KR20000014478A - Received frequency discriminating device of forward object in car forward radar sensor method - Google Patents
Received frequency discriminating device of forward object in car forward radar sensor method Download PDFInfo
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- KR20000014478A KR20000014478A KR1019980033927A KR19980033927A KR20000014478A KR 20000014478 A KR20000014478 A KR 20000014478A KR 1019980033927 A KR1019980033927 A KR 1019980033927A KR 19980033927 A KR19980033927 A KR 19980033927A KR 20000014478 A KR20000014478 A KR 20000014478A
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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
- G01S13/88—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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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
- G01S13/34—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
- G01S13/341—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 wherein the rate of change of the transmitted frequency is adjusted to give a beat of predetermined constant frequency, e.g. by adjusting the amplitude or frequency of the frequency-modulating signal
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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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
- G01S13/536—Discriminating between fixed and moving objects or between objects moving at different speeds using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves
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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
- 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
- G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
- G01S7/034—Duplexers
- G01S7/036—Duplexers involving a transfer mixer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/301—Sensors for position or displacement
- B60Y2400/3017—Radars
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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
- G01S13/88—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
- G01S2013/9321—Velocity regulation, e.g. cruise control
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Abstract
Description
본 발명은 자동차 전방 레이다 센서 방식을 이용하여 차량 전방에 위치하는 전방 물체의 이동 속도 및 거리를 검출하는 장치에 관한 것으로서, 특히 다수개의 전방 물체들로부터 반사되어 수신되는 주파수 성분들을 전방 물체별로 분류할 수 있는 장치에 관한 것이다.The present invention relates to an apparatus for detecting a moving speed and a distance of a front object located in front of a vehicle by using a vehicle front radar sensor method. In particular, a frequency component reflected from a plurality of front objects to be received may be classified for each front object. It relates to a device that can.
자동차 기술에서 AICCS(Autonomous Intelligent Cruise Control System)를 구현하기 위하여는 자동차의 전방에 위하는 이동물 또는 정지물(이하 전방 물체이라 칭한다.)의 속도 및 거리를 자동으로 검출하여야 한다. 이와 같이 자동차 전방의 이동물 또는 정지물의 속도 및 거리를 검출하기 위한 종래 장치의 개략 블럭도를 도 1에 도시하였다.In order to implement AICCS (Autonomous Intelligent Cruise Control System) in automobile technology, the speed and distance of a moving object or a still object (hereinafter referred to as a front object) in front of the vehicle should be automatically detected. Thus, a schematic block diagram of a conventional apparatus for detecting the speed and distance of a moving object or a stationary object in front of a vehicle is shown in FIG.
도시된 바와 종래에는 변조기(1)에서 변조되는 소정 주파수(이하, 원 신호로 함)의 신호를 송신기(2)가 증폭한 후에 송신 안테나(3)로 송신하도록 구성되어 있으며, 송신 안테나(3)는 송신기(2)의 원 신호를 자동차 전방으로 송신하도록 구성되어 있다. 송신 안테나(3)를 통하여 전송되는 원 신호는 전방 물체에 반사되어 귀환하며, 이 귀환된 신호(이하, 귀환 신호라 함)를 이용하여 전방 물체의 위치 및 이동 속도를 검출할 수 있다. 즉, 종래의 장치에서는 수신 안테나(4)를 이용하여 귀환 신호를 수신하고, 혼합기(5, 6)에서 이 귀환 신호와 원 신호를 혼합하므로써 원 신호와 귀환 신호간의 차를 검출한다. 이때, 혼합기(6)에 인가되는 원 신호는 위상 변환기(7)를 통하여 위상이 변화된 상태로 귀환 신호와 차가 검출되어 검출 회로(8)에 인가된다. 즉, 검출 회로(8)에는 원 신호와 귀환 신호와의 제 1 차신호가 혼합기(5)로부터 인가되는 한편 위상이 변화된 원 신호와 귀환 신호와의 제 2 차신호가 혼합기(6)로부터 인가되고, 이 제 1 및 제 2 차신호를 이용하여 전방 물체의 위치 및 속도를 검출하였다As shown in the related art, the transmitter 2 is configured to transmit a signal of a predetermined frequency (hereinafter referred to as an original signal) modulated by the modulator 1 to the transmit antenna 3 after being amplified, and the transmit antenna 3 Is configured to transmit the original signal of the transmitter 2 to the front of the vehicle. The original signal transmitted through the transmitting antenna 3 is reflected back to the front object and returned, and the position and the moving speed of the front object can be detected using this returned signal (hereinafter referred to as a feedback signal). That is, in the conventional apparatus, the feedback signal is received using the reception antenna 4, and the mixers 5 and 6 detect the difference between the original signal and the feedback signal by mixing the feedback signal with the original signal. At this time, the original signal applied to the mixer 6 is detected by the feedback signal and the difference is applied to the detection circuit 8 in a state where the phase is changed through the phase converter 7. That is, the first detection signal of the original signal and the feedback signal is applied to the detection circuit 8 from the mixer 5 while the second difference signal of the original signal and the feedback signal whose phase is changed is applied from the mixer 6. Using the first and second difference signals, the position and velocity of the front object were detected.
