WO2007111130A1 - レーダ装置および移動体 - Google Patents
レーダ装置および移動体 Download PDFInfo
- Publication number
- WO2007111130A1 WO2007111130A1 PCT/JP2007/055068 JP2007055068W WO2007111130A1 WO 2007111130 A1 WO2007111130 A1 WO 2007111130A1 JP 2007055068 W JP2007055068 W JP 2007055068W WO 2007111130 A1 WO2007111130 A1 WO 2007111130A1
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- Prior art keywords
- distance
- radar apparatus
- signal
- radar
- azimuth angle
- 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
- G01S13/88—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
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- 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
- G01S13/505—Systems of measurement based on relative movement of target using Doppler effect for determining closest range to a target or corresponding time, e.g. miss-distance indicator
-
- 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
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the 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
- G01S2013/9327—Sensor installation details
- G01S2013/93275—Sensor installation details in the bumper area
-
- 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 apparatus that detects an object using electromagnetic waves, and a moving body that includes the radar apparatus.
- the two-dimensional movement speed of the detected object as the tracking target is estimated from the information of the radar apparatus image, and the two-dimensional of the detected object of the tracking target is estimated. Some of them detect the closest approach time and position of the object to be tracked based on the movement speed and the two-dimensional movement speed when the object itself is tracking.
- the beam is scanned in the azimuth direction, and the azimuth direction of the beam having the maximum reflection intensity from the target is obtained as the azimuth direction of the target.
- the azimuth direction of the beam having the maximum reflection intensity from the target is obtained as the azimuth direction of the target.
- Patent Documents 2 to 6 show radar devices that can determine whether or not a target is mistaken by obtaining target height information.
- Patent Document 2 discloses a method for determining the height of a stationary target based on whether or not the force of multinos appears.
- Patent Document 3 shows a configuration in which an antenna is mechanically powered to scan a beam in the horizontal direction, and a beam is scanned in the vertical direction using a phased array antenna.
- Patent Document 4 uses a traveling wave antenna whose radiation direction changes depending on the frequency. First, the frequency is changed, and the elevation angle of the object is determined based on the pulse intensity, and then the elevation angle direction is changed. FM—CW modulation centered on the corresponding frequency, and electronic switch off In other words, a configuration that can cope with a slope by performing horizontal scanning is shown.
- Patent Document 5 discloses a configuration in which a traveling wave antenna is used and a beam is scanned in the vertical direction by switching the frequency or using a phase shifter.
- Patent Document 6 discloses a configuration in which detection is performed by performing electronic scanning in the horizontal direction and scanning in the vertical direction using the phase monopulse method.
- Patent Document 1 Japanese Patent Laid-Open No. 2001-330664
- Patent Document 2 Japanese Patent Laid-Open No. 2001-153946
- Patent Document 3 Japanese Patent Laid-Open No. 2003-207559
- Patent Document 4 Japanese Unexamined Patent Application Publication No. 2004-101347
- Patent Document 5 Japanese Patent Application Laid-Open No. 2004-226158
- Patent Document 6 Japanese Patent Laid-Open No. 11-287857
- Patent Document 2 seeks a distance force height at which the influence of multipath appears. In some cases, there are other factors besides the multipath, such as the vibration of the running vehicle, that cause the detection output of the radar device to rise and fall, so it is difficult to determine the target height for the distance force at which the reception level is minimized. .
- an object of the present invention is to provide a radar device that can calculate the closest approach distance with high accuracy and high speed, and a mobile body that includes the radar device and can accurately avoid collision. There is.
- an object of the present invention is to obtain an accurate collision avoidance by obtaining the three-dimensional relative positional relationship of the object with respect to the radar apparatus, including the height of the object, without scanning in the elevation angle direction.
- An object of the present invention is to provide a radar apparatus and a moving body that can be used.
- transmission / reception means for transmitting a transmission signal, receiving a reflection signal of the transmission wave and outputting a detection signal, and the distance and relative velocity of the object with respect to the own device based on the detection signal
- the present invention relates to a radar device including an object detection means for detecting. Then, the object detection means of the radar apparatus according to the present invention calculates the closest approach distance of the object based on the change in the distance of the object to the own apparatus obtained from the detection signal and the change in the relative speed of the object. It is characterized by calculating.
