WO2017141353A1 - Dispositif de radar fmcw - Google Patents

Dispositif de radar fmcw Download PDF

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Publication number
WO2017141353A1
WO2017141353A1 PCT/JP2016/054464 JP2016054464W WO2017141353A1 WO 2017141353 A1 WO2017141353 A1 WO 2017141353A1 JP 2016054464 W JP2016054464 W JP 2016054464W WO 2017141353 A1 WO2017141353 A1 WO 2017141353A1
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Prior art keywords
spectrum
unit
discrete frequency
value
smoothing
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PCT/JP2016/054464
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English (en)
Japanese (ja)
Inventor
三本　雅
高橋　徹
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三菱電機株式会社
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Priority to PCT/JP2016/054464 priority Critical patent/WO2017141353A1/fr
Priority to JP2017567859A priority patent/JP6415762B2/ja
Publication of WO2017141353A1 publication Critical patent/WO2017141353A1/fr

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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
    • 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
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/32—Shaping echo pulse signals; Deriving non-pulse signals from echo pulse signals
    • 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

Definitions

  • This invention relates to an FMCW radar apparatus that estimates the distance and speed of an object to be observed.
  • an FMCW (Frequency Modulated Continuous Wave) type radar apparatus that can estimate the distance and speed of an object to be observed that is located within a range of several hundreds of meters or less from its own apparatus with a simple configuration compared to a pulse radar or the like.
  • FMCW radar device measures the distance and relative velocity to an object from the frequency of an observation signal obtained by directly mixing a transmission signal and a reception signal.
  • the observation signal includes a plurality of frequencies corresponding to each object. Therefore, the observation signal is analyzed to obtain a spectrum for each discrete frequency. Since the spectrum power reaches a peak (maximum value) at the discrete frequency corresponding to each object, the frequency corresponding to each object can be detected by detecting these peaks.
  • a peak corresponding to an object to be detected may not be detected, or a peak that should not be detected may be detected.
  • a method in which a spectrum waveform is acquired in the absence of an object to be detected in advance, and a detection threshold value that reflects temperature characteristics and the like is set based on the spectrum waveform (see, for example, Patent Document 1). .
  • a method is also known in which a peak is first detected with a first threshold value set from background noise and the like, and a second threshold value is provided according to the detected peak power to obtain a detection threshold value. (For example, refer to Patent Document 2).
  • a method of setting a detection threshold by a CFAR (Constant False Alarm Rate) technique is known (for example, see Non-Patent Document 1).
  • Patent Document 1 for example, if there is a gentle convex waveform that changes with time as a spectrum waveform, there is a problem that a peak that should not be detected is detected.
  • Patent Document 2 once a peak that should not be detected is detected, detection by a threshold is performed again, so that a large amount of calculation resources such as calculation time and calculation memory are required. There is a problem.
  • the present invention has been made to solve the above-described problems, and it is an object of the present invention to provide an FMCW radar apparatus that can suppress erroneous detection with a small amount of computation resources compared to the conventional configuration.
  • the FMCW radar apparatus includes: an observation unit that radiates a transmission signal to space, and obtains an observation signal from the transmission signal and a reception signal received by reflection and scattering of the transmission signal by an object to be observed; , A frequency analysis unit that obtains a spectrum for each discrete frequency from the observation signal obtained by the observation unit, and a smooth value calculation that calculates a spectrum smoothing value for each discrete frequency from the spectrum for each discrete frequency obtained by the frequency analysis unit A threshold value calculation unit that calculates a detection threshold value for each discrete frequency by multiplying a spectrum smoothing value for each discrete frequency calculated by the smoothing value calculation unit by a threshold coefficient, and a frequency analysis unit A comparison unit that compares the obtained spectrum for each discrete frequency with a detection threshold value for each discrete frequency calculated by the threshold value calculation unit, and a comparison unit.
  • the present invention since it is configured as described above, it is possible to suppress erroneous detection with a smaller number of computing resources than in the conventional configuration.
