WO2003102623A1 - Radar - Google Patents
Radar Download PDFInfo
- Publication number
- WO2003102623A1 WO2003102623A1 PCT/JP2003/006373 JP0306373W WO03102623A1 WO 2003102623 A1 WO2003102623 A1 WO 2003102623A1 JP 0306373 W JP0306373 W JP 0306373W WO 03102623 A1 WO03102623 A1 WO 03102623A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- pair
- frequency
- degree
- signal
- stationary object
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
-
- 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
- G01S13/345—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using triangular modulation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
-
- 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
- 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
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/356—Receivers involving particularities of FFT processing
Definitions
- the present invention relates to a radar for detecting a target by transmitting and receiving radio waves obtained by frequency-modulating a continuous wave.
- FM-CW radars using millimeter waves have been developed as, for example, automotive radars. 1 / 1-Ji ⁇ ⁇
- the radar detects a target by transmitting and receiving a radio wave obtained by frequency-modulating (F M) a continuous wave (C W). That is, a transmission signal that repeats an upper re-modulation section in which the frequency gradually increases and a down modulation section in which the frequency gradually decreases is transmitted, and a reception signal including a reflected signal from the target is received.
- the relative distance and relative speed of the target are obtained based on the frequency spectrum of a bit signal, which is a signal of the frequency difference between the signal and the received signal. Further, the above operation is performed for one beam pointing in a predetermined azimuth, and the azimuth of the target distributed in the predetermined azimuth angle range is obtained by sequentially changing the beam azimuth.
- the target is a single target
- a single protrusion is generated in the frequency spectrum of the beat signal based on the reflected wave from the target in the up modulation section and the down modulation section.
- the peak frequency of the protruding portion is defined as the frequency of the beat signal in the up-modulation section (hereinafter referred to as “up-beat frequency J”) and the frequency of the beat signal in the down-modulation section (hereinafter referred to as “down-beat frequency j”). )
- up-beat frequency J the frequency of the beat signal in the up-modulation section
- down-beat frequency j the frequency of the beat signal in the down-modulation section
- Japanese Patent Application Laid-Open No. 7-983755 discloses a radar in which a target having the same relative speed as the vehicle speed is determined as a stationary object.
- Japanese Patent Application Laid-Open No. 5-232214 discloses a radar that determines a stationary object when the frequency spectrum of the beat signal is wide at the same relative speed as the vehicle speed.
- Japanese Patent Laid-Open No. H11-111 presents a radar that determines that a continuous roadside object is present when a peak above a predetermined density exists in the frequency spectrum of the beat signal. It has been.
- Japanese Patent Application Laid-Open No. 2000-147071 discloses a radar in which data based on a stationary object is estimated from past stationary object position data.
- J Japanese Patent Application Laid-Open No. 2000-147071
- the radar in (3) cannot detect a narrow target in the azimuth direction as a roadside object, such as a road sign or some type of support.
- the present invention transmits a transmission signal in which an up-modulation section in which the frequency gradually increases and a down-modulation section in which the frequency gradually decreases repeatedly transmit in a triangular waveform, and includes a reflected signal from a target. Transmitting and receiving means for receiving a received signal;
- Frequency analysis means for obtaining data on a frequency spectrum of a bit signal that is a signal of a frequency difference between the transmission signal and the reception signal;
- a first protrusion that appears in the frequency spectrum of the beat signal in the up-modulation section and is caused by the same target, and a second protrusion that appears in the frequency spectrum of the beat signal in the lower-modulation section A pair extracting means for extracting a pair with the protrusion
- the pair extracting means calculates, based on the moving speed data, a frequency difference of a protruding portion appearing in a frequency spectrum of a bit signal between an up-modulation section and a down-modulation section corresponding to a stationary object. In addition, a pair corresponding to the frequency difference is preferentially extracted.
- the pair extracting means the degree of coincidence of the signal intensities of the first projecting portion and the second projecting portion is determined, and a pair is extracted with priority given to a combination having a high degree of matching. A higher weight is assigned to the degree of coincidence of the signal strength for the pair having the frequency difference.
- the present invention further comprises a scanning unit for changing a beam direction of the transmission signal over a predetermined scanning range, and the pair extracting unit obtains a degree of coincidence between directions of the first protrusion and the second protrusion, Pairs are extracted by giving priority to combinations with a high degree of matching, and the relationship between frequency differences corresponding to stationary objects is determined.
- ⁇ ⁇ It is characterized by giving higher weight to the degree of matching for the pair to be engaged.
- the pair extracting means obtains a correlation degree of a signal intensity profile in an azimuth direction between the first protrusion and the second protrusion, and extracts a pair by giving priority to a combination having a high correlation.
