WO2005026770A1 - レーダ装置 - Google Patents
レーダ装置 Download PDFInfo
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- WO2005026770A1 WO2005026770A1 PCT/JP2003/011647 JP0311647W WO2005026770A1 WO 2005026770 A1 WO2005026770 A1 WO 2005026770A1 JP 0311647 W JP0311647 W JP 0311647W WO 2005026770 A1 WO2005026770 A1 WO 2005026770A1
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- radar device
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
- G01S13/44—Monopulse radar, i.e. simultaneous lobing
-
- 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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
-
- 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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
- G01S13/726—Multiple target tracking
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—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
- G01S13/88—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
- G01S2013/93185—Controlling the brakes
-
- 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
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
Definitions
- the present invention relates to a radar device, and more particularly to a leak that performs accurate tracking when targets to be tracked are in a fi position. Background leakage
- Sequential roving; ⁇ and monopulse: ⁇ : are known as leaks for observing the target direction by combining a plurality of beam patterns.
- the difference between the target images at adjacent beam paths is determined, and the direction of the target is estimated.
- the relative distance to the target and the relative position of the target can be obtained by using the pulse Doppler array ⁇ : and the FMCW oscillator ⁇ :. Therefore, by combining these ⁇ ; (for example, sequential mouthing: ⁇ ; and FMCW radar: ⁇ ;), the position of the target with respect to the ground surface can be calculated.
- An object of the present invention is to solve the above problems. Disclosure of the invention
- a radar device includes: an antenna that receives radio waves arriving from a plurality of external targets as reception waves;
- a signal detector that converts a received wave received by the three antennas into a received signal, and extracts a of the received signal
- Unfavorable 3 positions ⁇ Correlation processing by the first gate is performed on the position observation value and the marrow observation value calculated by the velocity difficulty, and the first gate satisfies the position observation value and the avoidance observation value that satisfy the first gate.
- a target tracking file that calculates a smooth value between the position of the mochi part target and the evasion,
- the third gate observation value and velocity observation value of the external target belonging to the cluster formed by the knitting class evening shape fiber are correlated by the second gate, and the position observation value that fills the knitting second gate
- another radar device includes an antenna that receives radio waves arriving from a plurality of external targets as reception waves,
- a signal detector that converts a received wave received by the disgusting antenna into a received signal and extracts special fibers of the received signal
- the position for calculating the position observation value and the speed observation value of the target From the characteristic amount of the received signal extracted by the signal detector, the position for calculating the position observation value and the speed observation value of the target
- Abomination position ⁇ The position observation value and evacuation observation value that satisfy the first gate are subjected to the correlation processing by the first gate for the position observation value and evacuation value calculated by the muffled performance.
- a target tracking file that calculates a smoothed value between the position of the target and the 33 ⁇ 4
- a cluster forming unit that forms a class to which the ⁇ ⁇ ⁇ goal belongs when the Ken-bu goals are disturbed, based on the smoothed value of the position of the unwanted goal;
- the irrigation cluster form irr is the cluster formed by ⁇ as one external target, and from the position observation value and the velocity observation value calculated by the knitting position and speed 3 ⁇ 4 ⁇ , the smooth value of the position and avoidance of the cluster A target tracking filter within the class that calculates
- FIG. 1 is a diagram showing a situation of a radar apparatus according to Embodiments 1 and 2 of the present invention
- FIG. 2 is a block diagram showing a configuration of a radar apparatus according to Embodiments 1 and 2 of the present invention
- FIG. 4 shows a relationship between a beam pattern and a target of the radar apparatus according to the first embodiment of the present invention.
- FIG. 5 is a flowchart showing signal processing of the radar apparatus according to Embodiment 1 of the present invention.
- FIG. 6 is a flowchart showing tracking processing of the radar apparatus according to Embodiment 1 of the present invention.
- FIG. 7 is an embodiment of the present invention. A flow chart showing a cluster forming process of the radar device according to the first embodiment,
- FIG. 8 is a diagram showing a gate relationship between targets in the radar device according to the first embodiment of the present invention.
- FIG. 9 is a configuration example of a target gate in a cluster in the radar device according to the first embodiment of the present invention. Figure showing
- FIG. 10 is a diagram showing another example of the configuration of the target gate in the class evening in the radar device according to the first embodiment of the present invention.
- FIG. 11 is a diagram showing a detailed configuration of a signal processor of the radar device according to the second embodiment of the present invention.
- FIG. 12 is a diagram showing a positional relationship between targets of the radar device according to the second embodiment of the present invention.
