US20160238694A1 - Radar device - Google Patents

Radar device Download PDF

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Publication number
US20160238694A1
US20160238694A1 US15/004,863 US201615004863A US2016238694A1 US 20160238694 A1 US20160238694 A1 US 20160238694A1 US 201615004863 A US201615004863 A US 201615004863A US 2016238694 A1 US2016238694 A1 US 2016238694A1
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Prior art keywords
interference
radar device
radar
unit
transmission
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US15/004,863
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English (en)
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Takaaki Kishigami
Tadashi Morita
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Panasonic Intellectual Property Management Co Ltd
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Panasonic Intellectual Property Management Co Ltd
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Assigned to PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD. reassignment PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KISHIGAMI, TAKAAKI, MORITA, TADASHI
Publication of US20160238694A1 publication Critical patent/US20160238694A1/en
Priority to US16/206,462 priority Critical patent/US10509103B2/en
Abandoned legal-status Critical Current

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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
    • G01S7/40—Means for monitoring or calibrating
    • 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
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
    • 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
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G01S7/0232—Avoidance by frequency multiplex
    • 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
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G01S7/0233—Avoidance by phase multiplex
    • 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
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G01S7/0234—Avoidance by code multiplex
    • 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
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/292—Extracting wanted echo-signals
    • 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
    • G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
    • 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
    • G01S2013/0236—Special technical features
    • G01S2013/0245—Radar with phased array antenna

Definitions

  • the present disclosure relates to a radar device that detects interference.
  • radar transmission units are required to have a transmission configuration that transmits pulse waves or pulse modulated waves having low range sidelobe characteristics.
  • radar reception units are required to have a reception configuration that has a broad reception dynamic range.
  • Complementary codes can be generated as follows, for example.
  • the required reception dynamic range increases as the code length increases, with complementary codes, the peak sidelobe ratio (PSR) can be reduced with a shorter code length. Therefore, the dynamic range required for reception can be reduced even in the case where a plurality of reflected waves from near-distance targets and far-distance targets are mixed.
  • PSR peak sidelobe ratio
  • interference among the radar devices occurs when a positional relationship develops in which the detection areas of the plurality of radar devices overlap. In other words, a relationship develops in which the radio waves output by a certain radar device are received by another radar device. Interference between the radar devices become strong interference as the positional relationship between the radar devices becomes closer (in other words, as the distance therebetween decreases), the non-detection rate or the erroneous detection rate increases for targets that should originally be detected, and deterioration in detection performance increases.
  • Japanese Unexamined Patent Application Publication No. 2006-220624 discloses a device that determines interference from another radar device mounted in a vehicle. With vehicle-mounted radar, the detection area changes as the vehicle travels. In the case where the frequency bands of output radio waves are the same or some of the bands overlap between vehicle-mounted radar devices mounted in a plurality of vehicles, interference occurs when a positional relationship develops in which the detection areas overlap.
  • Japanese Unexamined Patent Application Publication No. 2006-220624 discloses a configuration that is a reception configuration for a frequency modulated continuous wave (hereinafter referred to as FMCW) radar device and detects interference from another FMCW radar device.
  • An FMCW radar device uses frequency spectrum data of obtained beat signals to obtain an integral strength value in a prescribed frequency range, and determines that interference with another radar device has occurred in the case where the integral strength value exceeds an interference determination threshold value.
  • reflected waves of radio waves output by the radar device are also included in the calculated strength integral value, and the amount thereof depends upon the situation such as the surrounding structures or the road surface. Therefore, in order to suppress erroneous interference determinations, it is necessary to set a determination threshold value to be sufficiently high, and there is a possibility of there being a decrease in interference detection sensitivity.
  • One non-limiting and exemplary embodiment provides a radar device that improves detection sensitivity for interference from another radar device.
  • the techniques disclosed here feature: a radar device provided with: a receiver which, in operation, receives one or more radar transmission signals transmitted from another radar device, in an interference measurement segment in which transmission of one or more radar transmission signals from the radar device is stopped; an A/D converting circuitry which, in operation, converts the one or more radar transmission signals from the other radar device received by the receiver from one or more analog signals into one or more digital signals; and an interference detecting circuitry which, in operation, performs a correlation calculation between each of the one or more discrete samples that are the one or more digital signals and a prescribed coefficient sequence to detect one or more prescribed frequency components included in the one or more digital signals, as one or more interference signal components.
