the target of the shortest distance determined from the storage unit 407, and operates the motor unit 409 that adjusts the angle of the radar antenna to radar by the detected angle. Rotate the angle of the antenna. For example, when the angle corresponding to the determined shortest distance target is 20 degrees to the left, the controller 401 operates the motor unit 409 to rotate the radar antenna angle by 20 degrees to the left.

By performing the above steps 501 to 507, the present invention can detect the periphery of the transmitting side based on the target closest to the transmitting side having the highest risk of collision with the transmitting side among the targets. Due to such detection, the present invention enables the transmitting side to immediately grasp the unexpected operation of the target, thereby preventing the risk of collision between the transmitting side and the target in advance.

6 is a flow chart of adjusting the angle of the vehicle radar antenna according to the second embodiment of the present invention.

First, it is assumed that the vehicle radar antenna is provided on the transmitting side, for example, the host vehicle, and rotates to the left / right within a predetermined angle, for example, 45 degrees.

Referring to FIG. 6, in step 601, the transmitter / receiver 403 of the vehicle radar transmits a signal for measuring a distance and an angle between a transmitter and a target through a transmitter antenna AT of the antenna unit 405. . The transmitter / receiver 403 receives the signals reflected from the targets through the reception antennas AR1 to ARN of the antenna unit 405, and then proceeds to step 603.

In operation 603, the controller 401 of the vehicle radar calculates distances and angles between the transmitter and the targets using the transmitted signal and the received signals, and then proceeds to step 605. For example, the controller 401 calculates a difference value between the transmission time of the transmission signal output from the vehicle radar and the reception time of the reception signal reflected from the target, and uses the calculated difference value and the speed of the transmission signal. The distance between the target and the target can be calculated. The controller 401 may calculate an angle between the transmitting side and the target by using an angle between the transmission signal output from the vehicle radar and the reception signal reflected from the target.

In operation 605, the controller 401 transmits a signal for measuring an accurate distance to each of the targets using the calculated distances and angles between the target and the targets through the transmission antenna AT of the antenna unit 405. send.

In more detail, the controller 401 stores the distance between the transmitter and the targets calculated in correspondence with the targets in the storage 407. For example, when the distance between the transmitting side and the first target is 5 m and the angle between the transmitting side and the first target is 15 degrees to the left, the control unit 401 corresponds to the distance 5 m and the angle corresponding to the first target. (15 degrees to the left) can be stored. The controller 401 aligns angles between targets stored in the storage unit 407 in a right to left rotation direction or a left to right rotation direction, and then drives the motor unit 409 in the sorted order to rotate the antenna. By unicasting the signal for measuring the exact distance between the transmitting side and the target to each target (unicasting).

For example, when the angle of the first target is 20 degrees to the right, the angle of the second target is 20 degrees to the left, the angle of the third target is 5 degrees to the left, and the angles between the stored targets are aligned from the right to the left rotation directions. The controller 401 aligns the angles of the first target to the third target in the order of the angle of the first target, the angle of the third target, and the angle of the second target, and rotates the radar antenna angle by 20 degrees. The signal is transmitted to the first target, the angle of the radar antenna is rotated 25 degrees left, the signal is transmitted to the third target, the angle of the radar antenna is rotated 15 degrees left, and then the signal is transmitted to the second target. Send it.

As another example, the angle of the first target is 20 degrees to the right, the angle of the second target is 20 degrees to the left, the angle of the third target is 5 degrees to the left, and the angles between the stored targets are aligned from left to right In this case, the controller 401 arranges the angles of the first target to the third target in the order of the angle of the second target, the angle of the third target, and the angle of the first target, and rotates the radar antenna angle by 20 degrees to the left. After that, the signal is transmitted to the second target, the angle of the radar antenna is rotated 15 degrees to the right, the signal is transmitted to the third target, and the angle of the radar antenna is rotated 25 degrees to the right, the first Send the signal to the target.

The transmitter / receiver 403 receives the signals reflected from the targets through the reception antennas AR1 to ARN of the antenna unit 405, and then proceeds to step 607. In operation 607, the controller 401 calculates accurate distances between the receiver and the targets using the received signals, and then proceeds to operation 609.

In operation 609, the controller 401 arranges the detection order of the target using the calculated distances, and then proceeds to operation 611. Here, the controller 401 may sort the detection order of the target in ascending order of the calculated distances or in descending order of the calculated distances.

For example, the calculated distances between the transmitting side and the targets are 10m between the transmitting side and the first target, 20m between the transmitting side and the second target, and 5m between the transmitting side and the third target. When sorting the detection order in ascending order of the calculated distances, the controller 401 may sort the detection order of the target in the order of the third target, the first target, and the second target. For another example, the calculated distances between the transmitting side and the targets are 10m between the transmitting side and the first target, 20m between the transmitting side and the second target, and 5m between the transmitting side and the third target. When the detection order of the data is arranged in descending order of the calculated distances, the controller 401 may arrange the detection order of the target in the order of the second target first target and the third target.

