WO2006123500A1 - レーダ - Google Patents
レーダ Download PDFInfo
- Publication number
- WO2006123500A1 WO2006123500A1 PCT/JP2006/308201 JP2006308201W WO2006123500A1 WO 2006123500 A1 WO2006123500 A1 WO 2006123500A1 JP 2006308201 W JP2006308201 W JP 2006308201W WO 2006123500 A1 WO2006123500 A1 WO 2006123500A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- signal
- radar
- electromagnetic wave
- peaks
- interference
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/345—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using triangular modulation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—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
- G01S13/347—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 more than one modulation frequency
-
- 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
Definitions
- the present invention relates to an FM-CW radar that detects a target by transmitting and receiving an electromagnetic wave beam.
- FM-CW radars that use millimeter-wave radio waves as in-vehicle radars have a problem of interference with radars mounted on other vehicles. That is, as shown in Fig. 4 (A), when the host vehicle MM equipped with a radar that scans the beam in the azimuth direction and the other vehicle OM1 face each other, the transmission signal from the other vehicle OM1 side Is directly received and spike noise is superimposed (mixed) on the beat signal at the timing when a beat occurs with the transmission signal of the vehicle MM.
- Fig. 4 (A) when the host vehicle MM equipped with a radar that scans the beam in the azimuth direction and the other vehicle OM1 face each other, the transmission signal from the other vehicle OM1 side Is directly received and spike noise is superimposed (mixed) on the beat signal at the timing when a beat occurs with the transmission signal of the vehicle MM.
- Patent Document 1 discloses a method for detecting such spike noise.
- Patent Document 1 JP 2002-168947 A
- an object of the present invention is to provide a radar that can more reliably detect the presence or absence of spike noise superimposed on a beat signal and reliably perform processing according to the presence or absence of interference. It is in.
- the radar according to the present invention is configured as follows.
- An electromagnetic wave transmitting / receiving means for transmitting an electromagnetic wave whose frequency gradually changes with time in a modulation section and receiving a reflected wave from a target of the electromagnetic wave, and a beat between the transmission signal and the received signal
- a radar comprising: means for obtaining a frequency spectrum of a signal; and means for detecting information on the target based on a peak exceeding a noise threshold value among data constituting the frequency spectrum. Means for detecting the presence or absence of interference of the beat signal (whether or not spike noise is superimposed on the beat signal) depending on whether or not the number of peaks exceeding the noise threshold exceeds a predetermined number; And a signal processing means for performing processing on the beat signal according to the above.
- the noise threshold ! means for determining a reference number of peaks exceeding the value, and whether the number of peaks exceeding the noise threshold exceeds a predetermined number or a predetermined ratio than the reference number And means for detecting the presence or absence of interference of the beat signal (whether or not spike noise is superimposed on the beat signal) and signal processing means for processing the beat signal according to the presence or absence of the interference. It is characterized by that.
- the electromagnetic wave transmitting / receiving means repeats scanning in the azimuth direction of the beam of the electromagnetic wave, and the reference number is for the beam in the same azimuth in a past scan different from the previous scan. It shall be determined based on the number of peaks exceeding the obtained threshold value.
- the electromagnetic wave transmitting / receiving means repeats scanning in the azimuth direction of the beam of the electromagnetic wave, and the reference number has a peak exceeding the threshold V ⁇ value obtained for a beam close to the beam of interest. It shall be determined based on the number.
- the reference number is determined on the basis of the number of peaks exceeding the threshold value obtained for adjacent modulation sections.
- FIG. 1 is a block diagram showing an overall configuration of a radar according to a first embodiment.
- FIG. 2 is a diagram showing an example of frequency changes of a reception signal and a transmission signal that change depending on a distance to the target of the radar and a relative speed of the target.
- FIG. 3 is a diagram illustrating an example of the generation timing of an interference signal and spike noise.
- FIG. 4 is a diagram showing examples of various patterns in which interference occurs.
- FIG. 5 is a diagram showing an example of spike noise superimposed on a beat signal and an example of frequency spectrum change caused by the spike noise.
- FIG. 6 is a flowchart showing a frequency analysis processing procedure in the radar.
- FIG. 7 is a flowchart showing a processing procedure related to target peak extraction in the radar.
- FIG. 8 is a flowchart showing a processing procedure related to target detection in the radar.
