WO2006013689A1 - レーダ - Google Patents
レーダ Download PDFInfo
- Publication number
- WO2006013689A1 WO2006013689A1 PCT/JP2005/012305 JP2005012305W WO2006013689A1 WO 2006013689 A1 WO2006013689 A1 WO 2006013689A1 JP 2005012305 W JP2005012305 W JP 2005012305W WO 2006013689 A1 WO2006013689 A1 WO 2006013689A1
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- WIPO (PCT)
- Prior art keywords
- target
- tracking
- pairing
- condition
- detection information
- Prior art date
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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
- G01S13/66—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
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/345—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using triangular modulation
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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
- G01S13/88—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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9329—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles cooperating with reflectors or transponders
Definitions
- the present invention relates to a radar that detects and tracks a target.
- an on-vehicle radar in order to ensure the safety of the host vehicle and other vehicles, it is caused by a plurality of reflectors and noise that are simply detected by detecting the distance and speed of a plurality of reflectors within the detection range.
- the ability to track the necessary target among the multiple targets that can be obtained is necessary.
- Such a tracking function basically detects a target to be tracked from a plurality of targets detected at each measurement cycle or repeats the process of extracting a target that is already being tracked. It is a function to continue.
- target corresponding to a reflector within a predetermined detection range there is an entity such as a vehicle due to a decrease in received signal strength or noise.
- Targets that need to be tracked hereinafter referred to as “real targets”) and targets that are otherwise innocuous noise (hereinafter referred to as “pseudo targets”) are also tracked (incorrect). Tracking). Therefore, in order to suppress such false tracking and improve the reliability and continuity of target tracking, conventionally, the probability that a target is detected at the same position for each measurement cycle is obtained, and that probability is a predetermined value. When the threshold value is exceeded, processing is performed in which the target is considered to correspond to a real reflector.
- Patent Document 1 the position of a target detected by measurement is compared with the position of a target that has already been stored, and the value is large when it is determined that both positions correspond to each other. Correspondingly, when it is determined that there is no, the “confidence” that decreases the value is calculated! Then, when a long-term “missing” occurs such that the certainty level falls below a predetermined threshold value, the data relating to the target is deleted from the storage means.
- Patent Document 2 when a target is successfully detected at the target position for N times (N value in M) of M detection operations, the target is set as the target being tracked. I try to see it.
- Patent Document 3 there are a plurality of measurement points having substantially the same distance over the width of the vehicle.
- the vehicle candidate point cloud is detected based on whether or not the vehicle is moving, and the “probability” of the preceding vehicle is calculated using functions such as the number of points and the distance between the measurement points located at both ends. .
- Patent Document 5 a peak generated at a predetermined angle corresponding to the angle difference of the side lobe from the peak position generated by the central lobe at the same distance is regarded as a virtual image by the side lobe.
- Patent Document 6 discloses that a moving target existing within the range of a group of stationary objects that exist continuously is processed to be regarded as a pseudo target due to a pairing error.
- Patent Document 1 Japanese Patent No. 3065821
- Patent Document 2 Japanese Patent No. 3242603
- Patent Document 3 Japanese Patent No. 3002354
- Patent Document 4 Japanese Patent Application Laid-Open No. 4-343084
- Patent Document 5 Japanese Patent No. 3447234
- Patent Document 6 Japanese Unexamined Patent Application Publication No. 2003-177178
- Patent Document 1 the “certainty” shown in Patent Document 1 is used only for the presence / absence determination of the target, and this certainty is true when the target to be tracked or the target being tracked is true. It was not enough to be a scale for reliably determining whether it was a target or a pseudo target (target recognition).
- Patent Document 2 The “N value in M” of Patent Document 2 is also used only for the presence / absence determination of a target, and cannot be used as a measure for reliably performing the target recognition. I got it.
- Patent Document 3 The "probability” in Patent Document 3 is only used for determining the lane of the preceding vehicle, and this "probability" does not increase the accuracy of the target recognition.
- An object of the present invention is to suppress false tracking of a pseudo target, improve reliability of target tracking and continuity of true target tracking, thereby suppressing erroneous recognition of the target and increase its recognition accuracy. It is to provide such a radar.
