WO2020189685A1 - 車両用センシングシステム、車両システム、車両用灯具及び車両 - Google Patents

車両用センシングシステム、車両システム、車両用灯具及び車両 Download PDF

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Publication number
WO2020189685A1
WO2020189685A1 PCT/JP2020/011779 JP2020011779W WO2020189685A1 WO 2020189685 A1 WO2020189685 A1 WO 2020189685A1 JP 2020011779 W JP2020011779 W JP 2020011779W WO 2020189685 A1 WO2020189685 A1 WO 2020189685A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
wave radar
millimeter
information
radar
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/011779
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English (en)
French (fr)
Japanese (ja)
Inventor
治 久保山
雄太 丸山
洸成 菊池
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koito Manufacturing Co Ltd
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Koito Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koito Manufacturing Co Ltd filed Critical Koito Manufacturing Co Ltd
Priority to JP2021507376A priority Critical patent/JPWO2020189685A1/ja
Publication of WO2020189685A1 publication Critical patent/WO2020189685A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
    • F21S45/00—Arrangements within vehicle lighting devices specially adapted for vehicle exteriors, for purposes other than emission or distribution of light
    • 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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • 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
    • G01S7/027—Constructional details of housings, e.g. form, type, material or ruggedness
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93277—Sensor installation details in the lights

Definitions

  • This disclosure relates to a vehicle sensing system, a vehicle system, a vehicle lighting tool, and a vehicle.
  • the vehicle system automatically controls the running of the vehicle. Specifically, in the automatic driving mode, the vehicle system controls steering based on information indicating the surrounding environment of the vehicle (surrounding environment information) obtained from sensors such as a camera and radar (for example, laser radar and millimeter wave radar). At least one of (control of the traveling direction of the vehicle), brake control and accelerator control (control of vehicle braking and acceleration / deceleration) is automatically performed.
  • the driver controls the running of the vehicle, as is the case with many conventional vehicles.
  • the running of the vehicle is controlled according to the driver's operation (steering operation, brake operation, accelerator operation), and the vehicle system does not automatically perform steering control, brake control, and accelerator control.
  • the vehicle driving mode is not a concept that exists only in some vehicles, but a concept that exists in all vehicles including conventional vehicles that do not have an automatic driving function. For example, vehicle control. It is classified according to the method.
  • autonomous driving vehicles vehicles traveling in the automatic driving mode
  • manual driving vehicles vehicles traveling in the manual driving mode
  • Patent Document 1 discloses an automatic following traveling system in which a following vehicle automatically follows the preceding vehicle.
  • each of the preceding vehicle and the following vehicle is equipped with a lighting system, and text information for preventing another vehicle from interrupting between the preceding vehicle and the following vehicle is added to the lighting system of the preceding vehicle.
  • text information indicating that the vehicle is automatically following is displayed on the lighting system of the following vehicle.
  • the millimeter-wave radar is mounted on each of the four corners of the vehicle (particularly, each of the vehicle lighting fixtures arranged at the four corners of the vehicle). Is currently under consideration. Furthermore, it is currently under consideration to mount a millimeter-wave radar on the front of the vehicle for detecting the surrounding environment in the front region of the vehicle (particularly, the front far region).
  • the reflected radio wave reflected by the outer cover may be reflected several times by the lighting unit or the optical member arranged in the vehicle lighting equipment, and as a result, may be incident on the receiving antenna of the millimeter wave radar.
  • noise information is generated in the surrounding environment information generated from the radar data of the millimeter wave radar, and the vehicle system may erroneously detect the object.
  • the reflected radio waves reflected by the outer cover may be reflected several times by the lighting unit and optical members arranged in the vehicle lighting equipment, and as a result, may be incident on the receiving antenna of the millimeter wave radar.
  • the reflected radio wave reflected by the outer cover may cause an operation abnormality or erroneous detection of the millimeter wave radar, and the reliability of the millimeter wave radar may be lowered.
  • the first aspect of the present disclosure is to provide a vehicle sensing system and a vehicle capable of suppressing an increase in vehicle price and an increase in power consumption of the vehicle system without reducing the number of millimeter-wave radars mounted on the vehicle. The purpose of.
  • the second purpose of the present disclosure is to improve the reliability of the millimeter-wave radar mounted in the vehicle lighting equipment.
  • the vehicle sensing system is A first millimeter-wave radar arranged at the left front corner of the vehicle and configured to acquire first radar data indicating the surrounding environment outside the vehicle.
  • a second millimeter-wave radar arranged at the right front corner of the vehicle and configured to acquire second radar data indicating the surrounding environment outside the vehicle.
  • a third millimeter-wave radar which is arranged between the left front corner portion and the right front corner portion and is configured to acquire third radar data indicating the surrounding environment outside the vehicle. To be equipped.
  • the first millimeter wave radar is With the first transmitting antenna With the first receiving antenna
  • the first transmitting side RF circuit electrically connected to the first transmitting antenna and
  • the first receiving side RF circuit electrically connected to the first receiving antenna It includes a first signal processing circuit configured to process a digital signal output from the first receiving side RF circuit.
  • the second millimeter wave radar is With the second transmitting antenna With the second receiving antenna
  • a second transmitting side RF circuit electrically connected to the second transmitting antenna
  • a second receiving RF circuit electrically connected to the second receiving antenna It includes a second signal processing circuit configured to process a digital signal output from the second receiving side RF circuit.
  • the third millimeter wave radar is With the third receiving antenna A third receiving RF circuit electrically connected to the third receiving antenna, A third signal processing circuit configured to process a digital signal output from the third receiving side RF circuit is provided.
  • the third receiving side RF circuit is electrically connected to the first transmitting side RF circuit and the second transmitting side RF circuit.
  • the third millimeter-wave radar does not include a transmitting antenna and a transmitting RF circuit configured to radiate radio waves.
  • the third millimeter wave radar configured to acquire the third radar data indicating the surrounding environment outside the vehicle is not provided with the transmitting antenna and the transmitting side RF circuit.
  • the first and second radar data can be acquired by using the first and second millimeter wave radars, and the transmitting antenna and the transmitting side RF circuit are provided.
  • the third radar data can be acquired by using the third millimeter wave radar that does not exist. Therefore, since the power consumption and manufacturing cost of the third millimeter-wave radar can be suppressed, it is possible to suppress an increase in vehicle price and an increase in power consumption of the vehicle system without reducing the number of millimeter-wave radars mounted on the vehicle. It is possible to provide a sensing system for a vehicle.
  • first millimeter wave radar may be mounted in the space formed by the outer cover and the housing of the left front lamp.
  • the second millimeter-wave radar may be mounted in the space formed by the outer cover and housing of the right front lamp.
  • the first millimeter-wave radar is mounted in the left front lamp and the second millimeter-wave radar is mounted in the right front lamp.
  • millimeter-wave radar can be mounted on each of the left front corner portion and the right front corner portion of the vehicle without impairing the design of the entire vehicle.
  • the third millimeter wave radar may be arranged on a central axis passing through the center of the vehicle in the left-right direction of the vehicle.
  • the third millimeter wave radar is arranged on the central axis passing through the center of the vehicle in the left-right direction of the vehicle, the third millimeter wave radar is used to indicate the surrounding environment in the front region of the vehicle. 3 Radar data can be acquired.
  • the third receiving antenna is a reflected wave of a synthetic radio wave generated by interference between the first radiated radio wave radiated from the first transmitting antenna and the second radiated radio wave radiated from the second transmitting antenna. May be configured to receive.
  • the third receiving antenna is configured to receive the reflected wave of the synthetic radio wave
  • the third millimeter wave radar does not include the transmitting antenna for radiating the radio wave and the transmitting side RF circuit. It is possible to acquire the third radar data indicating the surrounding environment outside the vehicle.
  • the vehicle sensing system A first millimeter-wave radar control unit configured to control the drive of the first millimeter-wave radar so as to change the beam direction of the first radiated radio wave radiated from the first transmitting antenna. Further provided with a second millimeter-wave radar control unit configured to control the drive of the second millimeter-wave radar so as to change the beam direction of the second radiated radio wave radiated from the second transmitting antenna. May be good.
  • the first millimeter-wave radar and the second millimeter-wave radar are controlled so that the first radiated radio wave and the second radiated radio wave interfere with each other when the first condition associated with the running state of the vehicle is satisfied. May be done. When the first condition is not satisfied, the first millimeter wave radar and the second millimeter wave radar may be controlled so that the first radiated radio wave and the second radiated radio wave do not interfere with each other.
  • the first radiated radio wave and the second radiated radio wave interfere with each other when the first condition associated with the running state of the vehicle is satisfied.
  • the first radiated radio wave and the second radiated radio wave do not interfere with each other.
  • the vehicle sensing system can acquire optimum radar data according to the traveling state of the vehicle.
  • the first condition may be a condition associated with the traveling speed of the vehicle.
  • the vehicle sensing system can acquire the optimum radar data according to the traveling speed of the vehicle.
  • the vehicle sensing system A first millimeter-wave radar control unit configured to control the drive of the first millimeter-wave radar so as to change the beam direction of the first radiated radio wave radiated from the first transmitting antenna. Further provided with a second millimeter-wave radar control unit configured to control the drive of the second millimeter-wave radar so as to change the beam direction of the second radiated radio wave radiated from the second transmitting antenna. May be good.
  • the first millimeter wave radar and the second millimeter wave radar are controlled so that the first radiated radio wave and the second radiated radio wave do not interfere with each other. May be done.
  • the first millimeter wave radar and the second millimeter wave radar may be controlled so that the first radiated radio wave and the second radiated radio wave interfere with each other.
  • the first radiated radio wave and the second radiated radio wave do not interfere with each other when the second condition associated with the running state of the vehicle is satisfied.
  • the first radiated radio wave and the second radiated radio wave interfere with each other.
  • the vehicle sensing system can acquire optimum radar data or surrounding environment information according to the traveling state of the vehicle.
  • the second condition may be a condition related to a lane change or a turn of the vehicle.
  • the vehicle sensing system can acquire the optimum radar data according to the lane change or turn of the vehicle.
  • a vehicle equipped with the above-mentioned vehicle sensing system may be provided.
  • the vehicle system mounted on the vehicle is A left millimeter-wave radar mounted in the space formed by the left outer cover and the left housing of the left vehicle lighting fixture and configured to acquire radar data indicating the surrounding environment outside the vehicle.
  • a left-hand sensing system including a left-hand millimeter-wave radar control unit configured to acquire first peripheral environment information of the vehicle based on radar data acquired by the left-hand millimeter-wave radar.
  • a right millimeter-wave radar mounted in the space formed by the right outer cover and the right housing of the right vehicle lighting fixture and configured to acquire radar data indicating the surrounding environment outside the vehicle.