그러나, 이러한 종래의 장치에서는 두개의 혼합기와 하나의 위상 변환기가 사용되어야 하므로 그 구성이 복잡하고 제작 단가가 상승한다는 문제가 있었다.However, in this conventional apparatus, since two mixers and one phase shifter have to be used, there is a problem that the configuration is complicated and the manufacturing cost increases.
본 발명자는 이러한 문제를 해결한 자동차 전방 레이다 센서 방식에서 전방 물체의 위치및 속도 검출 장치(출원번호 제 호)를 본 출원과 동일자로 출원하였다. 본 발명자의 자동차 전방 레이다 센서 방식에서 전방 물체의 위치및 속도 검출 장치의 원리를 개략적으로 설명하면 다음과 같다.The present inventor has filed the same position and speed detection apparatus (application number No.) of the front object in the vehicle front radar sensor method that solves this problem. The principle of the apparatus for detecting the position and speed of the front object in the vehicle front radar sensor method of the present invention is as follows.
도 2에 도시된 바와 같이 자동차(100)내에 장착되는 전방 물체의 위치 및 속도 검출 장치는 전방 물체(200) 예컨데, 자동차 등에 소정 주파수의 신호를 송신한다. 이때, 송신되는 신호의 주파수는 도 3에 도시된 바와 같이 소정의 주기(T)내에서 소정 기울기가 반전되는 형태로 변화하며, 이 신호를 원 신호(S(t))라 칭하면, 원 신호(S(t))는 전방 물체(200)에 반사된 후에 자동차(100)쪽으로 귀환될 것이다. 이와 같이 반사에 의하여 귀환되는 신호를 귀환 신호(R(t))라 하였다.As shown in FIG. 2, the position and speed detection apparatus of the front object mounted in the vehicle 100 transmits a signal having a predetermined frequency to the front object 200, for example, the vehicle. At this time, the frequency of the transmitted signal changes in a form in which a predetermined slope is inverted within a predetermined period T as shown in FIG. 3, and when the signal is called an original signal S (t), the original signal (S (t)) will be returned to the vehicle 100 after being reflected by the front object 200. The signal returned by the reflection in this way was called feedback signal R (t).
그리고, 도 4a 및 4b에 도시된 바와 같이 원 신호(S(t)) 및 귀환 신호(R(t))에 대한 주파수 변화량(F1)및 (F2)를 각각 검출한다. 여기서 주파수 변화량(F1)은 원신호(S(t)가 양의 기울기를 가질 때의 신호(S(t))와 귀환 신호(R(t))와의 주파수 차이량이며, 주파수 변화량(F2)은 원신호(S(t)가 음의 기울기를 가질 때의 신호(S(t))와 귀환 신호(R(t))와의 주파수 차이량이다. 그리고, 이 주파수 변화량(F1)및 (F2)과, 신호(S(t))및 (R(t))의 기울기(S) 그리고 주파수(f0)를 이용하여 상기 수학식 1, 2를 행하므로써 전방 물체(200)에 대한 속도(v)및 거리(d)와 속도 방향을 검출하도록 구성하였다.Then, as shown in Figs. 4A and 4B, the frequency change amounts F1 and F2 for the original signal S (t) and the feedback signal R (t) are detected, respectively. Here, the frequency change amount F1 is the frequency difference amount between the signal S (t) and the feedback signal R (t) when the original signal S (t) has a positive slope, and the frequency change amount F2 is The frequency difference between the signal S (t) and the feedback signal R (t) when the original signal S (t) has a negative slope, and the frequency variation F1 and F2 and , The velocity v for the forward object 200 by performing equations 1 and 2 using the slope S of the signals S (t) and R (t) and the frequency f 0 . It was configured to detect the distance d and the speed direction.