  • FIG. 1 is a block diagram depicting the configuration of a radar device according to embodiment 1 of the present disclosure
  • FIG. 2 is a drawing depicting the way in which switching is performed between an interference measurement segment and a distance measurement segment;
  • FIG. 3 includes a drawing depicting radar transmission signals of distance measurement segments, and a drawing depicting radar transmission signals of interference measurement segments;
  • FIG. 4 is a block diagram depicting the internal configuration of an interference detection unit of FIG. 1 ;
  • FIG. 5 is a block diagram depicting the internal configuration of a frequency component extraction unit of FIG. 4 ;
  • FIG. 6 is a drawing depicting transmission timings of a radar transmission signal and reception timings of a reflected wave
  • FIG. 7 is a drawing depicting a relationship between the arrangement of reception antenna elements that make up an array antenna and an azimuth angle
  • FIG. 8 is a drawing depicting a relationship between a radar signal band and an interference wave-detection frequency component
  • FIG. 9 is a drawing depicting an FMCW modulated wave of another radar device.
  • FIG. 10 is a drawing depicting the output of an interference detection unit
  • FIG. 11 is a block diagram depicting the internal configuration of an interference detection unit according to embodiment 2 of the present disclosure.
  • FIG. 12 is a block diagram depicting the configuration of a radar device according to embodiment 3 of the present disclosure.
  • FIG. 13 is a block diagram depicting the configuration of a radar device according to modified example 1 of the present disclosure.
  • FIG. 14 is a block diagram depicting the internal configuration of a radar transmission signal generation unit according to modified example 2 of the present disclosure.
  • FIG. 1 is a block diagram depicting the configuration of a radar device 10 according to embodiment 1 of the present disclosure.
  • the radar device 10 is provided with a radar transmission unit 20 , a radar reception unit 30 , a reference signal generation unit 11 , a transmission control unit 12 , and an interference countermeasure control unit 13 .
  • the radar transmission unit 20 is provided with a radar transmission signal generation unit 21 , a transmission RF unit 25 , and a transmission antenna 26 .
  • the radar transmission signal generation unit 21 is provided with a code generation unit 22 , a modulation unit 23 , and a band control filter (denoted as “LPF” (low pass filter) in the drawing and hereinafter referred to as “LPF”) 24 .
  • j represents an imaginary unit
  • n represents a discrete timepoint
  • M represents an ordinal number for a radar transmission period.
  • the codes a n are generated in each radar transmission period Tr.
  • codes P n and Q n that constitute a pair are each generated alternately in each radar transmission period.
  • a code P n is transmitted as a pulse compression code a n in an M th radar transmission period Tr, and then a code Q n is transmitted as a pulse compression code b n in an M+1 th radar transmission period Tr.
  • transmission is repeatedly performed in the same way with M th to M+1 th radar transmissions serving as single units.
  • Autocorrelation calculations for each of the pulse compression codes a n and b n are given in the following expressions (1) and (2). When the results thereof are added with the shift times ⁇ thereof being consistent (see the following expression (3)), a correlation value is reached with which the range sidelobe is 0.
  • Complementary codes have the aforementioned properties.
  • the modulation unit 23 performs pulse modulation (amplitude modulation, ASK, pulse shift keying) or phase modulation (PSK) with respect to the code sequence output from the code generation unit 22 , and outputs to the LPF 24 .
  • pulse modulation amplitude modulation, ASK, pulse shift keying
  • PSK phase modulation
  • the LPF 24 outputs the modulated signal output from the modulation unit 23 , to the transmission RF unit 25 as a radar transmission signal of a baseband limited to within a prescribed band.
  • the transmission RF unit 25 converts the baseband radar transmission signal output from the radar transmission signal generation unit 21 into a carrier frequency (radio frequency: RF) band by frequency conversion. Furthermore, the transmission RF unit 25 amplifies the carrier frequency-band radar transmission signal to a prescribed transmission power P [dB] with a transmission amplifier and outputs to the transmission antenna 26 .
  • RF radio frequency
  • the transmission antenna 26 radiates the radar transmission signal output from the transmission RF unit 25 into a space.
  • the transmission control unit 12 performs transmission control that differs in accordance with two operation segments depicted in FIG. 2 , in other words, an interference measurement segment in which a radar transmission signal transmitted from another radar device is measured, and a distance measurement segment in which the distance to a target is measured.
  • FIG. 3 includes a drawing depicting radar transmission signals of distance measurement segments, and a drawing depicting radar transmission signals of interference measurement segments.
  • FIG. 3( a ) depicts radar transmission signals of distance measurement segments.