- the transmission / reception means transmits a transmission signal of a predetermined signal, receives a reflected wave from an object that exists in the detection area and approaches the device at a constant speed, and receives a detection signal based on the reflection signal. Generate and output to the object detection means.
- the object detection means calculates a radar device direction component of distance and relative speed at a plurality of timings based on the acquired detection signal. Then, the closest approach distance of the detected object to the radar device is calculated based on the amount of time change in the component of the radar device direction of the distance and relative velocity.
- Figure 5 is a diagram for explaining how to calculate the closest approach distance !: 101 is the vehicle equipped with the radar device, and 102 is the vehicle to be detected. It is an oncoming vehicle that approaches the car 101 at a constant speed.
- the detection distance at a certain first timing is Ll
- the radar device direction component of the relative velocity is Vmodl
- the detection distance at the second timing close to this is L2
- the radar device direction component of the relative velocity is Vmod2.
- equation (2) is established.
- Equation (5) is the closest distance! :
- the closest approach distance is calculated only from the distance of the detected object and the radar device direction component of the relative velocity.
- the closest distance can be calculated by detecting the distance of the detected object and the radar device direction component of the relative speed at least at two timings.
- the transmission / reception means of the radar apparatus of the present invention generates a beat signal obtained from the transmission signal and the reflection signal as a detection signal, and the object detection means uses the frequency of the beat signal. It is characterized by calculating the distance and relative speed of the object.
- the transmission / reception means generates a beat signal by mixing the transmission wave and the reception wave.
- the frequency of the beat signal is the sum of the frequency proportional to the distance and the Doppler frequency!
- the object detection means calculates the radar device direction component of the object distance and relative speed by applying a distance and relative speed calculation method based on the beat signal frequency.
- the object detection means of the radar apparatus is characterized in that the radar apparatus direction component of the relative speed vs. speed is calculated based on the detected time variations of a plurality of distances.
- This configuration utilizes the fact that the relative velocity can be calculated for both the radar apparatus force and the changing force of the distance to the object without using the above-described Doppler shift frequency.
- the object detecting means uses the condition that the detected object approaches the radar device at a constant speed, the object detecting means detects the detected plurality of distance force relative speeds.
- the object detection means of the radar apparatus is a mobile object equipped with the own apparatus.
- the azimuth at the time of calculating the distance is calculated based on the calculated distance and the closest approach distance.
- the object detection means calculates the angle (object angle ⁇ ) between the traveling direction of the radar device and the object at each distance detection timing from the detected distance and the calculated closest approach distance. .
- the radar apparatus also provides an azimuth angle ( ⁇ ) of an object that scans the optical axes of the transmission signal and the reflected signal, for example, in the direction of the direction or scans like a monopulse radar. Based on the azimuth angle detection means for detecting the azimuth angle ( ⁇ ) and the object angle ( ⁇ ), the object is assumed to be in the same horizontal plane as the moving body, and detected by the azimuth angle detection means.
- ⁇ azimuth angle
- optical axis correction unit that corrects the deviation of the optical axis with respect to ( ⁇ ).
- the radar apparatus further includes means for obtaining the azimuth angle ( ⁇ ) of the object, the azimuth angle ( ⁇ ) obtained by the means, the object angle ( ⁇ ), and the An object height calculating means for calculating the height (h) of the object based on the distance (R) and the closest approach distance (r) is provided! / Speak.
- FIG. 6 is a diagram for explaining a method for calculating the height h of the object.
- the road sign is the detected object 200
- the position of the radar device 100 is 0
- the position of the object 200 is T
- the point of the object position ⁇ projected onto the horizontal plane is S
- the position of the radar device when the device 100 and the object are closest to each other is represented by F.
- the distance of the other side corresponding to the lateral distance (the length of the straight line F—S) is tan 0 (R 2 — r 2 ) — (10)
- the height h of the object can be calculated without scanning the beam in the elevation angle direction.
- the radar apparatus is characterized in that it includes a collision determination unit that determines the risk of collision with the detected object based on the closest approach distance.
- the closest approach distance is calculated, for example, (A) whether it is a collision distance with respect to the mobile body on which the device is mounted, based on this closest approach distance. (B) Is it a very long distance passing through the immediate vicinity and a high collision risk? Low sex! The collision determination means determines whether the distance is a distance.
