WO2004074866A1

WO2004074866A1 - Object monitoring sensor

Info

Publication number: WO2004074866A1
Application number: PCT/JP2003/001790
Authority: WO
Inventors: Hideyuki Nagaishi
Original assignee: Hitachi, Ltd.
Priority date: 2003-02-19
Filing date: 2003-02-19
Publication date: 2004-09-02
Also published as: JPWO2004074866A1

Abstract

A small and low-power object monitoring sensor capable of detecting an object with high accuracy at high speed over a wide range. The object monitoring sensor comprises a combination of a patch antenna (1) employing a plurality of monopulse systems sensing a stereo effect as a phase difference, a Doppler radar having a high frequency circuit and detecting the relative speed and the relative distance from the reflected wave of a radiated electromagnetic wave, a prism lens (4) for defining the intrusion angle of light, and an optical image sensor including light receiving bodies (3) arranged on a one-dimensional array.

Description

Object monitoring sensor

Technical field

The present invention relates to an object monitoring sensor, more specifically, an optical image sensor having intermittent directivity, and a continuous wave (CW) radar system and a monopulse scanning system.

The present invention relates to an object monitoring sensor combined with a millimeter-wave radar for performing the above.

BACKGROUND ART The following technology has been proposed as a technology for detecting an object such as a vehicle by combining different types of detection devices.

(1) As shown in Fig. 16, a roadside processing device including a millimeter-wave radar obstruction observation device R, an obstacle observing device V using an image measurable device, and a roadside processing device detection information selection device A technology that has a Q and uses the information obtained from each obstacle observing device with the roadside processing device Q to determine an obstacle (Japanese Patent Application Laid-Open Nos. 2000-111644 and 2001-084485),

(2) A technology employing the millimeter-wave radar device S1 and the laser radar S2 (Japanese Patent Application Laid-Open No. 2000-131432, Japanese Patent Application Laid-Open No. 2000-131433, and Japanese Patent Application Laid-Open No. 11-249740).

Obstacle observation devices used in these vehicle detection devices vary in performance such as observation accuracy, resolution, detection probability, and false detection depending on the visibility environment and weather conditions. Low reliability accuracy. Therefore, it is necessary to mount obstacle observing devices with different sensing methods on vehicles. Conventional vehicle detection devices perform information processing according to the external environment based on vehicle information obtained from these obstacle observation devices, and detect obstacle vehicles. · The obstacle observation device using the millimeter-wave radar S1 and the laser radar S2 has a mechanism for mechanically scanning a narrow-angle beam in order to obtain a desired angular resolution. The update time depends on the period of the machine scan. Obstacle observing devices that use optical sensors require complex and enormous numerical processing, such as edge processing and motion processing, in order to detect vehicles by image processing from images obtained from infrared cameras and the like.

When an automobile is running, the obstacles are not limited to the front of the vehicle in the direction of travel. Care must be taken on the entire periphery of the automobile, and driver assistance should be provided to the driver. Although the conventional vehicle detection device focuses particularly on the front in the traveling direction, widening the detection range of the obstacle observation device makes it possible to acquire a wide range of information on the outer periphery of the vehicle. However, in order to acquire the situation of the entire circumference, it is necessary to equip multiple devices according to the coverage area of the obstacle observing device, and also to install different types of obstacle observing devices corresponding to visibility / weather environment Must.

Obstacle observing equipment using a millimeter-wave radar or laser radar with a mechanical scanning mechanism needs to provide a moving space for moving parts, making it difficult to make the appearance of the equipment smaller and thinner, and the degree of freedom in designing it on a car is high. Is limited. In addition, it has poor mechanical strength due to its mechanical scanning mechanism. Second, obstacle observing devices that use infrared cameras have a high specific gravity for image processing, require enormous signal processing for vehicle judgment, and have an excessive amount of time for information extraction. It is not suitable for miniaturization and low power consumption at the same time.

Obstacle observing devices with driving parts and obstacle observing devices that require excessive information processing are systems that allow for the identification time before recognizing obstacles. May not be able to cope with situations where common events are likely to occur or driving conditions with increased blind spots The monopulse patch antenna observes reflected waves from obstacles, but the relative velocity and relative distance due to Doppler shift are accurate according to the wavelength of the electromagnetic wave. However, since angle detection is defined by the amplitude ratio based on the phase difference between the electromagnetic waves obtained from the two antennas, obstacles are close or objects such as walls are large, and the scattering cross section becomes uncertain. In such situations, accurate angle measurement is difficult, and it is also difficult to specify the shape of the obstacle if the scattering cross section of the obstacle is uncertain.