  • a right-hand sensing system including a right-hand millimeter-wave radar control unit configured to acquire second peripheral environment information of the vehicle based on radar data acquired by the right-hand millimeter-wave radar. According to the comparison between the first peripheral environment information and the second peripheral environment information, it is determined whether or not the first peripheral environment information and the second peripheral environment information include noise information. When the noise information is included in the first peripheral environment information and the second peripheral environment information, the noise information is removed from the first peripheral environment information and the second peripheral environment information. It includes a noise information determination unit.
  • the first peripheral environment information and the second peripheral environment information include noise information according to the comparison between the first peripheral environment information and the second peripheral environment information.
  • the noise information is included in the first peripheral environment information and the second peripheral environment information, the noise information is removed.
  • the noise information included in the first peripheral environment information is generated when the reflected radio wave reflected by the left vehicle lighting tool is incident on the left millimeter wave radar after being radiated from the left millimeter wave radar. May be good.
  • the noise information included in the second peripheral environment information may be generated by radiating from the right millimeter wave radar and then incident the reflected radio wave reflected by the right vehicle lighting tool on the right millimeter wave radar. ..
  • noise information generated by the reflected radio waves reflected by the left vehicle lighting equipment incident on the left millimeter wave radar after being radiated from the left millimeter wave radar is preferably removed. Further, noise information generated by the reflected radio wave reflected by the right vehicle lighting tool after being radiated from the right millimeter wave radar is incident on the right millimeter wave radar is preferably removed.
  • the first peripheral environment information may include information related to the first object.
  • the second surrounding environment information may include information related to the second object.
  • the noise information determination unit The information related to the first object is determined as noise information included in the first surrounding environment information according to the comparison between the information related to the first object and the information related to the second object. At the same time, the information related to the second object may be determined as noise information included in the second surrounding environment information.
  • the information related to the first object is included as noise information included in the first surrounding environment information.
  • the information related to the second object is determined as the noise information included in the second surrounding environment information.
  • the information related to the first object may include the position information of the first object.
  • the information related to the second object may include the position information of the second object.
  • the position information of the first object may indicate the coordinates in the XY coordinate system set for the left millimeter wave radar.
  • the position information of the second object may indicate the coordinates in the XY coordinate system set for the right millimeter wave radar.
  • the noise information determination unit determines information related to the first object as noise information included in the first surrounding environment information, and converts information related to the second object into the second surrounding environment information. It may be configured to be determined as the noise information included.
  • the information related to the first object is the first. It is determined as noise information included in the surrounding environment information, and information related to the second object is determined as noise information included in the second ambient environment information.
  • the information related to the first object may include position information and velocity information of the first object.
  • the information related to the second object may include position information and velocity information of the second object.
  • the position information of the first object may indicate the coordinates in the XY coordinate system set for the left millimeter wave radar.
  • the position information of the second object may indicate the coordinates in the XY coordinate system set for the right millimeter wave radar.
  • the velocity information of the first object may indicate the relative velocity between the first object and the left millimeter wave radar.
  • the velocity information of the second object may indicate the relative velocity between the second object and the right millimeter wave radar.
  • the position information of the first object and the position information of the second object are symmetrical with respect to the Y axis constituting the XY coordinate system, and the velocity information of the first object and the second object If the speed information matches each other
  • the noise information determination unit determines information related to the first object as noise information included in the first surrounding environment information, and converts information related to the second object into the second surrounding environment information. It may be configured to be determined as the noise information included.
  • the position information of the first object and the position information of the second object are symmetrical with respect to the Y axis constituting the XY coordinate system, and the velocity information of the first object and the second object
  • the information related to the first object is determined as the noise information included in the first surrounding environment information
  • the information related to the second object becomes the second peripheral environment information. It is determined as the noise information included.
  • a vehicle equipped with the above vehicle system may be provided.
  • a vehicle equipped with the above vehicle lighting equipment may be provided.
  • the vehicle lighting equipment is mounted on the vehicle.
  • Outer cover and With the housing It includes a millimeter-wave radar arranged in a space formed by the outer cover and the housing and configured to acquire data indicating the surrounding environment of the vehicle.
  • the cross section cut into the first virtual plane of a part of the outer cover facing the millimeter wave radar constitutes an arc of a virtual circle centered on the center point of the horizontal field of view of the millimeter wave radar.
  • the first virtual plane is a plane that passes through the central axis of the millimeter-wave radar and is parallel to the horizontal direction of the millimeter-wave radar.
  • the cross section cut into the first virtual plane of a part of the outer cover facing the millimeter wave radar constitutes an arc of a virtual circle centered on the center point of the horizontal field of view of the millimeter wave radar.
  • the radiated radio waves radiated from the millimeter-wave radar that are substantially parallel to the horizontal direction are incident on the outer cover substantially vertically. Therefore, it is preferable that the radiated radio waves radiated from the millimeter-wave radar are reflected by the outer cover. Can be suppressed. In this way, it is possible to suitably prevent operation abnormalities and erroneous detections of the millimeter wave radar caused by the reflected radio waves reflected by the outer cover. Therefore, it is possible to provide a vehicle lighting device capable of improving the reliability of the millimeter wave radar.
  • the cross section cut into the second virtual plane of a part of the outer cover facing the millimeter wave radar may be symmetrical with respect to the central axis of the millimeter wave radar.
  • the second virtual plane may be a plane that passes through the central axis of the millimeter-wave radar and is parallel to the vertical direction of the millimeter-wave radar.
  • the cross section cut into the second virtual plane of a part of the outer cover facing the millimeter wave radar is symmetrical with respect to the central axis of the millimeter wave radar. Therefore, it is possible to enhance the design of a part of the outer cover facing the millimeter wave radar.
  • a vehicle equipped with the above-mentioned vehicle lighting equipment may be provided.
  • the present disclosure it is possible to provide a vehicle sensing system and a vehicle capable of suppressing an increase in vehicle price and an increase in power consumption of a vehicle system without reducing the number of millimeter-wave radars mounted on the vehicle. it can. In addition, the reliability of the millimeter-wave radar mounted in the vehicle lighting equipment can be improved.
  • the schematic diagram of the vehicle which comprises the vehicle system which concerns on 1st Embodiment of this invention is shown. It is a block diagram which shows the vehicle system which concerns on 1st Embodiment. It is a block diagram which shows the left front sensing system. It is a block diagram which shows the right front sensing system. It is a block diagram which shows a millimeter wave radar system. It is a block diagram which shows the structure of each millimeter wave radar. It is a figure which shows the structure of the transmission side RF circuit and the reception side RF circuit. It is a figure which shows the detection range of two millimeter wave radars.
  • the schematic diagram of the vehicle which comprises the vehicle system which concerns on 2nd Embodiment of this invention is shown. It is a block diagram which shows the vehicle system which concerns on 2nd Embodiment. It is a block diagram which shows the left front sensing system. It is a block diagram which shows the right front sensing system.
  • FIG. 1 It is a figure which shows the radio wave absorption sheet arranged in the lighting unit and the radio wave absorption sheet arranged in an optical member.
  • the schematic diagram of the vehicle which comprises the vehicle system which concerns on 3rd Embodiment of this invention is shown. It is a horizontal cross-sectional view which shows the structure of the left front lamp equipped with the left front sensing system. It is a horizontal sectional view of the protrusion of the outer cover facing a millimeter wave radar. It is a vertical sectional view of the protrusion of the outer cover facing a millimeter wave radar. It is a horizontal sectional view of the protruding part which concerns on 1st modification of 3rd Embodiment.
  • the vertical direction is a direction including the “forward direction” and the “rear direction”.
  • the "left-right direction” is a direction including the “left direction” and the “right direction”.
  • the “vertical direction” is a direction including "upward direction” and “downward direction”.
  • the vertical direction is not shown in FIG. 1, the vertical direction is a direction perpendicular to the front-rear direction and the left-right direction.
  • FIG. 1 is a schematic view showing a top view of a vehicle 1 including a vehicle system 2.
  • FIG. 2 is a block diagram showing the vehicle system 2.
  • the vehicle 1 is a vehicle (automobile) capable of traveling in the automatic driving mode, the vehicle system 2, the left front lighting tool 7a arranged at the left front corner of the vehicle 1, and the right front of the vehicle 1.
  • the right front lighting tool 7b arranged at the corner portion, the left rear lighting tool 7c arranged at the left rear corner portion of the vehicle 1, and the right rear lighting tool 7d arranged at the right rear corner portion of the vehicle 1 are provided.
  • the vehicle system 2 includes a vehicle control unit 3 and a sensing system.
  • the sensing systems include a left front sensing system 4a (hereinafter, simply referred to as “sensing system 4a”), a right front sensing system 4b (hereinafter, simply referred to as “sensing system 4b”), and a left rear sensing system 4c (hereinafter, simply referred to as “sensing system 4b”). It includes a sensing system 4c ”), a right rear sensing system 4d (hereinafter, simply referred to as“ sensing system 4d ”), and a millimeter-wave radar system 5.
  • the vehicle system 2 includes an HMI (Human Machine Interface) 8, a GPS (Global Positioning System) 9, a wireless communication unit 10, and a storage device 11. Further, the vehicle system 2 includes a steering actuator 12, a steering device 13, a brake actuator 14, a brake device 15, an accelerator actuator 16, and an accelerator device 17.
  • HMI Human Machine Interface
  • GPS Global Positioning System
  • the vehicle system 2 includes a steering actuator 12, a steering device 13, a brake actuator 14, a brake device 15, an accelerator actuator 16, and an accelerator device 17.
  • the vehicle control unit 3 is configured to control the running of the vehicle 1.
  • the vehicle control unit 3 is composed of, for example, at least one electronic control unit (ECU: Electronic Control Unit).
  • the electronic control unit includes a computer system including one or more processors and one or more memories (for example, SoC (System on a Chip) or the like), and an electronic circuit composed of active elements such as transistors and passive elements.
  • the processor includes, for example, at least one of a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a GPU (Graphics Processing Unit), and a TPU (Tensor Processing Unit).
  • the CPU may be composed of a plurality of CPU cores.
  • the GPU may be composed of a plurality of GPU cores.
  • the memory includes a ROM (Read Only Memory) and a RAM (Random Access Memory).
  • the vehicle control program may be stored in the ROM.
  • the vehicle control program may include an artificial intelligence (AI) program for autonomous driving.
  • AI is a program (trained model) constructed by supervised or unsupervised machine learning (particularly deep learning) using a multi-layer neural network.
  • the RAM may temporarily store a vehicle control program, vehicle control data, and / or surrounding environment information indicating the surrounding environment of the vehicle.
  • the processor may be configured to expand a program designated from various vehicle control programs stored in the ROM on the RAM and execute various processes in cooperation with the RAM.
  • the computer system may be configured by a non-Von Neumann computer such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array). Further, the computer system may be composed of a combination of a von Neumann computer and a non-Von Neumann computer.
  • a non-Von Neumann computer such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array).
  • the computer system may be composed of a combination of a von Neumann computer and a non-Von Neumann computer.
  • Each of the sensing systems 4a to 4d is configured to detect the surrounding environment of the vehicle 1. In the description of the present embodiment, it is assumed that each of the sensing systems 4a to 4d includes the same component. Hereinafter, the sensing system 4a will be described with reference to FIG. FIG. 3 is a block diagram showing a sensing system 4a.