  • a radar transmission signal is present in a code transmission segment Tw of each radar transmission period Tr, and the segments (Tr ⁇ Tw) that remain are non-signal segments.
  • an Nu sample is included in the non-signal segments (Tr ⁇ Tw) in the radar transmission periods.
  • FIG. 3 includes a drawing depicting radar transmission signals of distance measurement segments, and a drawing depicting radar transmission signals of interference measurement segments.
  • FIG. 3( a ) depicts radar transmission signals of distance measurement segments.
  • a radar transmission signal is present in a code transmission segment Tw of each radar transmission period
  • 3( b ) depicts radar transmission signals of interference measurement segments. As depicted in FIG. 3( b ) , in the interference measurement segments, the transmission of radar transmission signals from the radar device 10 is stopped and a state in which codes are not transmitted is entered for a prescribed number of radar transmission periods.
  • the transmission control unit 12 performs transmission control in which interference measurement segments serve as N IM number of code transmission periods, distance measurement segments serve as N RM number of code transmission periods, and switching is performed therebetween.
  • the radar reception unit 30 is mainly provided with antenna system processing units 30 a to 30 d that correspond to the number of reception antennas that make up an array antenna, and a direction estimation unit 43 .
  • the antenna system processing units 30 a to 30 d are each provided with a reception antenna 31 , a reception RF unit 32 , and a signal processing unit 36 .
  • the reception antenna 31 receives a signal produced by a radar transmission signal transmitted from the radar transmission unit 20 being reflected by a reflecting object including the target. A radar reception signal received by the reception antenna 31 is output to the reception RF unit 32 .
  • the reception RF unit 32 is provided with an amplifier 33 , a frequency conversion unit 34 , and a quadrature detection unit 35 .
  • the amplifier 33 performs signal amplification with respect to the radar reception signal received by the reception antenna 31 , and outputs to the frequency conversion unit 34 .
  • the frequency conversion unit 34 converts the radio-frequency radar reception signal output from the amplifier 33 into a low-frequency radar reception signal, and outputs to the quadrature detection unit 35 .
  • the quadrature detection unit 35 performs quadrature detection with respect to the low-frequency radar reception signal output from the frequency conversion unit 34 , and performs conversion into baseband signals made up of an I signal and a Q signal.
  • the I signal is output to an A/D conversion unit 37 a of the signal processing unit 36
  • the Q signal is output to an A/D conversion unit 37 b of the signal processing unit 36 .
  • a timing clock signal of the signal processing unit 36 for the baseband signals is generated as a timing clock of a prescribed multiple using a reference signal from the reference signal generation unit 11 in the same way as with the radar transmission signal generation unit 21 .
  • the signal processing unit 36 is provided with the A/D conversion units 37 a and 37 b , a correlation calculation unit 40 , an integration unit 41 , a Doppler frequency analysis unit 42 , an interference detection unit 38 , and an interference determination unit 39 .
  • the A/D conversion units 37 a and 37 b perform sampling at discrete times with respect to the baseband signals made up of the I signals and the Q signals output from the quadrature detection unit 35 , and perform conversion into digital data.
  • the A/D conversion units 37 a and 37 b output the converted digital data to the correlation calculation unit 40 and the interference detection unit 38 .
  • the interference detection unit 38 detects one or more interference signal components in an interference measurement segment on the basis of a control signal from the transmission control unit 12 , and outputs the detected one or more interference signal components to the interference determination unit 39 .
  • FIG. 4 is a block diagram depicting the internal configuration of the interference detection unit 38 of FIG. 1 .
  • a frequency component extraction unit 51 extracts one or more interference signal components in a specific frequency component included within the baseband band of the radar signals used by the radar device 10 , and outputs to a square calculation unit 52 .
  • the square calculation unit 52 squares the one or more interference signal components output from the frequency component extraction unit 51 , and outputs to the interference determination unit 39 .
  • the frequency component extraction unit 51 in order to extract a specific frequency component included within the baseband band of the radar signals used by the radar device 10 , performs a correlation calculation between a discrete sample x(k, M), which is the digital data output from the A/D conversion units 37 a and 37 b , and a coefficient sequence FS n for extracting the specific frequency component (see expression (4)).
  • L_FS is the sequence length of the coefficient sequence FS n .
  • a 1 ⁇ 4 th positive frequency component is extracted from a sampling frequency Ns/Tp of the A/D conversion units 37 a and 37 b , and thus a specific frequency component Ns/(4Tp) can be extracted.
  • the frequency component extraction unit 51 which uses the coefficient sequence FS n indicated in expression (5), can be realized with the configuration depicted in FIG. 5 .