  • Embodiment 1 of this invention It is a figure which shows the structural example of the FMCW radar apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows the function structural example of the control arithmetic unit in Embodiment 1 of this invention. It is a flowchart which shows the operation example of the control arithmetic unit in Embodiment 1 of this invention. It is a flowchart which shows the operation example of the smooth value calculation part in Embodiment 1 of this invention. 5A to 5C are diagrams for explaining the effect of the FMCW radar apparatus according to Embodiment 1 of the present invention (when a planar reflective object is present near the FMCW radar apparatus).
  • 6A to 6C are diagrams for explaining the effect of the FMCW radar apparatus according to Embodiment 1 of the present invention (when there are a plurality of adjacent objects having different reflection intensities).
  • 7A and 7B are diagrams showing an example of the hardware configuration of the control arithmetic unit according to the first embodiment of the present invention, showing a case where the processing circuit is dedicated hardware and a case where the processing circuit is a CPU.
  • FIG. 1 is a diagrams for explaining the effect of the FMCW radar apparatus according to Embodiment 1 of the present invention (when there are a plurality of adjacent objects having different reflection intensities).
  • 7A and 7B are diagrams showing an example of the hardware configuration of the control arithmetic unit according to the first embodiment of the present invention, showing a case where the processing circuit is dedicated hardware and a case where the processing circuit is a CPU.
  • FIG. 1 is a diagram showing a configuration example of an FMCW radar apparatus 1 according to Embodiment 1 of the present invention.
  • the FMCW radar apparatus 1 estimates the distance and speed of an object to be observed.
  • the FMCW radar apparatus 1 includes a transmitter 11, a receiver 12, an analog / digital converter 13, a memory 14, and a control calculator 15.
  • the transmitter 11 emits a transmission signal to space.
  • the transmitter 11 includes a voltage generation circuit 111, a voltage control oscillator 112, a distribution circuit 113, an amplification circuit 114, and a transmission antenna 115.
  • the voltage generation circuit 111 generates a predetermined modulation voltage for a transmission signal under the control of a control unit 151 described later of the control arithmetic unit 15.
  • the modulation voltage generated by the voltage generation circuit 111 is output to the voltage controlled oscillator 112.
  • the voltage controlled oscillator 112 generates a transmission signal in accordance with the modulation voltage generated by the voltage generation circuit 111.
  • the transmission signal generated by the voltage controlled oscillator 112 is output to the distribution circuit 113.
  • the distribution circuit 113 distributes and outputs the transmission signal generated by the voltage controlled oscillator 112 to a later-described mixer 122 of the amplifier circuit 114 and the receiver 12.
  • the amplification circuit 114 amplifies the transmission signal distributed and output by the distribution circuit 113.
  • the transmission signal amplified by the amplifier circuit 114 is output to the transmission antenna 115.
  • the transmission antenna 115 radiates the transmission signal amplified by the amplification circuit 114 to space as an electromagnetic wave. Thereafter, the transmission signal radiated to the space is reflected and scattered by an object to be observed existing around the FMCW radar apparatus 1 (a range of several hundred meters or less), and a part of the transmission signal is received as a received signal.
  • an object to be observed existing around the FMCW radar apparatus 1 a range of several hundred meters or less
  • the receiver 12 receives a reception signal from the space, and obtains an observation signal from the transmission signal from the distribution circuit 113 of the transmitter 11 and the reception signal.
  • the receiver 12 includes a receiving antenna 121, a mixer 122, an amplifier circuit 123, and a filter circuit 124.
  • the reception antenna 121 receives a reception signal that is returned by the transmission signal radiated from the transmission antenna 115 being reflected and scattered by the object.
  • the received signal received by the receiving antenna 121 is output to the mixer 122.
  • the mixer 122 mixes the reception signal received by the receiving antenna 121 and the transmission signal distributed by the distribution circuit 113 to generate an observation signal.
  • the observation signal generated by the mixer 122 is output to the amplifier circuit 123.
  • the amplification circuit 123 amplifies the observation signal generated by the mixer 122.