- the mobile body of the present invention includes the above-described radar device, and collision avoidance means for performing a collision avoidance operation based on the collision prediction information obtained by the collision determination means of the radar device. It is characterized by having it.
- the mobile body performs a collision avoidance operation by the collision avoidance means when the radar apparatus force collision prediction information is obtained.
- a radar apparatus for detecting the distance change and the relative speed of the detected object by using the fact that the distance and the relative speed of the detected object can be detected with high accuracy by the radar apparatus. Since the force closest approach distance can be calculated only with the change amount of the direction component, the closest approach distance of the detected object to the radar apparatus can be obtained with high accuracy and at high speed.
- the radar device direction component of the relative speed can be acquired with higher accuracy.
- the radar device direction component of the detected distance force relative speed can be calculated without using the Doppler frequency, so that only a general distance measurement is performed.
- the closest approach distance can be acquired even with a digital device.
- the azimuth angle can be obtained without scanning the optical axis beam of the transmission signal and the reflected signal, the azimuth angle obtained by scanning the optical axis is obtained.
- the optical axis can be easily corrected.
- the elevation angle (height) can be obtained without scanning the optical axis beam of the transmission signal and the reflection signal in the elevation angle direction.
- the processing system that does not take time is not complicated and the scale of the apparatus is not increased, and a small, lightweight, and low-cost radar apparatus and moving body can be configured.
- FIG. 1 A block diagram showing the main configuration of the radar apparatus of the first embodiment, and a concept of a method for calculating the closest approach distance of an oncoming vehicle 102 by the own vehicle 101 equipped with the radar apparatus 100.
- FIG. 1 A block diagram showing the main configuration of the radar apparatus of the first embodiment, and a concept of a method for calculating the closest approach distance of an oncoming vehicle 102 by the own vehicle 101 equipped with the radar apparatus 100.
- FIG. 2 is a diagram showing a calculation result of the closest approach distance by the radar apparatus of the first embodiment and a calculation result of the closest approach distance using a conventional two-dimensional velocity.
- FIG. 3 is a diagram for explaining the principle of azimuth calculation.
- FIG. 4 is a diagram showing a state of lane keeping of a moving object according to a fourth embodiment.
- FIG. 5 is an explanatory diagram for explaining a method of calculating the closest approach distance!:.
- FIG. 6 is an explanatory diagram for explaining a method of calculating the distance R to the object, the closest approach distance!:, And the height h of the object.
- FIG. 7 is a diagram for explaining a moving object according to a fifth embodiment, showing a three-dimensional position of an object.
- a radar apparatus according to a first embodiment of the present invention will be described with reference to the drawings.
- the FMCW method using a transmission signal frequency-modulated in a triangular waveform will be described as an example.
- FIG. 1 (A) is a block diagram showing the main configuration of the radar apparatus of the first embodiment
- FIG. 1 (B) is the calculation of the closest approach distance of the oncoming vehicle 102 by the own vehicle 101 equipped with the radar apparatus 100. It is a figure which shows the concept of a method. Note that FIG. 1 (B) is a diagram showing a state in which the host vehicle 101 is stationary, but this is a simplified diagram for ease of explanation.
- the oncoming vehicle 102 is detected as an object to be detected.
- the own vehicle 101 and the oncoming vehicle 102 are on the same horizontal plane (the height of the oncoming vehicle 102 with respect to the own vehicle 101 is 0).
- the following method can be applied.
- the following method can also be applied when the host vehicle 101 and the oncoming vehicle 102 are moving in different directions at a constant speed.
- the radar apparatus 100 includes a signal processing circuit 1, VC02, a branch circuit 3, a transmitting antenna 4, a receiving antenna 5, an LNA 6, a mixer 7, and an IF amplifier 8.
- the radar apparatus 100 is arranged at the center of the front side of the own vehicle 101 that is an automobile.
- the signal processing circuit 1 generates a control voltage signal for frequency modulation of the transmission signal and supplies it to VC02. Further, the signal processing circuit 1 uses a method described later on the basis of the IF beat signal of the received reception signal, and the radar device direction component Vmod (hereinafter referred to as “radar device direction relative velocity”) of the relative velocity of the object. And distance L (horizontal distance) are calculated, and the closest approach distance r of the detected object is calculated.
- VC02 generates a triangular wave modulated transmission signal whose frequency changes in a triangular wave shape over time based on the control voltage signal. At this time, the modulation period of the transmission signal is set according to the period of the control voltage signal.