  • the frequency component extraction unit 51 depicted in FIG. 5 is provided with delayers 61 a to 61 c , coefficient multipliers 62 a to 62 d , and an adder 63 .
  • the delayers 61 a to 61 c delay input data and output delayed data.
  • the delayer 61 a delays the complex number made up of the I signal and the Q signal output from the A/D conversion units 37 a and 37 b , and outputs a delayed discrete sample to the coefficient multiplier 62 b and the delayer 61 b .
  • the delayer 61 b delays the output from the delayer 61 a , and outputs delayed data to the coefficient multiplier 62 c and the delayer 61 c .
  • the delayer 61 c delays the output from the delayer 61 b , and outputs a digit of delayed data to the coefficient multiplier 62 d.
  • the coefficient multiplier 62 a multiplies the discrete sample output from the A/D conversion units 37 a and 37 b by a coefficient 1, and outputs the multiplication result to the adder 63 .
  • the coefficient multiplier 62 b multiplies the data output from the delayer 61 a by a coefficient j, and outputs the multiplication result to the adder 63 .
  • the coefficient multiplier 62 c multiplies the data output from the delayer 61 b by a coefficient ⁇ 1, and outputs the multiplication result to the adder 63 .
  • the coefficient multiplier 62 d multiplies the data output from the delayer 61 c by a coefficient ⁇ j, and outputs the multiplication result to the adder 63 .
  • j is an imaginary unit.
  • the adder 63 adds the multiplication results output from the coefficient multiplier 62 a to 62 d , and outputs the addition result to the square calculation unit 52 .
  • a 1 ⁇ 4 th negative frequency component is extracted from the sampling frequency Ns/Tp of the A/D conversion units 37 a and 37 b , and therefore a specific frequency component ⁇ Ns/(4Tp) can be extracted.
  • a 1 ⁇ 8 th positive frequency component is extracted from the sampling frequency Ns/Tp of the A/D conversion units 37 a and 37 b , and therefore a specific frequency component Ns/(8Tp) can be extracted.
  • a 1 ⁇ 8 th negative frequency component is extracted from the sampling frequency Ns/Tp of the A/D conversion units 37 a and 37 b , and therefore a specific frequency component ⁇ Ns/(8Tp) can be extracted.
  • n 1, . . . , 2G.
  • n 1, . . . , 2G.
  • detection sensitivity can be improved by additionally repeatedly using any of the aforementioned coefficient sequences.
  • the detection sensitivity for the specific frequency component can be increased N times when that coefficient sequence is repeated N times (an SNR improvement of 10 log 10 (N) [dB]).
  • the detection sensitivity for the specific frequency component ⁇ Ns/(4Tp) can be doubled.
  • the interference determination unit 39 determines whether or not the one or more interference signal components output from the interference detection unit 38 in an interference measurement segment exceeds a prescribed determination level.
  • the interference determination unit 39 determines that an interference component is not present in the case where each of the one or more interference signal components is equal to or less than the determination level, and determines that an interference component is present in the case where any of the one or more interference signal components exceeds the determination level.
  • the interference detection unit 38 and the interference determination unit 39 are provided in at least one antenna system processing unit from among a first antenna system processing unit to an Na th antenna system processing unit.
  • the interference countermeasure control unit 13 performs interference countermeasure control in the subsequent distance measurement segment on the basis of the interference determination result output from the interference determination unit 39 in the interference measurement segment.
  • control that uses any of the following or a combination thereof is applied in the subsequent distance measurement segment to perform radar transmission/reception operations in the distance measurement segment.
  • the interference countermeasure control unit 13 performs control that changes the carrier frequency of the radar device 10 .
  • the transmission carrier frequency of the transmission RF unit 25 is changed.
  • the transmission carrier frequency changed by the transmission RF unit 25 is received also by the reception RF unit 32 .
  • the frequency is changed by performing control that shifts a preset frequency interval.
  • control may be performed that, as the detected one or more interference signal components increase in number, widens the frequency interval that is used when the frequency is changed. It thereby becomes possible for the one or more interference signal components to be reduced or suppressed more effectively.
  • the interference countermeasure control unit 13 performs control that changes the beam direction to a downward direction for a prescribed time interval.
  • the interference countermeasure control unit 13 performs control that, for a prescribed time interval, increases the code length of the radar transmission signals used by the radar device 10 .