  • the sensing system 4a includes a control unit 40a, a lighting unit 42a, a camera 43a, a LiDAR (Light Detection and Ringing) unit 44a, and a millimeter-wave radar 45a (an example of a first millimeter-wave radar). And.
  • the control unit 40a, the lighting unit 42a, the camera 43a, the LiDAR unit 44a, and the millimeter wave radar 45a are located in the space Ka formed by the housing 24a of the left front lamp 7a and the translucent outer cover 22a shown in FIG. Placed in.
  • the control unit 40a may be arranged at a predetermined position of the vehicle 1 other than the space Ka.
  • the control unit 40a may be integrally configured with the vehicle control unit 3.
  • the control unit 40a is configured to control the operations of the lighting unit 42a, the camera 43a, the LiDAR unit 44a, and the millimeter wave radar 45a, respectively.
  • the control unit 40a functions as a lighting unit control unit 420a, a camera control unit 430a, a LiDAR unit control unit 440a, and a millimeter wave radar control unit 450a (an example of a first millimeter wave radar control unit).
  • the control unit 40a is composed of at least one electronic control unit (ECU).
  • the electronic control unit includes a computer system (for example, SoC) including one or more processors and one or more memories, and an electronic circuit composed of active elements such as transistors and passive elements.
  • the processor includes at least one of a CPU, MPU, GPU and TPU.
  • the memory includes a ROM and a RAM.
  • the computer system may be composed of a non-Von Neumann computer such as an ASIC or FPGA.
  • the lighting unit 42a is configured to form a light distribution pattern by emitting light toward the outside (front) of the vehicle 1.
  • the lighting unit 42a has a light source that emits light and an optical system.
  • the light source may be composed of, for example, a plurality of light emitting elements arranged in a matrix (for example, N rows ⁇ M columns, N> 1, M> 1).
  • the light emitting element is, for example, an LED (Light Emitting Diode), an LD (LaSer Diode), or an organic EL element.
  • the optical system is configured to refract the light emitted from the light source or the light reflected by the reflector and the reflector configured to reflect the light emitted from the light source toward the front of the illumination unit 42a. It may include at least one of the lenses.
  • the lighting unit control unit 420a is configured to control the lighting unit 42a so that the lighting unit 42a emits a predetermined light distribution pattern toward the front region of the vehicle 1.
  • the lighting unit control unit 420a may change the light distribution pattern emitted from the lighting unit 42a according to the driving mode of the vehicle 1.
  • the camera 43a is configured to detect the surrounding environment of the vehicle 1.
  • the camera 43a is configured to acquire image data indicating the surrounding environment of the vehicle 1 and then transmit the image data to the camera control unit 430a.
  • the camera control unit 430a may specify the surrounding environment information based on the transmitted image data.
  • the surrounding environment information may include information about an object existing outside the vehicle 1.
  • the surrounding environment information may include information on the attributes of the object existing outside the vehicle 1 and information on the distance, direction, and / or position of the object with respect to the vehicle 1.
  • the camera 43a includes, for example, an image sensor such as a CCD (Charge-Coupled Device) or a CMOS (Complementary MOS: Metal Oxide Semiconductor).
  • the LiDAR unit 44a is configured to detect the surrounding environment of the vehicle 1.
  • the LiDAR unit 44a is configured to acquire point cloud data indicating the surrounding environment of the vehicle 1 and then transmit the point cloud data to the LiDAR unit control unit 440a.
  • the LiDAR unit control unit 440a may specify the surrounding environment information based on the transmitted point cloud data.
  • the LiDAR unit 44a acquires information on the flight time (TOF: Time of Flight) ⁇ T1 of the laser beam (optical pulse) at each emission angle (horizontal angle ⁇ , vertical angle ⁇ ) of the laser beam.
  • the LiDAR unit 44a can acquire information on the distance D between the LiDAR unit 44a and an object existing outside the vehicle 1 at each emission angle based on the information on the flight time ⁇ T1 at each emission angle.
  • the millimeter wave radar 45a is configured to detect radar data (an example of the first radar data) indicating the surrounding environment of the vehicle 1.
  • the millimeter-wave radar 45a is configured to acquire radar data (raw data) and then transmit the radar data to the millimeter-wave radar control unit 450a.
  • the millimeter-wave radar control unit 450a is configured to acquire ambient environment information based on radar data.
  • the surrounding environment information may include information related to an object existing outside the vehicle 1.
  • the millimeter wave radar 45a acquires the distance and direction between the millimeter wave radar 45a and an object existing outside the vehicle 1 by a pulse modulation method, an FMCW (Frequency Modulated Continuous Wave) method, or a dual frequency CW method.
  • a pulse modulation method When the pulse modulation method is used, the millimeter wave radar 45a acquires information on the millimeter wave flight time ⁇ T2, and based on the information on the flight time ⁇ T2, the millimeter wave radar 45a and an object existing outside the vehicle 1 Information about the distance D between can be obtained.
  • the millimeter wave radar 45a has an interval between the phase of the millimeter wave (received wave) received by one receiving antenna and the phase of the millimeter wave (received wave) received by the other receiving antenna adjacent to one receiving antenna. Information about the direction of the object with respect to the vehicle 1 can be acquired based on the phase difference. Further, the millimeter wave radar 45a acquires information on the relative velocity V of the object with respect to the millimeter wave radar 45a based on the frequency f0 of the transmitted wave emitted from the transmitting antenna and the frequency f1 of the received wave received by the receiving antenna. be able to.
  • each of the sensing systems 4b to 4d is similarly provided with a control unit, a lighting unit, a camera, a LiDAR unit, and a millimeter-wave radar.
  • these devices of the sensing system 4b are arranged in the space Kb formed by the housing 24b of the right front lamp 7b and the translucent outer cover 22b shown in FIG.
  • These devices of the sensing system 4c are arranged in the space Kc formed by the housing 24c of the left rear lamp 7c and the translucent outer cover 22c.
  • These devices of the sensing system 4d are arranged in the space Kd formed by the housing 24d of the right rear lamp 7d and the translucent outer cover 22d.
  • the sensing system 4b includes a control unit 40b, a lighting unit 42b, a camera 43b, a LiDAR (Light Detection and Ringing) unit 44b, and a millimeter-wave radar 45b (of a second millimeter-wave radar).
  • the control unit 40b, the lighting unit 42b, the camera 43b, the LiDAR unit 44b, and the millimeter wave radar 45b are located in the space Kb formed by the housing 24b of the right front lamp 7b and the translucent outer cover 22b shown in FIG. Is placed in.
  • the control unit 40b may be arranged at a predetermined position of the vehicle 1 other than the space Kb.
  • the control unit 40b may be integrally configured with the vehicle control unit 3.
  • the control unit 40b is configured to control the operations of the lighting unit 42b, the camera 43b, the LiDAR unit 44b, and the millimeter wave radar 45b, respectively.
  • the control unit 40b functions as a lighting unit control unit 420b, a camera control unit 430b, a LiDAR unit control unit 440b, and a millimeter wave radar control unit 450b (an example of a second millimeter wave radar control unit).
  • the control unit 40b has the same function and configuration as the control unit 40a.
  • the lighting unit 42b shall have the same function and configuration as the lighting unit 42b.
  • the camera 43b shall have the same function and configuration as the camera 43a.
  • the LiDAR unit 44b shall have the same function and configuration as the LiDAR unit 44a.
  • the millimeter wave radar 45b shall have the same function and configuration as the millimeter wave radar 45a.
  • the millimeter-wave radar 45b is configured to detect radar data (an example of second radar data) indicating the surrounding environment of the vehicle 1.
  • the millimeter-wave radar 45b is configured to acquire radar data (raw data) and then transmit the radar data to the millimeter-wave radar control unit 450b.
  • the millimeter-wave radar control unit 450b is configured to acquire ambient environment information based on radar data.
  • FIG. 5 is a block diagram showing a millimeter wave radar system 5.
  • the millimeter wave radar system 5 is configured to acquire radar data (an example of a third radar data) indicating the external surrounding environment of the vehicle 1 (third millimeter wave).
  • An example of a radar) and a millimeter-wave radar control unit 58 configured to control the drive of the millimeter-wave radar 57 are provided.
  • the millimeter wave radar system 5 (particularly, the millimeter wave radar 57) is arranged on the central axis Ax passing through the center of the vehicle 1 at the center in the left-right direction of the vehicle 1.
  • the millimeter wave radar 57 is significantly different from the normal millimeter wave radar in that it does not include a transmitting antenna and a transmitting side RF circuit.
  • the millimeter-wave radar control unit 58 is configured to acquire radar data from the millimeter-wave radar 57 and then acquire ambient environment information based on the acquired radar data.
  • the HMI 8 is composed of an input unit that receives an input operation from the driver and an output unit that outputs driving information and the like to the driver.
  • the input unit includes a steering wheel, an accelerator pedal, a brake pedal, an operation mode changeover switch for switching the operation mode of the vehicle 1, and the like.
  • the output unit is a display (for example, Head Up Display (HUD) or the like) that displays various driving information.
  • the GPS 9 is configured to acquire the current position information of the vehicle 1 and output the acquired current position information to the vehicle control unit 3.
  • the wireless communication unit 10 is configured to receive information about other vehicles around the vehicle 1 from the other vehicle and transmit the information about the vehicle 1 to the other vehicle (vehicle-to-vehicle communication). Further, the wireless communication unit 10 is configured to receive infrastructure information from infrastructure equipment such as traffic lights and indicator lights and to transmit traveling information of vehicle 1 to the infrastructure equipment (road-to-vehicle communication). Further, the wireless communication unit 10 receives information about the pedestrian from the portable electronic device (smartphone, tablet, wearable device, etc.) carried by the pedestrian, and transmits the own vehicle traveling information of the vehicle 1 to the portable electronic device. It is configured to do (pedestrian-to-vehicle communication). The vehicle 1 may directly communicate with another vehicle, infrastructure equipment, or a portable electronic device in an ad hoc mode, or may communicate with a communication network such as the Internet.
  • a communication network such as the Internet.
  • the storage device 11 is an external storage device such as a hard disk drive (HDD) or SSD (Solid State Drive).
  • the storage device 11 may store two-dimensional or three-dimensional map information and / or a vehicle control program.
  • the three-dimensional map information may be composed of 3D mapping data (point cloud data).
  • the storage device 11 is configured to output map information and a vehicle control program to the vehicle control unit 3 in response to a request from the vehicle control unit 3.
  • the map information and the vehicle control program may be updated via the wireless communication unit 10 and the communication network.
  • the vehicle control unit 3 determines at least one of the steering control signal, the accelerator control signal, and the brake control signal based on the traveling state information, the surrounding environment information, the current position information, the map information, and the like. Generate one automatically.
  • the steering actuator 12 is configured to receive a steering control signal from the vehicle control unit 3 and control the steering device 13 based on the received steering control signal.