  • the observation signal amplified by the amplifier circuit 123 is output to the filter circuit 124.
  • the filter circuit 124 suppresses unnecessary frequency components from the observation signal amplified by the amplifier circuit 123.
  • An observation signal in which unnecessary frequency components are suppressed by the filter circuit 132 is output to the analog-to-digital converter 13.
  • the analog-digital converter 13 converts an observation signal (analog signal) from the receiver 12 (filter circuit 124) into a digital signal (digital voltage data) under the control of a control unit 151 (to be described later) of the control arithmetic unit 15. It is.
  • the observation signal converted into a digital signal by the analog-digital converter 13 is output to the memory 14.
  • the memory 14 stores an observation signal converted into a digital signal by the analog-to-digital converter 13 under the control of a control unit 151 (to be described later) of the control arithmetic unit 15.
  • a control unit 151 to be described later
  • the memory 14 for example, a RAM (Random Access Memory) is applicable.
  • the transmitter 11, the receiver 12, the analog-digital converter 13, and the memory 14 radiate a transmission signal to space, and the transmission signal and the transmission signal are reflected and scattered by an object to be observed and received.
  • An observation unit 16 that obtains an observation signal from the received signal is configured.
  • the configuration and operation of the observation unit 16 are basically the same as the configuration and operation of the conventional FMCW radar apparatus.
  • the control arithmetic unit 15 controls each part of the FMCW radar apparatus 1 and measures the distance and speed of the object to be observed using the observation signal stored in the memory 14.
  • the control calculator 15 includes a control unit 151, a frequency analysis unit 152, a smooth value calculation unit 153, a threshold value calculation unit 154, a comparison unit 155, a maximum value detection unit 156, and a distance speed measurement unit. 157.
  • the control unit 151 includes the voltage generation circuit 111 of the transmitter 11, the analog-digital converter 13, the memory 14, and each unit of the control arithmetic unit 15 (frequency analysis unit 152, smooth value calculation unit 153, threshold value calculation unit 154, comparison Unit 155, maximum value detection unit 156, and distance speed measurement unit 157).
  • the frequency analysis unit 152 obtains a spectrum for each discrete frequency by reading and analyzing the observation signal stored in the memory 14 under the control of the control unit 151. Data indicating the spectrum for each discrete frequency obtained by the frequency analysis unit 152 is output to the smooth value calculation unit 153, the comparison unit 155, and the maximum value detection unit 156.
  • the smooth value calculation unit 153 calculates a spectrum smooth value for each discrete frequency from the spectrum for each discrete frequency obtained by the frequency analysis unit 152 under the control of the control unit 151.
  • the smooth value calculation unit 153 calculates a spectrum smooth value for each discrete frequency from the spectrum for each discrete frequency obtained by the frequency analysis unit 152 by using a feedback filter using a smooth filter coefficient. Data indicating the spectrum smooth value for each discrete frequency calculated by the smooth value calculation unit 153 is output to the threshold value calculation unit 154.
  • the threshold calculation unit 154 multiplies the spectrum smooth value for each discrete frequency calculated by the smooth value calculation unit 153 by a threshold coefficient under the control of the control unit 151, thereby detecting the detection threshold for each discrete frequency. Is calculated. Data indicating the detection threshold value for each discrete frequency calculated by the threshold value calculation unit 154 is output to the comparison unit 155.
  • the comparison unit 155 compares the spectrum for each discrete frequency obtained by the frequency analysis unit 152 with the detection threshold value for each discrete frequency calculated by the threshold value calculation unit 154 under the control of the control unit 151. Is. Data indicating the comparison result by the comparison unit 155 is output to the maximum value detection unit 156.
  • the maximum value detection unit 156 detects a discrete frequency at which the spectrum has a maximum value from the comparison results of the comparison unit 155 for each discrete frequency obtained by the frequency analysis unit 152. Is. At this time, the local maximum detection unit 156 has a spectrum that is larger than the detection threshold at the central discrete frequency among the three consecutive discrete frequencies, and the spectrum of the central discrete frequency is higher than the spectrum of the adjacent discrete frequencies. Is larger, the center discrete frequency is detected as a maximum value. Data indicating the detection result by the maximum value detection unit 156 is output to the distance speed measurement unit 157.