  • the correlation calculation unit 40 in the distance measurement segment following interference detection and interference countermeasure control in an interference measurement segment, performs a correlation calculation between a discrete sample x(k, M) output from the A/D conversion units 37 a and 37 b at each radar transmission period and a pulse compression code a n of the code length L that is transmitted.
  • n 1, . . . , L.
  • a sliding correlation calculation in an M th radar transmission period is performed on the basis of the following expression (11), for example.
  • AC(k, M) indicates a correlation calculation value of a discrete timepoint k.
  • measurement is not performed in a time segment that corresponds to a code transmission segment, and even in a case such as when a radar transmission signal directly enters the radar reception unit 30 , it becomes possible to perform measurement with the effect thereof having been eliminated.
  • the following processing also similarly applies processing in which the measurement range (range of k) is limited.
  • the integration unit 41 On the basis of the correlation calculation value AC(k, M), which is an output of the correlation calculation unit 40 for each discrete timepoint k, the integration unit 41 performs Np number of summations for a period (Tr ⁇ Np), which is a plural Np number of the radar transmission periods Tr, in accordance with the following expression (12).
  • Np is an integer value that is equal to or greater than 1.
  • the integration unit 41 performs summation Np plurality of times with single units being constituted by the output of the correlation calculation unit 40 obtained with the radar transmission periods Tr serving as units.
  • a correlation value CI(k, m) that is added with the timings of the discrete timepoints k being aligned is calculated at each discrete timepoint k with AC(k, Np(m ⁇ 1)+1) to AC(k, Np ⁇ m) serving as units.
  • m is a natural number.
  • the SNR can be increased and the measurement performance relating to estimating the arrival distance of the target can be improved, in a range in which reception signals of reflected waves from the target have a high correlation, in a time range in which addition is performed Np times.
  • a condition with which the phase components are within a certain range for a segment in which addition is performed is required in order for an ideal addition gain to be obtained, and the number of times that addition is to be applied is set on the basis of an assumed maximum movement speed of the target to be measured. This is because, as the assumed maximum speed of the target increases, the time period in which time correlation is high becomes shorter due to the influence of Doppler frequency fluctuations included in the reflected waves from the target, the Np becomes a small value, and the gain improvement effect brought about by addition decreases.
  • FT_CI Nant (k, fs, w) is the w th output by the Doppler frequency analysis unit 42 , and indicates a coherent integration result of the Doppler frequencies fs ⁇ at the discrete timepoints k, in the Nant th antenna system processing unit.
  • Nant 1 to Na
  • w is a natural number
  • ⁇ is a phase rotation unit.
  • FT_CI Nant (k, Nf ⁇ 1, w), which are coherent integration results that correspond to 2Nf number of Doppler frequency components of each discrete timepoint k, are obtained for each period (Tr ⁇ Np ⁇ Nc), which is a plural Np ⁇ Nc number of the radar transmission periods Tr.
  • the outputs FT_CI 1 (k, fs, w), ⁇ , FT_CI Na (k, fs, w) from the Doppler frequency analysis unit 42 obtained by the same processing being respectively carried out in the first antenna system processing unit to the Na th antenna system processing unit is collectively denoted as a correlation vector h(k, fs, w), and is used to describe processing in which direction estimation based on phase differences among reception antennas is performed with respect to reflected waves from the target.
  • a correlation vector may be calculated with one of the plurality of antenna system processing units serving as a reference phase.
  • the correlation vector h(k, fs, w) from the W th number-y Doppler frequency analysis unit 42 output from the first antenna system processing unit to the Na th antenna system processing unit is corrected with respect to phase deviation and amplitude deviation among the antenna system processing units using an array correction value, and a correlation vector h_after_cal(k, fs, w) in which these corrections have been performed is used to perform direction estimation processing based on the phase differences among reception antennas of arriving reflected waves.
  • an azimuth direction ⁇ indicated in the following expression (17) is made variable using the correlation vector h_after_cal(k, fs, w) in which phase deviation and amplitude deviation have been corrected, with respect to each discrete timepoint k and each Doppler frequency fs ⁇ , or discrete timepoints k and Doppler frequencies fs ⁇ with which the norm of h_after_cal(k, fs, w) or the square value thereof becomes equal to or greater than a prescribed value.
  • a direction estimation evaluation function value P( ⁇ , k, fs, w) is then calculated, and the azimuth direction with which the largest value thereof is obtained is taken as an arrival direction estimation value DOA(k, fs, w).
  • u 1, . . . , NU.
  • arg max P(x) is an operator with which the value of a domain having the largest function value P(x) is taken as an output value.