Although it is conceivable to increase the angular resolution by using electromagnetic waves having a shorter wavelength than the millimeter-wave band electromagnetic waves, product cost is high for consumer applications of high-frequency circuits using electromagnetic waves of 100 GHz or higher, and laser waves must be used. Only the observation equipment used requires a scanning mechanism due to the narrow directivity of the laser.

Therefore, an object of the present invention is to realize an object monitoring sensor capable of detecting a wide range of objects to be detected in a wide angle, near and far with high speed and high accuracy by using a low cost device. Disclosure of the invention

In order to achieve the above object, an object monitoring sensor according to the present invention includes an electromagnetic wave antenna (hereinafter simply referred to as an antenna) that utilizes a stereo effect of a plurality of antennas for angle detection, and an optical sensor having a narrow directivity. It comprises a plurality of optical sensors arranged in an array in a direction, and a signal processing device for detecting the distance, speed and angle of a detected object such as an obstacle using signals from the planar antenna and the optical sensor. Here, the stereo effect by a plurality of antennas means that a phase difference between radio waves received by the plurality of antennas is used.

In particular, a planar antenna can be used as the antenna. Above all, a monopulse radar using a planar patch antenna can The relative distance, relative speed, and relative angle can be easily detected without correlation with the relative distance of the object. In addition, the optical sensor detects a wide range of obstacles or the like at a short distance with a wide angle and high accuracy by using an optical sensor having an intermittent directivity comprising a prism lens. As a result, the vibration resistance can be improved, and the obstacle monitoring sensor itself can be made thinner and lighter.

In the present invention, an obstacle is comprehensively judged from each observation result by observing distance and speed detection by an electromagnetic wave radar, observing angle detection by an optical sensor, and sharing work of observation items. In other words, by roughly grasping the obstacle from the Doppler signal obtained from the reflected wave of the electromagnetic wave, a continuous scanning mechanism is not required for the optical sensor, and the image sensor having a mechanism for intermittent observation is used for the optical sensor. It can be used as a sensor. In addition, if the object monitoring sensor according to the present invention is mounted on a moving body such as an automobile, the external environment of the moving body can be easily grasped in real time, and the driver can be provided with a large number of outer peripheral conditions in any driving operation. Thus, it is possible to provide an automobile object monitoring sensor capable of preventing an automobile accident. BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is an exploded perspective view showing a first embodiment of the object monitoring sensor according to the present invention.

FIG. 2 is a top view of one embodiment of the antenna 1 of FIG.

FIG. 3 is a circuit diagram of one embodiment of the high-frequency circuit '2 in FIG.

FIG. 4 is a top view of one embodiment of the high-frequency circuit 2 of FIG.

FIG. 5 is a plan view showing a configuration of one embodiment of the optical sensor 3 of FIG. FIG. 6 is a perspective view showing a plurality of embodiments of the optical sensor 3. FIG. 7 is a diagram for explaining a configuration function of the optical lens 4. FIG. 8 is a diagram for explaining the optical trajectory of a prism used as the optical lens 4.

FIG. 9 is a diagram for explaining an optical trajectory when assembling the light guide path cover, the optical lens, and the optical sensor.

FIG. 10 is a circuit configuration diagram of one embodiment of the signal processing circuit 6 of FIG. FIG. 11 is an exploded perspective view showing a second embodiment of the object monitoring sensor according to the present invention.

FIG. 12 is a perspective view showing another embodiment of the object monitoring sensor according to the present invention.

FIG. 13 is a diagram showing an embodiment of an automobile equipped with the object monitoring sensor according to the present invention.

FIG. 14 is a diagram showing another embodiment of an automobile equipped with the object monitoring sensor according to the present invention.

FIG. 15 is a block diagram showing the configuration of the object monitoring processing unit in the embodiment shown in FIG.

FIG. 16 is a block diagram showing a first example of a conventionally known object monitoring device.

FIG. 17 is a block diagram showing a second example of a conventionally known object monitoring device.

FIG. 18 shows a top view of another embodiment of the antenna 1.