- 13 is a flowchart showing signal processing of the radar apparatus according to the second embodiment of the present invention, and
- FIG. 14 is a flowchart showing tracking processing of the radar apparatus according to the second embodiment of the present invention. .
- FIG. 1 shows an automobile equipped with a radar device according to Embodiment 1 of the present invention.
- a vehicle 1 is equipped with a radar device 2 according to Embodiment 1 of the present invention.
- the radar device 2 emits a beam to »of the automobile 1. Some of the irradiated beams are from the car 1! The light is reflected by the object 3 ⁇ T, and arrives at the radar device 2 again.
- the radar apparatus 2 receives the signal, performs signal processing, and detects a distance “ ⁇ ” direction to the object 3. Based on the information on the object 3 obtained from the information, the vehicle 1 performs control such as automatically applying a brake to avoid a collision or adjusting a seat belt in preparation for a collision. As a result, it greatly contributes to dramatically improving the safety of automobile 1.
- the radar apparatus 2 receives the signal, performs signal processing, and detects a distance “ ⁇ ” direction to the object 3.
- the vehicle 1 Based on the information on the object 3 obtained from the information, the vehicle 1 performs control such as automatically
- FIG. 1 is a block diagram showing the structure of the radar device 2.
- the radar device 2 is a radar device configured by FMCW (Frequency Modulation Continuous Wave) radar: ⁇ ;
- a controller 10 sends a control signal to each part of the radar apparatus to perform overall timing control.
- the controller 10 is configured using a central processing unit (CPU) or a digital signal processor (DSP), and is connected to each component by a bus (not shown). I do.
- the term “part” refers to a dedicated circuit or element designed to realize the function.
- a computer having a central processing unit (CPU) may execute a computer program to execute a corresponding function.
- VC ⁇ 11 is a VC ⁇ (Voltage Controlled Ocillator), which generates a weak AC signal.
- the VC 011 generates an AC signal that repeats, at regular intervals, an up phase in which the frequency is continuously increased and a down phase in which the frequency is continuously decreased.
- the transmitter 12 is an amplifier that amplifies a weak signal generated by VC ⁇ 11.
- the antenna 13 irradiates the object 3 with the output signal of the VCOL 1 amplified by the transmitter 12 as a transmission wave, and transmits one of the transmission waves reflected by the object 3! This is a sensor element that receives ⁇ as a received wave.
- the transmission / reception switch 14 includes a movable terminal A, a contact B, and a contact C, whereby the antenna 13 switches between transmitting a transmission wave and receiving a reception wave. I have.
- the movable A is set to one of the contacts B and C by a control signal from the controller 10. If the movable ⁇ ?
- the mobile A which dislikes the contact C, is connected to the antenna 13 and is connected to the antenna 13 so that the received waves are connected.
- the antenna driver 15 is a part that mechanically or electronically controls the direction of the antenna 13 It is.
- the direction of the antenna 13 is controlled by the antenna driver 15, and as a result, a beam which is partially a part of the beam pattern is emitted.
- the receiver 16 is a part that generates a beat signal of the received wave received by the antenna 13 and the ⁇ signal generated by the VCO 11, further A / D converts the beat signal, and outputs the result.
- the signal processor 17 is a signal processor for performing signal processing on the bit signal output from the receiver 16, and its detailed configuration is shown by a block diagram in FIG.
- the frequency analyzer 21 analyzes the frequency of the beat signal.
- the frequency storage unit 22 is a storage element or a circuit that stores the frequency of each beat signal of the up phase and the down phase.
- the frequency of the up phase bit signal and the frequency of the down phase bit signal are paired and used for the subsequent relative distance and relative body. Therefore, the frequency storage device 22 stores the frequency of the beat signal of each phase for a certain period.
- the up-phase down-phase coupler 23 can be used to provide an up-phase beat signal frequency and a down-phase beat for each target when multiple target beat signals are generated in each of the up-phase and the down-phase. This is the part that couples with the signal frequency.
- Fuji performance 24 is a part that calculates the relative distance of each target from the frequency of the beat signal combined by the up-phase / down-phase coupler 23.
- the method 25 calculates the ⁇ / ⁇ value from the frequency of the beat signal and the frequency of the beat signal of the beam adjacent to the beam from which the beat signal was obtained, and calculates the target azimuth. It is.
- Position ⁇ m 2 ⁇ is the relative distance ⁇ 4) the relative distance of each target calculated, 5 is a sound for calculating the avoidance of the position of each target and the ground coordinates from the direction of each target calculated.