  • the distance / velocity measurement unit 157 measures the distance and speed of an object to be observed based on the detection result of the maximum value detection unit 156 and based on the known FMCW radar principle under the control of the control unit 151. It is.
  • each part (frequency analysis part 152, smooth value calculation part 153, threshold value calculation part 154, comparison part 155, maximum value detection part 156, and distance speed measurement part 157) of the control calculator 15 is operated by the control part 151. Timing etc. are controlled.
  • the frequency analysis unit 152 reads out and analyzes the observation signal stored in the memory 14, thereby obtaining a spectrum for each discrete frequency (step ST301). .
  • the frequency analysis unit 152 obtains a spectrum for each discrete frequency from the observation signal by, for example, a known FFT (Fast Fourier Transform) algorithm.
  • the smooth value calculation unit 153 calculates a spectrum smooth value for each discrete frequency from the spectrum for each discrete frequency obtained by the frequency analysis unit 152 (step ST302).
  • the smooth value calculation processing by the smooth value calculation unit 153 will be described with reference to the example shown in FIG.
  • the number b of the discrete frequency that is the smooth value calculation target is set to the number 1 corresponding to the lowest discrete frequency in the spectrum obtained by the frequency analysis unit 152. (Step ST401).
  • the smooth value calculation unit 153 increments the value of number b (step ST403).
  • step ST404 the smooth value calculation unit 153 determines whether the number b is larger than the highest discrete frequency number K in the spectrum obtained by the frequency analysis unit 152 (step ST404).
  • step ST404 when the smooth value calculation unit 153 determines that the number b is larger than the number K, the sequence ends.
  • step ST404 when the smooth value calculation unit 153 determines that the number b is not greater than the number K, the spectrum P (b) of the discrete frequency with the number b is already calculated with the number b ⁇ . It is determined whether it is larger than the spectrum smoothing value Ps (b-1) of 1 discrete frequency (step ST405).
  • step ST405 when the smooth value calculation unit 153 determines that the spectrum P (b) is larger than the spectrum smooth value Ps (b-1) of the previous discrete frequency, the smoothing filter coefficient ⁇ s is converted to the smoothing filter coefficient ⁇ s.
  • the coefficient ⁇ u is set (step ST406).
  • the smoothing filter coefficient ⁇ u is a filter coefficient that determines the degree of smoothness of the spectrum near the rising edge of the spectrum waveform, and is set to a value of 0.5 ⁇ ⁇ u ⁇ 1, for example.
  • the smoothing filter coefficient ⁇ u is set (adjusted) using the frequency spectrum obtained from the actual data once for example of the number of states in which the object to be detected exists.
  • step ST405 when the smooth value calculation unit 153 determines that the spectrum P (b) is not larger than the previous spectrum smooth value Ps (b-1), the smoothing filter coefficient ⁇ s is converted to the smoothing filter coefficient ⁇ s.
  • the coefficient ⁇ d is set (step ST407).
  • the smoothing filter coefficient ⁇ d is a filter coefficient that determines the degree of smoothness of the spectrum near the falling edge of the spectrum waveform, and is set to a value of 0 ⁇ ⁇ d ⁇ 0.5, for example.
  • the smoothing filter coefficient ⁇ d is set (adjusted) by, for example, temporarily acquiring actual data for an example of the number of states in which an object to be detected exists and using a frequency spectrum obtained from the data.
  • the smoothing value calculation unit 153 sets the discrete frequency spectrum smoothing value Ps (b) of number b, the discrete frequency spectral smoothing value Ps (b-1) of number b-1, and the number b. Is calculated from the feedback filter of the following equation (2) using the discrete frequency spectrum P (b) and the smoothing filter coefficient ⁇ s (step ST408).