여기서, C는 광속(3×108m/sec), f0는 원 신호(S(t))의 주파수이다.Here, C is the luminous flux (3x10 8 m / sec), and f 0 is the frequency of the original signal S (t).
여기서, C는 광속(3×108m/sec), S는 원 신호(S(t))의 기울기이다.Where C is the luminous flux (3x10 8 m / sec) and S is the slope of the original signal S (t).
그러나, 이러한 장치에서는 전방 물체가 다수개인 경우에는 전방 물체별 귀환 신호(R(t))를 식별할 수 없다는 문제가 있었다.However, such a device has a problem that it is not possible to identify the feedback signal R (t) for each front object when there are a large number of front objects.
예컨데, 전방 물체가 3개인 경우에 원신호(S(t))에 대한 귀환 신호는 도 5에 도시된 바와 같이 3개(R1(t)), (R2(t)), (R3(t))가 될 것이나, 수신측에서는 일 시점에서 수신하는 귀환 신호(R1(t)), (R2(t)), (R3(t))들이 어떠한 전방 물체(201,202,203)에 대응하는 것인지를 알 수 없다는 문제가 있었다.For example, when there are three forward objects, the feedback signals for the original signal S (t) are three (R1 (t)), (R2 (t)), and (R3 (t) as shown in FIG. ), But the receiving side cannot know which forward objects 201, 202, and 203 correspond to the feedback signals R1 (t), R2 (t), and R3 (t) received at one point in time. There was.
본 발명은 이러한 문제를 해결하기 위하여 안출한 것으로서, 본 발명의 목적은, 다수의 전방 물체로부터의 귀환 신호들을 전방 물체별로 식별하므로써 전방 물체들에 대한 속도 및 거리를 정확히 계산할 수 있게 한 자동차 전방 레이다 센서 방식에서 전방 물체별 수신 주파수 판별 장치를 제공하는데 있다.SUMMARY OF THE INVENTION The present invention has been made to solve this problem, and an object of the present invention is to identify a return signal from a plurality of front objects for each front object, so that the speed and distance of the front objects can be accurately calculated. An object of the present invention is to provide a reception frequency determination device for each front object.
이러한 목적을 달성하기 위한 본 발명은, 자동차 전방에 위치하는 다수 전방 물체의 속도및 상기 전방 물체와의 거리를 검출하는 장치로서, 주기별로 소정 기울기가 반전되며, 주기별로 그 기울기가 감소되는 원 신호를 발진하여 출력하는 변조기와; 변조기의 출력을 증폭하고 제 1 안테나를 통하여 전방 물체들로 송신하는 송신기와; 원 신호가 전방 물체에 반사된 후에 제 2 안테나에 수신된 귀환 신호들과 원 신호를 혼합하므로써, 원 신호와 귀환 신호들간의 주파수 변화량을 검출하는 혼합기와; 원 신호의 기울기 정보가 입력되며, 원 신호의 첫번째 주기의 기울기에서의 주파수 변화량간에 임의의 직선들을 형성하고, 원 신호의 두번째 주기 이후의 기울기에서의 주파수 변화량들이 위치하는 직선별로 주파수 변화량을 그룹화하고, 그룹화된 주파수 변화량으로 대응 전방 물체들의 이동 속도및 전방 물체와의 거리를 산출하는 프로세서를 구비한다The present invention for achieving this object is a device for detecting the speed of the plurality of front objects located in front of the vehicle and the distance to the front object, the inclination of the predetermined slope in each cycle, the original signal that the slope is reduced for each cycle A modulator for oscillating and outputting the signal; A transmitter for amplifying the output of the modulator and transmitting it to the front objects via the first antenna; A mixer for detecting a frequency change amount between the original signal and the feedback signals by mixing the feedback signals received at the second antenna and the original signal after the original signal is reflected by the front object; The slope information of the original signal is input, and form arbitrary straight lines between the frequency change amounts in the slope of the first period of the original signal, group the frequency change amounts by the straight lines where the frequency change amounts in the slope after the second period of the original signal are located, And a processor for calculating the moving speed of the corresponding front objects and the distance to the front object by grouping the frequency change.