- the target tracking filter 27 is a part that performs a smoothing process on the position and coordinates of each position and the calculated target. i
- the position and coordinates of each target calculated by 6 Is based on the observed values, and may be significantly different from the true value due to the noise.However, such a situation can be avoided by the target crane filter 27 performing smoothing processing. ing.
- the tracking information storage unit 28 is an element or a circuit for storing the smoothed value output from the target tracking filter 27 for a predetermined period, or a storage medium such as a disk, a disk, or a CD-ROM drive. is there.
- the class evening ⁇ 29 is a sound in which each goal forms a cluster from those goals.
- the intra-cluster target tracking filter 30 is a part that performs a smoothing process on the cluster formed by the cluster former 29.
- Distance ⁇ Radars observing boats: ⁇ are known, for example, pulse Doppler radar: 3 ⁇ 4, and FM CW (Frequency Modulation Continuous Wave) ⁇ ⁇ grasped by radar device 2.
- a pulse Doppler radar a pulse wave of the same frequency is radiated from the antenna every fixed period, and the time from the reflection of the pulse wave to the target to the arrival at the antenna is calculated, and the relative time from this time to the target is calculated. Calculate the distance.
- the goal is moving :!
- For ⁇ a frequency shift occurs due to the Doppler effect when the pulse wave is reflected. Therefore, the relative displacement of the target is calculated by calculating the frequency shift.
- the FMCW radar employed in the radar device 2 repeats at regular intervals a gap phase that raises the frequency of a fresh signal by far, and a down phase that continuously drops it.
- the target is illuminated with a transmission wave at the frequency of the key word.
- the beat signal is generated by mixing the anti-new skin by the target and the »signal frequency at that time.
- the target relative and relative distance are calculated from the frequency and phase of the beat signal in the up phase and the frequency and phase of the beat signal in the down phase.
- the beat signal frequency in the up phase is U
- the beat signal frequency in the down phase is U
- D is the frequency band
- B is the modulation time
- T is c
- ⁇ is c
- the wavelength of the transmitted wave is ⁇ : ⁇ , the target relative distance R, and the relative ii3 ⁇ 4V are expressed by Equations (1) and (2).
- a method of calculating the direction of a target for example, the following method is known. That is, a beam is irradiated in a plurality of directions so that a part of the beam pattern overlaps, and the anti-fiber by the target is received in each beam. Then, the difference ( ⁇ ) of the amplitude and phase of the received signal between adjacent beams is calculated and the sum (the ratio of ⁇ ( ⁇ / ⁇ value)), and the anti-necrotic incident direction is calculated from this ⁇ / ⁇ value.
- This method can be used with FMCW radar, pulsed Doppler radar, or other force-based radar systems.
- a sequential mouth bing that calculates the ⁇ / ⁇ value between the beam patterns emitted at different time zones:
- a monopulse ⁇ which calculates a ⁇ / ⁇ value by combining beam patterns at the same time is known.
- they evade that there is only one target in one beam pattern, even if the deviation is, and the targets become ⁇ 5, and as a result, the target in one beam pattern is ⁇ I'm going to We cannot cope when we got.
- the operation of the radar device 2 will be specifically described next, together with the operation of each constituent element of the radar device 2. Further, in the following description, in order to more specifically describe the operation of the radar device 2, it is assumed that the operation of a plurality of vehicles traveling on the vehicle 1 is measured. Figure 4 shows such a situation. On an actual road, the number of lanes and sickles depends on the oncoming lane. Therefore, the radar device 2 irradiates a beam to a plurality of vehicles straddling different lanes, and the anti-new skin comes back from each object. In order to explain the operation in such a case, in the example of FIG.
- Car 0 101 has vehicle 104
- lane 102 has vehicle 105A
- car H 103 has vehicle 1 061.
- the reference signal composed of the up phase and the down phase generated by VC01 1 is amplified by the transmitter 12, and the vehicles 104, 105,
- the antenna 13 is set so that the radiation direction of the beam is controlled by the antenna driver 15 and transmitted by the controller 10. As a result, the antenna 13 sequentially emits the beam 151, the beam 152, the beam 153, etc. shown in Fig. 4, and the vehicle 104, 105, 106 is included in the beam pattern. Catch on.
- the vehicle when an antenna having an appropriate capability is not mounted, even if a vehicle running in an adjacent lane applies a sudden brake, the vehicle may be able to respond in the same way as the own lane.
- the vehicle 104 is traveling near the overlap of the beam patterns of the adjacent beams 151 and 152.
- both vehicles 105 and 106 are traveling in the beam pattern of beam 153. This situation happens very often in reality.