- the radar according to the present invention is configured as follows.
- Detection information acquisition means for repeatedly performing transmission / reception of electromagnetic waves with respect to a predetermined detection range at predetermined measurement timings to acquire detection information including information on a position or velocity of a reflector within the detection range, and the detection information Of the detection information acquired at a plurality of different measurement timings by the acquisition means, tracking of the target corresponding to the reflector is performed based on the detection information predicted to be caused by the same reflector.
- tracking reliability determination means for determining a tracking reliability indicating a degree that the target being tracked is considered to be caused by the same reflector, and when the tracking reliability is low, or
- a recognition processing condition setting means for setting the recognition processing condition so that the recognition processing condition required for recognizing the true target becomes severe when the change in tracking reliability is not an upward trend. .
- the recognition processing condition is an allowable range of a change in position and speed of the target at each measurement timing for determining whether or not the same target is used.
- the electromagnetic wave is a frequency-modulated continuous wave, and the detection information acquisition means transmits the electromagnetic wave.
- a pairing means for determining a pair of response signals based on a pairing condition regarded as a response signal caused by the signal, and obtaining the position and velocity of the reflector based on the pair of response signals determined by the pairing means Measurement value calculation means, and the recognition processing condition is set as the pairing condition.
- side lobe processing for processing detection information generated by the side lobe of the antenna that transmits and receives the electromagnetic wave due to the same reflector as a virtual image Means for determining the virtual image by the side-probe processing means.
- the electromagnetic wave is a frequency-modulated continuous wave
- the detection information acquisition means is a protruding portion generated in the frequency spectrum of the beat signal in the upstream modulation section and the downstream modulation section of the transmission signal and the reception signal of the electromagnetic wave.
- the response signal generated in the upstream modulation section and the downstream modulation section! Based on pairing conditions that are regarded as response signals caused by the same reflector.
- a spurious processing means for processing a response appearing on the frequency spectrum as a spurious response, and the recognition processing condition is set in advance by the spurious processing means. The determination condition of spurious response.
- the electromagnetic wave is a frequency-modulated continuous wave
- the detection information acquisition means is a protruding portion generated in the frequency spectrum of the beat signal in the upstream modulation section and the downstream modulation section of the transmission signal and the reception signal of the electromagnetic wave.
- the response signal generated in the upstream modulation section and the downstream modulation section! Based on pairing conditions that are regarded as response signals caused by the same reflector.
- Measurement value calculation means for determining the position and velocity of the reflector based on the pair of response signals determined by the pairing means, and each of a plurality of targets determined by the measurement value calculation means
- the reliability of tracking a target by the same reflector based on detection information acquired at a plurality of different observation timings is tracking reliability determination means.
- the severity of the condition for recognizing whether the target being tracked is a true force target is set.
- Recognition processing conditions suitable for tracking reliability can be set, and target recognition errors are suppressed and target recognition accuracy is reduced compared to the case where target recognition is always performed under certain recognition processing conditions.
- the pairing condition is the recognition process condition
- the pairing condition is set when the tracking reliability is low or the change tendency is not an upward tendency.
- detection information acquired by the detection information acquisition means detection information generated by the side lobe of the antenna due to the same reflector is processed as a virtual image by the side lobe processing means, and the target is detected. If the tracking reliability of the vehicle is low or the change tendency of the tracking reliability is not an upward trend, the virtual image false tracking due to side lobes can be suppressed by tightening the virtual image judgment conditions, and the reliability and continuity of target tracking Increases nature.
- Range is regarded as a stationary object area, and a target moving in this stationary object area is processed as a pseudo target, but it remains stationary when the tracking reliability value is low or its change trend is not an upward trend.
- FIG. 1 is a block diagram showing a configuration of a radar.
- FIG. 2 is a diagram showing the relationship between various signal processing procedures, tracking reliability calculation stages, and recognition processing condition changes.
- FIG. 3 is a flowchart showing the processing procedure of the control circuit 1 and the recognition processing control unit 30 in FIG. 1.
- FIG. 4 is a diagram showing an example of a spurious response that appears on the frequency spectrum of a beat signal.