  • Ps (b) ⁇ s ⁇ Ps (b ⁇ 1) + (1 ⁇ s) ⁇ P (b) (2)
  • the smoothing filter coefficient ⁇ u is a filter coefficient that determines the degree of smoothing for the spectrum near the rising edge of the spectrum waveform
  • the smoothing filter coefficient ⁇ d determines the degree of smoothing for the spectrum near the falling edge of the spectrum waveform. It is a filter coefficient. Then, by setting the smoothing filter coefficient ⁇ u to a large value (for example, 0.5 ⁇ ⁇ u ⁇ 1) in the range of 0 ⁇ u ⁇ 1, the waveform of the spectrum smoothing value rises gradually, and the spectrum smoothing value is The value is smaller than the spectrum.
  • the smoothing filter coefficient ⁇ d is set to a small value (for example, 0 ⁇ ⁇ d ⁇ 0.5) in the range of 0 ⁇ ⁇ d ⁇ 1.
  • the smoothing filter coefficient to be multiplied by the discrete frequency spectrum smoothing value Ps (b-1) of number b-1 is ⁇ s
  • the smoothing filter coefficient to be multiplied by the discrete frequency spectrum P (b) of number b is By setting (1- ⁇ s), the smoothing result is prevented from becoming unstable.
  • the smooth value calculation unit 153 can calculate the spectrum smooth value Ps (b) for each discrete frequency.
  • a threshold coefficient ⁇ (b) whose value is changed for each discrete frequency may be used.
  • the threshold coefficient ⁇ (b) is, for example, more likely to be an object at a longer distance as the frequency is higher (number b is larger), and the intensity of the received electromagnetic wave is smaller at an object at a longer distance. You may set (adjust) so that a value may become small, so that b is large.
  • the threshold coefficient ⁇ (b) may be set (adjusted) based on the pattern.
  • the threshold coefficient ⁇ (b) may be set (adjusted) by combining the above two setting methods.
  • the comparison unit 155 compares the spectrum for each discrete frequency obtained by the frequency analysis unit 152 with the detection threshold value for each discrete frequency calculated by the threshold value calculation unit 154.
  • the maximum value detection unit 156 detects, from the comparison result by the comparison unit 155, a discrete frequency at which the spectrum has a maximum value among the spectra for each discrete frequency obtained by the frequency analysis unit 152.
  • the comparison unit 155 sets the number b of the discrete frequency to be compared to the number 1 corresponding to the lowest discrete frequency in the spectrum obtained by the frequency analysis unit 152 (step ST304).
  • comparison section 155 determines whether spectrum P (b) obtained by frequency analysis section 152 is greater than detection threshold Th (b) calculated by threshold calculation section 154 (step ST305). .
  • step ST305 when the comparison unit 155 determines that the spectrum P (b) is larger than the detection threshold Th (b), the spectrum P (b) is converted into the spectrum P (b-1) and the spectrum P (b). b + 1) is determined (step ST306).
  • step ST306 when the comparison unit 155 determines that the spectrum P (b) is larger than the spectrum P (b-1) and the spectrum P (b + 1), the maximum value detection unit 156 sets the discrete frequency of number b to the maximum. It detects as a value (step ST307). Thereafter, the sequence proceeds to step ST308.
  • step ST305 determines that the spectrum P (b) is not larger than the detection threshold Th (b)
  • step ST306 determines that the spectrum P (b) is the spectrum. If it is determined that it is not larger than P (b ⁇ 1) and spectrum P (b + 1), the sequence proceeds to step ST308.
  • step ST308 the comparison unit 155 increments the number b of the discrete frequency to be compared.
  • step ST309 when the comparison unit 155 determines that the number b is not greater than the number K, the sequence returns to step ST305 and repeats the above processing.
  • the distance / velocity measurement unit 157 knows from the detection result (the discrete frequency that is the maximum value) by the maximum value detection unit 156. Based on the principle of the FMCW radar, the distance and speed of the object to be observed are measured (step ST310).
  • the horizontal axis indicates the discrete frequency
  • the vertical axis indicates the spectrum power.