FIG. 19 shows a circuit diagram of another embodiment of the high-frequency circuit 2 described above. BEST MODE FOR CARRYING OUT THE INVENTION

The object monitoring sensor 10 includes at least an antenna 1, a high-frequency circuit 2, It comprises an optical sensor 3, an optical lens 4, a cover 5 with a light guide, and a signal processing circuit 6. The details of each unit will be described below. .

FIG. 2 shows a top view of one embodiment of the antenna 1. The antenna 1 of the object monitoring sensor 10 has a transmitting antenna 11 for irradiating electromagnetic waves and a receiving antenna 12 for detecting electromagnetic waves reflected from an object such as an obstacle in order to perform active observation.

In particular, the receiving antenna 1 2 is composed of two antennas 12-1 and 12-2 to observe the angle of the reflected wave from the obstacle, and the stereo effect received by each of the two element antennas in a monopulse system is Perceived as a phase difference. Here, the number of element antennas constituting the receiving antenna 12 is not limited to two, but may be three or more. In this case, the stereo effect can be detected as a phase difference by a well-known method. The received reflected wave including the phase difference passes through the high-frequency circuit 2 and is processed by the signal processing circuit 6 to calculate the distance, speed, and the like between the reflecting object and the antenna.

As an antenna of the object monitoring sensor shown in FIGS. 1 and 2, any antenna having a function of transmitting and receiving electromagnetic waves can be applied, and its shape can take various forms. For example, a patch antenna in which metal pieces are periodically arranged, a slot antenna in which a metal plate is periodically cut out, an electromagnetic horn antenna in which a waveguide section is gradually expanded to have a required aperture, and a rotating object surface A parabolic antenna using a part of the antenna as a reflector, or a Yagi antenna or a slot antenna may be arranged side by side. In particular, since the form of a planar antenna such as a patch antenna or a slot antenna is effective in reducing the size and weight of the object monitoring sensor, the configuration of the object monitoring sensor using the patch antenna has been described in this embodiment. The invention is not limited to that embodiment.

FIG. 3 shows a circuit diagram of one embodiment of the high-frequency circuit 2. High frequency circuit 2 A circuit that supplies a part of the output of the oscillator 25 to the transmitting antenna terminal (t in Fig. 2) from the terminal 21 via the power amplifier 26-1 and a part of the output of the oscillator 25 Circuits to be added to the mixers 2 4-1 and 2 4-2 via 26-2 and 26-3 respectively, and the terminals 2 2-1 and 2 2-1 of the two receiving antennas (Fig. 2 rl and r 2) through low-noise amplifiers 23-1 and 23-2, respectively, to the mixers 24-1 and 24-2. The signals obtained by the mixers 24-1 and 24-2 are applied to the signal processing circuit 6 via terminals i 1 and 12, respectively. The elements that make up these circuits are MMIC (Monolithic Microwave Integrated Circuit), which is a circuit in which active elements such as transistors and passive elements such as capacitors are integrally formed on a semiconductor substrate, or separate active elements and passive elements. An HMIC (Hybrid Microwave Integrated Circuit) formed on an insulating or semi-insulating mounting substrate is used.

FIG. 18 shows a top view of another embodiment of the antenna 1. The receiving antenna 12 corresponding to the receiving antenna 12 in the antenna 1 in FIG. 2 also has the function of the transmitting antenna 11 in FIG. The receiving antenna 12 emits electromagnetic waves and receives the electromagnetic waves reflected from the object. In the circuit for supplying to the transmitting antenna terminal 21 via the power amplifier 26-1 shown in the high-frequency circuit 2 of FIG. 3, the output of the power amplifier 26 is equally distributed to form the receiving antenna 12. By adding a circuit such as a circulator or switch or a frequency filter that is directionally coupled to the antenna terminals to supply the two element antennas 12-1 and 12-2, the receiving antenna 1 2 Can function as a transmitting antenna.

Since the receiving antenna 12 shown in Fig. 18 is composed of two element antennas 12-1 and 12-2, each of the two antennas is monopulse. Can be sensed as a phase difference. Here, the number of element antennas constituting the receiving antenna 12 is not limited to two, but may be three or more. In this case, the stereo effect can be detected as a phase difference by a well-known method.