- the feature is that a high degree of correlation is given to the degree of correlation for a pair having a frequency difference relationship corresponding to a stationary object.
- the present invention is characterized in that when a predetermined number of pairs having a frequency difference relationship corresponding to a stationary object are consecutive in the azimuth direction or the distance direction, a means for determining them as a continuous stationary object is provided. I have.
- the present invention is characterized in that, when a pair having a frequency difference relationship corresponding to a stationary object is detected in the region where the continuous stationary object is present, means for determining that the extraction of the pair is erroneous is provided.
- the present invention is characterized in that, for a target detected farther than the continuous stationary object, means for preventing the detection result from being output is provided.
- FIG. 1 is a block diagram showing the configuration of a radar.
- FIG. 2 is a diagram illustrating an example of a frequency difference between beat signals generated in an uplink modulation section and a lower modulation section of the radar.
- FIG. 3 is a diagram showing examples of various targets existing in front of the host vehicle.
- FIG. 4 is a diagram illustrating an example of a frequency spectrum of a beat signal in an upper modulation section and a downlink modulation section.
- FIG. 5 is a flowchart showing a processing procedure of the radar.
- FIG. 6 is a diagram showing a state of a vehicle ahead of the own vehicle and an example of a frequency spectrum.
- FIG. 7 is a diagram illustrating an example of a difference in signal strength of a protruding portion appearing in a frequency spectrum of a beat signal in an upper modulation section and a downlink modulation section.
- FIG. 8 is a diagram showing an example of a beam azimuth of a protrusion appearing in a frequency spectrum of a beat signal and a distribution on a frequency axis.
- FIG. 9 is a diagram showing an example of a signal intensity profile in the azimuth direction of the protrusion group.
- FIG. 10 is a diagram showing an example of a continuous stationary object and its existing area.
- FIG. 11 is a diagram illustrating an example of a moving object that is pseudo-detected in a continuous stationary object region.
- FIG. 12 is a diagram showing an example of a positional relationship between a region of a continuous stationary object and other detected targets.
- FIG. 13 is a flowchart showing a processing procedure for a continuous stationary object. Best to practice the invention _ ._J
- FIG. 1 shows a configuration of a radar according to an embodiment of the present invention as a block diagram.
- 1 is an RF block
- 2 is a signal processing block.
- the RF block 1 transmits and receives radio waves for radar measurement, and outputs a beat signal of the transmitted wave and the received wave to the signal processing block 2.
- the modulation counter 11 of the signal processing block 2 performs counting for generating a triangular wave signal from the DA converter 10 as a result, and outputs the value to the DA converter 10.
- the DA converter 10 converts the analog voltage signal into an analog voltage signal and supplies the analog voltage signal to a VCO (voltage controlled oscillator) 8 of the RF block 1.
- VCO voltage controlled oscillator
- the transmission wave is FM-modulated. That is, the oscillation signal of the VCO 8 is supplied to the primary radiator 4 via the isolator 7, the power bra 6, and the circuit 5.
- the primary radiator 4 is located at or near the focal plane of the dielectric lens 3, and the dielectric lens 3 transmits a millimeter wave signal radiated from the primary radiator 4 as a sharp beam.
- a reflected wave from a target enters the primary radiator 4 via the dielectric lens 3
- the received signal is guided to the mixer 9 via the sacrificial filter 5.
- the mixer 9 receives the received signal and the local signal, which is a part of the transmission signal from the power blur 6, and converts a beat signal corresponding to the frequency difference signal into an intermediate frequency signal to the signal processing block 2, Output to AD converter overnight.
- the A / D converter 12 converts this into digital data.
- the DSP (Digital Signal Processing Device) 13 processes the data sequence input from the AD converter 12 by FFT (Fast Fourier Transform) to calculate the relative distance and relative speed of the target as described later.
- FFT Fast Fourier Transform
- the portion indicated by 16 in the RF block 1 is a scan unit that translates the primary radiator 4 in the focal plane of the dielectric lens 3 or in a plane parallel thereto.
- a 0 dB force bra is configured between the movable part provided with the primary radiator 4 and the fixed part side.
- the portion indicated by M indicates the driving motor. By this mode, beam scanning is performed in a range of 110 degrees to +10 degrees at a period of 100 ms, for example.
- Reference numeral 14 in the signal processing block 2 denotes a microprocessor for controlling the modulation power supply 11 and the scan unit 16.
- the microprocessor 14 directs the beam azimuth at a predetermined angle with respect to the scan cut 16 and counts the VCO 8 so as to modulate the VCO 8 with a triangular wave of one mountain in the up section and the down section during the rest time. Set the cycle.