- the branch circuit 3 gives the transmission signal output from the VC02 to the transmission antenna 4, and gives a part of the transmission signal to the mixer 7 as a local signal.
- the transmission antenna 4 is formed by a microstrip antenna or the like, and is arranged so as to coincide with the front direction of the own vehicle 101 on which the antenna front direction force S radar apparatus 100 is mounted.
- the transmission antenna 4 transmits a transmission wave to the entire desired detection area with the front direction as the center of radiation directivity.
- the receiving antenna 5 is a reflection of a transmission wave transmitted to the detection area reflected by an object in the area. Receive waves.
- the receiving antenna 5 has a structure capable of receiving an omnidirectional force reflected wave in the detection area, and is formed by a microstrip antenna or the like, similar to the transmitting antenna 4. Then, the receiving antenna 5 electrically converts the received reflected wave and outputs it as a detection signal.
- LNA 6 amplifies the detection signal from reception antenna 5 and outputs the amplified signal to mixer 7.
- Mixer 7 mixes the reception signal from L NA 6 and the local signal from branch circuit 3 to generate an IF beat signal. Generate.
- the IF amplifier 8 amplifies the IF beat signal and outputs it to the signal processing circuit 1.
- the signal processing circuit 1 calculates the distance L of the detected object and the radar apparatus direction relative velocity Vmod using the known FMCW system force.
- the signal processing circuit 1 executes the calculation of the distance L and the radar device direction relative velocity Vmod at each preset timing, for example, every time an IF beat signal for one modulation period is acquired, and the memory ( (Not shown).
- the detection distance L, the radar device direction relative speed Vmod, and the acquisition timing are stored in association with each other.
- the signal processing circuit 1 uses the calculated distances LI and L2 and the radar device direction relative velocities Vmodl and Vmod2 at predetermined time intervals with reference to the acquisition timing to obtain the maximum value from the above equation (7). Calculate the approach distance r.
- the configuration of the present embodiment it is possible to calculate the closest approach distance of the detected object simply and at high speed using only the distance and the relative speed without calculating the azimuth angle. If the Doppler frequency is used as in the FMCW method of the present embodiment, not only the distance but also the relative speed can be calculated with high accuracy, so that the closest distance can be calculated with high accuracy.
- FIG. 2 is a diagram showing the calculation result of the closest approach distance by the radar apparatus of the present embodiment and the calculation result of the closest approach distance using the conventional two-dimensional velocity, and the horizontal axis is the own vehicle 101 and the oncoming vehicle.
- the vertical direction represents the calculated closest approach distance at each point.
- the solid line is the case of this embodiment, and the broken line is the case where it is assumed that it passes through the extension line of two measurement points.
- the closest approach distance cannot be calculated without force variation up to about 5 to 6 m, but by using the radar apparatus of the present embodiment, about 10 to: Up to L lm, the closest distance can be calculated with high accuracy.
- the closest approach distance calculated in this way can be used as follows.
- the signal processing circuit 1 calculates the traveling direction distance X and the traveling direction relative speed V of the oncoming vehicle 102 that is the detection object based on the calculated closest approach distance r, the distance L, and the radar device direction relative speed Vmod. To do. Then, the signal processing circuit 1 calculates the possibility of collision and the time until the collision or close approach (closest approach time).
- the signal processing circuit 1 refers to the obtained closest approach time, obtains the closest approach distance r of the object whose closest approach time is within a predetermined threshold, and considers the vehicle width as the closest approach distance.
- the corresponding collision avoidance data is output.
- the closest approach distance r and the collision avoidance data are stored in association with each other. For example, if the closest approach distance r is within lm, collision information is given to the drive control unit 110 of the host vehicle 101. Upon acquiring the collision information, the drive control unit 110 executes automatic collision avoidance control such as automatic brake control and automatic avoidance steering control, eliminates brake pedal play, and starts operation of the skid prevention function in preparation for sudden steering. Risk prevention assistance control such as making the seat belt play free, preparing to open the airbag, etc. Also, a warning sound is generated if the closest distance r is within 2 m, and a warning is displayed if the closest distance r is within 3 m. Note that these threshold values may be appropriately set according to desired specifications.