FIG. 19 shows a circuit diagram of one embodiment of the high-frequency circuit 2 when the embodiment shown in FIG. 18 is used as the antenna 1. The high-frequency circuit 2 supplies a part of the output of the oscillator 25 to the circuits 29-1 and 29-2 via the power amplifier 26-1 and a part of the output of the oscillator 25. A circuit to be added to the mixers 24-1 and 24-2 via the amplifiers 26-2 and 26-3, and a signal output from the power amplifier 26-1 to the circuit 29-1 and 2 9-2 to the two receiving antenna terminals 22-1 and 22-2 (connected to r 1 and r 2 in Fig. 18) and the two receiving antenna terminals 22-1 and 22-1 The signals amplified by the low-noise amplifiers 23-1 and 23-2 are passed through the circulators 29-1 and 29-2 to the signals input from 22-2, respectively. Has a circuit to add to 2. The signals obtained at the mixers 241-1 and 24-2 are applied to the signal processing circuit 6 via terminals il and i2, respectively. The elements that make up these elements use the MMIC or HMIC form, as in FIG. In the present embodiment, the configuration using the directional coupler as the transmission / reception antenna duplexer for transmitting using the reception antennas 12 has been described.However, the present invention is not limited to this mode. Means by division, means by frequency division using a filter, or means by a directional coupler using a rat race circuit may be used.

FIG. 4 shows a top view of one embodiment in which the high-frequency circuit 2 is formed by an MMIC.

MMIC type oscillator 25, power amplifier 26-1, receiver including low noise amplifier and mixer 27-1, multilayer ceramic with 27-2 as insulating substrate They are mounted on a substrate 28 and are connected to each other by a microstrip line or a coplanar line with ground, which is a transmission line. The high-frequency signal generated by the oscillator 25 is distributed to and supplied to the power amplifier 26-11 and the plurality of receivers 27-1, 27-2. The high-frequency signal input to the power amplifier 26-1 is amplified, supplied to the transmitting antenna 11 of the patch antenna 1, and emitted from the transmitting antenna 11 into space. If I ^ harmful substances are present within the electromagnetic wave range radiated by the patch antenna 1, reflected waves are observed, so they are received by the receiving antennas 12-1 and 12-2, and received by the high-frequency circuit 2. It is transmitted as a radio frequency (RF) signal of the detector 27-1 and 27-2. The receiver 27 inputs the high-frequency signal supplied from the oscillator 25 as a local signal, and the reflected wave transmitted from the receiving antenna 12 as an RF signal.The mixer in the receiver 27 receives the Doppler signal itself. The frequency of the difference is extracted as an intermediate frequency (IF) signal. 19 and 20 are a chip component, a power supply and a signal terminal, respectively.

FIG. 5 is a plan view showing the configuration of one embodiment of the optical sensor 3 of FIG. The light sensor 3 is a CCD (charge-coupled device) that responds to infrared light, visible light, or ultraviolet light, or a photo-electric signal conversion device 31 having the same function as the CCD, and a light-receiving device 32 for sensing light in the horizontal direction. It has a structure in which a plurality of one-dimensional arrays are arranged in the horizontal direction. The analog / digital converter (ADC) converts the received light signal into a numerical value (ADC: Analog / Digital Converter). According to the program, the storage device 34 for recording the optical signal value and the program of each photoreceptor element 32, the arithmetic unit 35 for judging the pass / fail of the signal level, the analog / digital converter 33 and the recording device 34, etc. It has a controller 36 for controlling, a signal processor 6 and an input / output terminal 37 for transmitting and receiving signals.

FIG. 6 is a perspective view showing other plural embodiments of the optical sensor 3. Figure (a) shows the opto-electric signal conversion element 31, ADC 33, recording device 34, This is a mounting form in which all the circuit elements of the calculator 35, the controller 36, and the input / output terminals 37 are formed on a semiconductor substrate, and FIG. Only the signal conversion element 31 is individually manufactured, the remaining element circuits are manufactured on a semiconductor substrate, and mounted on an insulating substrate 48. FIG. The optical-electrical signal conversion element 31 is mounted thereon, and FIG. (D) is a form in which each element circuit is individually manufactured and mounted on the insulating substrate 38.

FIG. 7 is a diagram for explaining the constituent functions of the optical lens 4. Since the light receiving elements 32 of the optical sensor 3 are arranged as a one-dimensional array on a plane, the optical lens 4 converts a horizontal spherical wave into a parallel light so as to become a plane wave. As the optical lens 4, a concave lens or a polygonal prism lens 4 having a convex shape as shown in FIG. 7 is used.