  • the evaluation function value P( ⁇ , k, fs, w) is an evaluation function value of various kinds according to the arrival direction estimation algorithm.
  • an estimation method that uses an array antenna disclosed in the literature (‘Direction-of-Arrival Estimation Using Signal Subspace Modeling’, J. A. Cadzow, Aerospace and Electronic Systems, IEEE Transactions, volume 28, issue 1, publication year: 1992, pages 64-79) can be used, and a beam forming method can be represented by the following expression (18).
  • h_after_cal(k, fs, w) is a correlation matrix, and is given by the following expression (19).
  • the direction estimation unit 43 uses the discrete timepoint k, the Doppler frequencies fs ⁇ , and the evaluation function value P(DOA(k, fs, w), k, fs, w) of that time as radar positioning results.
  • a direction vector a( ⁇ u ) is an Na th order column vector in which a complex response of an array antenna in the case where radar reflected waves have arrived from an ⁇ u direction are taken as elements.
  • the array antenna complex response a( ⁇ u ) represents a phase difference that is geometric-optically calculated at element intervals among antennas. For example, in the case where the element intervals of the array antenna are arranged at equal intervals d on a straight line (see FIG. 7 ), a direction vector can be given by the following expression (20).
  • a ⁇ ( ⁇ u ) [ 1 exp ⁇ ⁇ j ⁇ ⁇ 2 ⁇ ⁇ ⁇ ⁇ d ⁇ ⁇ sin ⁇ ⁇ ⁇ u / ⁇ ⁇ ⁇ exp ⁇ ⁇ j ⁇ ⁇ 2 ⁇ ⁇ ⁇ ⁇ ( N a - 1 ) ⁇ d ⁇ ⁇ sin ⁇ ⁇ ⁇ u / ⁇ ⁇ ] ( 20 )
  • floor(x) is a function that outputs the largest integer value that does not exceed a real number x.
  • timepoint information may be converted into distance information and output.
  • the following expression (21) is used when the discrete timepoint k is converted into distance information R(k).
  • Tw represents a code transmission segment
  • L represents a pulse code length
  • C0 represents light speed.
  • Doppler frequency information may be converted into a relative speed component and output.
  • the following expression (22) is used when the Doppler frequency fs ⁇ is converted into a relative speed component vd(fs).
  • ⁇ is the wavelength of a carrier frequency of an RF signal output from the transmission RF unit 25 .
  • another radar device that uses FMCW uses the same carrier frequency as the radar device 10 to, as depicted in FIG. 9 , perform 1-GHz frequency sweeping every 10 ⁇ s, and cause interference to the radar device 10 .
  • FIG. 10 The result of the case where an interference wave level is approximately the same as the noise level of the radar device 10 is depicted in FIG. 10 . From FIG. 10 , it is apparent that the output level according to the interference detection unit 38 increases at a reception timing at which the sweeping frequency of the other radar device that uses FMCW becomes 250 MHz. Detection sensitivity can also be additionally improved by increasing the number of times that the coefficient sequence with which the frequency component of the interference signal is detected is repeated.
  • an interference measurement segment in which a radar transmission signal is not transmitted in the radar transmission unit 20 , and, in the radar reception unit 30 , detection of a specific frequency component within the passband of the radar device 10 is performed in the interference measurement segment for one or more interference signal components to be detected.
  • the FMCW wave is frequency-modulated and therefore has the property that a transmitted frequency component changes, and therefore, by detecting the specific frequency component within the passband of the radar device in the interference measurement segment, it becomes possible to detect interference from the other radar device.
  • detection sensitivity can be increased by increasing the number of times that a coefficient sequence for extracting the specific frequency component of the interference detection unit 38 is repeated.
  • the interference detection unit 38 can extract the specific frequency component by way of a simple circuit configuration without using frequency analysis processing represented by fast Fourier transform processing, and interference detection can be realized.
  • frequency sweeping periods of another radar device that uses FMCW there is a type in which frequency sweeping is performed at comparatively fast intervals such as of the order of several tens of microseconds (fast frequency modulation type), and a type in which frequency sweeping is performed at comparatively slow periods such as of the order of milliseconds or the order of several tens of milliseconds.
  • the interference measurement segment of the radar device 10 is longer than the frequency sweeping period of the other radar device that uses FMCW, and a frequency component included within the signal band of the radar device 10 is included within the frequency range in which the other radar device performs frequency sweeping, detection becomes possible in one interference measurement segment.