- the traveling direction of the own vehicle and the traveling direction of the oncoming vehicle can be regarded in parallel at a certain speed or higher. That is, when the own vehicle travels on a straight road at, for example, about 50 kmZh to 60 kmZh, it can be considered that the own vehicle 101 and the oncoming vehicle 102 travel in parallel directions.
- the signal processing circuit 1 calculates the calculated closest approach distance r and the calculated distance L (horizontal distance) according to the principle shown in FIG. Use to calculate the azimuth angle ⁇ .
- FIG. 3 is a diagram for explaining the principle of azimuth calculation.
- the azimuth angle ⁇ can be obtained by equation (12).
- an automobile is shown as an example of the moving body, but the present invention can also be applied to other moving bodies such as motorcycles and airplanes.
- the radar apparatus of the present embodiment has the same configuration power as that of the radar apparatus of the first embodiment.
- the radar apparatus transmits a pulse of electromagnetic waves or light, and measures the distance based on the time until the pulse is reflected and returned. This is a radar device.
- the radar apparatus direction relative velocity Vmod cannot be calculated, but the distance L can be calculated.
- a predetermined minute time interval At is set, and using the first distance L11 and the last distance L12 of the minute time interval At, the radar device direction relative velocity Vmodl is calculated from Equation (13). To do.
- Vmodl (Ll l-L12) / At-(13)
- the closest approach distance r can be calculated as in the first embodiment.
- the closest approach distance can be calculated easily and at high speed even for radar devices that cannot detect relative speeds or radar devices that have large errors in detected relative speeds.
- the radar apparatus according to the present embodiment has a structural force that allows the receiving antenna 5 to scan along a predetermined direction of the detection area, and the other configurations are the same as those of the radar apparatus according to the first embodiment.
- the reception antenna 5 is configured by arranging a plurality of antennas along the azimuth direction (in this case, the horizontal direction) and including a switch for sequentially switching the antennas. Or, it is configured by providing a mechanism for scanning one antenna in the azimuth direction.
- the detection signals sequentially input to the signal processing circuit 1 differ in time series.
- the azimuth force is obtained.
- the signal processing circuit 1 sequentially acquires the detection signals for one scanning period, stores them together with the direction information, and compares the signal strengths of these detection signals. At this time, since the detection signal corresponding to the direction of the detected object is naturally the largest, the signal processing circuit 1 extracts the detection signal having the highest signal intensity and detects the direction angle corresponding to the detection signal.
- the signal processing circuit 1 calculates an azimuth angle from the closest approach distance r and the detection distance L calculated at predetermined intervals by the method described in the first embodiment.
- This calculated azimuth angle is not affected by the deviation between the optical axis of the radar device and the front direction of the receiving antenna, and is a value with the optical axis direction as the front reference direction.
- the direction angle detected from the aforementioned signal intensity is detected including a deviation between the optical axis and the front direction.
- the signal processing circuit 1 compares the azimuth angle based on the closest approach distance and the azimuth angle based on the signal intensity at a predetermined interval, and calculates a difference angle between these azimuth angles. Then, the signal processing circuit 1 performs a process of subtracting from the azimuth angle calculated from the signal intensity, using the difference angle of the azimuth as a correction value. By performing such a method, the calculated azimuth angle based on the signal intensity can be corrected. This process can be performed while driving, which is not possible only when the vehicle is stopped, such as optical axis correction, which has a lot of power in the past. The angle can be corrected, and an accurate azimuth can be obtained at any time.
- the signal processing circuit 1 may calculate the correction value using the following method.
- the signal processing circuit 1 acquires and stores a plurality of correction values obtained by the azimuth force obtained by each method (signal intensity, closest approach distance).
- multiple correction values can be obtained by continuously observing one detected object over time, even if multiple correction values are obtained by collecting correction values obtained from multiple sensing object forces observed simultaneously.
- a plurality of correction values may also be used.
- Sarako may be obtained by continuously observing a plurality of sensing objects over time.
- the signal processing circuit 1 When storing the acquired correction value, the signal processing circuit 1 stores the detection distance L of the target detection object in association with it. The signal processing circuit 1 then obtains a plurality of correction values obtained. Is weighted with the reciprocal of the detection distance L and the average value is calculated. That is, weighting is performed in inverse proportion to the distance of the radar apparatus 100. Note that the weighting method is not limited to the weighting that is simply inversely proportional to the detection distance, and any weighting method may be used as long as the weight is closer to the radar apparatus 100. The signal processing circuit 1 outputs the calculated average value as a correction value for the optical axis deviation.