- the microprocessor 14 corresponds to the “scanning means” according to the present invention.
- the microprocessor 14 extracts (pairs) a pair of the protruding part that appears in the frequency spectrum of the upper modulation section and the protruding part that appears in the frequency spectrum of the lower modulation section, obtained by the DSP 13.
- the vehicle speed sensor 15 is a sensor for detecting the own vehicle speed.
- the microprocessor 14 reads the own vehicle speed from the vehicle speed sensor 15 and preferentially pairs a pair corresponding to a stationary object.
- Fig. 2 shows the frequency change of the transmitted and received signals due to the distance to the target and the relative speed.
- An example of the displacement is shown.
- Feeding first frequency frequency difference of up Bee Bok between transmitted and received signals at rising frequency uu - Yes, the frequency difference between the transmitted and received signals at the frequency falling of the transmission signal at the frequency f BD of Daunbi Bok is there.
- ⁇ f is the frequency deviation width.
- the difference (time difference) on the time axis between the transmission signal and the reception signal on the time axis corresponds to the round trip time of the wave from the antenna to the target.
- the shift on the frequency axis between the transmission signal and the reception signal is the Doppler float, which is caused by the relative speed of the target with respect to the antenna.
- FIG. 3 shows an example of the relationship between the azimuths of the transmitting and receiving beams of the radar and a plurality of targets.
- B 0 is the front direction of the radar mounted on the own vehicle.
- B +1 and B +2- ⁇ ⁇ indicate the beam directions when the beam direction is varied from the front to the right.
- B-1 and B -2- ⁇ ⁇ indicate the beam orientations when the beam orientation is changed from the front to the left.
- the targets O B 2 and O B 5 indicated by circles in FIG. 3 are fixed roadside objects.
- the targets O B 1, O B 3, and O B 4 represented by squares are other vehicles existing in front of the own vehicle. Arrows indicate the traveling directions.
- the relative speed of a roadside object such as OB2, 0B5 or a stationary object such as a parked vehicle on the road is the same as the own vehicle speed. Therefore, the pairing accuracy is improved by performing pairing using the data of the own vehicle speed obtained by the vehicle speed sensor.
- the targets captured by the radar are more stationary objects such as guardrails, signs, noise barriers, and street lights.
- the frequency difference between the two vehicles is approximately the same as that of a stationary object (up-beat frequency and down-beat frequency). It is unlikely that the interval will be equivalent to
- the frequency difference of the protruding part appearing in the frequency spectrum of the up-modulation section and the down-modulation section corresponding to the stationary object is calculated back based on the own vehicle speed, and the pair corresponding to the frequency difference is extracted first, and the remaining The distance and speed of the target of the moving object are calculated by performing pairing between the protrusions.
- FIG. 4 shows an example of a frequency spectrum of a beat signal in the upper modulation section and the downlink modulation section.
- the solid line is the frequency spectrum of the beat signal in the up modulation section
- the broken line is the frequency spectrum of the beat signal in the lower modulation section.
- three protrusions appear in the beat signal in the up-modulation section and two protrusions appear in the beat signal in the lower-modulation section.
- the frequency deviation width A f 300 MHz
- the reciprocal of the modulation period, that is, the modulation frequency fm is 500 Hz
- two vehicles run at 100 kmZh at intervals of about 14.1 m.
- the peak frequency interval of the protruding part due to the reflected waves of the two vehicles substantially matches the frequency difference caused by the stationary object.
- Figure 6 shows an example.
- Fig. 6 shows the frequency spectrum of the beat signal and the state of the two vehicles in the upper modulation section and the lower modulation section.
- (A) shows the spectrum generated by an O kmZh vehicle, that is, a stationary vehicle
- (B) shows a vehicle traveling 100 kmZh ahead of a certain distance from the host vehicle, with a distance of 14.1 m between two vehicles. It shows the spectrum when it is running.
- a pair that is more likely to be repaired is used as a base. The following processing is performed so as to extract.
- FIG. 5 is a flowchart showing a processing procedure of the DSP 13 and the microprocessor 14 shown in FIG.
- the vehicle speed data is read from the vehicle speed sensor 15 (s 1).
- the beam is directed to the initial direction by the scan unit> control (s2).
- the digital data of the beat signal converted by the AZD converter is acquired for a predetermined number of samplings, and the FFT processing is performed on the digital data (s3 ⁇ s4).
- the beam direction is displaced by one beam, and the same processing is performed (n7 ⁇ s8 ⁇ s3 ⁇ ⁇ ).
- the peak frequency spectrum for each beam direction in the upper re-modulation section and the lower re-modulation section is obtained for the detection range extending a predetermined width in the azimuth direction.