  • the other radar device Even in the case where the interference measurement segment of the radar device 10 is shorter than the frequency sweeping period of the other radar device that uses FMCW, and a frequency component included within the signal band of the radar device 10 is included within the frequency range in which the other radar device performs frequency sweeping, the other radar device sometimes sweeps a frequency component that is included within the signal band of the radar device 10 in a distance measurement segment, and there is a possibility of interference signal detection failing in the interference measurement segment.
  • the probability of detecting an interference wave can be increased by using, in the interference detection unit 38 , a configuration that detects a plurality of specific frequency components included within a signal band.
  • FIG. 11 depicts a configuration for the interference detection unit 38 with which two frequency components are detected as specific frequency components.
  • Positive/negative frequency components may be used as a first frequency component and a second frequency component.
  • a first frequency component extraction unit 51 using ⁇ FS 1 , FS 2 , FS 3 , FS 4 ⁇ ⁇ 1, j, ⁇ 1, ⁇ j ⁇
  • a second frequency component extraction unit 71 using ⁇ FS 1 , FS 2 , FS 3 , FS 4 ⁇ ⁇ 1, ⁇ j, ⁇ 1, j ⁇
  • specific positive/negative frequency components ⁇ Ns/(2Tp) can be extracted.
  • the probability of detecting an interference wave can be increased by providing an interference detection unit 38 that detects approximately D number of frequency components in substantially equal frequency intervals within the signal band of the radar device 10 .
  • FIG. 12 is a block diagram depicting the configuration of a radar device 80 according to embodiment 3 of the present disclosure.
  • FIG. 12 is different from FIG. 1 in that the interference countermeasure control unit 13 has been removed, the correlation calculation unit 40 has been changed to a correlation calculation unit 81 , the integration unit 41 has been changed to an integration unit 82 , the direction estimation unit 43 has been changed to a direction estimation unit 85 , and a second integration unit 83 and a respective-angle interference component detection unit 84 have been added.
  • the correlation calculation unit 81 performs a correlation calculation in the same way as the correlation calculation unit 40 in interference measurement segments in addition to distance measurement segments.
  • the integration unit 82 also performs addition processing in the same way as the integration unit 41 in interference measurement segments in addition to distance measurement segments.
  • the second integration unit 83 performs coherent integration with respect to with floor(N IM /Np) number of outputs from the integration unit 82 obtained at each discrete timepoint k, with the timings of the discrete timepoints k being aligned.
  • floor(x) is a function that outputs the largest integer that is equal to or less than a real number x.
  • the second integration unit 83 outputs a coherent integrated result CCI(k) to the respective-angle interference component detection unit 84 .
  • the respective-angle interference component detection unit 84 uses collected outputs CCI(k) from the second integration unit 83 obtained by the same processing being respectively carried out in the first antenna system processing unit to the Na th antenna system processing unit as correlation vectors given in the following expressions (23) and (24) to perform direction estimation based on phase differences between reception antennas with respect to reflected waves from a target, and calculates an interference component for each beam angle (hereinafter referred to as a “respective-angle interference component”) PI( ⁇ u ).
  • calculation processing that uses the described beam forming method is performed in the direction estimation unit 85 .
  • one or more interference signal components are detected in a substantially uniform manner regardless of the discrete timepoints k, and therefore detection sensitivity for one or more interference signal components can be increased by, in expressions (23) and (24), addition processing being performed at the discrete timepoints k (in other words, the distance direction). For example, by performing addition processing for N number of samples with respect to the discrete timepoints k (in other words, the distance direction), a 5 log 10 (N) [dB] SNR improvement is achieved. For example, by performing addition processing with respect to 512 samples, an SNR improvement of approximately 13 dB can be achieved.
  • the respective-angle interference component detection unit 84 In the case where it is determined that the output from the interference determination unit 39 in an interference measurement segment includes an interference component, the respective-angle interference component detection unit 84 outputs respective-angle interference components PI( ⁇ u ) to the direction estimation unit 85 . On the other hand, in the case where it is determined that the output from the interference determination unit 39 does not include an interference component, the respective-angle interference component detection unit 84 outputs the respective-angle interference components PI( ⁇ u ) all as zero to the direction estimation unit 85 .
  • the direction estimation unit 85 in a distance measurement segment, sets a determination threshold value for each angle on the basis of the respective-angle interference components PI( ⁇ u ) detected in the interference measurement segment, with respect to the calculated w th arrival direction estimation value DOA(k, fs, w), the discrete timepoint k thereof, the Doppler frequency fs ⁇ , and the evaluation function value P(DOA(k, fs, w), k, fs, w).