- FIG. 4 is a diagram illustrating a state of lane keeping of the moving body according to the present embodiment. This figure shows a state where the vehicle is traveling on a highway with a median.
- the host vehicle 101 includes the radar device 100 and the drive control unit 110 as shown in the above-described embodiment.
- the radar apparatus 100 has a scanning function as shown in the third embodiment described above, and detects an object by horizontally scanning the radar apparatus detection range 400 shown in FIG.
- the radar apparatus 100 detects an object while scanning the reception beam within the radar apparatus detection range 400. With this operation, in the example of FIG. 4, the other vehicle 103, the roadside band side stationary object group 301, and the central separation band side stationary object group 302 are detected, and the respective distances, relative speeds, and azimuth angles are obtained. Further, the radar apparatus 100 acquires the traveling speed of the host vehicle 101 from the drive control unit 110 or the like.
- the radar device 100 compares the traveling speed of the own vehicle 101 with the moving speeds of the other vehicle 103, the roadside zone stationary object group 301, and the median separation zone side stationary object group 302 over a predetermined time. When it is detected that the absolute values of the moving speeds of the side band side stationary object group 301 and the central separation band side stationary object group 302 are substantially the same and the moving direction is opposite, these are determined to be stationary bodies. Further, since the radar device 100 is provided with a scanning mechanism, the radar device 100 has a roadside band-side stationary object group 301 on the left side in the traveling direction of the own vehicle 101, and on the right side in the traveling direction of the own vehicle 101. Detects the presence of the stationary object group 302 on the median strip side.
- the radar apparatus 100 uses the above-described method to make the closest approach distance R1, R1 between the roadside zone stationary object group 301 and the median separation zone side stationary object group 302. R2 is calculated.
- the radar apparatus 100 outputs the detected relative speed, distance, direction angle, closest approach distance, and information on whether the object is a moving body or a stationary body as needed.
- the drive control unit 110 performs drive control based on each information obtained from the radar apparatus 100, and at the same time, detects the roadside band-side stationary object group 301 and the median separation-zone-side stationary object group 302 detected as stationary objects. Drive control is performed so that the approach distances Rl and R2 are constant over time. As a result, the vehicle 101 can travel while maintaining a constant distance from the roadside belt-side stationary object group 301 and the median separation belt-side stationary object group 302. That is, the lane keeping control for the host vehicle 101 can be realized.
- the lane keeping traveling control can be accurately executed with a simple structure.
- the detection object such as the oncoming vehicle is parallel to the traveling direction of the own vehicle and approaches at a constant speed.
- the detection object such as the oncoming vehicle is the own vehicle.
- it is not limited to being parallel to the traveling direction of the vehicle, and the above-described configuration can be applied.
- the sensing object is an oncoming vehicle, and the force is treated as if the vehicle and the oncoming vehicle are in the same plane.
- a road An object such as a sign that is normally higher than the host vehicle is a detected object.
- An example of obtaining the height h and the azimuth angle ⁇ is shown.
- FIG. 7 shows the positional relationship between the radar device 100 mounted on the host vehicle and the object (road sign) 200 existing diagonally to the upper left of the front.
- the position of the radar apparatus 100 is 0 and the center position of the object 200 is T
- the positional relationship of T with respect to O is as shown in FIG. 6, and the height h of the object 200 is, for example, the third implementation.
- the azimuth angle ⁇ , distance and closest approach distance r obtained by means such as those adopted in the form are calculated by applying to equation (11).
- the lateral distance (the length of the straight line FS) when the vehicle on which the radar apparatus 100 is mounted closest to the object 200 is obtained by the equation (10), and the traveling direction distance (the straight line OF) (Length) is obtained from equation (8).
- the azimuth angle ⁇ may be obtained by other means.
- the equation (11) for obtaining the height h of the object is valid at any height position above and below the height of the radar apparatus. For example, falling objects on the road are also detected as “height” from the radar device. However, since no object exists below the road surface, an object detected as an object that is higher than the installation height of the radar device with respect to the road surface can naturally be regarded as an object that exists at a position higher than the height of the radar device. In particular, the radar device for a vehicle is often placed at a position lower than the center height of the vehicle height, such as near the bumper or in front of the front grille. It is possible to detect objects existing in
- the sixth embodiment shows an example of processing for a host device.