- the beams such as the beam 151, the beam 152, and the beam 153 emitted by the antenna 13 are reflected by the vehicles 104 to 106 and arrive at the antenna 13 again.
- Antenna 13 sequentially receives these replies and outputs a received wave to receiver 16.
- the receiver 16 mixes the received signal with the signal at V CO1 1 to generate a beat signal.
- VC0 11 is continuously raising or lowering the frequency, and the time of a certain period between the time when the transmitted wave reaches the external target, where it is reflected and returns to the antenna 13 is shown. Has passed, so the frequency of the signal is different from the frequency at which the received wave was radiated as a transmitted wave. Furthermore, when the received wave is reflected by the target, the external target is moving.
- the bit signal generated by the receiver 16 contains information such as the elapsed time from when the transmitted wave is emitted to when it returns as the received wave, and the moving target of the external target. . These will be later extracted by frequency »f.
- the receiver 16 performs AZD conversion so that the beat signal can be processed in the subsequent signal processing, and outputs a received signal as a digital signal to the signal processor 17.
- FIG. 5 is a flowchart showing the operation of the signal processor 17.
- Step s 1 0 1 figure frequency analysis 1 unit 2 scan Bae and spectrum analyzed by performing, for example, fast off one Fourier transform on the received signals, we extract frequency.
- the frequency analyzer 21 outputs, together with the frequency component, the amplitude of the received signal at which the frequency spectrum has a peak.
- the beat signal frequency component and the amplitude of the received signal are stored in the frequency storage unit 22 for a certain period, at least during a period in which at least one section of the up phase and one section of the down phase elapse.
- step S 102 the controller 10 sends a control signal to the up-phase / down-phase coupler 23 when one pair of the up-phase and the down-phase elapses, thereby transmitting an up-phase signal.
- the controller 10 sends a control signal to the up-phase / down-phase coupler 23 when one pair of the up-phase and the down-phase elapses, thereby transmitting an up-phase signal.
- the down-phase coupler 23 Activate the down-phase coupler 23.
- the up-phase down-fuse coupler 23 when the section power consisting of the up-phase and the down-phase has converged, causes the beat signal of the up-phase stored in the frequency A pair with the first beat signal is formed.
- step S103 the method ⁇ 25 stores the amplitude of the received signal of the pair of the up-phase and down-phase beat signals formed by the up-phase / down-phase coupler 23 in the frequency storage.
- the difference ( ⁇ value) and the sum ( ⁇ value) of the amplitude of the received signal between adjacent beams are obtained, and the ratio ( ⁇ // ⁇ value) is calculated.
- bearing The target direction is calculated from the ⁇ / ⁇ value. This calculation is performed as follows. That is, in the received signals of two adjacent beams, the error TO ⁇ due to the target direction is obtained by dividing the difference ( ⁇ ) between the amplitudes of the received signals of these two beams by the sum ( ⁇ ) of the amplitudes.
- step S105 the position 'speed difficulty 26' is calculated based on the azimuth calculated by ism 25, the relative distance and the relative speed and relative distance calculated by Calculate the evasion. (Tracking processing for each external giant target)
- step S106 the observation value is supplied to the tracking filter executed by the (target) 3 ⁇ 4 filter 27.
- the target i-filter 27 performs a loop ⁇ : for calculating a smoothed value from the observed value at regular intervals. Therefore, the following describes the tracking filter performed by the target tracking filter 27.
- FIG. 6 is a flowchart showing a tracking filter executed by the target tracking filter 27. Note that the tracking processing shown in this flowchart deals only with the external target of the original. There are multiple external goals :! ⁇ Means that the mochibe goal is processed separately. First, prior to this tracking processing, it is determined whether or not the observation value supplied in step S106 is one of the existing external targets that are performing the tracking processing, and is not that of any external target: ⁇ Then, it is determined that a new external target has been observed, and a new tracking process is started. Arrogance
- step S201 the view supplied in S108 as initial processing of the tracking processing is performed.
- the measured value is assumed to be a smooth value.
- step S206 the process proceeds to step S206 of the regular process.
- step S207 the process proceeds to step S207, and waits for the next sampling time, and proceeds to step S202 upon arrival.
- the processing in steps S202, S206, and S207 will be described later.
- a predicted value of the current sample value is calculated based on the smoothed value of the previous sample value.
- the smoothed value is xs (k)
- the y-component smoothed value is y P (k)
- the component smoothed value is vs (k)
- the value from the previous sample is k—the first sample.
- yp (k) ys (k-l) + vs (k-l)-T (6)
- step S203 the position / velocity calculator 26 in step S106 receives supply of a new observation value.
