WO2011136281A1 - 車載用レーダ装置及び車載用レーダシステム - Google Patents

車載用レーダ装置及び車載用レーダシステム Download PDF

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Publication number
WO2011136281A1
WO2011136281A1 PCT/JP2011/060287 JP2011060287W WO2011136281A1 WO 2011136281 A1 WO2011136281 A1 WO 2011136281A1 JP 2011060287 W JP2011060287 W JP 2011060287W WO 2011136281 A1 WO2011136281 A1 WO 2011136281A1
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Prior art keywords
modulation
frequency
vehicle radar
distance calculation
unit
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Ceased
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English (en)
French (fr)
Japanese (ja)
Inventor
善之 武藤
浩司 黒田
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Hitachi Astemo Ltd
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Hitachi Automotive Systems Ltd
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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
    • 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
    • G01S13/36—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
    • G01S13/38—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal wherein more than one modulation frequency is used
    • 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
    • G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers

Definitions

  • the present invention relates to an in-vehicle radar device and an in-vehicle radar system mounted on a vehicle.
  • Examples of safe driving support systems for vehicles include an inter-vehicle distance warning system, an adaptive cruise control system, a pre-crash system, and the like.
  • a device that measures a distance to a target on a preceding road, a relative speed, and the like In constructing the above system, a device that measures a distance to a target on a preceding road, a relative speed, and the like.
  • the 2-frequency CW system is a modulation system that alternately transmits two frequencies.
  • a phase difference occurs between the IF signals of the respective frequencies. Since this phase difference is a unique value according to the distance to the target, the distance to the target can be calculated by detecting the phase difference.
  • FM modulation methods such as FM-CW (Frequency-Modulated-Continuous Wave) method (Patent Document 2) and StepFM (Step Frequency-Modulated) method.
  • FM modulation method modulation is performed on a signal to linearly increase or decrease the frequency on the time axis, and the signal is transmitted.
  • a frequency shift occurs on the time axis between the transmission and reception signals. Since this frequency shift amount corresponds to the propagation round trip time, it is a value that is uniquely determined with respect to the distance to the target. Therefore, in the FM modulation method, the distance from the frequency shift amount to the target can be calculated.
  • the phase difference in the IF signal is not generated, and thus the distance to the target cannot be calculated.
  • a safe driving support system such as an inter-vehicle distance warning system
  • control is performed based on information on the distance to the target and relative speed, it is difficult to maintain the reliability of the system when the abnormality occurs.
  • the present invention provides an on-vehicle radar measurement device that accurately detects a state in which an abnormality has occurred in a frequency switching processing unit that switches a plurality of frequency modulation methods.
  • the in-vehicle radar device is switched based on the modulation switching processing unit that switches the modulation schemes of the plurality of transmission frequencies and the modulation switching processing unit, and the modulation schemes of the plurality of transmission frequencies are changed.
  • a plurality of modulation processing units each processing, an oscillation unit that generates a transmission frequency that is frequency-modulated based on a modulation voltage output from the modulation processing unit switched by the modulation switching processing unit, and generated by the oscillation unit
  • a transmission unit that transmits a transmission signal
  • a reception unit that receives a reception signal generated by reflecting the transmission signal to a measurement object
  • a beat signal generation unit that generates a beat signal by mixing the transmission signal and the reception signal
  • a distance calculation unit that calculates a distance to the measurement object based on a distance calculation method corresponding to the modulation method of the beat signal, and a distance calculation unit.
  • an abnormality determination processing unit for modulating abnormality determination based on a plurality of difference of distance calculated in a different distance calculation methods.
  • the different distance calculation methods include a first distance calculation method for calculating a distance to the measurement object using a phase difference, and a frequency. It is preferable to have a second distance calculation method for calculating the distance to the measurement object using the difference.
  • the plurality of modulation processing units process the transmission frequency of the first modulation scheme that calculates the distance by the first distance calculation method.
  • the distance calculation unit performs a Fourier transform process on the beat signal to obtain a Fourier transform spectrum, and based on the beat signal.