- FIG. 5 is a diagram showing an example of an upbeat signal, a downbeat signal, and pairing conditions that appear on the frequency spectrum.
- FIG. 6 is a diagram showing the tracking process and its connection conditions.
- FIG. 7 is a flowchart showing a processing procedure for determining tracking reliability and setting recognition processing conditions.
- FIG. 8 is a diagram showing clustering processing.
- FIG. 9 is a diagram showing an example of a virtual image by side lobes and side lobe processing.
- FIG. 10 is a diagram illustrating an example of a moving target moving in a pseudo manner in a stationary object region.
- FIG. 11 is a flowchart showing a procedure for erroneous tracking determination and removal of a pseudo target.
- FIG. 12 is a diagram illustrating an example of a frequency difference between an upbeat signal and a downbeat signal.
- Fig. 1 is a block diagram showing the configuration of the entire system including the on-vehicle radar and various units connected to it.
- the part indicated by 20 is the radar front end, which is composed of a control circuit 1, a millimeter wave circuit 2, a scan unit 3, an antenna 4, and so on.
- the millimeter wave circuit 2 modulates the oscillation frequency with the modulation signal supplied from the control circuit 1 as described later, and outputs the transmission signal to the antenna 4 via the scan unit 3.
- the received signal is given to the control circuit 1 as an intermediate frequency signal (IF signal).
- the scan unit 3 scans the direction of the beam of the antenna 4 over a predetermined range by, for example, mechanical reciprocation.
- the control circuit 1 gives a modulation signal to the millimeter wave circuit 2 and obtains the distance and speed of the target based on the IF signal from the millimeter wave circuit 2.
- the control circuit 1 outputs a control signal to the scan unit 3 and directs the beam of the antenna 4 in a predetermined direction to search. Scan the azimuth direction of the knowledge range to find the azimuth of the target.
- the recognition processing control unit 30 inputs signals from the vehicle speed sensor 10 and other various sensors 11, and detects the vehicle condition of the vehicle and the environment of the road on which the vehicle is traveling. Then, the target target information is given to the ACC controller 15.
- the ACC controller 15 performs automatic cruise control based on the target position and speed information given from the control circuit 1 and the own vehicle speed obtained by the vehicle speed sensor 10. For example, control data is given to the engine control unit 16 and the brake control unit 17 so that the distance between the preceding vehicle and the preceding vehicle is always kept constant. It also provides control data for avoiding collisions with targets ahead of the preceding vehicle.
- the engine control unit 16 and the brake control unit 17 perform engine control and brake control based on control data given from the ACC controller 15.
- FIG. 12 shows an example of a shift in frequency change between the transmission signal TX and the reception signal RX due to the distance and speed of the target.
- the frequency difference between the transmission signal TX and the reception signal RX when the frequency of the transmission signal TX rises is the upbeat frequency f, and the frequency of the transmission signal TX
- the frequency difference between the transmit signal TX and the receive signal RX during the descent is the frequency of the downbeat f
- ⁇ ⁇ is a frequency deviation width.
- the deviation ⁇ on the inter-axis corresponds to the round-trip time of the radio wave to the antenna force target.
- the shift on the frequency axis between the transmitted signal ⁇ and the received signal RX is the Doppler shift amount DS, which is caused by the relative speed of the target with respect to the antenna.
- the value of the upbeat frequency f and the downbeat frequency f changes according to this time difference ⁇ and the Doppler shift amount DS.
- Radar force Calculates the distance to the target and the relative speed of the target with respect to the radar.
- FIG. 2 shows a series of processing contents by the control circuit 1 and the tracking processing control unit 30 shown in FIG. 1, at which point the tracking reliability is calculated, and the obtained tracking reliability.
- the process to change the recognition process condition is shown.
- step Sd the recognition condition in each step is changed according to the tracking reliability of each target obtained in step Sd.
- step Sb the spurious response judgment condition and pairing condition settings are changed.
- Step Se the clustering condition setting is changed.
- step Sc the setting of the tracking condition (target position for judging whether or not the force is the same target and the allowable range of speed change) is changed.
- step Sf the setting of the virtual image determination condition in the side verb process is changed.