  • the brake actuator 14 is configured to receive a brake control signal from the vehicle control unit 3 and control the brake device 15 based on the received brake control signal.
  • the accelerator actuator 16 is configured to receive an accelerator control signal from the vehicle control unit 3 and control the accelerator device 17 based on the received accelerator control signal.
  • the vehicle control unit 3 automatically controls the traveling of the vehicle 1 based on the traveling state information, the surrounding environment information, the current position information, the map information, and the like. That is, in the automatic driving mode, the traveling of the vehicle 1 is automatically controlled by the vehicle system 2.
  • the vehicle control unit 3 when the vehicle 1 travels in the manual driving mode, the vehicle control unit 3 generates a steering control signal, an accelerator control signal, and a brake control signal according to the manual operation of the driver on the accelerator pedal, the brake pedal, and the steering wheel.
  • the steering control signal, the accelerator control signal, and the brake control signal are generated by the manual operation of the driver, so that the driving of the vehicle 1 is controlled by the driver.
  • FIG. 6 is a block diagram showing the respective configurations of the millimeter wave radars 45a, 45b, and 57.
  • the millimeter wave radar 45a (an example of the first millimeter wave radar) is a plurality of transmitting antennas 54a (first transmission) configured to emit millimeter waves which are radio waves having a wavelength of 1 mm to 10 mm.
  • An example of an antenna), a plurality of receiving antennas 55a (an example of a first receiving antenna) configured to receive millimeter waves, and a communication circuit unit 50a are provided.
  • the radiated radio wave radiated from the transmitting antenna 54a is reflected by the object, and then the reflected radio wave from the object is received by the receiving antenna 55a.
  • the transmitting antenna 54a and the receiving antenna 55a may be configured as, for example, a patch antenna (metal pattern) made of a conductive material.
  • the transmitting antenna 54a and the receiving antenna 55a configured as patch antennas are formed in a matrix on the upper surface of an insulating substrate made of an insulating material.
  • the directivity and the vertical direction of the transmitting antenna 54a and the receiving antenna 55a in the horizontal direction are arranged. It is possible to increase the directivity in the (vertical direction).
  • the millimeter wave radars 45a and 45b may change the beam direction of the radiated radio wave radiated from the transmitting antenna 54a by mechanically rotating the transmitting antenna 54a and the receiving antenna 55a. Further, the millimeter wave radars 45a and 45b may change the beam direction of the radiated radio wave radiated from the transmitting antenna 54a without mechanically rotating the transmitting antenna 54a and the receiving antenna 55a. In this case, the millimeter wave radars 45a and 45b may change the beam direction of the radiated radio wave by adopting the phased array method.
  • the millimeter wave radars 45a and 45b will be described as being a radar (phased array radar) adopting a phased array system.
  • the communication circuit unit 50a includes a transmission side RF (radio frequency) circuit 51a (an example of a first transmission side RF circuit), a reception side RF circuit 52a (an example of a first reception side RF circuit), and a signal processing circuit 53a (an example of a signal processing circuit 53a). (An example of one signal processing circuit).
  • the communication circuit unit 50a is configured as, for example, a monolithic microwave integrated circuit (MMIC).
  • MMIC monolithic microwave integrated circuit
  • the transmitting RF circuit 51a is electrically connected to each transmitting antenna 54a.
  • the receiving RF circuit 52a is electrically connected to each receiving antenna 55a.
  • the signal processing circuit 53a is configured to control the transmitting side RF circuit 51a and the receiving side RF circuit 52a in response to a control signal from the millimeter wave radar control unit 450a. Further, the signal processing circuit 53a generates radar data by processing the digital signal output from the receiving side RF circuit 52a, and then transmits the generated radar data to the millimeter wave radar control unit 450a. It is configured.
  • the signal processing circuit 53a includes, for example, a DSP (Digital Signal Processor) configured to process a digital signal transmitted from the receiving side RF circuit 52a, and a microcomputer composed of a processor and a memory.
  • DSP Digital Signal Processor
  • the millimeter wave radar 45b (an example of a second millimeter wave radar) is configured to receive a plurality of transmitting antennas 54b (an example of a second transmitting antenna) configured to emit millimeter waves and millimeter waves.
  • a plurality of receiving antennas 55b (an example of a second receiving antenna) and a communication circuit unit 50b are provided. It is assumed that the configurations / functions of the transmitting antenna 54b and the receiving antenna 55b are the same as the functions / configurations of the transmitting antenna 54a and the receiving antenna 55a, respectively.
  • the communication circuit unit 50b includes a transmitting side RF circuit 51b (an example of a second transmitting side RF circuit) electrically connected to each transmitting antenna 54b and a receiving side RF circuit 52b electrically connected to each receiving antenna 55b. (An example of a second receiving side RF circuit) and a signal processing circuit 53b (an example of a second signal processing circuit) are provided.
  • the signal processing circuit 53b is configured to generate radar data by processing a digital signal output from the receiving side RF circuit 52b, and then transmit the generated radar data to the millimeter wave radar control unit 450b. ing.
  • the signal processing circuit 53b includes, for example, a DSP and a microcomputer. It is assumed that the configuration / function of the communication circuit unit 50b is the same as the configuration / function of the communication circuit unit 50a.
  • the millimeter wave radar 57 (an example of a third millimeter wave radar) includes a plurality of receiving antennas 572 (an example of a third receiving antenna) and a communication circuit unit 573.
  • the receiving antenna 572 is a composite radio wave generated by the first radiated radio wave radiated from the transmitting antenna 54a of the millimeter wave radar 45a and the second radiated radio wave radiated from the transmitting antenna 54b of the millimeter wave radar 45b interfering with each other. It is configured to receive the reflected wave of.
  • the receiving antenna 572 is configured to receive the reflected wave of the synthetic radio wave reflected by the object existing in front of the vehicle 1.
  • the communication circuit unit 573 includes a receiving side RF circuit 574 (an example of a third receiving side RF circuit) electrically connected to each receiving antenna 572 and a signal processing circuit 576 (an example of a third signal processing circuit). ..
  • the receiving-side RF circuit 574 is electrically connected to the transmitting-side RF circuit 51a of the millimeter-wave radar 45a and the transmitting-side RF circuit 51b of the millimeter-wave radar 45b. That is, the receiving side RF circuit 574 receives the high frequency signal (TX signal) supplied to the transmitting antenna 54a from the transmitting side RF circuit 51a, and receives the high frequency signal (TX signal) supplied to the transmitting antenna 54b from the transmitting side RF circuit. It is configured to receive from 51b.
  • the signal processing circuit 576 is configured to generate radar data by processing the digital signal output from the receiving side RF circuit 574, and then transmit the generated radar data to the millimeter wave radar control unit 58. ing.
  • the signal processing circuit 576 includes, for example, a DSP configured to process a digital signal transmitted from the receiving RF circuit 574, and a microcomputer.
  • the millimeter-wave radar 57 is larger than the millimeter-wave radars 45a and 45b in that it is not provided with a transmitting antenna configured to radiate millimeter waves and a transmitting side RF circuit electrically connected to the transmitting antenna. It's different.
  • the signal processing circuit 576 obtains radar data (raw data) based on the TX signal output from the transmitting side RF circuits 51a and 51b and the high frequency signal (RX signal) output from the receiving antenna 572. It is configured to generate.
  • the sensing system composed of the millimeter wave radars 45a, 45b, 57 and the millimeter wave radar control units 450a, 450b, 58 may be referred to as the sensing system 100.
  • FIG. 7 is a block diagram showing an example of the configuration of the transmission side RF circuit 51b and the reception side RF circuit 52b of the millimeter wave radar 45b.
  • the transmitting side RF circuit 51b includes a high frequency generating circuit 150, a phase device 152, and an amplifier 153.
  • the high frequency generation circuit 150 is configured to generate a high frequency signal.
  • the high frequency generating circuit 150 when the millimeter wave radar 45b is a millimeter wave radar adopting the FMCW method, the high frequency generating circuit 150 generates a chirp signal (FMCW signal) whose frequency changes linearly with the passage of time. ..
  • Each of the phase devices 152 is configured to adjust the phase of the high frequency signal (TX signal) output from the high frequency generation circuit 150.
  • TX signal the high frequency signal
  • each phase device 152 By adjusting the phase of the high-frequency signal by each phase device 152 in this way, it is possible to change the beam direction in the horizontal direction of the combined radio wave of the radiated radio wave radiated from the plurality of transmitting antennas 54b.
  • the phase difference between the high-frequency signal that has passed through the upper phase device 152 and the high-frequency signal that has passed through the middle-stage phase device 152, and the high-frequency signal that has passed through the middle-stage phase device 152 and the lower-stage phase device 152 have passed.
  • the beam direction in the horizontal direction of the synthetic radio wave can be changed according to the phase difference between the high frequency signal and the signal.
  • each phase device 152 does not adjust the phase of the high frequency signal, the beam direction of the combined radio wave of the radiated radio wave does not change.
  • the phase device 152 may not be provided in the transmission side RF circuit 51b.
  • the amplifier 153 is configured to amplify the high frequency signal that has passed through the phase device 152. In this way, the high-frequency signal amplified by the amplifier 153 is supplied to each transmitting antenna 54b, so that each transmitting antenna 54b radiates radio waves (millimeter waves) corresponding to the high-frequency signal into the air.
  • the receiving side RF circuit 52b includes an amplifier 154, a mixer 155, a bandpass filter (BPF) 156, an AD converter 157, and a filter circuit 158.
  • the amplifier 154 is configured to amplify the high frequency signal (RX signal) output from the receiving antenna 55b.
  • the receiving antenna 55b receives the reflected radio wave reflected by the object and then converts the received reflected radio wave into a high frequency signal. After that, the amplifier 154 amplifies the weak high frequency signal output by the receiving antenna 55b.
  • the mixer 155 mixes the high frequency signal (RX signal) output from the amplifier 154 and the high frequency signal (TX signal) from the high frequency generation circuit 150 to obtain an intermediate frequency (IF) signal (also referred to as a beat frequency signal).
  • IF intermediate frequency
  • the IF signal (analog signal) that has passed through the BPF 156 is converted from an analog signal to a digital signal by the AD converter 157.
  • the digital signal is transmitted to the signal processing circuit 53b via the filter circuit 158.
  • the signal processing circuit 53b generates radar data indicating the position and relative velocity of the object by executing digital signal processing such as fast Fourier transform (FFT) on the digital signal (IF signal).
  • FFT fast Fourier transform
  • the transmission side RF circuit 51a of the millimeter wave radar 45a has the same function and configuration as the transmission side RF circuit 51b described above.
  • the receiving side RF circuit 52a of the millimeter wave radar 45a also has the same function and configuration as the receiving side RF circuit 52b described above.
  • the receiving side RF circuit 574 of the millimeter wave radar 57 has the same basic functions and configurations as the receiving side RF circuit 52b, while the mixer has a high frequency signal (RX signal) output from the amplifier and a transmitting side.