  • the distance calculation unit includes the first distance calculation unit that calculates the distance to the measurement object using the phase difference, and the frequency difference. And a second distance calculation unit that calculates a distance to the measurement object using the error determination processing unit, and the abnormality determination processing unit calculates the distance calculated by the first distance calculation unit and the second distance calculation unit. It is preferable to perform modulation abnormality determination based on a difference from the measured distance.
  • the abnormality determination processing unit when the difference between the plurality of distances calculated by different distance calculation methods is greater than or equal to a predetermined value, It is preferable to determine that there is a modulation abnormality.
  • the abnormality determination processing unit includes an error determination unit that outputs an abnormality occurrence warning signal when it is determined that the modulation is abnormal. Is preferred.
  • the beat signal generation unit mixes the transmission signal and the reception signal to generate a beat signal, and demodulates the beat signal. It is preferable to include a demodulation processing unit that performs the conversion and an A / D conversion unit that converts the demodulated beat signal of the analog signal into a digital signal.
  • the multi-frequency CW method that is the first modulation method is a two-frequency CW method that alternately transmits two frequencies. preferable.
  • the modulation schemes for the plurality of transmission frequencies are the multi-frequency CW scheme which is the first modulation scheme and the second modulation scheme.
  • a StepFM modulation scheme in which the frequency is decreased or increased stepwise according to time.
  • the modulation schemes of the plurality of transmission frequencies are the first modulation scheme, and the frequency is decreased stepwise according to time. It is preferable to have the StepFM modulation method to be increased and the CW modulation method which is the second modulation method.
  • an in-vehicle radar system includes an in-vehicle radar device and a processing device, and the in-vehicle radar device includes a modulation switching processing unit that switches a modulation scheme of a plurality of transmission frequencies, and a modulation Switching based on the switching processing unit, the modulation method of the plurality of transmission frequencies, the frequency based on the modulation processing unit respectively processed by the modulation processing unit switched by the modulation switching processing unit
  • An oscillation unit that generates a transmission signal having a modulated transmission frequency, a transmission unit that transmits the transmission signal generated by the oscillation unit, and a reception unit that receives a reception signal generated by reflecting the transmission signal on the measurement object
  • a beat signal generation unit that generates a beat signal by mixing a transmission signal and a reception signal, and a distance calculation method that varies depending on the modulation method, and calculates a distance corresponding to the modulation method of the beat signal
  • a distance calculation unit that calculates the distance to the measurement object
  • an abnormality determination processing unit for outputting modulation abnormality occurrence information when it is determined as abnormal as a result of the modulation abnormality determination.
  • the different distance calculation methods include the first distance calculation method for calculating the distance to the measurement object using the phase difference, and the frequency It is preferable to have a second distance calculation method for calculating the distance to the measurement object using the difference.
  • the plurality of modulation processing units process the transmission frequency of the first modulation scheme that calculates the distance by the first distance calculation method.
  • the modulation schemes for the plurality of transmission frequencies are the multi-frequency CW scheme that is the first modulation scheme and the second modulation scheme. It is preferable to have an FM modulation system.
  • the abnormality determination processing unit is configured such that the difference between a plurality of distances calculated by different distance calculation methods is equal to or greater than a predetermined value.
  • the abnormality determination processing unit includes an error determination unit that outputs an abnormality occurrence warning signal when it is determined that the modulation is abnormal. Is preferred.
  • the on-vehicle radar device 1 of the present invention is characterized by detecting an abnormality in the frequency switching processing unit by having a plurality of means for calculating the distance to the target.
  • a representative one of the on-vehicle radar devices 1 for realizing the present invention includes a two-frequency CW method and a FM modulation method in which the frequency increases or decreases with the passage of time as a radio wave modulation method.
  • the two-frequency CW method it has means for calculating the distance to the target from the phase difference obtained from the IF signal of each frequency of the transmission / reception signal.
  • the FM modulation method from the amount of shift of the Doppler frequency according to the target distance, It has a means for calculating the distance to the target.
  • the two-frequency CW system is a modulation system that alternately transmits two frequencies as shown in FIG.
  • the IF signal obtained from the received signal becomes as shown in FIG.