  • the spectrum of the discrete frequency obtained by the frequency analysis unit 152 is as shown by a solid line in FIGS. 5A to 5C.
  • the convex pattern of the spectrum waveform changes with time depending on the moving speed of the FMCW radar apparatus 1.
  • FIG. 5A shows a case where CA (Cell Averaging) -CFAR, which is one of the conventional techniques, is applied to the spectrum (solid line) for each discrete frequency obtained by the frequency analysis unit 152.
  • a dotted line shows the result of calculating the sum of eight discrete frequencies as a reference range
  • a white broken line shows a detection threshold value obtained by multiplying the sum by a threshold coefficient 0.6. .
  • FIG. 5B is obtained by applying Ordered Statistics (OS) -CFAR, which is one of the conventional techniques, to the spectrum (solid line) for each discrete frequency obtained by the frequency analysis unit 152.
  • OS Ordered Statistics
  • FIG. 5B a dotted line indicates the fourth spectrum from the smaller value of eight discrete frequencies as a reference range, and a white broken line indicates a detection threshold obtained by multiplying the spectrum by a threshold coefficient 4.5. The value is shown. In this case, there is no spectrum that exceeds the detection threshold in a gentle convex portion that does not need to be detected, and unnecessary detection is not performed. However, since it is necessary to rearrange the eight spectra for each discrete frequency in ascending order, a lot of calculation resources are required.
  • FIG. 5C shows a case where the smoothed value calculation unit 153 calculates the spectrum smooth value for the spectrum (solid line) for each discrete frequency obtained by the frequency analysis unit 152.
  • the smooth value calculation processing by the smooth value calculation unit 153 is as shown in FIG. 4, for example, and the processing can be performed with fewer calculation resources than when OS-CFAR is applied.
  • the spectrum of the discrete frequency obtained by the frequency analysis unit 152 is shown in FIG. It becomes like the solid line shown in FIG. 6C.
  • the peak frequencies corresponding to the two objects are denoted by reference numerals 601 and 602.
  • FIG. 6A shows a case where CA-CFAR, which is one of the conventional techniques, is applied to the spectrum (solid line) for each discrete frequency obtained by the frequency analysis unit 152.
  • a dotted line indicates a result of calculating the sum of eight discrete frequencies as a reference range
  • a white broken line indicates a detection threshold value obtained by multiplying the sum by a threshold coefficient 0.6. .
  • the detection threshold is high for the peak of the object on the near side, making detection difficult.
  • FIG. 6B shows a case where OS-CFAR, which is one of the conventional techniques, is applied to the spectrum (solid line) for each discrete frequency obtained by the frequency analysis unit 152.
  • a dotted line indicates the fourth spectrum from the smaller value of eight discrete frequencies as a reference range
  • a white broken line indicates a detection threshold obtained by multiplying the spectrum by a threshold coefficient 4.5. The value is shown. In this case, both two objects can be detected. However, since it is necessary to rearrange the eight spectra for each discrete frequency in ascending order, a lot of calculation resources are required.
  • FIG. 6C shows a case where the smoothed value calculation unit 153 calculates the spectrum smooth value for the spectrum (solid line) for each discrete frequency obtained by the frequency analysis unit 152.
  • the smooth value calculation processing by the smooth value calculation unit 153 is as shown in FIG. 4, for example, and the processing can be performed with fewer calculation resources than when OS-CFAR is applied.
  • a transmission signal is radiated to a space, and an observation signal is received from the transmission signal and a reception signal received by being reflected and scattered by an object to be observed.
  • the frequency analysis unit 152 for obtaining a spectrum for each discrete frequency from the observation signal obtained by the observation unit 16, and the spectrum for each discrete frequency obtained by the frequency analysis unit 152.
  • a smoothing value calculation unit 153 that calculates a spectrum smoothing value, and a threshold value coefficient is multiplied by the spectrum smoothing value for each discrete frequency calculated by the smoothing value calculation unit 153, thereby calculating a detection threshold value for each discrete frequency.