- observation values acquired through radar equipment are generally subject to noise, so the observation values themselves are rarely used as input data. Therefore, one of the purposes of the filter is to calculate not the observed value itself but a smoothed value that reduces the effect of noise and supply it to other systems that use the data from the radar device. Since Phil Yu has such a purpose, it does not use the obtained observation values unconditionally, but decides whether or not to use the observation values after performing a condition called correlation processing. There are many things to do. Such a condition f U is a correlation process.
- the condition that determines whether or not to accept the current observation value is called a gate, and is dynamically determined based on the smoothed and predicted values of the previous sample, the elapsed time from the previous sample, etc .; ⁇ Many.
- a gate The condition that determines whether or not to accept the current observation value is called a gate, and is dynamically determined based on the smoothed and predicted values of the previous sample, the elapsed time from the previous sample, etc .; ⁇ Many.
- the radar system 2 if the gates of the vehicles overlap when the vehicle of »: is viewed, the observation values are exchanged between the gates, and other gates that are not the original The observation value is lost to the tracking process. Therefore, in order to avoid such a situation, it is necessary to prevent gates from overlapping between departmental goals.
- the gate will become narrower than necessary, causing observation values that would otherwise have to be picked up in the tracking process. Therefore, in the radar device 2, a cluster is formed to cope with the case where the external targets are protected and the gates are overlapped and the correlation cannot be performed correctly at the same time as the tracking process ii for each external target. And I will do this for you. '
- step S204 the predicted value at the time of this sample, and the observed value, force, and smoothed value obtained by the correlation processing are calculated.
- a coefficient that determines the degree to which the observed value contributes is called a gain.
- vs (k) vo (k) (16)
- the magnitude of the gain determines the magnitude of the effect of noise on the smoothed value. As the gain decreases, the contribution of the observed value to the smoothed value decreases, and the smoothed value is not affected by noise. However, the smoothed values deviate from the actual observed values. as a result,. For example, there is a problem that the target moves unexpectedly: ⁇ , the smoothed value cannot follow;
- step S205 it is determined whether or not all of the predicted value, the observed value, and the bone value are within the observation area. All of these are in the observation area :! ⁇ Means that the tracking process can be performed, so go to step S206 (step S205: Yes) 0 Also, any one of the predicted value, the observed value, and the smoothed value has deviated from the observation area : ⁇ Cannot finish the tracking process, so the tracking process ends (step S205: No
- step S206 the smoothed value calculated in step S204 is stored in the tracking information storage unit 28. Remember. These are stored in external target units by the next sampling time. Subsequently, in step S207, the system waits for the arrival of the next sample, and upon arrival, processes the next sample from step S202. The above is the tracking processing in the eye tracking filter 27.
- the cluster type ⁇ 29 reads the tracking result that the tracking information storage unit 28 remembers:! Then, from the external targets (vehicles 104, 105, 106, etc.), those whose predicted value and smoothed value of motion ⁇ such as their position and velocity satisfy certain conditions are extracted. Then, a cluster is formed from the external targets satisfying the predetermined condition. Therefore, the details of the cluster processing will be described next.
- FIG. 7 is a flowchart of the cluster forming process performed by the cluster forming unit 29.
- the cluster thigh 29 generates a combination of two external targets from the external targets on a brute force basis.
- the combinations generated here are given an order, and for example, each combination is managed in a storage area such that the combination can be uniquely specified by the order, such as the Nth combination.
- the variable N is initialized to 1. This variable is a counter variable used to indicate the combination of N ** ⁇ part targets.
- step S303 the distance between the Nth combination of external targets is calculated.
- the Euclidean distance is used as the giant separation value.
- step S304 it is determined whether or not the value is equal to or less than a threshold value of the IS separation force between external targets in the ⁇ ⁇ ⁇ ⁇ ⁇ th combination. If the distance between the external targets is equal to or less than the threshold value, the two external targets belong to the same class.
- the process proceeds to step S305 (step S304: Yes).
- the predetermined threshold value may be a constant. For example, let TH be a constant, make the target tracking filter 27 calculate the predicted value of the distance between the targets, and further, disperse the predicted value of the distance between the targets. ) Based on Pi (the 3 ⁇ 4 of the i-th goal), for example, The threshold may be calculated using the threshold.
- k indicates a threshold value in the k-th sample.
- M is the total number of goals. If the variance of the predicted value of the target position is large, it is considered that the direction observation accuracy is high. Even if the predicted value of the distance is large, the target may actually be close. Thus, by determining the threshold as in Equation (17), clusters can be formed properly even at an age where the direction observation accuracy is poor.