- the representative direction, the representative peak frequency, and the representative signal strength are pair candidates, and the level profile in the azimuth direction is obtained (s9).
- the center azimuth of the group extending in the beam azimuth direction and the frequency axis direction is set as the representative azimuth
- the center of the frequency range extending on the frequency axis in that azimuth is set as the representative peak frequency
- the signal strength at the representative peak frequency is used as the representative signal.
- Strength the change in the signal strength in the azimuth direction at the representative frequency of Gnorape is obtained as a signal strength profile.
- the representative value of each of these groups is obtained for the up-modulation section and the down-modulation section, respectively.
- the pairing is performed after weighting the degree of coincidence so that the pair having the frequency difference corresponding to the stationary object becomes the pair preferentially among the pair candidates (s10 ⁇ s11).
- the matching degree of the signal strength is Ma
- the matching degree of the azimuth is Md
- the matching degree of the signal strength profile is Mc
- the weight of the pair evaluation value indicating the likeness of the pair is m
- the pair evaluation value E is
- the degree of coincidence Ma, Md, 1 ⁇ / 10 is a coefficient between 0 and 1, and the weight m is 1 or more.
- This pair evaluation value E is obtained for all combinations of the representative values of the protruding portion groups extracted as the pair candidates, and pairs are formed in order from the one having the largest value.
- the pair evaluation value E is obtained by multiplying the degree of coincidence of the signal intensity, the degree of coincidence of the azimuth, and the degree of coincidence of the signal intensity profile by the weight m.
- the above three coincidences may be individually corrected so that a combination of frequency differences is extracted as priority I '.
- FIG. 7 shows an example of correcting the degree of coincidence of signal strength.
- a and B are the protrusions appearing in the frequency spectrum of the beat signal in the upstream modulation section
- a and i8 are the protrusions appearing in the frequency spectrum of the beat signal in the lower modulation section.
- the difference in signal strength between ⁇ and ⁇ is 3 d ⁇
- the difference in signal strength between ⁇ and ⁇ is 1 d ⁇ .
- the combination of ⁇ and A is a frequency difference corresponding to a stationary object, the difference in signal strength is reduced by 3 dB to determine the degree of coincidence in signal strength. Therefore, the difference between the signal strengths of ⁇ and A becomes 0 dB after correction, and the combination of ⁇ and ⁇ has priority over the combination of ⁇ and B.
- the corrected signal strength coincidence is Ma '
- the overall pair evaluation value E is
- FIG. 8 shows an example in which the azimuth coincidence is corrected.
- Fig. 8 (A) shows the peak frequency of the protruding part appearing in the frequency spectrum of the beat signal in the upper re-modulation section for each beam having a different azimuth, and (B) shows the lower re-modulation section.
- FIG. 7 is a diagram showing a peak frequency of a protruding portion appearing in a frequency spectrum of a bit signal in FIG.
- the horizontal axis represents the beam azimuth
- the vertical axis represents the frequency of the protruding portion included in the frequency spectrum, and is represented by rectangular coordinates.
- a group Gu 1 in which the protrusions spread in the azimuth direction and the frequency axis direction around the beam azimuth B j and the frequency Fa is generated in the upstream modulation section.
- a group Gd2 in which the protrusions spread in the azimuth direction and the frequency axis direction around the beam azimuth Bk and the frequency Fc occurs.
- the representative direction B j of the group Gu 1 If the difference between the azimuth angle and the representative azimuth B k of the group Gd 2 is within 1.0 ° of soil, it is considered to be the same azimuth. Since the frequency difference between the representative frequency Fa of the group Gu1 and the representative frequency Fb of the group Gd1 is not the frequency difference corresponding to the stationary object, the angle difference between the representative orientations of the two groups is Bj and B Treat as the difference from i.
- the azimuth coincidence is corrected. If the corrected azimuth coincidence at this time is McT, the overall pair evaluation value E is
- FIG. 9 shows an example of correcting the coincidence of the signal strength profiles.
- the signal strength profile of both is corrected in a direction to increase.
- evaluation is performed using a value that approaches the difference from 1.0 at a fixed rate (for example, 1Z2).
- the correlation coefficient of the signal strength profile between groups Gu 1 and Gd 1 is 0.7
- the correlation coefficient of the signal strength profile between Gu 1 and Gd 2 is 0.8
- FIG. 10 Next, processing contents in the radar according to the second embodiment will be described with reference to FIGS. 10 to 13.
- FIG. 10
- FIG. 10 shows the positions of the respective targets calculated by the pairs extracted by the method shown in the first embodiment.
- the black circles are the positions of each target.
- multiple stationary objects are detected close to each other as shown in (A) of FIG.