  • the direction estimation unit 85 outputs the calculated w th arrival direction estimation value DOA(k, fs, w) as the signal of the target detected by the radar device 80 .
  • ⁇ is a prescribed coefficient value.
  • an interference component for each angle can be detected, and a detection determination threshold value can be variably set for each angle on the basis of the interference power for each angle.
  • a detection determination threshold value can be variably set for each angle on the basis of the interference power for each angle.
  • FIG. 13 is a drawing in which the interference detection unit 38 and the interference determination unit 39 have been removed from FIG. 12 .
  • the radar transmission signal generation unit 21 is not limited to the configuration depicted in FIG. 1 , and may have the configuration depicted in FIG. 14 .
  • the radar transmission signal generation unit 21 of FIG. 14 is provided with a code storage unit 91 and a D/A conversion unit 92 .
  • the code storage unit 91 stores code sequences in advance, and sequentially and cyclically reads out the stored code sequences and outputs to the D/A conversion unit 92 .
  • the D/A conversion unit 92 converts a digital signal output from the code storage unit 91 into an analog baseband signal and outputs to the transmission RF unit 25 .
  • a radar device is provided with: a receiver which, in operation, receives one or more radar transmission signals transmitted from another radar device, in an interference measurement segment in which transmission of one or more radar transmission signals from the radar device is stopped; an A/D conversion circuitry which, in operation, converts the one or more radar transmission signals from the other radar device received by the receiver from one or more analog signals into one or more digital signals; and an interference detection circuitry which, in operation, performs a correlation calculation between each of the one or more discrete samples that is the one or more digital signals and a prescribed coefficient sequence to detect one or more prescribed frequency components included in the one or more digital signal, as one or more interference signal components.
  • the radar device is the radar device of the first disclosure, in which the interference detection circuitry performs the correlation calculation using a coefficient sequence in which the prescribed coefficient sequence is repeated.
  • the radar device is the radar device of the first disclosure, further provided with a transmitter which, in operation, stops the transmission of the one or more radar transmission signals in the interference measurement segment, and transmits the one or more radar transmission signals in a distance measurement segment in which the distance from the radar device to a target is measured.
  • the radar device is the radar device of the third disclosure, further provided with a transmission control circuitry which, in operation, periodically switches between the interference measurement segment and the distance measurement segment.
  • the radar device is the radar device of the first disclosure, further provided with interference determination circuitry that compares the detected each of the one or more interference signal components with a prescribed determination level in the interference measurement segment, determines that one or more interference components are not present when each of the one or more interference signal components is equal to or less than the determination level, and determines that the one or more interference components are present when any of the one or more interference signal components exceed the determination level.
  • the radar device is the radar device of the fifth disclosure, further provided with an interference countermeasure control circuitry which, in operation, based on the interference determination result detected in the interference measurement segment, performs interference countermeasure control in the subsequent distance measurement segment.
  • the radar device is the radar device of the sixth disclosure, in which the interference countermeasure control circuitry changes a carrier frequency of the radar device.
  • the radar device is the radar device of the sixth disclosure, in which the interference countermeasure control circuitry changes the directivity of an antenna of the radar device for a prescribed time interval.
  • the radar device is the radar device of the sixth disclosure, in which the interference countermeasure control circuitry increases a code length of the one or more radar transmission signals in the distance measurement segment for a prescribed time interval.
  • the radar device is the radar device of the first disclosure, in which the prescribed coefficient sequence includes a coefficient sequence ⁇ 1, ⁇ j, ⁇ 1, j ⁇ (in which j is an imaginary unit).
  • each function block used in the description of each of the aforementioned embodiments is typically realized as an LSI, which is an integrated circuit having an input terminal and an output terminal. These may be implemented separately as single chips or may be implemented as a single chip in such a way as to include some or all of the functional blocks.
  • An LSI has been mentioned here, but a function block may be referred to as an IC, a system LSI, a super LSI, or an ultra LSI depending on the difference in the degree of integration.
  • circuit integration technique is not limited to an LSI, and a function block may be realized using a dedicated circuit or a general-purpose processor.
  • a field-programmable gate array FPGA
  • reconfigurable processor with which the connections and settings of circuit cells within an LSI can be reconfigured, may be used.
  • circuit integration technology that replaces LSI appears as a result of another technology that is an advancement in semiconductor technology or is derived therefrom, naturally, the other technology may be used to carry out the integration of function blocks.
  • the application and so forth of biotechnology is also a possibility.
  • a radar device can be applied to a moving body including a vehicle.

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