  • the IF signal is generated from a reception signal in which two frequencies are mixed, a phase difference is generated between the IF signals of the respective frequencies. Since this phase difference is a unique value according to the distance to the target, the distance to the target can be calculated by detecting the phase difference.
  • the IF signal between the two frequencies becomes the same phase, so that no phase difference occurs, and as a result, the distance cannot be calculated.
  • the frequency to the beat signal generated by the frequency difference between the transmission signal and the reception signal is changed according to the propagation round-trip time between transmission and reception, thereby reducing the distance to the target. Can be calculated.
  • a modulation method in which a fixed frequency is switched like the two-frequency CW method the frequency of the beat signal is generated at a frequency corresponding to the relative speed of the target.
  • An example of an FM modulation signal waveform is shown in FIG.
  • the signal is subjected to modulation that linearly increases or decreases the frequency on the time axis, and the signal is transmitted.
  • the frequency is swept at a certain period, so that the frequency shift amount between the transmission and reception signals also changes when the propagation round-trip time between transmission and reception changes. To do. Since the propagation round-trip time can be converted into a distance, the amount of frequency shift and the distance can be correlated.
  • the shift amount of the frequency can be calculated from the difference between the Doppler frequency of the two-frequency CW method without the shift amount and the beat frequency of the FM modulation method that generates the shift amount.
  • the distance can be calculated from the difference between the frequencies of the two modulation methods.
  • the calculated distance due to the phase difference is an abnormal value due to the two-frequency modulation abnormality
  • the calculated distance from the frequency difference can be calculated regardless of the two-frequency modulation abnormality.
  • FIG. 1 is a block diagram of an in-vehicle radar device 1 according to an embodiment of the present invention.
  • the two-frequency CW scheme is used as the first modulation scheme
  • the FM modulation scheme is used as the second modulation scheme. That is, as shown in FIG. 2, frequency modulation is used in which the two-frequency CW method and the FM modulation method are alternately repeated. Note that these modulation methods differ in the method of calculating the distance to the target that is the measurement object.
  • the two-frequency CW method calculates the distance from the phase difference as the first distance calculation method
  • the FM modulation method calculates the distance from the frequency difference as the second distance calculation method.
  • the on-vehicle radar device 1 includes a modulation switching processing unit 100 that switches a modulation method of a plurality of transmission frequencies, and a plurality of modulation processing units (first devices) that respectively process a plurality of modulation methods switched by the modulation switching processing unit 100.
  • a modulation switching processing unit 100 that switches a modulation method of a plurality of transmission frequencies
  • a plurality of modulation processing units (first devices) that respectively process a plurality of modulation methods switched by the modulation switching processing unit 100.
  • 2 frequency CW modulation processing unit 101 which is a modulation processing unit of the above
  • FM modulation processing unit 102 which is a second modulation processing unit
  • a voltage-controlled oscillator 103 that generates a frequency-modulated transmission frequency
  • a transmission antenna 104 that is a transmission unit that transmits a transmission signal generated by the voltage-controlled oscillator 103, and a target whose transmission signal is a measurement object
  • the receiving antenna 105 which is a receiving unit that receives the reception signal generated by reflection on the signal, and the transmission signal and the reception signal are mixed, that is, mixed, and beat
  • the two-frequency CW modulation processing unit 101 When the two-frequency CW modulation is selected by the modulation switching processing unit 100, the two-frequency CW modulation processing unit 101 generates a modulation voltage and outputs it to the voltage-controlled oscillator 103.
  • the voltage-controlled oscillator 103 FIG.
  • a transmission signal Tx that is alternately modulated at the frequency f1 or the frequency f2 is generated at regular time intervals.
  • the transmission signal input to the transmission antenna 104 is radiated into the space as a transmission radio wave and reflected by the target, so that it is received by the reception antenna 105 as a reception radio wave, and the reception signal Rx in FIG. 3A is obtained. .
  • the transmission signal Tx and the reception signal Rx are mixed to generate a beat signal.
  • the generated beat signal is demodulated by the demodulation processing unit 107 and converted into a digital signal by the A / D conversion unit 108.
  • the converted digital signal is input to the signal processing unit 109.