- FIG. 9 This is a diagram of each beam when the electromagnetic wave beam is scanned in the azimuth direction and the peak position appearing on the frequency spectrum obtained for each beam as a position in the distance direction on the beam as a black circle.
- FIG. 10 is a flowchart showing a processing procedure related to target peak extraction in the radar according to the second embodiment.
- VCO Voltage controlled oscillator
- Fig. 1 is a block diagram showing the overall configuration of the radar.
- the transmission wave modulation unit 16 sequentially outputs the digital data of the modulation signal to the DA converter 15.
- VCOl changes the oscillation frequency according to the control voltage output from the DA converter 15.
- the oscillation frequency of VC Ol is continuously FM-modulated in a triangular waveform.
- the isolator 2 transmits the oscillation signal of the VCOl force to the force bra 3 side and prevents the reflected signal from entering the VCOl.
- the coupler 3 transmits a signal passing through the isolator 2 to the circulator 4 side, and supplies a part of the transmission signal to the mixer 6 as a local signal Lo with a predetermined distribution ratio.
- Saki The ulator 4 transmits the transmission signal to the antenna 5 side, and gives the reception signal from the antenna 5 to the mixer 6.
- Antenna 5 transmits a VCOl FM-modulated continuous wave transmission signal and receives a reflected signal from the same direction.
- the beam direction is periodically changed over a predetermined detection angle range to scan the beam.
- the mixer 6 mixes the local signal Lo from the coupler 3 and the received signal from the circulator 4 and outputs a beat signal (intermediate frequency signal IF).
- the low-pass filter 7 removes unnecessary high-frequency components from the IF signal, and the AD converter 8 converts the signal into a sampling data string and supplies it to a DSP (digital signal processor) 17.
- the DSP 17 temporarily accumulates at least one scan (a plurality of beam scans within a predetermined detection angle range) of the sampling data sequence converted by the AD converter 8, and performs a process described later to Calculate heading 'distance' speed.
- the window function processing unit 9 performs weighting (cutout) of a predetermined window function for the sampling data string.
- the FFT calculation unit 10 analyzes the frequency component of the sampling section data multiplied by the window function by FFT calculation.
- the threshold processing 'peak detection unit 11 regards peaks that exceed a predetermined noise threshold in the frequency spectrum as target peaks, and extracts the frequencies and peak values of those peaks.
- the target detection unit 12 calculates the distance to the target and the speed based on the detected peak frequency of the target peak.
- FIG. 2 shows an example of a shift in frequency change between the transmission signal and the reception signal due to the distance to the target and the relative speed.
- the transmission signal TX repeats a frame F composed of an upstream modulation section in which the frequency increases and a downstream modulation section in which the frequency decreases.
- the frequency difference between the transmitted signal and the received signal RX when the frequency of the transmitted signal TX is increased is the upbeat frequency fBU
- the frequency difference between the transmitted signal and the received signal when the frequency of the transmitted signal is decreased is the double beat frequency.
- fBD Deviation on the time axis of this transmitted signal TX and received signal RX (time difference) DL force Antenna force Corresponds to the round-trip time of the radio wave to the target.
- the shift on the frequency axis between the transmitted signal and the received signal is the Doppler shift amount DS, which is caused by the relative speed of the target with respect to the antenna.
- This time difference and the amount of Dobbler shift Therefore, the values of upbeat frequency fBU and downbeat frequency fBD change.
- the distance from the radar to the target and the relative speed of the target with respect to the radar are calculated.
- FIG. 3 shows the generation of the transmission / reception signal, interference signal and spike noise.
- the interference signal from the other vehicle when there is an interference signal from another vehicle, the interference signal from the other vehicle usually deviates greatly from both the modulation frequency and the modulation phase of the transmission signal of the own vehicle. Therefore, spike noise is superimposed on the beat signal at the timing when the frequencies of the transmission signal TX of the own vehicle and the interference signal substantially match as shown by a circle in the figure.
- FIG. 5 shows an example of changes in the frequency spectrum depending on spike noise and the presence or absence thereof.
- Both (A) and (B) are beat signal time waveforms, the horizontal axis represents the 1st to 104th sampling data cut out in time, and the vertical axis represents the signal level (dB).
- a beat signal as shown in FIG. 5A is obtained.
- spike noise SPN is superimposed on the beat signal as shown in Fig. 5 (B).