- step Sg change the setting of the stationary object area where it is assumed that stationary objects are continuous! /.
- FIG. 3A is a flowchart showing the processing contents of the control circuit 1 in the radar front end 20 shown in FIG. 1, and FIG. 3B is the processing contents of the recognition processing control unit 30. This is the flowchart shown.
- the control circuit 1 controls the millimeter wave circuit 2 to frequency-modulate the millimeter wave signal into a triangular wave shape for transmission within a predetermined detection range as shown in FIG. Scan the azimuth.
- the frequency analysis of the beat signal is performed, and the peak frequency and peak value of the protruding portion appearing in the frequency spectrum of the upbeat signal and the downbeat signal are extracted for each predetermined measurement timing (Sl).
- FIG. 4 shows an example of the frequency spectrum.
- the beat signal protrusion SP generated by receiving the signal from the reflector has the CZN characteristics of the oscillator and other signal sources (switching power supply, clock signal of the signal processing circuit, drive signal of the scanning mechanism, etc.) Spurious due to the intermodulation and intermodulation of the circuit. Responses NP1 and NP2 appear.
- each protrusion appearing on the frequency spectrum is present within a predetermined frequency range and is determined from a target peak value.
- Protrusions with level C (dB) or more are removed as spurious responses.
- This allowable signal strength range C (dB) is set according to the tracking reliability.
- the spurious response determination and spurious response are performed. Do not apply the removal! Or increase the specified signal strength C (dB).
- the pairing conditions include the peak signal intensity, the shape of the protrusion in the frequency axis direction, and the degree of correlation between the shape of the protrusion in the azimuth direction. For example, as shown in (A) of Fig. 5, less than a predetermined signal strength difference Ao (dB) If so, the two upbeat and downbeat signals are considered to be caused by the same reflector. That is, it is considered as a pair. On the other hand, as shown in Fig. 5 (B), when the difference in signal strength between the upbeat signal and the downbeat signal is greater than or equal to Ao (dB), both are attributed to different targets. Regardless, do not pair.
- the pairing condition is changed according to the tracking reliability obtained by a method described later or a change thereof.
- the allowable range of the azimuth difference and distance difference of the projecting part to be paired is narrowed, and when the tracking reliability is high, it is widened.
- control circuit 1 After the pairing, the control circuit 1 outputs information on the distance * speed of each target to the recognition processing control unit 30 as shown in step S3 of FIG.
- FIG. 3B is a flowchart showing the processing procedure of the recognition processing control unit 30.
- a target with low tracking reliability is highly likely to be a pseudo target generated in a pseudo manner due to a pairing error due to noise or the like. Such a pseudo target due to noise exceeds the allowable range in which the speed change at each measurement timing is severe, so that tracking is not continued. Conversely, in the case of a true target, since the speed change at each measurement timing is within the allowable range, tracking can be continued stably.
- FIG. 6A shows the position and speed of each target at the [n] th (previous) measurement timing.
- B shows the position and velocity of each target within the detection range at the [n + 1] time (this time) measurement timing.
- the black circles indicate the position of the target, and the arrows indicate the moving direction and moving speed of the target.
- a pseudo target is generated due to the effect of noise, and the target PI, P2, and P3 are almost the same in position, but the moving speed changes greatly. For this reason, these targets are not considered as tracking targets, but are treated as newly detected targets at the [n + 1] measurement timing.
- the target Po is almost at the same position and its speed change is within the allowable range, so it is regarded as a target being tracked.
- FIG. 7 is a flowchart showing the processing contents related to the determination of the tracking reliability.
- detection information such as the received signal strength profile in the target position, velocity, distance direction and received signal strength profile in the azimuth direction, and the target model being tracked (target position 'velocity' It is determined whether or not the force can be associated with the position of the target at the next measurement timing such as the area and the information capable of predicting the velocity (S21). If it cannot be associated with the target currently being tracked and is regarded as a new target, an initial value is set in the tracking reliability RC for that target, and the model for that target is set. Is created (S22 ⁇ S23 ⁇ S24).
- the tracking reliability RC for the target is increased (S21 ⁇ S22 ⁇ S25).