Refractive index of the prism lens N, photoreceptor spacing d of the optical sensor 3, and when defining a prism angle of incidence theta ₂ by the angle decomposition degree theta, light incident on the prism lens, as shown in FIG. 8, the light image The light passes through the prism so as to irradiate the photoreceptor 32 of the sensor vertically. The prism surface angle, which defines the angle, is defined by the prism's refractive index N and the angle of incidence,

(θ, + θ ₂ ) = Θ ₂ => θ ₂ =-

N -1 where 0 1 is the incident angle of light.

Also, the thickness Η of the prism surface is

Η = — ^θ ^-* d * cot (0,).

0 Here, 0 is the resolution angle of the optical trajectory, and d is the distance between photoreceptors in the image sensor.

Fig. 9 shows the arrangement and movement of the optical sensor 3, optical lens 4, and light guide path cover 5. It is a figure for explaining a work. The light guide cover 5 selects the directivity of the optical sensor. When light other than a specific direction hits the light receiving body 32 of the optical sensor 3, the light is sensed as an erroneous signal. A light guide path of a random plane having a surface roughness of 0.01 or more with small irregularities is provided. The light arriving from the external environment is selected in the traveling direction by the light guide path cover 5 that passes only the light in a specific direction, and only the light in the specific direction reaches the optical lens 4. The light that has reached the optical lens 4 is bent by the photoreceptor 32 of the optical sensor 3 according to the angle information and received by the optical sensor 3. That is, in the present embodiment, an optical path mask (light guide path cover 5) having a slit for defining an angle according to a part of the image sensor is disposed in front of the image sensor.

As shown in FIG. 6, in the optical sensor 3, the light-to-electric signal conversion element 31 in which the photoreceptors 32 are arranged in an array is converted from light to an electric signal, and then digitized by the ADC 33. And stored in the recording circuit 34. The computing unit 35 determines whether the amount of light obtained by the photoreceptor 32 exceeds the reference value of the reflected light, and performs an operation based on the light amount data of the recording circuit 34 to temporarily determine the presence or absence of an obstacle. Then, the result is recorded in the recording circuit 34 again.

FIG. 10 is a block diagram showing a configuration of one embodiment of the signal processing circuit 6. The signal processing circuit 6 includes an analog circuit 61 for receiving an IF signal obtained from the high-frequency circuit 2 and supplying power to the high-frequency circuit 2, and a power supply for digitizing an analog signal of the IF signal and controlling the high-frequency circuit. ADC / DAC 62, which generates data, etc., a computing unit 63, which performs FFT computation, etc., for converting the time axis to frequency axis of signals, a controller 64, which controls the optical sensor, and a computing unit 63. It comprises a circuit 65 for comprehensively determining the obstacle information obtained and the obstacle information obtained from the optical sensor 3, a power supply circuit 66 for supplying power thereto, and an input / output circuit 67 for performing information communication with the outside. The IF signal obtained from the high-frequency circuit 2 including the Doppler phenomenon indicating the behavior of the obstacle is processed by a calculator 63 to obtain the relative distance to the obstacle, the relative speed, the angle, etc. Transfer to At the same time, the light reception data of the photoreceptor in the recording device 34 of the optical sensor 3 and the result of the temporary judgment of the obstacle are called by the optical sensor controller 64 through the input / output terminal 37 of the optical sensor 3, and the integrated judgment circuit 6 Transfer to 5. The comprehensive judgment circuit 65 verifies the temporary judgment result obtained by the optical sensor 3 based on the relative distance obtained by the arithmetic unit 63 and the received light amount data of the optical sensor, and determines the number of obstacles, the relative distance, and the relative angle. Determine the size and danger of obstacles.

That is,

Obstacle distance, speed = Result of calculator 6 3

Obstacle angle = information corresponding to the light-receiving object of the optical sensor and comprehensive judgment of the arithmetic unit 53

Obj ec t-l engt h = L * (number of photoreceptors reacted by optical sensor) * s i n (angle resolution)

Error range = L * s i n (angle resolution)

Is determined by

A specific numerical example of obstacle detection using the object monitoring sensor according to the present embodiment will be described.

Assume that there is an obstacle at a relative distance of 5 m, angle + 15 degrees. Relative distance and speed can be accurately obtained by detecting obstacles using the Dobler signal, and angle information can be roughly grasped within a certain error range. The angle information is detected based on the light amount response of the photoreceptor of the image sensor. When the detection angle range is 70 degrees and the angle resolution is 10 degrees, the number of photoreceptors in the image sensor is 15 ((70 degrees / 10 degrees) * 2 + 1).