  • the signal processing unit 109 performs arithmetic processing according to the flow described later, and obtains the distance to the target, the relative speed, the azimuth angle, the Doppler frequency of the beat signal, and the like.
  • the FM modulation processing unit 102 When the FM switching method is selected by the modulation switching processing unit 100, the FM modulation processing unit 102 generates a modulation voltage and outputs the modulation voltage to the voltage controlled oscillator 103.
  • the voltage controlled oscillator 103 FIG.
  • the transmission signal Tx whose frequency is gradually decreased is generated while switching between two frequency bands having a difference of ⁇ F for each FM modulation period TFM.
  • the transmission signal Tx is radiated by the transmission antenna 104, and the reflected signal from the target is received by the reception antenna 105, and then the mixer 106, the demodulation processing unit 107, and the A / D conversion unit.
  • the signal processing unit 109 obtains the distance to the target, the relative speed, the azimuth angle, the frequency of the beat signal, and the like.
  • the distance to the target calculated by the two-frequency CW modulated wave, the Doppler frequency of the beat signal, and the distance to the target calculated by the FM modulated wave, and the Doppler frequency of the beat signal Information is input to the abnormality determination processing unit 110, and it is determined whether there is an abnormality in modulation according to a flow described later.
  • the abnormality determination processing unit 110 outputs modulation abnormality occurrence information to the notification device 111.
  • warning methods include display indications such as LEDs and warning sounds such as beep sounds.
  • the abnormality determination processing unit 110 is provided in the in-vehicle laser device 1, but the abnormality determination processing unit 110 is, for example, an ECU that is a processing device 300 on the vehicle side, as shown in FIG. It is good also as a structure of the vehicle-mounted laser system mounted in.
  • the IF signal generated by the demodulation processing unit 107 when receiving a reception wave of two-frequency CW modulation shows a waveform as shown in FIG.
  • the IF signal when a transmission signal is generated by switching between two frequencies f1 and f2 as shown in FIG. 3A, the IF signal has two frequencies as shown in FIG. 3B. A phase difference corresponding to the distance occurs between them. By measuring this phase difference, the distance to the target can be calculated by Equation 1.
  • R CW is the target distance
  • c is the speed of light
  • ⁇ f is the frequency difference between f1 and f2
  • ⁇ is the phase difference due to ⁇ f.
  • the FM modulation method a transmission signal Tx as shown in FIG. 5 is generated, and when a reflected wave from the target is received, a reception signal Rx is obtained.
  • the frequency is gradually changed according to time. Therefore, if the distance to the target changes, the propagation round-trip time between the transmission and reception signals also changes.
  • the frequency difference between the transmitted and received signals includes not only the Doppler shift f d but also the frequency variation ⁇ f R due to the propagation round-trip time ⁇ .
  • FIG. 6 shows an FFT spectrum obtained by performing FFT (Fast Fourier Transform) processing in the signal processing unit 109.
  • FFT Fast Fourier Transform
  • ⁇ f R is uniquely determined by the distance to the target, the distance to the target can be calculated from ⁇ f R.
  • ⁇ f R can be expressed by Equation 2.
  • T FM is an FM modulation period in which the frequency changes according to time
  • ⁇ Ramp is a frequency change amount during T FM
  • ⁇ is a propagation round-trip time from transmission of a transmission signal to reception of a reception signal.
  • Equation 3 the propagation round-trip time ⁇ is as shown in Equation 3.
  • c means the speed of light and R means the distance to the target.
  • the distance R to the target can be expressed as Equation 4 from Equation 2 and Equation 3.
  • ⁇ f R can be derived by taking the difference between the Doppler frequency at the time of two-frequency CW modulation and the beat frequency at the time of FM modulation, the distance to the target can be calculated by Equation 4.
  • FFT processing which is Fourier transform means in step 200 is executed on the beat signal. That is, a Fourier transform process is performed on the beat signal to obtain a Fourier transform spectrum.
  • a modulation method determination process as modulation method determination means in step 201, it is determined whether the input beat signal is a two-frequency CW modulation wave or an FM modulation wave. Specifically, since modulation scheme information indicating which modulation scheme is implemented in the modulation switching processing unit 100 in FIG. 1 is stored, the modulation scheme is determined based on the modulation scheme information.