- the tracking reliability RC is assumed to be an integer value, and is incremented by 1 in this step S 25.
- the target model information of the target is updated (S26). For example, information such as the position 'velocity' scattering cross section is updated to the latest value.
- the tracking reliability of the target RC Is reduced (S21 ⁇ S22 ⁇ S29).
- RC is 1.
- the recognition processing conditions at each stage are relaxed (S27 ⁇ S28).
- the tracking reliability RC is less than the threshold TH, the above recognition processing conditions are tightened (S30 ⁇ S31).
- clustering is performed in which multiple pieces of detection information that are considered to be caused by the same reflector such as the same vehicle are processed as one cluster (S14). For example, as shown in Fig. 8, among the positions of multiple targets within the detection range SA, the difference in the azimuth and distance directions of the three targets PI, P2, and P3 (or x-y coordinates) If the following distance) is within the predetermined tolerance and the relative speed difference of each target is within the tolerance, they are detected (clustered) as one cluster.
- the position of the target P3 closest to the host vehicle is treated as the position of this cluster C.
- the tracking reliability of the target is obtained individually for each target.
- the value with the highest tracking reliability among the three targets PI, P2, P3 is used as the tracking reliability of this cluster C. deal with.
- Clustering conditions are set based on this integrated tracking reliability.
- Targets that exist within a given distance are considered as clustering candidates, and multiple targets whose relative speed difference between the targets before clustering is within the allowable range of the person (Vo + o D nZh) are considered as one cluster.
- ⁇ is increased when the tracking reliability is high, and ⁇ is decreased when the tracking reliability is low.
- a is a force that is individually determined for each target before clustering.
- the OC of the target having the maximum allowable range OC is the clustering candidate. Apply to each of the multiple targets.
- the tracking reliability is a force class that is individually determined for each target before clustering.
- the tracking reliability calculated based on the sum or product of the tracking reliability of a plurality of targets that are tulling candidates may be set as a tracking reliability common to the plurality of targets that are clustering candidates.
- FIG. 9 is a diagram showing the side lobe processing.
- ( ⁇ ) indicates the position of the vehicle ⁇ that exists within the detection range.
- Figure 9 ( ⁇ ) shows the directivity in the azimuth direction of the antenna.
- the gain of the central main lobe ML is the largest, and the gains of the side lobes SL1 and SL2 that appear on the left and right are lower than the main lobe ML and symmetrical. appear.
- (A) the appeared target p m by the main lobe of the antenna, target Ps l, Ps2 appear with two side lobes of the antenna on the left and right.
- the gain ratio (difference” in decibels) between the main lobe ML and the side lobes SL1 and SL2 is constant, and the azimuth angles of the side lobes SL1 and SL2 are constant from the front of the antenna.
- the target generated by the side lobe is regarded as a pseudo target (virtual image). Process so that tracking does not continue.
- the tracking reliability of the target captured by the main lobe is lower than a predetermined value, the error in the angle range for detecting the virtual image by the side lobe is reduced and the condition is made stricter. Also, the side lobe processing itself is not performed.
- the detection information of a target that is considered to be captured in the main lobe is due to false detection, that is, if the target may be a pseudo target, the left and right targets are detected by side lobes. Judgment whether it is a virtual image or a real image (a pseudo target when the angle difference from noise happens to be in a position that meets the sidelobe false detection recognition condition) is suspended. This eliminates the problem that when a target that is thought to be captured by the main lobe is a pseudo target, the true target by the small reflectors on both sides is removed as a virtual image by the side lobe. it can.
- the tracking reliability of the target that is considered to be captured by the side lobe is captured by the main lobe even if there is a relationship between the distance 'azimuth difference' and the received signal strength difference that is considered to be a protrusion due to the main lobe and side lobe. If it is higher than the tracking reliability of the target that is considered to be, do not perform side lobe processing for those targets!
- the tracking reliability of the target which is considered to be captured by the main lobe, is related to the distance 'azimuth angle difference' received signal strength difference, which is considered to be the protrusion due to the main lobe and side lobe, and the side lobe.