- Such a continuous stationary object is determined as a continuous stationary object.
- two continuous stationary objects A 1 and A 2 are determined.
- the determination as to whether or not a stationary object is close is performed by grey-shading a stationary object detected within a predetermined distance and a predetermined azimuth angle range. For example, as shown in Fig. 10 (B), if there is a stationary object 0Bb within a predetermined distance and a predetermined azimuth angle range from a certain stationary object 0Ba, it is regarded as the same group. I reckon. Next, the same processing is performed on the stationary objects OBb, and the stationary objects OBb are sequentially grouped.
- This processing may be performed on rectangular coordinates as shown in (C) of FIG. That is, stationary objects existing within a predetermined distance range on the orthogonal coordinates may be sequentially grouped.
- the areas determined to be continuous stationary objects in this way are guardrails, soundproof walls, median strips, building walls, etc., and moving objects cannot normally exist in the area. Therefore, if the position and speed of the target are calculated from the frequency difference extracted as a pair and the result is that a moving object is simulated in the area of the continuous stationary object, the pair is mispairing. It can be considered that For example, as shown in Fig. 11, a moving object with a speed of 30 km / h and 80 kmZh that simulates in the region A1 of a continuous stationary object is considered to be due to mispairing. Similarly, a moving object with a speed of 20 km / h simulated in the continuous stationary object area A2 is considered to be due to mispairing.
- the target object which is simulated in the direction of the continuous stationary object in the direction j for example, the vehicle traveling in the lane (oncoming lane) on the other side of the central demarcation zone, the soundproof wall ⁇ Since the image is often a mirror image of the wall of the tunnel, the detection results are also removed.
- the target 0 Bd is a vehicle that actually runs ahead of the own vehicle, but 0 Be is a mirror image of 0 Bd by the area A 2 of the continuous stationary object.
- A2 is a vehicle that runs in the opposite lane when it is a median strip. Therefore, the detection result of OBe is removed and is not output to the host device.
- signs, overpasses, etc. existing on the road may be detected as stationary objects, so this removal process is not performed for targets that are farther than continuous stationary objects that exist in the direction of travel of the vehicle.
- the direction of travel of the vehicle can be detected from information such as the steering angle of the steering wheel, vehicle speed, and car navigation system.
- FIG. 13 is a flowchart showing the above-described processing procedure. This processing is performed following the processing procedure shown in FIG. 5 in the first embodiment.
- the above-described continuous stationary object is determined, and an area where the stationary object is present is determined (s 21 ⁇ s 22). Subsequently, it is determined whether or not a moving object is simulated in the area of the continuous stationary object (S23). A pairing in which a moving object is simulated in the region of the continuous stationary object is treated as a mispairing, and pairing is performed again so as to avoid such pairing ( s 24).
- the detection result of the target is removed (S25). After that, new detection result data is created and output to the host device (s26).
- a pair that is a combination of the frequency difference of the protruding portions appearing in the frequency spectrum of the beat signal in the upper modulation section and the downlink modulation section corresponding to the stationary object is preferentially extracted.
- a stationary object can be easily detected, and a non-stationary object, for example, a traveling vehicle ahead can be more reliably detected.
- the signal strength of the first protrusion that appears in the frequency spectrum of the beat signal in the up-modulation section and the second protrusion that appears in the frequency spectrum of the beat signal in the down-modulation section Weights are assigned to signal strength matches for pairs that have a frequency difference relationship corresponding to stationary objects with respect to coincidence, so that the probability of mispairing is relatively suppressed. Can be extracted more reliably.
- the beam direction of the transmission signal is changed over a predetermined scanning range, and the degree of coincidence between the direction of the second protrusion and the direction of the second protrusion is obtained. Pairs are extracted with priority given to high combinations, and pairs with frequency differences corresponding to stationary objects are extracted. The higher the degree of orientation matching, the lower the probability of mispairing, and the more reliably a stationary object -._) pair can be extracted.
- the continuous stationary object is determined based on the continuity in the azimuth direction or the distance direction of the pair having the relationship of the frequency difference corresponding to the stationary object. This makes it possible to reliably detect the existence area of a continuous stationary object occupying the moving object, and to reliably detect a moving object such as a traveling vehicle relatively ahead.
- the result of a target detected farther than the continuous stationary object is not output, so that only the target that is substantially problematic among the detected targets is output.
- the data can be output to the host device, the overall data processing amount can be reduced, and the processing based on the detection results can be speeded up.