In operation 611, the controller 401 drives the motor 407 according to the sorted detection order to detect targets while adjusting the angle of the antenna. In more detail, the control unit 401 sequentially detects angles corresponding to each of the targets from the storage unit 407 in the sorted detection order, and operates the motor unit 409 for adjusting the angle of the radar antenna. The angle of the radar antenna is rotated sequentially by the detected angles.

For example, the target detection order is the third target, the first target, and the second target, and the angle corresponding to the third target is 5 degrees left, the angle corresponding to the second target is 20 degrees left, and the third target. If the corresponding angle is 15 degrees to the right, the controller 401 detects an angle with respect to the third target from the storage unit 407 in the target detection order, and operates the motor unit 409 to the left by 5 degrees to the left. Rotate the angle. The controller 401 detects an angle with respect to the first target, which is then a target, and operates the motor 409 to rotate the radar antenna angle by 15 degrees (an angle difference between left 20 degrees and left 5 degrees) to the left. . Then, the controller 401 detects an angle with respect to the second target that is the target, and operates the motor unit 409 to rotate the radar antenna angle by 35 degrees (an angle difference of 15 right and 20 left) to the right. .

At this time, the control unit 401 makes the number of transmission of signals for detecting the target and the target different from each other according to the target detection order. That is, since the collision risk increases as the distance between the transmitter and the target increases, the controller 401 frequently transmits the radar wave to a target having a higher collision probability than a target having a low collision probability.

For example, when the target detection order is arranged in ascending order of distances between the transmitter and the targets, and the third target, the first target, and the second target are in the order, the controller 401 may have a risk of collision of the third target than the first target. Since the first target has a higher risk of collision than the second target, the radar wave is transmitted three times to the third target, the radar antenna is rotated at an angle with respect to the first target, and then the radar wave is used as the first target. After transmitting twice, the radar antenna may transmit the radar wave once to the second target.

Thereafter, the vehicle radar may repeat steps 601 to 611 periodically to efficiently detect targets located around the transmitting side.

According to the present invention, by performing steps 601 to 611, targets may be sequentially detected in consideration of a risk of colliding with a transmitter from among targets. Due to such detection, the present invention enables the transmitting side to immediately grasp the unexpected operation of the target in consideration of the collision risk, thereby preventing the collision risk between the transmitting side and the target in advance.

Meanwhile, in the detailed description of the present invention, specific embodiments have been described, but various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined not only by the scope of the following claims, but also by the equivalents of the claims.

Claims (10)

In the device for adjusting the angle of the vehicle radar antenna,
An antenna unit including a plurality of receiving antennas and at least one transmitting antenna;
A transmitter / receiver for transmitting signals to at least two targets through the at least one transmit antenna and receiving signals reflected from the target;
The angles and distances between the target on which the vehicle radar antenna is mounted and the targets are calculated using the transmitted signal and the received signals, and the target closest to the transmitter is determined using the calculated distances. And a controller configured to detect an angle corresponding to the determined target among the calculated angles, and adjust an angle of the vehicle radar antenna by the detected angle.
The method of claim 1,
And a motor unit that rotates the angle of the vehicle radar antenna left / right by the detected angle.
The method of claim 1,
And a storage configured to store the calculated angles and distances corresponding to each of the targets.
The method of claim 1,
The control unit transmits the transmission signals to targets while sequentially changing the angle of the vehicle radar antenna using the calculated angles and distances, receives the received signals reflected from the targets, and receives the received signals. Calculate distances between the transmitting side and the targets, align the target detection order using the calculated distances, and sequentially change the angle of the vehicle radar antenna according to the aligned target detection order. An angle adjusting device, characterized in that for transmitting a signal.
The method of claim 4, wherein
The controller may vary the number of transmissions of the transmission signal according to the sorted target detection order.
In the method of adjusting the angle of the vehicle radar antenna,
Transmitting signals to at least two targets through at least one transmitting antenna and receiving signals reflected from the target;
Calculating angles and distances between the target and the target on which the vehicle radar antenna is mounted using the transmitted signal and the received signals;
Determining a target closest to the transmitter using the calculated distances;
Detecting an angle corresponding to the determined target among the calculated angles;
And adjusting the angle of the vehicle radar antenna by the detected angle.
The method of claim 6,
The adjusting of the angle may include rotating the angle of the vehicle radar antenna to the left or the right by the detected angle.
The method of claim 6,
And storing the calculated angles and distances corresponding to each of the targets.
The method of claim 6,
Transmitting the transmission signals to targets while sequentially changing the angle of the vehicle radar antenna using the calculated angles and distances, and receiving the received signals reflected from the targets;
Calculating distances between the transmitting side and the targets using the received signals;
Aligning a target detection order using the calculated distances;
And sequentially transmitting an angle of the vehicle radar antenna according to the aligned target detection order, and transmitting a transmission signal.
10. The method of claim 9,
The transmitting of the transmission signal may include varying the number of transmissions of the transmission signal according to the sorted target detection order.

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