  • the spectrum for each discrete frequency obtained by the threshold calculation unit 154 and the frequency analysis unit 152 is used as the separation calculated by the threshold calculation unit 154. From the comparison result by the comparison unit 155 that compares the detection threshold value for each frequency and the comparison unit 155, the discrete frequency at which the spectrum has a maximum value is detected from the spectrum for each discrete frequency obtained by the frequency analysis unit 152. Since the maximum value detection unit 156 and the distance speed measurement unit 157 for measuring the distance and speed of the object based on the detection result by the maximum value detection unit 156 are provided, the error is reduced with less calculation resources than the conventional configuration. Detection can be suppressed.
  • the comparison unit 155 notifies the local maximum value detection unit 156 that the spectrum of the discrete frequency to be compared is larger than the detection threshold and larger than the spectrum of the adjacent discrete frequencies.
  • the comparison unit 155 generates detection information by comparing a spectrum for each discrete frequency with a detection threshold value for each discrete frequency, and uses the detection information as a maximum value detection unit 156. You may make it output to.
  • the detection information includes a discrete frequency, a spectrum of the discrete frequency, and a comparison result between the spectrum and a detection threshold value.
  • the comparison unit 155 sets the comparison result to 1 when the spectrum is larger than the detection threshold, and sets the comparison result to 0 when the spectrum is equal to or lower than the detection threshold. Then, the maximum value detection unit 156 detects the maximum value using the detection information from the comparison unit 155.
  • control unit 151 The functions of the control unit 151, the frequency analysis unit 152, the smoothing value calculation unit 153, the threshold value calculation unit 154, the comparison unit 155, the maximum value detection unit 156, and the distance speed measurement unit 157 in the control arithmetic unit 15 are the processing circuit 51. It is realized by. As shown in FIG. 7, even if the processing circuit 51 is dedicated hardware, a CPU (Central Processing Unit, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, and the like that executes a program stored in the memory 53. It may be a microcomputer, a processor, or a DSP (Digital Signal Processor) 52.
  • CPU Central Processing Unit
  • a central processing unit a central processing unit
  • a processing unit an arithmetic unit
  • microprocessor and the like that executes a program stored in the memory 53.
  • DSP Digital Signal Processor
  • the processing circuit 51 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit). , FPGA (Field Programmable Gate Array), or a combination thereof.
  • the processing circuit 51 implements the functions of the control unit 151, frequency analysis unit 152, smooth value calculation unit 153, threshold value calculation unit 154, comparison unit 155, maximum value detection unit 156, and distance speed measurement unit 157. Alternatively, the function of each unit may be integrated and realized by the processing circuit 51.
  • the processing circuit 51 is the CPU 52
  • the function 157 is realized by software, firmware, or a combination of software and firmware.
  • Software and firmware are described as programs and stored in the memory 53.
  • the processing circuit 51 implements the functions of each unit by reading and executing the program stored in the memory 53. That is, the control arithmetic unit 15 includes a memory 53 for storing a program that, when executed by the processing circuit 51, for example, results in the steps shown in FIGS.
  • the memory 53 is, for example, a nonvolatile or volatile semiconductor memory such as a RAM, a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), an EEPROM (Electrically EPROM), a magnetic disk, A flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disc), and the like are applicable.
  • a nonvolatile or volatile semiconductor memory such as a RAM, a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), an EEPROM (Electrically EPROM), a magnetic disk, A flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disc), and the like are applicable.
  • control unit 151 the frequency analysis unit 152, the smoothing value calculation unit 153, the threshold value calculation unit 154, the comparison unit 155, the maximum value detection unit 156, and the distance speed measurement unit 157 are dedicated hardware. It may be realized by hardware and a part may be realized by software or firmware.
  • the function of the control unit 151 is realized by the processing circuit 51 as dedicated hardware, and the frequency analysis unit 152, the smooth value calculation unit 153, the threshold value calculation unit 154, the comparison unit 155, and the maximum value detection unit 156.