도 1은 종래 자동차 전방 레이다 센서 방식에서 전방 물체의 위치 및 속도 검출 장치의 개략 블록도,1 is a schematic block diagram of an apparatus for detecting position and speed of a front object in a conventional vehicle front radar sensor method;
도 2는 종래 자동차 전방 레이다 센서 방식에서 전방 물체의 위치 및 속도 검출 장치를 장착한 자동차가 전방 물체에 신호를 송신하는 상태를 도시한 도면,2 is a view illustrating a state in which a vehicle equipped with a position and speed detection device of a front object transmits a signal to a front object in a conventional vehicle front radar sensor method;
도 3은 종래 자동차 전방 레이다 센서 방식에서 전방 물체의 위치 및 속도 검출 장치에서 전방 물체에 송신되는 신호의 상태를 도시한 도면,3 is a view illustrating a state of a signal transmitted to a front object in a position and speed detection apparatus of a front object in a conventional vehicle front radar sensor method;
도 4a 및 4b는 종래 자동차 전방 레이다 센서 방식에서 전방 물체의 위치및 속도 검출 장치에서 전방 물체에 송신한 신호와 수신한 신호의 상태를 도시한 도면,4A and 4B are views illustrating states of signals transmitted to and received from the front object by the apparatus for detecting the position and speed of the front object in the conventional vehicle front radar sensor method;
도 5는 종래 자동차 전방 레이다 센서 방식에서 다수의 전방 물체의 위치및 속도 검출 장치에서 전방 물체에 송신한 신호와 수신한 신호의 상태를 도시한 도면,5 is a view showing the state of the signal and the signal transmitted to the front object in the position and speed detection apparatus of a plurality of front objects in the conventional vehicle front radar sensor method,
도 6은 본 발명에 따른 자동차 전방 레이다 센서 방식에서 전방 물체별 수신 주파수 판별 장치의 블록도,6 is a block diagram of a reception frequency determination device for each front object in the vehicle front radar sensor method according to the present invention;
도 7은 본 발명에 따른 자동차 전방 레이타 센서 방식에서 다수의 전방 물체의 위치및 속도 검출 장치에서 전방 물체에 송신한 신호와 수신한 신호의 상태를 도시한 도면,7 is a view showing the state of the signal and the signal transmitted to the front object in the apparatus for detecting the position and speed of a plurality of front objects in the vehicle front ray rate sensor method according to the present invention,
도 8은 본 발명에 따른 자동차 전방 레이다 센서 방식에서 전방 물체의 위치및 속도 검출 장치를 장착한 자동차가 다수의 전방 물체들에 신호를 송신하는 상태를 도시한 도면,FIG. 8 is a view illustrating a state in which a vehicle equipped with a position and speed detection device of a front object transmits signals to a plurality of front objects in a vehicle front radar sensor method according to the present invention;
도 9는 본 발명에 따른 자동차 전방 레이다 센서 방식에서 전방 물체별 수신 주파수 판별 장치에서 전방 물체별로 송수신한 신호의 주파수 변화량을 검출하는 방법을 도시한 도면.9 is a view illustrating a method of detecting a frequency change amount of a signal transmitted and received for each front object in a reception frequency determination apparatus for each front object in a vehicle front radar sensor method according to the present invention;
<도면의 주요부분에 대한 부호의 설명><Description of the symbols for the main parts of the drawings>
10 : 변조기 20 : 송신기10 modulator 20 transmitter
30, 40 : 안테나 50 : 혼합기30, 40: antenna 50: mixer
60 : 프로세서60: processor
이하, 본 발명의 일실시예를 첨부된 도면을 참조하여 상세히 설명한다.Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
도 6은 본 발명을 행하기 위한 장치의 블록도로서, 변조기(10)는 소정 주파수의 신호를 발진하여 송신기(20)에 인가하도록 구성되어 있다. 이때, 변조기(10)가 출력하는 신호의 주파수는 도 7에 도시된 바와 같이 소정의 주기(T)내에서 소정 기울기가 반전되며, 주기별로 그 기울기가 감소되는 형태로 변화한다.6 is a block diagram of an apparatus for carrying out the invention, wherein the modulator 10 is configured to oscillate and apply a signal of a predetermined frequency to the transmitter 20. At this time, the frequency of the signal output from the modulator 10 is inverted a predetermined slope within a predetermined period (T), as shown in Figure 7 changes in the form of decreasing the slope for each cycle.