For obstacles with a width of more than 90 cm, the distance between the light trajectories at 5 m Is a sine with a resolution angle of 10 degrees, so it is expressed as 5m * sin (l0), which is about 0.87 mm, and at least one superimposes on the optical trajectory of the optical sensor. Therefore, the + 10 ° photoreceptor, the + 20 ° photoreceptor, or both photoreceptors of the image sensor sense. In the object monitoring sensor 10 of the present invention, it is determined that an obstacle is present at a distance of 5 m within a range of +10 degrees to +20 degrees and the size is about 87 cm to 1740 cm. be able to.

In addition, objects with a width of less than 86 cm may not exist on the optical trajectory.However, the reliability of the angle information accuracy of the Doppler signal due to the small scattering cross section of the obstacle is improved, and It is expected that obstacles of 7 cm or less will exist at a distance of 5 m within an angle of 15 degrees and soil of 5 degrees.

Obstacle information by Doppler radar

Distance L = 5m, Angle around 15 degrees

Optical sensor anti

Yes

Obstacle size is

Objec length = I ^ (number of photoreceptors reacted) * sin (10) = 5m * 2 = i = 0.174 = 1.74m

Error range = 1 ^ 3 (10) = ± 0.86m

Is calculated by When determining the more accurate angular resolution and size, it is possible to detect obstacles in a short distance by setting the optical trajectory resolution angle of the prism lens small. Also, if the relative movement of obstacles is grasped in a time series, it is possible to predict the movement of the obstacles, so that the outside environment around the vehicle can be grasped accurately, and safer safety support can be achieved.

FIG. 11 is an exploded perspective view showing a second embodiment of the object monitoring sensor 10. In passive light reception such as sunlight or streetlights, malfunction of the photoreceptor due to direct sunlight can be considered. In order to prevent this malfunction, in the present embodiment, the light source 7 is added to the object monitoring sensor 10 and the light emission amount of the light source 7 is given a strength on the time axis. By verifying the interrelation between the received light amount data of the photoreceptor and the light emission amount of the light source, the reflected light from the obstacle is confirmed and the accuracy of the obstacle detection is improved. The power consumption of the light source 7 is reduced by opening and closing the light source 7 (ON / OFF) based on the obstacle detection information of the computing unit 63.

FIGS. 12 (a) and 12 (b) are diagrams each showing an embodiment of an object monitoring system using the object monitoring sensor according to the present invention.

In the embodiment of (a), the monitoring system 20 includes a plurality of object monitoring sensors (that is, the object monitoring sensor 10-1 and the object monitoring sensor 10-2) and the control device 18 for the monitoring sensor. Constitute.

Since electromagnetic waves and light having a short wavelength have high rectilinearity, if the shape of the obstacle is extremely flat, the reflected wave or reflected light can reach the monitoring sensor only by directly facing the plane. Even when the obstacle is not directly facing, by installing multiple object monitoring devices, it is possible to obtain reflected waves and reflected light based on electromagnetic waves and light sources emitted from the other object monitoring sensor. Increase the accuracy of obstacle detection.

In the embodiment of (b), the monitoring system 20 includes a single object monitoring sensor 10, two light sources 16, 17, and a monitoring sensor controller 19. Since electromagnetic waves with short wavelengths have high rectilinearity, if the obstacle is extremely flat, the reflected wave and reflected light are monitored only when facing the plane. The sensor is reachable. In particular, light with a short wavelength is fatal, so by installing multiple light sources so that reflected light can be obtained by the object monitoring sensor 10, even if the obstacle is not directly facing the obstacle, Increase detection accuracy.

FIG. 13 shows an embodiment of an automobile equipped with the object monitoring sensor of the present invention. A plurality of object monitoring sensors, that is, object monitoring sensors 3-1, 3-2, 3-3, 3-4, 3-5, 3-6, and 3-7 are mounted on the outer periphery of the automobile 40. ing. The plurality of object monitoring sensors are connected to the control device 41.