- the radar according to the present invention can easily detect a stationary object, and is useful as a radar that can more reliably detect a non-stationary object, for example, a traveling vehicle ahead.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Radar Systems Or Details Thereof (AREA)
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/516,924 US7034743B2 (en) | 2002-06-04 | 2003-05-22 | Radar |
AU2003242381A AU2003242381A1 (en) | 2002-06-04 | 2003-05-22 | Radar |
EP03730562.0A EP1510833B1 (en) | 2002-06-04 | 2003-05-22 | Radar |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002163349A JP3797277B2 (ja) | 2002-06-04 | 2002-06-04 | レーダ |
JP2002/163349 | 2002-06-04 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2003102623A1 true WO2003102623A1 (fr) | 2003-12-11 |
Family
ID=29706631
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2003/006373 WO2003102623A1 (fr) | 2002-06-04 | 2003-05-22 | Radar |
Country Status (5)
Country | Link |
---|---|
US (1) | US7034743B2 (ja) |
EP (1) | EP1510833B1 (ja) |
JP (1) | JP3797277B2 (ja) |
AU (1) | AU2003242381A1 (ja) |
WO (1) | WO2003102623A1 (ja) |
Families Citing this family (40)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3991793B2 (ja) * | 2002-07-05 | 2007-10-17 | 株式会社村田製作所 | レーダ |
JP3954993B2 (ja) * | 2003-07-07 | 2007-08-08 | 本田技研工業株式会社 | 車両の物体検知装置 |
JP3954951B2 (ja) * | 2002-10-17 | 2007-08-08 | 本田技研工業株式会社 | 車両の物体検知装置 |
JP2004226158A (ja) * | 2003-01-21 | 2004-08-12 | Fujitsu Ten Ltd | Fm−cwレーダ装置 |
JP2005049281A (ja) * | 2003-07-30 | 2005-02-24 | Denso Corp | 物体認識装置、及び物体認識方法 |
CN1898579B (zh) * | 2004-01-07 | 2010-04-28 | 株式会社村田制作所 | 雷达 |
JPWO2006013689A1 (ja) * | 2004-08-06 | 2008-05-01 | 株式会社村田製作所 | レーダ |
JP4541101B2 (ja) * | 2004-10-21 | 2010-09-08 | アルパイン株式会社 | 他車両検出機および他車両検出方法 |
JP4529733B2 (ja) * | 2005-03-02 | 2010-08-25 | 株式会社デンソー | 車載レーダ装置 |
JP4613711B2 (ja) * | 2005-06-27 | 2011-01-19 | 日産自動車株式会社 | 物体検出装置及び物体検出方法 |
JP4956778B2 (ja) * | 2005-12-01 | 2012-06-20 | 日産自動車株式会社 | 物体検出装置および物体検出方法 |
JP4684876B2 (ja) * | 2005-12-14 | 2011-05-18 | 富士通テン株式会社 | レーダー装置及びレーダー装置の対象物検出方法 |
JP4793094B2 (ja) * | 2006-05-17 | 2011-10-12 | 株式会社デンソー | 走行環境認識装置 |
JP2009014631A (ja) * | 2007-07-09 | 2009-01-22 | Fujitsu Ten Ltd | レーダ装置、およびその物標検出方法 |
US7733266B2 (en) | 2007-09-06 | 2010-06-08 | Honda Motor Co., Ltd. | Control target recognition system and vehicle object detection system |
JP4385065B2 (ja) * | 2007-09-06 | 2009-12-16 | 本田技研工業株式会社 | 車両用物体検知装置 |
US7612707B2 (en) * | 2007-09-28 | 2009-11-03 | Banner Engineering Corporation | Configurable radar sensor |
JP5061879B2 (ja) * | 2007-12-17 | 2012-10-31 | 富士通株式会社 | Fmcwレーダ装置 |
JP2009271008A (ja) * | 2008-05-09 | 2009-11-19 | Honda Motor Co Ltd | 物体検知装置 |
JP2010002265A (ja) * | 2008-06-19 | 2010-01-07 | Fujitsu Ltd | レーダ装置、測定方法、及び測定プログラム |
JP5317570B2 (ja) * | 2008-08-07 | 2013-10-16 | 富士通テン株式会社 | レーダ装置及び物標検出方法 |
DE112008004067B4 (de) * | 2008-12-05 | 2013-05-29 | Toyota Jidosha Kabushiki Kaisha | Fahrtrichtungsvektorzuverlässigkeits-Bestimmungsverfahren und Fahrtrichtungsvektorzuverlässigkeits-Bestimmungsvorrichtung |