  • the distance calculation means calculates the distance from the Fourier transform spectrum to the measurement object using the determined distance calculation method of the modulation method.
  • the FFT spectrum obtained by the FFT process is converted into a physical value of target information.
  • the FM modulation physical value conversion process in step 203 the FFT spectrum obtained by the FFT process is converted into a physical value of the target information.
  • the 2-frequency modulation abnormality determination is performed using the physical values calculated above.
  • the physical values include the distance to the target, the relative speed, the azimuth angle, the Doppler frequency of the beat signal, and the like.
  • step 204 calculates the frequency difference ⁇ f R between the beat signals in the two-frequency CW modulated wave and FM modulated wave obtained from signal processing section 109.
  • the target distance is calculated in step 205 from Equation 4.
  • the target distance is calculated using the phase difference in the physical value conversion process of the signal processing unit 109
  • the difference between the distance calculated from the phase difference and the distance calculated from the frequency difference in step 205 is calculated in step 206. In the calculation.
  • the distance calculated from the phase difference is obtained correctly, so the distance difference calculated in step 206 is small.
  • the distance value calculated from the phase difference fluctuates, and thus the distance difference value in step 206 increases.
  • this distance difference it is possible to determine a two-frequency modulation abnormality. That is, if the difference between the distance calculated from the phase difference and the distance calculated from the frequency difference is greater than or equal to a predetermined value in step 207, it is determined that the two-frequency modulation is abnormal, and error determination processing is performed in step 208. If the difference in distance is less than or equal to a predetermined value, it is determined to be normal and the error determination process is not executed.
  • the predetermined value in step 207 is a value derived in advance in consideration of the calculation accuracy of the distance calculated from the phase difference and the distance calculated from the frequency difference, and differs depending on the hardware specifications of the radar. It is assumed that 19.8 [m].
  • an abnormality occurrence warning signal is output to the notification device 111, and the notification device 111 notifies the driver that an abnormality has occurred.
  • the abnormality occurrence warning signal is not output.
  • the abnormality can be detected even when abnormality occurs in the FM modulation.
  • the frequency fluctuation amount ⁇ f R due to the propagation round-trip time ⁇ varies, and an error occurs in the distance calculated from the frequency difference calculated in step 205.
  • the difference between the distance calculated from the phase difference in step 207 and the distance calculated from the frequency difference becomes equal to or greater than a predetermined value, and an error determination is made in step 208. Therefore, it is possible to detect even FM modulation abnormality.
  • the present invention is not limited to the above-described embodiment, and can be realized even when the two-frequency CW method and the StepFM method are used as the modulation method, or when the StepFM method and the CW method are used.
  • the StepFM method is a modulation method that decreases or increases the frequency stepwise according to time, like the frequency waveform of StepFM modulation in FIG.
  • the same technique as in the above-described embodiment can be realized by providing a Step FM modulation processing unit instead of the FM modulation processing unit 102.
  • a frequency waveform as shown in FIG. 9 is given as an example.
  • the same technique as that of the above-described embodiment is provided by providing the Step FM modulation processing unit and the CW modulation processing unit instead of the two-frequency CW modulation processing unit 101 and the FM modulation processing unit 102. Can be realized.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
PCT/JP2011/060287 2010-04-27 2011-04-27 車載用レーダ装置及び車載用レーダシステム Ceased WO2011136281A1 (ja)

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JP6111975B2 (ja) * 2013-10-23 2017-04-12 トヨタ自動車株式会社 二周波ｃｗレーダ装置
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000028715A (ja) * 1998-07-14 2000-01-28 Nippon Signal Co Ltd:The 複合形レーダセンサ
JP2000292530A (ja) * 1999-04-09 2000-10-20 Hino Motors Ltd レーダ装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000028715A (ja) * 1998-07-14 2000-01-28 Nippon Signal Co Ltd:The 複合形レーダセンサ
JP2000292530A (ja) * 1999-04-09 2000-10-20 Hino Motors Ltd レーダ装置

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