- Fig. 5 (C) shows the frequency spectrum of the beat signal shown in (A), and (D) shows the frequency spectrum of the beat signal shown in (B).
- the horizontal axis is frequency (FFT frequency bin), and the vertical axis is normalized power.
- Spike noise SPN is superimposed on the beat signal!
- the target peaks PI, P2, etc. with a high peak value at a relatively low noise level (background noise) as shown in (C) appear.
- FIGS. 6 to 8 show the processing contents of the DSP 17 shown in FIG. 1 as flowcharts.
- Figure 6 shows the details of processing related to frequency analysis.
- the range to be processed is sampled from the digital data sequence converted by the AD converter 8, and a window function is applied (S1 ⁇ S2).
- FFT calculation is performed on the predetermined number of data (S3).
- the power spectrum is obtained by obtaining the square root of the sum of squares of the real part and imaginary part of each frequency bin obtained (S4).
- FIG. 7 is a flowchart showing a processing procedure related to target peak extraction.
- a peak that exceeds the noise threshold set as a steady state value is detected (S11 ⁇ S12). Then, it is determined whether or not the number of detected peaks exceeds the number (for example, 10) determined as the maximum normal number (S13). If it exceeds, the state is regarded as “interference”, and a noise threshold value corresponding to the interference is set (S13 ⁇ S14). For example, as shown in FIG. 5, a threshold value that is higher than the noise floor level by a predetermined value is set so that a large number of noise peaks are not erroneously extracted as the noise floor level rises. Then, a peak exceeding the noise threshold is extracted as a target peak (S15).
- FIG. 8 shows a procedure for target detection processing.
- pairing is performed based on the frequency and peak value of the target peak extracted for the upstream modulation section and the downstream modulation section (S21).
- the peak value and the peak frequency force of the paired pair are calculated and the distance and speed of each target are output (S22).
- FIG. 1 is also referred to in this second embodiment.
- FIG. 9 is a black circle in which each beam when an electromagnetic wave beam is scanned in the azimuth direction and the peak position that appears (extracted) on the frequency spectrum obtained for each beam is the position in the distance direction on the beam. It is represented by. (A) is a peak detected in one scan, and (B) is a peak detected in the next scan.
- the peak number of the beam Ba in the previous scan is “3” as shown in (A).
- the number of peaks of beam Ba in this scan is “15”, and the number of peaks increases by as much as 12 in the time of one scan! This is also the force causing interference in the beam Ba at the time of scanning shown in (B). If the number of peaks detected in this way increases by a predetermined number or more from the reference number, it is not considered ⁇ interference '', threshold, value processingNoise threshold used by peak detector 11 and set to a higher value .
- the presence or absence of interference is detected by comparison with the number of peaks in the adjacent beam in the current scan. For example, when the beam shown in FIG. 9B is scanned from left to right in the figure, the number of peaks in the adjacent beam Bz immediately before the beam Ba is set as the reference number.
- the number of peaks of the beam Bz is “2” as shown in (B).
- the number of peaks of beam Ba in this scan is “15”, and the number of peaks has increased by 13 due to the azimuth change of one beam. This is also the force causing interference in the beam Ba.
- the noise threshold used in the threshold processing / peak detection unit 11 is set to a higher value.
- FIG. 10 is a flowchart showing a processing procedure related to target peak extraction among the processing contents of the DSP corresponding to the DSP 17 shown in FIG.
- the number of peaks is stored as a reference number (the number of peaks in a steady state) (S34).
- the number of peaks detected for the beam in the same direction as the beam of interest, the number of peaks in the target beam detected in the current scan, and Are compared (S35).
- the number of peaks detected for a near beam (for example, a beam adjacent in the azimuth direction) is compared with the number of peaks in the beam of interest.
- the number of peaks detected in a modulation interval that is close in time is compared with the number of peaks in the current modulation interval.
- the state is regarded as "with interference” and a noise threshold value corresponding to the time of interference is set (S36 ⁇ S37) .
- the noise threshold level is higher by a predetermined value than the noise floor level so that peaks due to a large number of noises are not mistakenly extracted as the noise floor level rises. Set the value. Then, a peak exceeding the noise threshold is extracted as a target peak (S38).
- the peak is steady, and the peak that exceeds the noise threshold value is extracted as the target peak (S36 ⁇ S38).