Move the object monitoring sensor 3-1 to the left front and the object monitoring sensor 3-2 to the right to compensate for the driver's blind spot so that the vehicle 40, which is a moving object, can drive without colliding with obstacles. Direction, object monitoring sensor 3-3 to the left side, object monitoring sensor 3-4 to the right side, object monitoring sensor 3-5 to the left rear, object monitoring sensor 3-6 to the right rear. , The object monitoring sensor 3-7 is turned backward, and the multiple object monitoring sensors 3— ;! It monitors almost the entire periphery of the car in 3-7. In every driving operation such as turning operation, route change operation, reverse driving, parking operation, etc., it is possible to prevent a car accident beforehand by giving the driver a lot of outer peripheral conditions.

FIG. 14 shows another embodiment of an automobile equipped with the object monitoring sensor of the present invention. In this embodiment, a Doppler radar 42 is added to the front of the vehicle in addition to the embodiment shown in FIG. 13, and the control device 41 is changed to a monitoring sensor and a Doppler radar control device 43. . Components that are substantially the same as those in the embodiment shown in FIG. 13 are given the same numbers, and descriptions thereof are omitted.

The Doppler radar 42 detects distant obstacles in the direction of travel of the vehicle. Gives the driver a large number of peripheral conditions in all driving operations such as turning, re-routing, reverse driving, parking, etc. .

FIG. 15 is a block diagram showing a configuration of an embodiment of an object monitoring processor in an automobile equipped with the object monitoring sensor of the present invention. In the present embodiment, means for assisting driving of an automobile using information detected by the object monitoring sensor and the Dobler radar is provided.

14, the same parts as those in FIG. 14 are given the same numbers as those in FIG.

Revolution sensor 51 for monitoring engine speed, tire sensor 52 for monitoring tire speed, acceleration sensor 53 for monitoring vehicle acceleration 53, vehicle speed sensor 59 for monitoring absolute vehicle speed, vehicle rotation Rotation acceleration sensor 47, climate sensor 49 to monitor the outside temperature and humidity of the vehicle, position sensors 50 to monitor the driver's operation such as accelerator pedal, steering wheel, turn signal, etc. Communication device for transmitting and receiving traffic information 57, Recording device 56 for recording the operation status of these sensors in chronological order, Display device 54 for transmitting driving status and traffic information to the driver 54, Charger brake Actuator control device for braking of lamps, lamps, etc. 58, Real-time monitoring of sensor operation status, analysis of driving patterns of automobiles, analysis of engine and brakes, etc. Comprising the status decisions and the operation control device 5 5 controls the Kuchiyueta.

By measuring the driving pattern of the driver in the external environment with a gun, and analyzing the driving pattern in the external environment, the driver emphasizes acceleration, drives at a constant speed, and operates in a corner. Thus, it becomes possible to perform various actuator control according to the driver's preference. In addition, the driver's safe driving index is calculated from the statistical analysis of the driver's driving pattern against the outside environment. Calculate and use this result to calculate insurance premiums for automobiles. By paying a stake according to the safe driving index, the driver can statistically calculate the financial burden on the automobile insurance contractor, and ultimately reduce the financial burden on the driver. In addition, by providing time-series sensor information to the actual survey of accidents, it is possible to judge the situation of the accident objectively. Industrial applicability

As described above, according to the present invention, the obstacle monitoring sensor using both the reflected wave of the electromagnetic wave and the reflected light of the light for obstruction monitoring is an intermittent directivity comprising a monopulse planar patch antenna and a prism lens. By using an optical sensor with added characteristics, it is possible to detect a wide range of obstacles without using a mechanical scanning mechanism, improving the vibration resistance characteristics and making the obstacle monitoring sensor itself thinner and lighter. . In addition, relative distance, relative speed, and relative angle can be easily detected without correlation with the relative distance to the obstacle. Detection becomes possible.

As a result, it is possible to easily grasp the outside environment of the vehicle in real time without using complicated signal processing technology associated with image processing, and to provide the driver with all kinds of driving operations such as traffic jam driving, turning driving, route changing driving, etc. It is possible to provide an object monitoring sensor for an automobile that can provide many peripheral conditions and prevent an automobile accident before it occurs.

In addition, since the driver's driving patterns in the external environment can be ascertained, a safe driving index for driving can be statistically derived, and vehicles that can reduce driver's insurance premiums and make objective judgments on actual conditions for accidents are possible. Object monitoring sensor can be provided.

Claims

1. An antenna that emits an electromagnetic wave and receives a reflected wave of the electromagnetic wave from the object in order to detect an angle of the object using a stereo effect; and-an array of a plurality of optical sensors having directivity. And the plurality of optical sensors are configured to be able to receive light from different angular directions.