송신기(20)는 변조기(10)의 출력을 증폭한 후에 송신 안테나(30)를 통하여 자동차(100)의 전방으로 송신되며, 이 신호(이를 원 신호라함)는 도 8에서와 같이 전방 물체(자동차등)(201, 202, 203)에 반사된 후에 자동차쪽으로 귀환될 것이다. 이와 같이 반사에 의하여 귀환되는 신호를 귀환 신호(R1(t)), (R2(t)), (R3(t))라 칭하였다.The transmitter 20 is transmitted to the front of the vehicle 100 through the transmission antenna 30 after amplifying the output of the modulator 10, this signal (this is called the original signal) is a front object (automobile) as shown in FIG. Etc.) will be returned towards the vehicle after being reflected by 201, 202, 203. The signals returned by the reflections in this way were referred to as feedback signals R1 (t), (R2 (t)), and (R3 (t)).
여기서, 귀환 신호(R1(t)), (R2(t)), (R3(t))는 수신 안테나(40)를 통하여 수신되나 전방 물체(201, 202, 203)와의 거리 및 전방 물체(100)의 속도에 따라 원 신호와 소정 지연 시간 및 주파수 차이가 발생할 것이다.Here, the feedback signals R1 (t), R2 (t), and R3 (t) are received through the receiving antenna 40, but are separated from the front objects 201, 202, and 203 and the front object 100. Depending on the speed of), the difference between the original signal and the predetermined delay time and frequency will occur.
한편, 도 7에서는 귀환 신호(R1(t)), (R2(t)), (R3(t)) 각각이 상호 연결된 상태이므로 도면상에서는 입력된 3개의 수신 주파수 신호들이 어느 귀환 신호(R1(t)), (R2(t)), (R3(t))에 해당하는가를 판단할 수 있으나, 일반적 하드웨어로서는 이 수신 주파수들이 어느 귀환 신호(R1(t)), (R2(t)), (R3(t))에 속하는지를 판단할 수 없고, 이에 따라서 귀환 신호(R1(t)), (R2(t)), (R3(t))별로 수학식1, 2를 행할 수 없게 된다.Meanwhile, in FIG. 7, since each of the feedback signals R1 (t), R2 (t), and R3 (t) is connected to each other, three received frequency signals inputted in the drawing indicate which feedback signal R1 (t ), (R2 (t)), (R3 (t)) can be determined, but as a general hardware, these received frequencies are the feedback signals (R1 (t)), (R2 (t)), ( It cannot be determined whether it belongs to R3 (t), and accordingly, equations 1 and 2 cannot be performed for each of the feedback signals R1 (t), (R2 (t)) and (R3 (t)).
본 발명자는 이러한 문제를 해결하기 위하여 노력하던중에 귀환 신호(R1(t)), (R2(t)), (R3(t))들이 도 9와 같은 성질을 갖고 있다는 것을 알게 되었다.The present inventors have found that the feedback signals R1 (t), (R2 (t)), and (R3 (t)) have properties as shown in FIG. 9 while trying to solve this problem.
도 9에서 x축은 원 신호(S(t))에 대한 기울기를 의미하며, y축은 원 신호(S(t))와 귀환 신호(R1(t)), (R2(t)), (R3(t))들간의 주파수 변화량(Fh1, Fh2, Fh3))를 의미한다. 여기서, 주파수 변화량(Fh1, Fh2, Fh3)은 원 신호(S(t))와 귀환 신호(R1(t)), (R2(t)), (R3(t))와의 차값을 의미하며, 주파수 변화량(Fh1, Fh2, Fh3)으로서 전방 물체들의 속도및 거리를 측정할 수 있음은 식 1, 2로 설명하였다.In FIG. 9, the x-axis denotes a slope of the original signal S (t), and the y-axis denotes the original signal S (t) and the feedback signals R1 (t), (R2 (t)), and (R3 ( t)) means the frequency change amount (Fh1, Fh2, Fh3)). Here, the frequency change amount Fh1, Fh2, Fh3 means a difference value between the original signal S (t) and the feedback signals R1 (t), (R2 (t)), and (R3 (t)). The speed and distance of the front objects can be measured as the amounts of change Fh1, Fh2 and Fh3.