- step S310 is advanced by step S310 (step S304: No), and the processing in this case will be described later.
- step S305 it is determined whether the Nth combination of external targets already belongs to any cluster. If one external goal belongs to one of the clusters, the other external goal must also belong to the same class, so processing is performed for that. In this: ⁇ , the process proceeds to step S306 (step S305: Yes). In step S306, it is further determined whether both external goals belong to the class evening and whether the class evenings are different. If they are different, the process proceeds to step S307 (step 206). In step S307, both clusters are merged into one class. External targets whose distance value is less than a certain value are not allowed to belong to different classes. Thereafter, the process proceeds to step S310.
- step S308 if one of the external targets does not yet belong to the class evening: ⁇ or both external targets also belong to the raster, go to step S308 (step S306: No)
- step S308 if one of the external goals does not belong to the class evening, the external goal is made to belong to the class to which the other external goal belongs. Proceed to.
- step S305 if both external goals do not yet belong to any cluster, go to step S309 (step S305: No). A new class evening is formed and both external objectives belong to this new class evening, then go to step S310.
- step S310 1 is added to the counter variable N. Then, in step S 311, it is determined whether N is equal to or less than the total number of combinations of external targets. If the age is equal to or less than the total number of combinations, the process returns to step S303 (step S311: Yes), and the same processing is repeated for the next combination. In addition, the class evening ceremony is ended in order to obtain the total number of N-forces or more.
- the distribution of the external target is determined based on the distance, and a cluster is formed.
- prediction ⁇ representing the variance of the predicted value of the external target ⁇
- the ⁇ value may be changed temporarily based on the column.
- class membership must be canceled. This is because such external targets are sufficiently separated from other external targets, and thus the reliability of the observation value in the direction calculated in step S103 is considered to be poor.
- step S108 the intra-cluster target tracking filter 30 performs intra-cluster tracking processing for each cluster.
- step S108 the tracking processing result of the mochi part target stored in the tracking information storage unit 28 is overwritten with the parent processing result in the cluster and stored.
- the processing result of the cluster tracking file is adopted as the ⁇ result of the external target belonging to the class evening, and the As the tracking result of the unit target, the processing result of the single tracking file is adopted.
- the processing of the intra-cluster tracking filter 30 differs from the target tracking filter 27 in the gate setting part.
- FIG. 8 is a diagram illustrating a state in which the gates of two targets 107 and 108 (gates used in the tracking processing of each target alone) in the cluster are overlapped.
- a rectangle 110 (hereinafter, referred to as a gate 110) indicates a gate area used in the single tracking processing of the target 107.
- the rectangle 1 1 1 (hereinafter referred to as gate 1 1 1) indicates the gate area to be used in the single object tracking process for the target 108.
- the rectangle 111 is an area where the rectangle 110 and the rectangle 111 overlap.
- the class evening tracking fill evening 30 sets a new gate as shown in Fig. 9 for the goals 107 and 108.
- point 113 is the midpoint between goals 107 and 108.
- a rectangle 114 is a region indicating the gate of the target 107 (hereinafter, referred to as a gate 114), and a rectangle 115 is a region indicating the gate of the target 108 (hereinafter, gate 1). 15)).
- the area where the gate 11 and the gate 11 overlap was harmed by the middle point 1 1 3! ! By doing so, the size of the gates for both targets is adjusted to avoid conflicting observations. '
- the smoothed value of the X position of the k-th sample of the target 107 is xs, 107 (k)
- the observed value is xo, 107 (k)
- the smoothed value of the x-position of the k-th sample of the target 107 is Assuming that xs, 108 (k) and observations are represented as xo, 108 (k), the gate 110 of target 107 was given by the castle (Equation (1 1)).
- xs, 107 (k-1) -1 dx ⁇ xo, 107 (k) ⁇ xs, 107 (k-1) + dx (1 9) was 1 110.
- the gate 111 was given by the following equation (Equation (1 2)). xs, 108 (k-l)-dx ⁇ xo, 108 (k) ⁇ xs, 108 (k-l) + dx (20) where xo, 107 (k) ⁇ xo, 108 (k) The gate 1 1 4
- each gate since there are two targets, the gate is divided at the midpoint between the two. However, if there are three or more targets, each gate should be divided by the center of gravity defined by each target. do it.
- the term “center of gravity” is assumed to be a polygon having each target as a vertex, and indicates a point that becomes the center of gravity.
- the gate does not include spurious images that may occur near the midpoint of the target, due to the positional relationship between the beam pattern and the target. Can be.