- whether or not the number of peaks has increased is determined based on whether or not the force has increased by a predetermined ratio or not, in addition to determining whether the force has increased by a predetermined amount or more compared to the number of peaks to be compared. It may be.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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DE112006001113T DE112006001113T5 (de) | 2005-05-16 | 2006-04-19 | Radargerät |
JP2007516230A JP4544304B2 (ja) | 2005-05-16 | 2006-04-19 | レーダ |
US11/934,382 US8125375B2 (en) | 2005-05-16 | 2007-11-02 | Radar |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005-143173 | 2005-05-16 | ||
JP2005143173 | 2005-05-16 |
Publications (1)
Publication Number | Publication Date |
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WO2006123500A1 true WO2006123500A1 (ja) | 2006-11-23 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2006/308201 WO2006123500A1 (ja) | 2005-05-16 | 2006-04-19 | レーダ |
Country Status (4)
Country | Link |
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US (1) | US8125375B2 (ja) |
JP (1) | JP4544304B2 (ja) |
DE (1) | DE112006001113T5 (ja) |
WO (1) | WO2006123500A1 (ja) |
Cited By (7)
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JP2008281424A (ja) * | 2007-05-10 | 2008-11-20 | Mitsubishi Electric Corp | 周波数変調レーダ装置 |
JP2010014488A (ja) * | 2008-07-02 | 2010-01-21 | Fujitsu Ltd | Fmcwレーダ装置用信号処理装置、fmcwレーダ装置用信号処理方法、fmcwレーダ装置 |
JP2010071958A (ja) * | 2008-09-22 | 2010-04-02 | Denso Corp | レーダ装置 |
JP2012088238A (ja) * | 2010-10-21 | 2012-05-10 | Mitsubishi Electric Corp | 車載用レーダ装置、および車載用レーダ装置用の電波干渉検知方法 |
JP2020030093A (ja) * | 2018-08-22 | 2020-02-27 | 株式会社デンソー | 物体検知装置 |
WO2021261329A1 (ja) * | 2020-06-23 | 2021-12-30 | 株式会社デンソー | レーダ装置 |
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US8026843B2 (en) * | 2008-01-31 | 2011-09-27 | Infineon Technologies Ag | Radar methods and systems using ramp sequences |
KR101137038B1 (ko) * | 2010-01-05 | 2012-04-19 | 주식회사 만도 | 레이더 장치, 안테나 장치 및 데이터 획득 방법 |
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JP5382087B2 (ja) * | 2011-11-02 | 2014-01-08 | 株式会社デンソー | レーダ装置 |
DE102012021212A1 (de) * | 2012-10-27 | 2014-04-30 | Valeo Schalter Und Sensoren Gmbh | Verfahren zur Detektion einer Interferenz in einem Empfangssignal eines Radarsensors, Fahrerassistenzeinrichtung und Kraftfahrzeug |
WO2018180584A1 (ja) * | 2017-03-30 | 2018-10-04 | 日立オートモティブシステムズ株式会社 | レーダ装置 |
JP7014041B2 (ja) * | 2018-05-11 | 2022-02-01 | 株式会社デンソー | レーダ装置 |
US20210325508A1 (en) * | 2021-06-24 | 2021-10-21 | Intel Corporation | Signal-to-Noise Ratio Range Consistency Check for Radar Ghost Target Detection |
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JP2004333234A (ja) * | 2003-05-02 | 2004-11-25 | Fujitsu Ltd | レーダの信号処理装置および処理方法 |
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- 2006-04-19 WO PCT/JP2006/308201 patent/WO2006123500A1/ja active Application Filing
- 2006-04-19 DE DE112006001113T patent/DE112006001113T5/de not_active Withdrawn
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2007
- 2007-11-02 US US11/934,382 patent/US8125375B2/en not_active Expired - Fee Related
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JP2020030093A (ja) * | 2018-08-22 | 2020-02-27 | 株式会社デンソー | 物体検知装置 |
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WO2022107721A1 (ja) * | 2020-11-20 | 2022-05-27 | 株式会社デンソー | 信号処理装置 |
Also Published As
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US20110050484A1 (en) | 2011-03-03 |
JPWO2006123500A1 (ja) | 2008-12-25 |
JP4544304B2 (ja) | 2010-09-15 |
US8125375B2 (en) | 2012-02-28 |
DE112006001113T5 (de) | 2008-04-30 |
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