WO2010070708A1 (ja) * | 2008-12-18 | 2010-06-24 | トヨタ自動車株式会社 | レーダーシステム |
JP2011069710A (ja) | 2009-09-25 | 2011-04-07 | Fujitsu Ten Ltd | 信号処理装置、レーダ装置、物体検出システム、信号処理方法、および、プログラム |
JP5018943B2 (ja) | 2010-09-07 | 2012-09-05 | 株式会社デンソー | レーダ装置 |
JP5709476B2 (ja) * | 2010-11-10 | 2015-04-30 | 富士通テン株式会社 | レーダ装置 |
US9024809B2 (en) * | 2011-03-17 | 2015-05-05 | Sony Corporation | Object detection system and method |
JP2012242166A (ja) * | 2011-05-17 | 2012-12-10 | Fujitsu Ten Ltd | レーダ装置 |
JP6280319B2 (ja) * | 2012-10-30 | 2018-02-14 | 株式会社デンソーテン | レーダ装置、および、信号処理方法 |
JP6200644B2 (ja) * | 2012-12-07 | 2017-09-20 | 富士通テン株式会社 | レーダ装置、及び、信号処理方法 |
KR101826544B1 (ko) | 2012-12-27 | 2018-02-07 | 현대자동차 주식회사 | 터널 통과 시 차량 제어 방법 및 그 시스템 |
US9983294B2 (en) * | 2013-02-01 | 2018-05-29 | Mitsubishi Electric Corporation | Radar system |
JP6127554B2 (ja) * | 2013-02-08 | 2017-05-17 | 株式会社デンソー | レーダ装置 |
US10222462B2 (en) * | 2013-02-27 | 2019-03-05 | Waymo Llc | Adaptive algorithms for interrogating the viewable scene of an automotive radar |
JP6294594B2 (ja) | 2013-04-19 | 2018-03-14 | 株式会社デンソーテン | レーダ装置、及び、信号処理方法 |
KR101892306B1 (ko) * | 2013-12-18 | 2018-08-27 | 주식회사 만도 | Fmcw 레이더 기반의 도로 환경 감지 방법 및 장치 |
JP2015155807A (ja) * | 2014-02-20 | 2015-08-27 | 富士通テン株式会社 | レーダ装置、車両制御システム、および、信号処理方法 |
JP2016070772A (ja) * | 2014-09-30 | 2016-05-09 | 富士通テン株式会社 | レーダ装置、車両制御システム、および、信号処理方法 |
CN107153189B (zh) * | 2017-04-18 | 2021-08-03 | 上海交通大学 | 线性调频连续波雷达测距的信号处理方法 |
KR20200113915A (ko) * | 2019-03-27 | 2020-10-07 | 주식회사 만도 | 차량 제어 장치 및 방법 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05142338A (ja) * | 1991-11-26 | 1993-06-08 | Fujitsu Ten Ltd | ミリ波レーダ距離速度測定装置 |
JPH0798375A (ja) * | 1993-09-28 | 1995-04-11 | Toyota Motor Corp | 車載レーダ装置 |
JPH11211811A (ja) * | 1998-01-26 | 1999-08-06 | Honda Motor Co Ltd | レーダ装置 |
JPH11271433A (ja) * | 1998-03-26 | 1999-10-08 | Toyota Central Res & Dev Lab Inc | レーダ装置 |
JPH11271430A (ja) * | 1998-03-25 | 1999-10-08 | Toyota Central Res & Dev Lab Inc | 自動車レーダ装置 |
JP2000065921A (ja) * | 1998-08-18 | 2000-03-03 | Toyota Motor Corp | Fm−cwレーダ装置 |
US6317073B1 (en) | 1998-09-07 | 2001-11-13 | Denso Corporation | FM-CW radar system for measuring distance to and relative speed of a target |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2283631B (en) * | 1993-11-06 | 1998-04-29 | Roke Manor Research | Radar apparatus |
JP3550829B2 (ja) * | 1995-01-24 | 2004-08-04 | 株式会社デンソー | Fm−cwレーダ装置 |
JP3104599B2 (ja) | 1995-11-24 | 2000-10-30 | トヨタ自動車株式会社 | Fm−cwレーダ装置 |
JP3305624B2 (ja) * | 1997-07-16 | 2002-07-24 | 本田技研工業株式会社 | 物体検知装置 |
JP3371854B2 (ja) | 1998-09-07 | 2003-01-27 | 株式会社デンソー | 周囲状況検出装置及び記録媒体 |
JP3512066B2 (ja) * | 1998-12-10 | 2004-03-29 | トヨタ自動車株式会社 | 車載用レーダ装置 |
JP4045043B2 (ja) * | 1999-02-24 | 2008-02-13 | 本田技研工業株式会社 | レーダ装置 |
JP3489514B2 (ja) * | 1999-12-09 | 2004-01-19 | 株式会社デンソー | Fmcwレーダ装置 |
JP2002236170A (ja) * | 2001-02-06 | 2002-08-23 | Fujitsu Ten Ltd | Fm−cwレーダ処理装置 |
JP3788322B2 (ja) * | 2001-05-30 | 2006-06-21 | 株式会社村田製作所 | レーダ |
JP3729127B2 (ja) * | 2001-12-13 | 2005-12-21 | 株式会社村田製作所 | レーダ |
JP3753071B2 (ja) * | 2002-01-07 | 2006-03-08 | 株式会社村田製作所 | レーダ |