- the radar apparatus uses the method shown in the fifth embodiment to determine the height of an object by simply scanning the beam in the direction of the vehicle equipped with the force radar apparatus 100. Based on the vehicle speed and the relative speed of the object, the stationary objects are extracted from all the detected objects and their vertical distance (height) is obtained. For moving objects, the height is not calculated. Or even if it is requested, the height information is not output.
- the height of the object is a height that hinders the passage of the own vehicle.
- the obtained lateral distance (the length of the straight line FS in Fig. 7) is smaller than the predetermined value.
- control is performed such that the object 200 is regarded as an obstacle, a warning is output, and braking is applied.
- the calculation load can be reduced by limiting (squeezing) the target for calculating the three-dimensional relative position to a stationary object. Even when the height of an object other than a stationary object is obtained, the load on the bus used for data transmission / reception with the host system can be reduced by not transmitting the information to the host device.
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112007000468T DE112007000468T5 (de) | 2006-03-27 | 2007-03-14 | Radarvorrichtung und mobiles Objekt |
JP2008507422A JP5003674B2 (ja) | 2006-03-27 | 2007-03-14 | レーダ装置および移動体 |
US12/212,119 US7924215B2 (en) | 2006-03-27 | 2008-09-17 | Radar apparatus and mobile object |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
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JP2006-085736 | 2006-03-27 | ||
JP2006085736 | 2006-03-27 | ||
JP2006-298701 | 2006-11-02 | ||
JP2006298701 | 2006-11-02 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US12/212,119 Continuation US7924215B2 (en) | 2006-03-27 | 2008-09-17 | Radar apparatus and mobile object |
Publications (1)
Publication Number | Publication Date |
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WO2007111130A1 true WO2007111130A1 (ja) | 2007-10-04 |
Family
ID=38541051
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2007/055068 WO2007111130A1 (ja) | 2006-03-27 | 2007-03-14 | レーダ装置および移動体 |
Country Status (4)
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US (1) | US7924215B2 (ja) |
JP (1) | JP5003674B2 (ja) |
DE (1) | DE112007000468T5 (ja) |
WO (1) | WO2007111130A1 (ja) |
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JP2012002637A (ja) * | 2010-06-16 | 2012-01-05 | Toyota Central R&D Labs Inc | レーダ装置 |
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JPWO2015166560A1 (ja) * | 2014-04-30 | 2017-04-20 | 三菱電機株式会社 | 測角装置及び測角方法 |
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WO2019116548A1 (ja) * | 2017-12-15 | 2019-06-20 | 三菱電機株式会社 | レーダ信号処理装置、レーダ装置およびレーダ信号処理方法 |
JP7025285B2 (ja) | 2018-06-05 | 2022-02-24 | 株式会社Soken | 位置検出装置 |
CN112219132A (zh) * | 2018-06-05 | 2021-01-12 | 株式会社电装 | 位置检测装置 |
JP2019211338A (ja) * | 2018-06-05 | 2019-12-12 | 株式会社Soken | 位置検出装置 |
CN112219132B (zh) * | 2018-06-05 | 2024-05-14 | 株式会社电装 | 位置检测装置 |
WO2020031639A1 (ja) * | 2018-08-07 | 2020-02-13 | 株式会社村田製作所 | レーダ装置 |
JP2020041806A (ja) * | 2018-09-06 | 2020-03-19 | 株式会社Soken | 物体検出装置 |
WO2020050363A1 (ja) * | 2018-09-06 | 2020-03-12 | 株式会社デンソー | 物体検出装置 |
JP7525854B2 (ja) | 2020-07-03 | 2024-07-31 | 学校法人早稲田大学 | ロボット、制御装置及びそのプログラム |
WO2023282095A1 (ja) * | 2021-07-07 | 2023-01-12 | 株式会社アイシン | 物体検出システムおよび物体検出装置 |
Also Published As
Publication number | Publication date |
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US7924215B2 (en) | 2011-04-12 |
US20090015462A1 (en) | 2009-01-15 |
JP5003674B2 (ja) | 2012-08-15 |
DE112007000468T5 (de) | 2009-01-15 |
JPWO2007111130A1 (ja) | 2009-08-13 |
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