- the target tracking reliability is higher than a predetermined value In this case, the allowable range of false recognition of side lobes (distance difference 'azimuth angle difference' received signal strength difference allowable range) is expanded.
- each position is almost continuous and has a speed corresponding to a stationary object (that is, approaching in the direction of the vehicle at the same speed as the vehicle speed). ),
- the range where these multiple targets exist is regarded as a stationary object area, and among the measured multiple targets, the target moving within the stationary object area is regarded as a false tracking target.
- FIG. 10 shows this state.
- the range in which a plurality of targets are determined as stationary objects that are substantially continuous in this manner is, for example, guardrails, soundproof walls, median strips, and building walls. Cannot exist. Therefore, if the target being tracked is moving in such a stationary object area Al, A2 at a speed different from that of the stationary object, the situation is that the false target caused by a pairing error is incorrectly tracked. You can think of it as being.
- a target with speeds of 30 kmZh and 80 km Zh that exist in the continuous stationary object region A1 is removed as a false target for false tracking.
- a target with a speed of 20 kmZh that exists in the continuous stationary object area A2 in a pseudo manner is also removed as a false target for tracking.
- the condition for erroneous tracking recognition at this time (the size of the area determined to be in the vicinity of a stationary object) is set according to the tracking reliability.
- a target that is regarded as a stationary object whose tracking reliability is equal to or greater than a predetermined value movement within the range of ⁇ 5m in the traveling direction (distance direction) of the vehicle and ⁇ 2m in the left-right direction (road width direction) of the stationary object region
- the object is determined as a pseudo target due to a pairing error.
- the tracking reliability is a predetermined value
- targets that are considered to be less than a stationary object the direction in which the stationary object travels (distance direction)
- a target that has low tracking reliability and is regarded as a stationary target is highly likely to be a pseudo target that is generated as a result of erroneous detection due to noise. Therefore, since the range for determining a pairing error is narrowed according to the above conditions, it is possible to prevent erroneous tracking such as continuing to track the pseudo target. On the other hand, for targets with high tracking reliability, the range for determining the pairing error is relatively wide, so that the continuity of tracking of the true target during tracking is increased.
- pairing mistakes for moving objects that are within ⁇ 5m in the direction of travel of the vehicle (distance direction) and ⁇ 2m in the left-right direction (road width direction) of the stationary object area It is determined that the target is a pseudo target.
- pair moving objects within a range of ⁇ 2 m in the traveling direction (distance direction) of the stationary object and ⁇ 1 m in the left-right direction (road width direction). Judged as a false target due to a ring mistake.
- FIG. 11 is a flowchart showing a procedure for determining and removing this error tracking.
- a target that is a stationary object among a plurality of targets is detected (S41).
- an area in which those stationary objects are substantially continuous is obtained as a stationary object area (S42).
- a target within a range determined to be a pairing error is detected as a pseudo target, that is, a target being mistracked (S43).
- the target is removed from the tracking target (S44).
- step S17 in FIG. 3B the host system (shown in FIG. 1) for the target being tracked other than the target that has been determined to be erroneously tracked.
- a CC controller 15 outputs detection information of each target (position and speed in azimuth direction and distance direction).
- the tracking reliability is obtained for each target, regardless of whether it is a force target that is a true target. Therefore, when performing pairing, the tracking reliability is obtained. All the protrusion information (peak frequency and peak value) related to the pair that generated the target is memorized, and at the next pairing, the previous protrusion and the current protrusion are identified. Then, apply the pairing condition to the upbeat signal and downbeat signal protrusions in the same pair as the previous time.
- the recognition processing condition in each process is switched depending on whether the tracking reliability value of the target exceeds a predetermined threshold! /, Or a force exceeding the value. While obtaining the tracking reliability, the recognition processing condition may be switched depending on whether or not the change tendency of the tracking reliability is increasing. In other words, the recognition processing conditions are set so that the recognition processing conditions required for recognizing the true target become stricter when the tracking reliability change trend is not an upward trend. This solves the problem of keeping track of the pseudo target and improves the reliability of target tracking and the continuity of true target tracking.
- the recognition processing conditions are switched in two stages. However, this may be changed to a multi-stage, or may be changed substantially linearly.
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Abstract
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