Light sensor and

An object monitoring sensor, comprising: a surrounding signal processing circuit that detects a distance, a speed, an angle, or an angle with the object based on information from the antenna and information from the optical sensor.

2. The object monitoring sensor according to claim 1,

The antenna includes a transmission antenna and a reception antenna, and the reception antenna has a plurality of elements each independently having a terminal electrically connected to the signal processing circuit in order to perform angle detection using a stereo effect. An object monitoring sensor comprising an elementary antenna.

3. The object monitoring sensor according to claim 2, further comprising:-the object monitoring sensor further includes a high frequency circuit for mixing a transmission signal and a reception signal and outputting the mixed signal to the signal processing circuit;

The high-frequency circuit includes: an oscillator; a first power amplifier that inputs a part of the output of the oscillator as a transmission signal and outputs the transmission signal to the transmission antenna; and a transmission signal that outputs a part of the output of the oscillator. A low power amplifier for inputting a received signal transmitted from the receiving antenna, and a transmission signal and a reception power of the output of the second power amplifier and the output of the low noise amplifier, respectively. Input as a signal, and mix the input transmit and receive signals for corrected use (Rule 91) And a mixer that outputs the signal to the signal processing circuit.

4. The object monitoring sensor according to claim 1,

The antenna comprises a receiving antenna;

In order to perform angle detection using a stereo effect, the reception antenna includes a plurality of element antennas each independently having a terminal electrically connected to the signal processing circuit, and transmits electromagnetic waves from the plurality of element antennas. An object monitoring sensor that radiates and receives, at the plurality of element antennas, reflected waves generated by the electromagnetic waves being reflected by the object.

5. The object monitoring sensor according to claim 4,

The object monitoring sensor further includes a high-frequency circuit for mixing a transmission signal and a reception signal and outputting the mixed signal to the signal processing circuit.

An oscillator; a first power amplifier that inputs a part of the output of the oscillator as a transmission signal; and a second power amplifier that inputs a part of the output of the oscillator as a transmission signal. A low-noise amplifier for inputting a received signal transmitted from the receiving antenna; and an output of the second power amplifier and an output of the low-noise amplifier input as a transmission signal and a reception signal, respectively. A mixer that mixes a received signal and outputs the mixed signal to the signal processing circuit; a transmit / receive antenna duplexer connected to an output terminal of the first power amplifier, a terminal of the receiving antenna, and an input terminal of the low noise amplifier. An object monitoring sensor, comprising:

6. The object monitoring sensor according to claim 5,

The object monitoring sensor, wherein the duplexer is a directional coupler.

7. The object monitoring sensor according to claim 1, wherein the antenna is a planar antenna.

8. The object monitoring sensor according to claim 7,

An object monitoring sensor, wherein the planar antenna is a patch antenna in which patch elements are arranged in an array.

9. The object monitoring sensor according to claim 1, wherein the optical sensor is configured by combining an image sensor that converts light into an electric signal and an optical lens. .

10. The object monitoring sensor according to claim 9,

The object monitoring sensor according to claim 1, wherein the optical sensor includes a slit-free optical path mask for defining an angle based on a part of the image sensor, which is disposed on an input side of the image sensor.

11. The object monitoring sensor according to claim 10,

The object monitoring sensor, wherein the optical path mask is provided with an inner black light guide path for guiding light in order to suppress a detection error of angle detection.

12. The object monitoring sensor according to any one of claims 1 to 11, wherein a light source that emits light for a predetermined period is arranged near the optical sensor.

13. A moving object comprising the object monitoring sensor according to any one of claims 1 to 12.

1 4. In the mobile object according to claim 13,

A moving object, which assists driving using information detected by the object monitoring sensor.

15. An automobile, comprising the object monitoring sensor according to any one of claims 1 to 12 and supporting driving using information detected by the object monitoring sensor,

A plurality of the object monitoring sensors are provided on an outer peripheral portion, and a radar device having a longer detectable distance than the object monitoring sensor is provided in front. The car to be called.

1 6. In the vehicle according to claim 15,

A vehicle, wherein the driving assistance is performed using the object monitoring sensor, the radar device, the information monitoring device, and an information storage device that records information obtained from the radar device.

17. In the vehicle according to claim 15,

An automobile further comprising means for analyzing a behavior pattern of a driver and surroundings based on the information recorded in the information storage device and calculating a course for an automobile accident.