한편, 귀환 신호(R1(t)), (R2(t)), (R3(t))가 각각 어느 전방 물체(201, 202,203)에 대한 것인지 알 수 없어 결국 주파수 변화량(Fh1, Fh2, Fh3)이 어느 전방 물체(201,202,203)에 대한 것인지 알 수 없다. 그러나, 본 발명자의 도 9를 이용하면 이를 쉽게 검출할 수 있게 된다.On the other hand, it is not known to which forward object 201, 202, 203, respectively, the feedback signals R1 (t), (R2 (t)), and (R3 (t)), so the frequency change amount (Fh1, Fh2, Fh3) It is unknown which forward object 201, 202, or 203 is for. However, using the present inventor's Figure 9 it can be easily detected.
즉, 원 신호(S(t))의 기울기가 1 일때에 검출되는 주파수 변화량(Fh1, Fh2, Fh3)을 도 9의 그래프 상에 위치시킨다(도면에서 A1,A2,A3). 그리고, 원 신호(S(t))의 기울기가 -1일 때의 주파수 변화량(Fh1, Fh2, Fh3)을 도 9의 그래프 상에 위치시키고(도면에서 A4, A5, A6)_, 이들을 직선으로 상호 연결시킨다. 따라서, 기울기가 1 및 -1일 때에 형성되는 직선은 총 9개(L1-L9)개가 될 것이다. 이 상태에서 계속하여 원 신호(S(t))의 기울기가 0.5, -.05 및 0일 때의 주파수 변화량(Fh1, Fh2, Fh3)을 검출한다. 그리고, 기울기가 0.5, -.05 및 0일 때의 주파수 변화량(Fh1, Fh2, Fh3)이 직선(L1-L9)들중에 어디에 위치하는가를 판단하여 주파수 변화량(Fh1, Fh2, Fh3)이 동일 직선(예컨데, L1, L4, L7)상에 위치한다면, 이 직선(L1, L4, L8)상에 위치하는 주파수 변화량(Fh1, Fh2, Fh3)들은 전방 물체(201,202,203)들에 대한 귀환 신호(R1(t)), (R2(t)), (R3(t))와 원 신호(S(t))들간의 변화량을 각각 의미하는 것으로 판단할 수 있다.That is, the frequency change amounts Fh1, Fh2, Fh3 detected when the slope of the original signal S (t) is 1 are placed on the graph of FIG. 9 (A1, A2, A3 in the figure). Then, the frequency change amounts Fh1, Fh2, Fh3 when the slope of the original signal S (t) is -1 are placed on the graph of FIG. 9 (A4, A5, A6 in the drawing), and these are straight lines. Interconnect. Thus, when the slopes are 1 and -1, there will be a total of nine straight lines (L1-L9). In this state, the frequency change amounts Fh1, Fh2, and Fh3 are detected when the inclination of the original signal S (t) is 0.5, -.05, and 0. Then, it is determined where the frequency change amounts Fh1, Fh2 and Fh3 are located in the lines L1 to L9 when the slopes are 0.5, -.05, and 0 so that the frequency change amounts Fh1, Fh2 and Fh3 are the same. (E.g., if it is located on L1, L4, L7), the frequency variation amounts Fh1, Fh2, Fh3 located on the straight lines L1, L4, L8 are the feedback signals R1 (for the front objects 201, 202, 203). t)), (R2 (t)), (R3 (t)) and the amount of change between the original signal (S (t)) can be determined to mean respectively.
따라서, 상기 도 9를 이용하면 일정 시점에서 입력되는 전방 물체(201, 202, 203)들에 대한 각각의 귀환 신호(R1(t)), (R2(t)), (R3(t))와 원 신호(S(t))들간의 각각의 차이값(Fh1, Fh2, Fh3)들을 검출할 수 있다.9, the feedback signals R1 (t), R2 (t), and R3 (t) for the front objects 201, 202, and 203 input at a certain point of time, respectively. The respective difference values Fh1, Fh2, and Fh3 between the original signals S (t) can be detected.