  • An IF signal is generated by mixing the TX signal output from the RF circuit 51b and the TX signal output from the transmitting side RF circuit 51a.
  • FIG. 8 is a diagram showing a detection range Sa of the millimeter wave radar 45a (particularly, a detection range Sa in the horizontal direction) and a detection range Sb of the millimeter wave radar 45b (particularly, a detection range Sb in the horizontal direction).
  • FIG. 8 is a diagram showing a detection range Sa of the millimeter wave radar 45a (particularly, a detection range Sa in the horizontal direction) and a detection range Sb of the millimeter wave radar 45b (particularly, a detection range Sb in the horizontal direction).
  • FIGS. 8 and 9 are schematic diagram showing a synthetic radio wave H generated by the first radiated radio wave radiated from the millimeter wave radar 45a and the second radiated radio wave radiated from the millimeter wave radar 45b interfering with each other.
  • the components of the vehicle 1 other than the millimeter wave radars 45a, 45b, and 57 are not shown.
  • the detection range Sa of the millimeter wave radar 45a corresponds to the scanning range of the first radiated radio wave radiated from the millimeter wave radar 45a.
  • the millimeter wave radar control unit 450a is configured to control the drive of the millimeter wave radar 45a so as to change the beam direction of the first radiated radio wave radiated from the transmitting antenna 54a of the millimeter wave radar 45a. There is. In this way, the millimeter-wave radar control unit 450a can acquire radar data indicating an object within the detection range Sa from the millimeter-wave radar 45a by continuously changing the beam direction of the first radiated radio wave. At the same time, it is possible to generate surrounding environment information based on the radar data.
  • the detection range Sb of the millimeter wave radar 45b corresponds to the scanning range of the second radiated radio wave radiated from the millimeter wave radar 45b.
  • the millimeter wave radar control unit 450b is configured to control the drive of the millimeter wave radar 45b so as to change the beam direction of the second radiated radio wave radiated from the transmitting antenna 54b of the millimeter wave radar 45b. There is. In this way, the millimeter-wave radar control unit 450b can acquire radar data indicating an object within the detection range Sb from the millimeter-wave radar 45b by continuously changing the beam direction of the second radiated radio wave. At the same time, it is possible to generate surrounding environment information based on the radar data.
  • the sensing system 100 of the vehicle 1 can intentionally generate the synthetic radio wave H generated by the interference between the first radiated radio wave and the second radiated radio wave.
  • the reflected wave of the synthetic radio wave H reflected by the object T is received by the receiving antenna 572 of the millimeter wave radar 57, so that the millimeter wave radar 57 can generate radar data related to the object T existing directly in front of the vehicle 1.
  • the vehicle control unit 3 shown in FIG. 2 drives and controls each of the millimeter wave radar control unit 450a and the millimeter wave radar control unit 450b so that the millimeter wave radar control unit 450a and the millimeter wave radar control unit 450b cooperate with each other. You may. In this case, the vehicle control unit 3 can drive and control each of the millimeter wave radar 45a and the millimeter wave radar 45b so that the first radiated radio wave and the second radiated radio wave intentionally interfere with each other. On the contrary, the vehicle control unit 3 can drive and control each of the millimeter wave radar 45a and the millimeter wave radar 45b so that the first radiated radio wave and the second radiated radio wave do not intentionally interfere with each other.
  • one of the millimeter wave radar control unit 450a and the millimeter wave radar control unit 450b is set as the control unit on the master side, while the other of the millimeter wave radar control unit 450a and the millimeter wave radar control unit 450b is set. It may be set in the control unit on the slave side.
  • the control unit on the master side can drive and control each of the millimeter wave radar 45a and the millimeter wave radar 45b so that the first radiated radio wave and the second radiated radio wave intentionally interfere with each other.
  • the sensing system 100 when the sensing system 100 generates surrounding environment information using only the synthetic radio wave H which is an interference radio wave of the first radiated radio wave and the second radiated radio wave, the millimeter wave radar 45a is detected.
  • the range may be changed to the detection range Sa1 and the detection range of the millimeter wave radar 45b may be changed to the detection range Sb2.
  • the sensing system 100 can efficiently detect an object existing directly in front of the vehicle 1 by using the synthetic radio wave H.
  • the millimeter wave radar 57 configured to acquire radar data indicating the external surrounding environment of the vehicle 1 does not include a transmitting antenna and a transmitting side RF circuit.
  • the sensing system 100 by using the millimeter wave radars 45a and 45b, the radar data related to the object in the detection range Sa and the radar data related to the object in the detection range Sb.
  • the radar data associated with the synthetic radio wave H can be acquired by using the millimeter wave radar 57.
  • the millimeter-wave radar 57 is not provided with the transmitting antenna and the transmitting-side RF circuit, radar data indicating the left front region, the front region, and the right front region of the vehicle 1 using the millimeter wave radars 45a, 45b, 57. Can be obtained.
  • the vehicle price is increased and the vehicle system 2 is not reduced without reducing the number of millimeter wave radars mounted on the vehicle 1. It is possible to provide a sensing system 100 capable of suppressing an increase in power consumption (see FIG. 2).
  • the millimeter wave radar 45a is mounted in the left front lighting tool 7a, and the millimeter wave radar 45b is mounted in the right front lighting tool 7b.
  • the millimeter-wave radars 45a and 45b can be mounted on the left front corner portion and the right front corner portion of the vehicle 1 without impairing the overall design of the vehicle 1.
  • FIG. 10 is a flowchart for explaining an example of a drive control method of the millimeter wave radars 45a and 45b according to the traveling speed of the vehicle 1.
  • step S1 the vehicle control unit 3 (see FIG. 2) identifies the traveling speed of the vehicle 1 based on the detection data acquired from the speed sensor mounted on the vehicle system 2.
  • the vehicle control unit 3 determines whether or not the traveling speed of the vehicle 1 is equal to or higher than a predetermined speed Vth (step S2).
  • the predetermined speed Vth is, for example, 60 km / h.
  • the predetermined speed Vth may be appropriately changed according to the road on which the driver or the vehicle 1 is currently traveling.
  • the vehicle control unit 3 sets the millimeter so that the first radiated radio wave and the second radiated radio wave intentionally interfere with each other.
  • Each of the wave radar 45a and the millimeter wave radar 45b is driven and controlled (step S3).
  • the vehicle control unit 3 transmits a control signal instructing interference between the first radiated radio wave and the second radiated radio wave to the millimeter wave radar control units 450a and 450b.
  • the sensing system 100 can acquire radar data associated with the synthetic radio wave H.
  • the vehicle control unit 3 uses a millimeter-wave radar so that the first radiated radio wave and the second radiated radio wave do not intentionally interfere with each other. Drive control of each of the 45a and the millimeter wave radar 45b (step S4).
  • the vehicle control unit 3 transmits a control signal instructing non-interference between the first radiated radio wave and the second radiated radio wave to the millimeter wave radar control units 450a and 450b.
  • the sensing system 100 can acquire radar data related to the object in the detection range Sa and radar data related to the object in the detection range Sb.
  • FIG. 10 is a flowchart for explaining an example of a drive control method of the millimeter wave radars 45a and 45b according to the lane change of the vehicle 1.
  • the vehicle control unit 3 uses the millimeter wave radar 45a and the millimeter wave radar so that the first radiated radio wave and the second radiated radio wave intentionally interfere with each other.
  • Drive control of each of 45b step S10.
  • the sensing system 100 can acquire radar data associated with the synthetic radio wave H.
  • the lane change of the vehicle 1 is, for example, a movement by the vehicle 1 to the left lane, a movement by the vehicle 1 to the right lane, or a movement by the vehicle 1 to the confluence lane.
  • step S11 the vehicle control unit 3 determines whether or not the vehicle 1 starts changing lanes.
  • the vehicle control unit 3 determines that the vehicle 1 starts changing lanes (YES in step S11)
  • the vehicle control unit 3 prevents the first radiated radio waves and the second radiated radio waves from intentionally interfering with each other.
  • the sensing system 100 can acquire radar data related to the object in the detection range Sa and radar data related to the object in the detection range Sb.
  • the vehicle control unit 3 determines that the vehicle 1 does not start the lane change (NO in step S11)
  • the vehicle control unit 3 waits until the vehicle 1 starts the lane change.
  • step S13 the vehicle control unit 3 determines whether or not the lane change of the vehicle 1 has been completed. If the determination result in step S13 is YES, this process returns to step S10. That is, each of the millimeter wave radar 45a and the millimeter wave radar 45b is driven and controlled so that the first radiated radio wave and the second radiated radio wave intentionally interfere with each other. On the other hand, when the determination result in step S13 is NO, the vehicle control unit 3 waits until the vehicle 1 finishes changing lanes.
  • the vehicle 1 when the vehicle 1 changes lanes, it is prioritized to identify the objects existing in the left front area and the right front area of the vehicle 1. That is, priority is given to acquiring radar data indicating the left front region and the right front region of the vehicle 1. In this way, it is possible to acquire the optimum radar data according to the condition (an example of the second condition) associated with the lane change of the vehicle 1.
  • step S11 it is determined whether or not the vehicle 1 has started the turn. Further, in step S13, it is determined whether or not the vehicle 1 has finished the turn.
  • the first radiated radio wave and the second radiated radio wave are intentionally interfered or non-interfered according to a predetermined condition, but the sensing system 100 has the first radiated radio wave and the second radiated radio wave.
  • the interference mode in which the radio waves intentionally interfere with each other and the non-interference mode in which the first radiated radio waves and the second radiated radio waves do not interfere with each other may be continuously switched in a short time.
  • FIG. 12 is a schematic view showing a top view of the vehicle 1A including the vehicle system 2A.
  • FIG. 13 is a block diagram showing the vehicle system 2A.
  • the vehicle 1A is a vehicle (automobile) capable of traveling in the automatic driving mode, and is a vehicle system 2A, a left front light 7a, a right front light 7b, a left rear light 7c, and a right rear light. It has 7d.
  • the left front lighting 7a (an example of a left vehicle lighting) and the right front lighting 7b (an example of a right vehicle lighting) have the same configuration. That is, as shown in FIG. 16, the components mounted on the left front lighting tool 7a are assumed to be the same as the components mounted on the right front lighting tool 7b. Further, the components of the left front lighting tool 7a and the components of the right front lighting tool 7b are symmetrical with respect to the virtual surface Sx passing through the center of the vehicle 1A in the left-right direction.
  • the left rear lamp 7c and the right rear lamp 7d have the same configuration. That is, it is assumed that the component mounted on the left rear lamp 7c is the same as the component mounted on the right rear lamp 7d. Further, the components of the left rear light fixture 7c and the components of the right rear light fixture 7d are symmetrical with respect to the virtual surface Sx passing through the center of the vehicle 1A in the left-right direction.
  • the vehicle system 2A includes a vehicle control unit 3A, a left front sensing system 104a (hereinafter, simply referred to as “sensing system 104a”), and a right front sensing system 104b (hereinafter, simply “sensing system”). It is provided with at least a left rear sensing system 104c (hereinafter, simply referred to as “sensing system 104c”) and a right rear sensing system 104d (hereinafter, simply referred to as “sensing system 104d”).