- Form 1 of S clusters are formed from targets that are close to each other, and different filters are set for self targets belonging to the class and targets not belonging to the class. Furthermore, the targets that are the observation targets are close to each other, and so on.
- the tracking process may be performed by losing the class evening to one target.
- the radar device according to Embodiment 2 of the present invention has such features.
- the entire configuration of the radar device according to the second embodiment of the present invention is shown by the block diagrams of FIGS. 1 and 2 similarly to the first embodiment, and the components denoted by the same reference numerals as those of the first embodiment are the same as those of the first embodiment. The description is omitted because it is the same as the corresponding part of the first embodiment.
- the detailed configuration of the signal processor 17 is shown by the block diagram in FIG.
- the cluster parameter estimating unit 31 is a part where the cluster is regarded as one general target: ⁇ , the azimuth difficulties 25 are used to guess the class evening motion words!
- the cluster information storage unit 32 is composed of a circuit or an element for storing the motion of the cluster calculated by the class parameter estimation unit 31, and a ⁇ using a storage device such as a disk drive.
- the class canceling unit 3 3 no longer satisfies the condition that each goal constitutes a cluster: ⁇ , the cluster must be canceled.
- the components marked with the same as in FIG. The description is omitted because it is the same as that of Embodiment 1.
- Embodiment 2 of the present invention will be described.
- FIG. 12 a situation in which vehicles 104, 105, and 106 are running in front of the automobile 1 will be described. Vehicles 104, 105, and 106 move along each lane, respectively. It is assumed that the movement is almost the same. This situation often occurs when running on other automobile-specific fibers without high traffic lights or high bacteria.
- components in FIG. 12 denoted by the same reference numerals as those in FIG. 4 are the same as those in FIG. In the situation shown in FIG.
- FIG. 13 is a flowchart showing the signal processing of the signal processor 17.
- the processing of the steps denoted by the same reference numerals as in FIG. 5 is the same as that of the first embodiment, and therefore the description is omitted.
- steps S101 to S109 are the same as in the first embodiment.
- the position calculation unit 26 calculates the observed value of each target, and the target tracking file 27 performs tracking processing of each target, and stores the resulting smoothed value in the tracking information storage.
- the cluster former 29 forms a class evening.
- vehicles 104 and 105 are sufficiently close to each other, and that a class evening is formed based on these vehicles.
- step S401 if the class evening is ⁇ , then this class evening is performed with one goal, MAL X, and relocation.
- FIG. 14 is a flowchart of the tracking processing performed by the intra-cluster target tracking filter 30.
- the class evening parameter estimation unit 31 estimates the cluster parameters from the position and velocity of the external target calculated by the position ⁇ m ⁇ 26.
- the parameters of the class parameter obtained here are used as the initial values of the smooth values of the class parameters.
- the cluster parameter estimator 31 uses the center of gravity of the cluster and the distance between targets in the cluster as the cluster parameters, and calculates these values as follows.
- the coordinates of the center of gravity (gx, gy) and the center of gravity iiggv of this &, cluster are given by Eqs. (2 3) and (2 4).
- the distance between the targets is not a scalar, but is given by a vector consisting of the X and Y coordinate components. Then, the distance between the target TGTi and the target TGTj is given by Equations (25) and (26), with the X coordinate component being Wx ij and the y coordinate component being Wyij.
- a scalar distance from the center of gravity g may be used as the distance value.
- step S506 the process waits until the next sample time arrives, and proceeds to the process from step S502 as a steady process when the next sample time arrives.
- the intra-cluster target tracking filter 30 calculates a predicted value over a cluster parameter.
- the predicted value gxp (k) of the X component coordinate of the center of gravity, the predicted value gy p (k) of the y component coordinate, and the old predicted value gvp (k) (k indicates the processing of the k-th sample)
- the time i from the sample is T
- the smoothed value of the X component coordinate of the center of gravity is gxs (k)
- the smoothed value of the y component coordinate is gys (k)
- the smoothed value of the velocity is gvs (k).
- gyp (k) gys (k-l) -l-gvs (k-l)-T (28)
- the predicted value of the X-coordinate component distance between the target TGTi and the target TGTj is Wp xijYk
- the predicted value of the y-coordinate fine separation is WpyiKk
- the x-coordinate fine separation smooth value is Ws xij (k)
- the bone value of the y-coordinate component is Ws yij (k) and the smoothed value of the distance over time is r vs (k)
- W ij (k) Ws xij (kl) (30)
- Wpyij (k) Ws yij (k-1) + r vs (k-1)-T (31)
- the intra-cluster target tracking filter 30 performs a correlation process to obtain an observation value.