즉, 본 발명의 장치에서는 수신 안테나(40)에 수신된 귀환 신호(R1(t)), (R2(t)), (R3(t))들을 혼합부(50)에 인가하고, 혼합부(50)의 다른 일측에는 원 신호(S(t))를 인가하므로써 혼합부(50)로 하여금 주파수 변화량(Fh1, Fh2, Fh3)들을 각각 검출하도록 구성하였다.That is, in the apparatus of the present invention, the feedback signals R1 (t), (R2 (t)), and (R3 (t)) received by the reception antenna 40 are applied to the mixing unit 50, and the mixing unit ( On the other side of 50, the mixing unit 50 is configured to detect the frequency change amounts Fh1, Fh2, and Fh3 by applying the original signal S (t).
그리고, 이 주파수 변화량(Fh1, Fh2, Fh3) 정보를 프로세서(60)에 인가하는 한편, 프로세서(60)에는 원신호(S(t))의 기울기 정보가 인가되도록 구성하였다. 프로세서(60)는 도 9에서와 같은 그래프를 형성하므로써 입력 주파수 변화량 정보들을 동일 그룹(즉, 동일한 전방 대상물(201,202,203)에 대한 주파수 변화량으로)(Fh1, Fh2, Fh3)화 하도록 구성된다. 이러한 구성은 프로세서(60)에 대한 프로그램을 작성하므로써 구현이 가능하며, 본 발명의 기술 분야에서 통상의 지식을 가진 자에게는 상술한 설명으로부터 용이하게 실시가 가능하므로 본 명세세에서는 상세한 설명및 도시를 생략하였다.The frequency variation amounts Fh1, Fh2, and Fh3 information are applied to the processor 60, while the processor 60 is configured to apply the slope information of the original signal S (t). The processor 60 is configured to form the input frequency variation information into the same group (that is, the frequency variation for the same front object 201, 202, 203) (Fh1, Fh2, Fh3) by forming a graph as in FIG. Such a configuration can be implemented by writing a program for the processor 60, and can be easily implemented by those skilled in the art from the above description, so that the detailed description and illustration of this specification will be given. Omitted.
이와 같이 주파수 변화량(Fh1, Fh2, Fh3)들을 동일 전방 대상물(201,202, 203)로 그룹한 이후에는 주파수 변화량(Fh1, Fh2, Fh3)들별로 수학식 1, 2를 행하므로써 전방 대상물(201, 202, 203)들의 이동 속도 및 전방 대상물(201, 202, 203)과의 거리를 측정할 수 있다.In this way, after grouping the frequency changes (Fh1, Fh2, Fh3) into the same front object (201, 202, 203), the front object (201, 202) by performing the equations (1, 2) for each of the frequency change (Fh1, Fh2, Fh3) , The movement speed of the 203 and the distance to the front object 201, 202, 203 may be measured.
이와 같이 본 발명은 다수개의 전방 물체들로부터 반사되어 수신되는 주파수 성분들을 전방 물체별로 분류할 수 있어 다수 전방 물체들의 이동 속도 및 거리를 측정할 수 있다는 효과가 있다.As described above, the present invention can classify the frequency components reflected and received from the plurality of front objects for each front object, thereby measuring the moving speed and distance of the plurality of front objects.
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| Application Number | Priority Date | Filing Date | Title |
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| KR1019980033927A KR20000014478A (en) | 1998-08-21 | 1998-08-21 | Received frequency discriminating device of forward object in car forward radar sensor method |
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| KR1019980033927A KR20000014478A (en) | 1998-08-21 | 1998-08-21 | Received frequency discriminating device of forward object in car forward radar sensor method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020086786A (en) * | 2001-05-11 | 2002-11-20 | 엘지이노텍 주식회사 | Radar system for preventing impact of vehicle |
| KR20230019687A (en) | 2021-08-02 | 2023-02-09 | 황영상 | Boat carrier for manufacturing semiconductor package |
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1998
- 1998-08-21 KR KR1019980033927A patent/KR20000014478A/en not_active Application Discontinuation
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020086786A (en) * | 2001-05-11 | 2002-11-20 | 엘지이노텍 주식회사 | Radar system for preventing impact of vehicle |
| KR20230019687A (en) | 2021-08-02 | 2023-02-09 | 황영상 | Boat carrier for manufacturing semiconductor package |
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