  • the vehicle system 2A includes a sensor 105, an HMI 8, a GPS 9, a wireless communication unit 10, and a storage device 11. Further, the vehicle system 2A includes a steering actuator 12, a steering device 13, a brake actuator 14, a brake device 15, an accelerator actuator 16, and an accelerator device 17.
  • the vehicle control unit 3A is configured to control the running of the vehicle 1A.
  • the vehicle control unit 3A is composed of, for example, at least one electronic control unit (ECU).
  • ECU electronice control unit
  • the vehicle control unit 3A is configured to determine whether or not noise information is included in the surrounding environment information generated based on the radar data acquired by the millimeter wave radar. Functions as a judgment unit.
  • the vehicle control unit 3A functions as a noise information determination unit, but any one of the millimeter wave radar control units 1450a and 1450b, which will be described later, may function as a noise information determination unit.
  • Each of the sensing systems 104a to 104d is configured to detect the surrounding environment of the vehicle 1A. In the description of this embodiment, it is assumed that each of the sensing systems 104a to 104d includes the same component. In the following, the sensing system 104a will be described with reference to FIGS. 14 and 16.
  • FIG. 14 is a block diagram showing the sensing system 104a.
  • FIG. 16 is a schematic view showing a left front lighting tool 7a and a right front lighting tool 7b.
  • the sensing system 104a (an example of the left sensing system) includes a control unit 140a, a lighting unit 142a, a camera 143a, a LiDAR unit 144a, and a millimeter wave radar 145a (an example of a left millimeter wave radar). And.
  • the control unit 140a, the lighting unit 142a, the camera 143a, the LiDAR unit 144a, and the millimeter wave radar 145a are located in the space Ka1 formed by the housing 24a of the left front lamp 7a and the translucent outer cover 22a shown in FIG. Is placed in.
  • the control unit 140a may be arranged at a predetermined position of the vehicle 1A other than the space Ka1.
  • the control unit 140a may be integrally configured with the vehicle control unit 3A.
  • the control unit 140a is configured to control the operations of the lighting unit 142a, the camera 143a, the LiDAR unit 144a, and the millimeter-wave radar 145a, respectively.
  • the control unit 140a functions as a lighting unit control unit 1420a, a camera control unit 1430a, a LiDAR unit control unit 1440a, and a millimeter wave radar control unit 1450a (an example of the left millimeter wave radar control unit).
  • the control unit 140a is composed of at least one electronic control unit (ECU).
  • the electronic control unit includes a computer system (for example, SoC) including one or more processors and one or more memories, and an electronic circuit composed of active elements such as transistors and passive elements.
  • the processor includes at least one of a CPU, MPU, GPU and TPU.
  • the memory includes a ROM and a RAM.
  • the computer system may be composed of a non-Von Neumann computer such as an ASIC or FPGA.
  • the lighting unit 142a is configured to form a light distribution pattern by emitting light toward the outside (front) of the vehicle 1A.
  • the lighting unit control unit 1420a is configured to control the lighting unit 142a so that the lighting unit 142a emits a predetermined light distribution pattern toward the front region of the vehicle 1A.
  • the camera 143a is configured to detect the surrounding environment of the vehicle 1A.
  • the camera 143a is configured to acquire image data indicating the surrounding environment of the vehicle 1A and then transmit the image data to the camera control unit 1430a.
  • the camera control unit 1430a may specify the surrounding environment information based on the transmitted image data.
  • the LiDAR unit 144a is configured to detect the surrounding environment of the vehicle 1A.
  • the LiDAR unit 144a is configured to acquire point cloud data indicating the surrounding environment of the vehicle 1A and then transmit the point cloud data to the LiDAR unit control unit 1440a.
  • the millimeter wave radar 145a is configured to detect radar data indicating the surrounding environment of the vehicle 1A.
  • the millimeter-wave radar 145a is configured to acquire radar data (raw data) and then transmit the radar data to the millimeter-wave radar control unit 1450a.
  • the millimeter wave radar control unit 1450a is configured to acquire ambient environment information based on radar data.
  • the surrounding environment information may include information related to an object existing outside the vehicle 1A.
  • the information related to the object includes the position information of the object and the velocity information of the object.
  • the position information of the object indicates the coordinates in the XY coordinate system set for the millimeter wave radar 145a (see FIG. 16).
  • the velocity information of the object indicates the relative velocity between the object and the millimeter wave radar 145a.
  • each of the sensing systems 104b to 104d is similarly provided with a control unit, a lighting unit, a camera, a LiDAR unit, and a millimeter-wave radar.
  • these devices of the sensing system 104b are arranged in the space Kb1 formed by the housing 24b of the right front lamp 7b and the translucent outer cover 22b shown in FIG.
  • These devices of the sensing system 104c are arranged in the space Kc1 formed by the housing 24c of the left rear lamp 7c and the translucent outer cover 22c.
  • These devices of the sensing system 104d are arranged in the space Kd1 formed by the housing 24d of the right rear lamp 7d and the translucent outer cover 22d.
  • the sensing system 104b (an example of the right sensing system) includes a control unit 140b, a lighting unit 142b, a camera 143b, a LiDAR unit 144b, and a millimeter wave radar 145b (a right millimeter wave radar).
  • the control unit 140b, the lighting unit 142b, the camera 143b, the LiDAR unit 144b, and the millimeter wave radar 145b are contained in the space Kb1 formed by the housing 24b of the right front lamp 7b and the translucent outer cover 22b shown in FIG. Is placed in.
  • the control unit 140b may be arranged at a predetermined position of the vehicle 1A other than the space Kb1.
  • the control unit 140b may be integrally configured with the vehicle control unit 3A.
  • the control unit 140b is configured to control the operations of the lighting unit 142b, the camera 143b, the LiDAR unit 144b, and the millimeter wave radar 145b, respectively.
  • the control unit 140b functions as a lighting unit control unit 1420b, a camera control unit 1430b, a LiDAR unit control unit 1440b, and a millimeter wave radar control unit 1450b (an example of a right millimeter wave radar control unit).
  • the control unit 140b shall have the same functions and configurations as the control unit 140a.
  • the lighting unit 142b shall have the same functions and configurations as the lighting unit 142a.
  • the camera 143b shall have the same functions and configurations as the camera 143a.
  • the LiDAR unit 144b shall have the same functions and configurations as the LiDAR unit 144a.
  • the millimeter wave radar 145b shall have the same functions and configurations as the millimeter wave radar 145a.
  • the millimeter wave radar 145b is configured to detect radar data indicating the surrounding environment of the vehicle 1A.
  • the millimeter-wave radar 145b is configured to acquire radar data (raw data) and then transmit the radar data to the millimeter-wave radar control unit 1450b.
  • the millimeter wave radar control unit 1450b is configured to acquire ambient environment information based on radar data.
  • the surrounding environment information may include information related to an object existing outside the vehicle 1A.
  • the information related to the object includes the position information of the object and the velocity information of the object.
  • the position information of the object indicates the coordinates in the XY coordinate system set for the millimeter wave radar 145b (see FIG. 16).
  • the velocity information of the object indicates the relative velocity between the object and the millimeter wave radar 145b.
  • each component of the left front lighting tool 7a is arranged symmetrically with respect to the corresponding one of the plurality of components of the right front lighting tool 7b with respect to the virtual surface Sx.
  • the optical member 220a arranged in the left front lighting tool 7a is arranged symmetrically with respect to the virtual surface Sx with the optical member 220b arranged in the right front lighting tool 7b. Therefore, the behavior of the reflected radio wave reflected by the left front lamp 7a (for example, the outer cover 22a) after being radiated from the transmitting antenna of the millimeter wave radar 145a is the behavior of the reflected radio wave after being radiated from the transmitting antenna of the millimeter wave radar 145b.
  • the behavior of the reflected radio wave reflected by the lamp 7b is symmetrical with respect to the virtual surface Sx. Therefore, the noise caused by the radio waves radiated from the millimeter wave radar 145a and the noise caused by the radio waves radiated from the millimeter wave radar 145b are symmetrical with respect to the virtual surface Sx.
  • the sensor 105 may include an acceleration sensor, a speed sensor, a gyro sensor, and the like.
  • the sensor 105 is configured to detect the traveling state of the vehicle 1A and output the traveling state information indicating the traveling state of the vehicle 1A to the vehicle control unit 3A. Further, the sensor 105 may have an outside air temperature sensor that detects the outside air temperature of the vehicle 1A.
  • FIG. 17 is a sequence diagram for explaining the noise information identification process.
  • the noise information identification process according to the present embodiment may be performed after the left front lighting tool 7a and the right front lighting tool 7b are attached to the vehicle 1A and before the vehicle 1A is shipped. Further, this noise information identification process may be performed at the time of maintenance of the vehicle 1A. Alternatively, the noise information identification process may be performed periodically for each predetermined event.
  • each component of the left front lighting tool 7a and each component of the right front lighting tool 7b are arranged symmetrically with respect to the virtual surface Sx. Therefore, the behavior of the reflected radio wave internally reflected by the left front lamp 7a after being emitted from the millimeter wave radar 145a is reflected internally by the right front lamp 7b after being emitted from the millimeter wave radar 145b with respect to the virtual surface Sx. It is considered to be symmetrical with the behavior of the reflected radio waves.
  • the noise information included in the peripheral environment information Ia (an example of the first peripheral environment information) acquired by the millimeter wave radar control unit 1450a is radiated from the transmitting antenna of the millimeter wave radar 145a, and then the inner surface of the left front lamp 7a It is generated when the reflected reflected radio wave is received by the receiving antenna of the millimeter wave radar 145a.
  • the noise information included in the peripheral environment information Ib (an example of the second peripheral environment information) acquired by the millimeter wave radar control unit 1450b is radiated from the transmitting antenna of the millimeter wave radar 145b and then is radiated by the right front lamp 7b. It is generated when the reflected radio wave reflected on the inner surface is received by the receiving antenna of the millimeter wave radar 145b.
  • the noise information included in the surrounding environment information Ia and the noise information included in the surrounding environment information Ib are related to each other. Therefore, by comparing the peripheral environment information Ia acquired by the millimeter wave radar control unit 1450a and the peripheral environment information Ib acquired by the millimeter wave radar control unit 1450b with each other, the noise information included in the peripheral environment information Ia and Ib Can be identified.
  • step S21 the millimeter wave radar 145a transmits radar data (raw data) to the millimeter wave radar control unit 1450a.
  • the millimeter-wave radar control unit 1450a acquires the surrounding environment information Ia based on the received radar data, and then transmits the peripheral environment information Ia to the vehicle control unit 3A that functions as a noise information determination unit (step). S22).
  • the millimeter wave radar 145b transmits radar data to the millimeter wave radar control unit 1450b (step S23).