  • the processing circuit 51 can read out and execute the program stored in the memory 53, thereby realizing its function.
  • the processing circuit 51 can realize the above-described functions by hardware, software, firmware, or a combination thereof.
  • any component of the embodiment can be modified or any component of the embodiment can be omitted within the scope of the invention.
  • the FMCW radar apparatus can suppress erroneous detection with less computation resources than the conventional configuration, and is suitable for use in the FMCW radar apparatus 1 that estimates the distance and speed of an object to be observed. ing.
  • 1 FMCW radar device 11 transmitter, 12 receiver, 13 analog-digital converter, 14 memory, 15 control arithmetic unit, 16 observation unit, 51 processing circuit, 52 CPU, 53 memory, 111 voltage generation circuit, 112 voltage controlled oscillator 113 distribution circuit, 114 amplification circuit, 115 transmission antenna, 121 reception antenna, 122 mixer, 123 amplification circuit, 124 filter circuit, 151 control unit, 152 frequency analysis unit, 153 smooth value calculation unit, 154 Threshold value calculation unit, 155 comparison unit, 156 maximum value detection unit, 157 distance speed measurement unit.

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  • Radar Systems Or Details Thereof (AREA)

Abstract

La présente invention comprend une unité d'observation (16) pour obtenir un signal d'observation à partir d'un signal d'émission rayonnant dans l'espace et un signal de réception reçu en conséquence du signal d'émission étant réfléchi et diffusé par un objet, une unité d'analyse de fréquence (152) pour obtenir un spectre de fréquences discrètes à partir du signal d'observation obtenu, une unité de calcul de valeur lissée (153) pour calculer une valeur lissée pour chaque fréquence discrète à partir du spectre obtenu de fréquences discrètes, une unité de calcul de valeur de seuil (154) pour calculer une valeur de seuil de détection pour chaque fréquence discrète par multiplication de la valeur lissée calculée pour chaque fréquence discrète par un coefficient de valeur de seuil, une unité de comparaison (155) pour comparer le spectre obtenu de fréquences discrètes aux valeurs de seuil de détection calculées pour chaque fréquence discrète, une unité de détection de valeur maximale (156) pour détecter, à partir des résultats de comparaison, la fréquence discrète ayant la valeur spectrale maximale parmi le spectre de fréquences discrètes, et une unité de mesure de distance et de vitesse (157) pour mesurer la distance et la vitesse de l'objet sur la base du résultat de détection.
PCT/JP2016/054464 2016-02-16 2016-02-16 Dispositif de radar fmcw WO2017141353A1 (fr)

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JP2017567859A JP6415762B2 (ja) 2016-02-16 2016-02-16 Ｆｍｃｗレーダ装置

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190041949A (ko) * 2017-10-13 2019-04-23 인피니온 테크놀로지스 아게 간섭이 억제된 레이더 감지

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11271431A (ja) * 1998-03-25 1999-10-08 Toyota Central Res & Dev Lab Inc Ｆｍｃｗレーダ装置
JP2004271262A (ja) * 2003-03-06 2004-09-30 Mitsubishi Electric Corp Ｆｍ−ｃｗレーダ装置
JP2013200255A (ja) * 2012-03-26 2013-10-03 Fujitsu Ten Ltd レーダ装置およびターゲット検出方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11271431A (ja) * 1998-03-25 1999-10-08 Toyota Central Res & Dev Lab Inc Ｆｍｃｗレーダ装置
JP2004271262A (ja) * 2003-03-06 2004-09-30 Mitsubishi Electric Corp Ｆｍ−ｃｗレーダ装置
JP2013200255A (ja) * 2012-03-26 2013-10-03 Fujitsu Ten Ltd レーダ装置およびターゲット検出方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190041949A (ko) * 2017-10-13 2019-04-23 인피니온 테크놀로지스 아게 간섭이 억제된 레이더 감지
KR102186191B1 (ko) 2017-10-13 2020-12-04 인피니온 테크놀로지스 아게 간섭이 억제된 레이더 감지

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