- multiple targets are divided by age and centroid at which the gate of each target overlaps.
- the target 107 is assumed to be TGTi
- the target 108 is assumed to be TGTj
- the midpoint 113 is assumed to be the center of gravity rather than the midpoint
- the set rectangle 114 is assumed to be the target.
- the gate for TGTi and the rectangle 115 for the gate for the target TGTj Since these ⁇ expressions have already been shown in equations (18) to (22), they are omitted here.
- the intra-cluster target tracking filter 30 calculates a smoothed value of the entire cluster parameter.
- the smoothed value gxs (k) of the x- component coordinate of the center of gravity, the smoothed value gys (k) of the y-component coordinate, and the smoothed value gvs (k) of the velocity are xoq, y If the observed value of the coordinates is yoq, the observed value of 3 ⁇ 4 ⁇ is vo, the gain of the X component is ⁇ , and the gain of is ay, then given by Equations (33), (34), and (35) .
- the gain is set lower than usual and the effect of the observation accuracy is suppressed. So that Also, as the predicted distance between the targets in the cluster is smaller, that is, the closer the predicted values of the target positions are, the lower the gain is, the lower the gain may be.
- G be a constant as shown in equation (36).
- the same weighting as in equation (36) may be set so that the gain becomes smaller. Also, the gain may be obtained by performing weighting in consideration of both the dispersion of the predicted values and the distance between the predicted values.
- Ws xij (k) is the X-axis component distance smoothed value between the target TGTi and target TGTj
- the y-coordinate component is the predicted coordinate value Wpyij (k) and the X-coordinate component distance smoothed value is Wp X i] '(k)
- the y-coordinate component distance smoothed value is Wp yij (k)
- the distance-time rate-of-change smoothed value is r vs (k)
- the x-component gain is Ax
- the y-component gain is Av
- Wsx ij (k) Wpx ij (k) + A ⁇ x og -Wp Xij (k) (37)
- Ws yij (k) Wp yij (k) + A y ⁇ y oq -wp yij (k) (38)
- step S505 the cluster deleter 33 determines whether the condition for maintaining the cluster at that time is satisfied. As a judgment method, it is checked whether the distance between the targets is within a threshold value. Also, it may be determined whether the predicted value, the observed value, and the smoothed value of the class parameter are within the observation area. If the condition for maintaining the class evening is satisfied, go to step S506 (step S505: Yes). Subsequent processing will be described later. If the condition for forming a cluster is not satisfied, the tracking processing is not possible, and the processing is terminated (step S505: No).
- step S506 the intra-cluster target tracking filter 30 stores the cluster parameter smoothed value in the cluster information shader 32. Subsequent processing is as described in the description of the initial processing, and thus the description is omitted.
- the calculation of the predicted value and the smoothed value is performed using the ⁇ filter for the X component and the 1/3 filter for the y component, but may be performed in the Kalman filter. .
- a cluster is formed from a plurality of targets which are close to each other and are running in parallel at a constant speed, and the class is classified into one.
- the radar apparatus includes a target tracking filter 27 that performs a tracking process for each target in the same manner as in the first embodiment, but according to the second embodiment of the present invention. Since the radar apparatus has a feature in that the intra-cluster target tracking filter 30 traces the cluster by traveling to a single target, regardless of the presence or absence of the target tracking filter 27, the invention is difficult. Play. Therefore, it is not a component of the target tracking filter 27 ⁇ .
- the radar apparatus according to the present invention is useful for measuring a plurality of target directions approaching each other, for example, an on-vehicle radar.
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US10/567,683 US20070008210A1 (en) | 2003-09-11 | 2003-09-11 | Radar device |
JP2005508921A JP4593468B2 (ja) | 2003-09-11 | 2003-09-11 | レーダ装置 |
EP03818661A EP1666915A1 (en) | 2003-09-11 | 2003-09-11 | Radar device |
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CN112114304A (zh) * | 2019-06-19 | 2020-12-22 | Aptiv技术有限公司 | 用于预测雷达传感器的假阳性的方法 |
CN112114304B (zh) * | 2019-06-19 | 2024-01-02 | Aptiv技术有限公司 | 用于预测雷达传感器的假阳性的方法 |
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JPWO2005026770A1 (ja) | 2006-11-24 |
US20070008210A1 (en) | 2007-01-11 |
JP4593468B2 (ja) | 2010-12-08 |
EP1666915A1 (en) | 2006-06-07 |
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