  • the millimeter-wave radar control unit 1450b acquires the surrounding environment information Ib based on the received radar data, and then transmits the peripheral environment information Ib to the vehicle control unit 3A (step S24).
  • the vehicle control unit 3A compares the information related to the object included in the surrounding environment information Ia with the information related to the object included in the surrounding environment information Ib (step S25).
  • the information related to the object includes the position information and the velocity information of the object.
  • the position information of the object indicates the coordinates P (x, y) in the XY coordinate system set for the millimeter wave radar.
  • the velocity information of the object indicates the relative velocity V between the object and the millimeter wave radar.
  • the vehicle control unit 3A compares the coordinates and relative speed of each object included in the peripheral environment information Ia with the coordinates and relative speed of each object included in the peripheral environment information Ib.
  • step S26 the object whose relative speeds match each other and whose coordinates are symmetrical with respect to the Y axis is the surrounding environment information Ia.
  • Ib is determined (step S26). For example, the relative velocity V1 of the predetermined object O1 in the surrounding environment information Ia and the relative velocity V2 of the predetermined object O2 in the peripheral environment information Ib coincide with each other, and the coordinates P1 of the predetermined object O1 and the predetermined object When the coordinates P2 of O2 are symmetric with respect to the Y axis, the determination result in step S26 is YES.
  • the vehicle control unit 3A may generate the conversion coordinates P'of each object O by reversing the plus and minus of the x component of the coordinates P of each object O in the surrounding environment information Ia. After that, the vehicle control unit 3A may compare the converted coordinates P'of each object O of the peripheral environment information Ia with the coordinates P of each object O of the peripheral environment information Ib.
  • step S26 determines whether the surrounding environment information Ia and Ib do not include noise information.
  • step S27 the vehicle control unit 3A determines information (position information and speed information) related to the predetermined object O1 as noise information included in the surrounding environment information Ia, and sets the predetermined object O2. Related information (position information and speed information) is determined as noise information included in the surrounding environment information Ib.
  • the vehicle control unit 3A removes information related to the object O1 which is noise information from the surrounding environment information Ia, and also removes information related to the object O2 which is noise information from the surrounding environment information Ib.
  • the present noise information identification processing is performed, the information related to the object corresponding to the identified noise information is not considered as the surrounding environment information (or is automatically removed). In this way, the noise information generated by the radio waves internally reflected by the vehicle lighting equipment can be preferably specified by comparing the two surrounding environment information.
  • the vehicle system 2A erroneously detects the object based on the surrounding environment information Ia and Ib. Can be suitably prevented. Therefore, it is possible to provide a vehicle system 2A capable of improving the reliability of the millimeter wave radar 145a mounted on the left front lighting tool 7a and the reliability of the millimeter wave radar 145b mounted on the right front lighting tool 7b.
  • the determination condition related to the relative velocity V of the object may be omitted in the determination process in step S26. That is, in the determination process of step S26, only the determination conditions related to the coordinates of the object may be determined. In this case, the vehicle control unit 3A determines whether or not an object whose coordinates are symmetrical with respect to the Y axis is indicated in the surrounding environment information.
  • a determination condition related to the relative velocity V of the object it may be determined whether or not the relative velocity V of the object is zero. Further, in the determination process of step S26, a determination condition related to the distance of the object may be added. For example, the relative velocity V1 of the predetermined object O1 in the surrounding environment information Ia and the relative velocity V2 of the predetermined object O2 in the peripheral environment information Ib coincide with each other, and the coordinates P1 of the predetermined object O1 and the predetermined object When the coordinates P2 of O2 are symmetric with respect to the Y axis, the distance D1 between the object O1 and the millimeter wave radar 145a and the distance D2 between the object O2 and the millimeter wave radar 145b are equal to or less than the predetermined distance Dth.
  • the distances D1 and D2 are defined as (x1 2 + y1 2 ) 1/2.
  • the determination result in step S26 is YES, while when the distances D1 and D2 are larger than the predetermined distance Dth, the determination result in step S26 is NO. In this case, it is possible to preferably prevent information related to the object actually existing in front of the vehicle 1A from being specified as noise information.
  • the vehicle control unit 3A functions as a noise information determination unit, but one of the millimeter wave radar control units 1450a and 1450b may function as a noise information determination unit.
  • the other of the millimeter wave radar control units 1450a and 1450b transmits the surrounding environment information to one of the millimeter wave radar control units 1450a and 1450b.
  • one of the millimeter-wave radar control units 1450a and 1450b executes each process defined in steps S25 to S28.
  • the left front lamp 7a is described as an example of the left vehicle lamp
  • the right front lamp 7b is described as an example of the right vehicle lamp, but the present embodiment is limited to this. It's not a thing.
  • the left rear light 7c may be applied as the left vehicle light
  • the right rear light 7d may be applied as the right vehicle light.
  • FIG. 18 is a flowchart for explaining a method of suppressing noise generated in radar data acquired by the millimeter wave radar 345a mounted in the left front lamp 307a.
  • FIG. 19 is a diagram showing a left front lamp 307a equipped with a millimeter wave radar 345a and a radio wave intensity measuring device 360 for measuring the radio wave intensity at each horizontal angle in the field of view F3 of the millimeter wave radar 345a.
  • the left front lamp 307a includes a millimeter-wave radar 345a, lighting units 342a and 343a, and an optical member 320a. These components are arranged in the space Ka3 formed by the housing 324a and the outer cover 322a.
  • the millimeter-wave radar 345a is configured to acquire information related to an object existing outside the vehicle by emitting radio waves (millimeter waves) toward the outside of the left front lighting tool 307a.
  • a part of the radio wave emitted from the millimeter wave radar 345a may be reflected by the optical components (lighting unit 342a and the optical member 320a) after being reflected by the outer cover 322a, so that it may enter the millimeter wave radar 345a.
  • the radio wave that is internally reflected by the left front lamp 307a and is incident on the receiving antenna of the millimeter wave radar 345a becomes a factor of noise generated in the radar data.
  • a part of the radio wave internally reflected by the left front lamp 307a is a factor that lowers the detection accuracy of the millimeter wave radar 345a.
  • the purpose of this noise suppression method is to suppress noise generated in radar data by absorbing radio waves reflected on the inner surface of the left front lamp 307a by a radio wave absorbing sheet arranged at an appropriate position in the lamp.
  • each process of the noise suppression method will be described with reference to FIG.
  • the horizontal angle ⁇ (in other words, the horizontal angle ⁇ with large reflection attenuation) in which the radio waves are largely internally reflected by the outer cover 322a is specified from the intensity profile indicating the radio wave intensity for each horizontal angle ⁇ . ..
  • the intensity profile shown in FIG. 20 is obtained by the radio wave intensity measuring unit 360, the radio waves radiated from the millimeter wave radar 345a at horizontal angles of 30 degrees and -30 degrees are largely internally reflected by the outer cover 322a. Can be confirmed. In other words, it can be confirmed that the reflection attenuation of radio waves is large at horizontal angles of 30 degrees and -30 degrees.
  • step S32 the traveling path of the radio wave associated with the horizontal angle at which internal reflection occurs is estimated.
  • the traveling path of the radio wave D4 is estimated.
  • the traveling path of the radio wave D5 is estimated.
  • the radio wave absorbing sheet is arranged on the surface of the optical component in the lamp that intersects the radio wave traveling path estimated in step S32.
  • the radio wave absorbing sheet 362a is arranged on the surface 342s of the lighting unit 342a that intersects the estimated traveling path of the radio wave D4.
  • the radio wave absorbing sheet 370a is arranged on the surface 320s of the optical member 320a that intersects the estimated traveling path of the radio wave D5.
  • the radio wave absorbing sheet may be formed of, for example, an inorganic binder and radio wave absorbing particles provided in the inorganic binder.
  • radio wave absorbing particles epsilon-type iron oxide particles and titanium oxide particles may be adopted.
  • the radio wave absorbing sheet 362a is arranged on the surface 342s of the lighting unit 342a intersecting the traveling path of the radio wave D4, and on the surface 320s of the optical member 320a intersecting the traveling path of the radio wave D5.
  • a radio wave absorbing sheet 370a is arranged.
  • the radio wave absorption sheets 362a and 370a absorb the radio waves reflected internally by the outer cover 322a, so that a part of the radio waves internally reflected in the lamp is incident on the receiving antenna of the millimeter wave radar 345a. It is possible to preferably prevent it. In this way, noise generated in radar data can be suppressed, and the reliability of the millimeter-wave radar mounted in the lighting equipment can be improved.
  • FIG. 23 is a schematic view showing a top view of the vehicle 1B including the vehicle system 2B.
  • the vehicle 1B is a vehicle (automobile) capable of traveling in the automatic driving mode, and is a vehicle system 2B, a left front lighting tool 207a, a right front lighting tool 207b, a left rear lighting tool 207c, and a right rear lighting tool. It includes 207d.
  • the vehicle system 2B includes a vehicle control unit 3B, a left front sensing system 204a (hereinafter, simply referred to as “sensing system 204a”), and a right front sensing system 204b (hereinafter, simply referred to as “sensing system 204b”).
  • the left rear sensing system 204c (hereinafter, simply referred to as “sensing system 204c”) and the right rear sensing system 204d (hereinafter, simply referred to as “sensing system 204d”) are provided at least.
  • the vehicle control unit 3B is configured to control the running of the vehicle 1B.
  • the vehicle control unit 3B is composed of, for example, at least one electronic control unit (ECU).
  • ECU electronice control unit
  • FIG. 24 is a horizontal sectional view showing the configuration of the left front lighting tool 207a on which the sensing system 204a is mounted.
  • the sensing system 204a includes a control unit (not shown), a lighting unit 242a, a camera 243a, a LiDAR unit 244a, and a millimeter wave radar 245a.
  • the control unit, the lighting unit 242a, the camera 243a, the LiDAR unit 244a, and the millimeter wave radar 245a are placed in the space Ka2 formed by the housing 224a of the left front lamp 207a and the translucent outer cover 222a shown in FIG. It will be installed.
  • the control unit may be arranged at a predetermined position of the vehicle 1B other than the space Ka2.
  • the control unit may be integrally configured with the vehicle control unit 3B.
  • the control unit (not shown) is configured to control the operations of the lighting unit 242a, the camera 243a, the LiDAR unit 244a, and the millimeter wave radar 245a, respectively.
  • the lighting unit 242a is configured to form a light distribution pattern by emitting light toward the outside (front) of the vehicle 1B.
  • the camera 243a is configured to detect the surrounding environment of the vehicle 1B.
  • the camera 243a is configured to acquire image data indicating the surrounding environment of the vehicle 1B and then transmit the image data to the control unit.
  • the control unit may specify the surrounding environment information based on the transmitted image data.
  • the LiDAR unit 244a is configured to detect the surrounding environment of the vehicle 1B.
  • the LiDAR unit 244a is configured to acquire point cloud data indicating the surrounding environment of the vehicle 1B and then transmit the point cloud data to the control unit.
  • the millimeter wave radar 245a is configured to detect radar data indicating the surrounding environment of the vehicle 1B.