US6906661B2 (en) * | 2002-10-17 | 2005-06-14 | Honda Motor Co., Ltd. | Object-detecting system for vehicle |
-
2002
- 2002-06-04 JP JP2002163349A patent/JP3797277B2/ja not_active Expired - Fee Related
-
2003
- 2003-05-22 AU AU2003242381A patent/AU2003242381A1/en not_active Abandoned
- 2003-05-22 WO PCT/JP2003/006373 patent/WO2003102623A1/ja active Application Filing
- 2003-05-22 EP EP03730562.0A patent/EP1510833B1/en not_active Expired - Lifetime
- 2003-05-22 US US10/516,924 patent/US7034743B2/en not_active Expired - Fee Related
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05142338A (ja) * | 1991-11-26 | 1993-06-08 | Fujitsu Ten Ltd | ミリ波レーダ距離速度測定装置 |
JPH0798375A (ja) * | 1993-09-28 | 1995-04-11 | Toyota Motor Corp | 車載レーダ装置 |
JPH11211811A (ja) * | 1998-01-26 | 1999-08-06 | Honda Motor Co Ltd | レーダ装置 |
JPH11271430A (ja) * | 1998-03-25 | 1999-10-08 | Toyota Central Res & Dev Lab Inc | 自動車レーダ装置 |
JPH11271433A (ja) * | 1998-03-26 | 1999-10-08 | Toyota Central Res & Dev Lab Inc | レーダ装置 |
JP2000065921A (ja) * | 1998-08-18 | 2000-03-03 | Toyota Motor Corp | Fm−cwレーダ装置 |
US6317073B1 (en) | 1998-09-07 | 2001-11-13 | Denso Corporation | FM-CW radar system for measuring distance to and relative speed of a target |
Non-Patent Citations (1)
Title |
---|
See also references of EP1510833A4 |
Also Published As
Publication number | Publication date |
---|---|
EP1510833A4 (en) | 2011-03-02 |
AU2003242381A1 (en) | 2003-12-19 |
US20050174282A1 (en) | 2005-08-11 |
EP1510833B1 (en) | 2013-05-08 |
JP2004012198A (ja) | 2004-01-15 |
JP3797277B2 (ja) | 2006-07-12 |
EP1510833A1 (en) | 2005-03-02 |
US7034743B2 (en) | 2006-04-25 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2003102623A1 (fr) | Radar | |
US6693583B2 (en) | Object recognition apparatus and method thereof | |
KR100662063B1 (ko) | 스캔식 레이더의 정지물 검지(檢知) 방법 | |
US9971022B2 (en) | Radar apparatus | |
JP4093109B2 (ja) | 車両用レーダ装置 | |
US9354299B2 (en) | Radar apparatus and signal processing method | |
JP3750102B2 (ja) | 車載レーダ装置 | |
JP3371854B2 (ja) | 周囲状況検出装置及び記録媒体 | |
US20100271257A1 (en) | Radar apparatus | |
EP1326087B1 (en) | Apparatus and method for radar data processing | |
EP1031851B1 (en) | Radar Apparatus | |
JP3788452B2 (ja) | Fmcwレーダ装置 | |
WO2011092814A1 (ja) | 障害物検出装置 | |
JP2004163340A (ja) | 車載用レーダ装置 | |
JPWO2007111130A1 (ja) | レーダ装置および移動体 | |
JP3675758B2 (ja) | ミリ波レーダ用データ処理装置 | |
JP4079739B2 (ja) | 車載用レーダ装置 | |
JP3575334B2 (ja) | Fmcwレーダ装置 | |
JPH09288178A (ja) | 車載モノパルスレーダ装置 | |
US20130222176A1 (en) | Radar apparatus | |
JP2003149325A (ja) | レーダ装置 | |
JP2003185744A (ja) | レーダ装置 | |
JPH1164502A (ja) | 障害物検出レーダ装置 | |
JP2000028714A (ja) | 車載用fm−cwレーダ装置 | |
JP3230362B2 (ja) | 障害物検知装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE ES FI GB GD GE GH GM HR HU ID IL IN IS KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NI NO NZ OM PH PL PT RO RU SC SD SE SG SK SL TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2003730562 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 2003730562 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 10516924 Country of ref document: US |