  • the millimeter-wave radar 245a is configured to acquire radar data and then transmit the radar data to the control unit.
  • the control unit is configured to acquire surrounding environment information based on radar data.
  • the surrounding environment information may include information about an object existing outside the vehicle 1B.
  • the surrounding environment information may include, for example, information on the position and direction of the object with respect to the vehicle 1B and information on the relative speed of the object with respect to the vehicle 1B.
  • the outer cover 222a has a protruding portion 225a facing the millimeter wave radar 245a. That is, in the present embodiment, a part of the outer cover 222a facing the millimeter wave radar 245a is formed as a protruding portion 225a. The structural features of the protrusion 225a will be described later.
  • the millimeter wave radar 245a is mounted in the space Ka2 so that the antenna forming surface on which the transmitting antenna and the receiving antenna of the millimeter wave radar 245a are formed faces the protrusion 225a. Further, for convenience of explanation, it is assumed that the vertical direction (vertical direction) of the millimeter wave radar 245a is parallel to the vertical direction of the vehicle 1B. Further, it is assumed that the horizontal direction of the millimeter wave radar 245a is parallel to the horizontal direction of the vehicle 1B. In this respect, the horizontal direction of the millimeter-wave radar 245a is a direction including the left-right direction and the front-back direction (see FIG. 24) of the millimeter-wave radar 245a.
  • the horizontal direction of the vehicle 1B is a direction including the front-rear direction and the left-right direction of the vehicle 1B.
  • the vertical direction of the millimeter wave radar 245a is a direction orthogonal to the horizontal direction of the millimeter wave radar 245a.
  • the horizontal direction of the millimeter wave radar 245a is parallel to the horizontal direction of the vehicle 1B, while the left-right direction of the millimeter-wave radar 245a is not parallel to the left-right direction of the vehicle 1B, and the front and rear of the millimeter-wave radar 245a
  • the direction is not parallel to the front-rear direction of vehicle 1B.
  • the vertical direction of the millimeter wave radar 245a does not necessarily have to be parallel to the vertical direction of the vehicle 1B.
  • the horizontal direction of the millimeter wave radar 245a does not necessarily have to be parallel to the horizontal direction of the vehicle 1B.
  • each of the sensing systems 204b to 204d is similarly provided with a control unit, a lighting unit, a camera, a LiDAR unit, and a millimeter-wave radar.
  • these devices of the sensing system 204b are mounted in the space Kb2 formed by the housing 224b of the right front lamp 207b and the translucent outer cover 222b shown in FIG. 23.
  • These devices of the sensing system 204c are mounted in the space Kc2 formed by the housing 224c of the left rear lamp 207c and the translucent outer cover 222c.
  • These devices of the sensing system 204d are mounted in the space Kd2 formed by the housing 224d of the right rear lamp 207d and the translucent outer cover 222d.
  • FIG. 25A shows a horizontal sectional view of a protruding portion 225a which is a part of the outer cover 222a facing the millimeter wave radar 245a.
  • FIG. 25B shows a vertical sectional view of the protrusion 225a.
  • the cross-sectional view shown in FIG. 25A is a cross-sectional view cut by a first virtual plane (not shown).
  • the first virtual plane is a plane that passes through the central axis A of the millimeter wave radar 245a and is parallel to the horizontal direction of the millimeter wave radar 245a.
  • the central axis A of the millimeter wave radar 245a is an axis passing through the center of the millimeter wave radar 245a in the horizontal direction and the vertical direction (vertical direction).
  • the intersection of two field of view boundary lines B1 which are the boundaries of the field of view F1 (hereinafter referred to as "horizontal field of view F1") in the horizontal direction of the millimeter wave radar 245a is defined as the center point C1 of the horizontal field of view F1.
  • the cross section of the protrusion 225a cut by the first virtual plane constitutes an arc of a virtual circle E whose center coincides with the center point C1 of the horizontal field of view F1 of the millimeter wave radar 245a.
  • the cross-sectional view shown in FIG. 25B is a cross-sectional view cut by a second virtual plane (not shown).
  • the second virtual plane is a plane that passes through the central axis A of the millimeter wave radar 245a and is parallel to the vertical direction of the millimeter wave radar 245a.
  • the intersection of two field of view boundary lines B2, which is the boundary line of the field of view F2 (hereinafter referred to as "vertical field of view F2") in the vertical direction of the millimeter wave radar 245a, is defined as the center point C2 of the vertical field of view F2. Is regulated.
  • the cross section of the protrusion 225a cut by the second virtual plane is symmetrical with respect to the central axis A of the millimeter wave radar 245a.
  • the cross section of the protruding portion 225a cut into the first virtual plane is a virtual center point C1 of the horizontal field of view F1 of the millimeter wave radar 245a. It constitutes an arc of circle E. Therefore, the radiated radio waves radiated from the transmitting antenna of the millimeter wave radar 245a, which are substantially parallel to the horizontal direction, are incident on the projecting portion 225a substantially perpendicularly, so that the radiated radio waves radiated from the millimeter wave radar 245a are emitted by the projecting portion 225a. Frenel reflection can be suitably suppressed.
  • the reflected radio wave reflected by the outer cover 222a is received by the receiving antenna of the millimeter wave radar 245a. Therefore, it is possible to suitably prevent an operation abnormality or erroneous detection of the millimeter wave radar 245a caused by the reflected radio wave reflected by the outer cover 222a. Therefore, it is possible to improve the reliability of the millimeter wave radar 245a mounted in the left front lighting tool 207a.
  • the cross section of the protruding portion 225a cut by the second virtual plane is symmetrical with respect to the central axis A of the millimeter wave radar 245a. Therefore, it is possible to enhance the design of the appearance of the protruding portion 225a.
  • the structural features of the protruding portion 225a of the left front lighting tool 207a have been described, but the outer covers of the right front lighting tool 207b, the left rear lighting tool 207c, and the right rear lighting tool 207d also have the same structural features as the protruding portion 225a. It may be provided with a protrusion having. In this case, since it is preferable to prevent the radiated radio waves radiated from the millimeter wave radar mounted in the right front lighting tool 207b from being reflected by Fresnel by the protrusion, the reliability of the millimeter wave radar mounted in the right front lighting tool 207b It is possible to improve the sex.
  • the millimeter wave radar mounted in the left rear lighting tool 207c since it is preferably prevented that the radiated radio wave radiated from the millimeter wave radar mounted in the left rear lighting tool 207c is Fresnel reflected by the protrusion, the millimeter wave radar mounted in the left rear lighting tool 207c It is possible to improve the reliability. Further, since the radiated radio waves radiated from the millimeter wave radar mounted in the right rear lighting tool 207d are preferably prevented from being reflected by the protrusions by Fresnel, the millimeter wave radar mounted in the right rear lighting tool 207d It is possible to improve the reliability.
  • FIG. 26A is a horizontal sectional view of the protruding portion 225a-1 according to the first modification.
  • FIG. 26B is a vertical sectional view of the protruding portion 225a-1 according to the first modification.
  • the description of the same member as the member already described will be omitted.
  • the cross-sectional view shown in FIG. 26A is a cross-sectional view cut by a first virtual plane (not shown).
  • the cross section of the protrusion 225a-1 cut by the first virtual plane constitutes an arc of a virtual circle E whose center coincides with the center point C1 of the horizontal field of view F1 of the millimeter wave radar 245a. ..
  • the cross-sectional view shown in FIG. 26B is a cross-sectional view cut by a second virtual plane (not shown).
  • the cross section of the protrusion 225a-1 cut by the second virtual plane is symmetrical with respect to the central axis A of the millimeter wave radar 245a.
  • the protruding portion 225a-1 according to the first modification also exerts the same action and effect as the protruding portion 225a according to the present embodiment.
  • FIG. 27A is a horizontal sectional view of the protruding portion 225a-2 according to the second modification.
  • FIG. 27B is a vertical sectional view of the protruding portion 225a-2 according to the second modification.
  • the cross-sectional view shown in FIG. 27A is a cross-sectional view cut by a first virtual plane (not shown).
  • the cross section of the protrusion 225a-2 cut by the first virtual plane constitutes an arc of a virtual circle E whose center coincides with the center point C1 of the horizontal field of view F1 of the millimeter wave radar 245a. ..
  • the cross-sectional view shown in FIG. 27B is a cross-sectional view cut by a second virtual plane (not shown).
  • the cross section of the protrusion 225a-2 cut by the second virtual plane is symmetrical with respect to the central axis A of the millimeter wave radar 245a.
  • the protruding portion 225a-2 according to the second modification also exerts the same action and effect as the protruding portion 225a according to the present embodiment.
  • FIG. 28A is a horizontal sectional view of the protruding portion 225a-3 according to the third modification.
  • FIG. 28B is a vertical sectional view of the protruding portion 225a-3 according to the third modification.
  • the cross-sectional view shown in FIG. 28A is a cross-sectional view cut by a first virtual plane (not shown).
  • the cross section of the protrusion 225a-3 cut by the first virtual plane constitutes an arc of a virtual circle E whose center coincides with the center point C1 of the horizontal field of view F1 of the millimeter wave radar 245a. ..
  • the cross-sectional view shown in FIG. 28B is a cross-sectional view cut by a second virtual plane (not shown).
  • the cross section of the protrusion 225a-3 cut by the second virtual plane is symmetrical with respect to the central axis A of the millimeter wave radar 245a.
  • the protruding portion 225a-3 according to the third modification also exerts the same action and effect as the protruding portion 225a according to the present embodiment.
  • FIG. 29A is a horizontal sectional view of the protruding portion 225a-4 according to the fourth modification.
  • FIG. 29B is a vertical sectional view of the protrusion 225a-4 according to the fourth modification.
  • the cross-sectional view shown in FIG. 29A is a cross-sectional view cut by a first virtual plane (not shown).
  • the cross section of the protrusion 225a-4 cut by the first virtual plane constitutes an arc of a virtual circle E whose center coincides with the center point C1 of the horizontal field of view F1 of the millimeter wave radar 245a. ..
  • the cross-sectional view shown in FIG. 29B is a cross-sectional view cut by a second virtual plane (not shown).
  • the cross section of the protrusion 225a-4 cut by the second virtual plane is symmetrical with respect to the central axis A of the millimeter wave radar 245a.
  • the protruding portion 225a-4 according to the fourth modification also exerts the same action and effect as the protruding portion 225a according to the present embodiment.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Radar Systems Or Details Thereof (AREA)
PCT/JP2020/011779 2019-03-19 2020-03-17 車両用センシングシステム、車両システム、車両用灯具及び車両 Ceased WO2020189685A1 (ja)

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WO2022065293A1 (ja) * 2020-09-24 2022-03-31 スタンレー電気株式会社 ランプ装置
WO2022259928A1 (ja) * 2021-06-10 2022-12-15 スタンレー電気株式会社 ランプ装置

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JP2022053186A (ja) * 2020-09-24 2022-04-05 スタンレー電気株式会社 ランプ装置
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