WO2022044914A1 - 車両用レーダシステム及び車両 - Google Patents

車両用レーダシステム及び車両 Download PDF

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Publication number
WO2022044914A1
WO2022044914A1 PCT/JP2021/030189 JP2021030189W WO2022044914A1 WO 2022044914 A1 WO2022044914 A1 WO 2022044914A1 JP 2021030189 W JP2021030189 W JP 2021030189W WO 2022044914 A1 WO2022044914 A1 WO 2022044914A1
Authority
WO
WIPO (PCT)
Prior art keywords
radar
vehicle
reflector
radio waves
radar system
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/JP2021/030189
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English (en)
French (fr)
Japanese (ja)
Inventor
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
Original Assignee
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 JP2022544494A priority Critical patent/JPWO2022044914A1/ja
Publication of WO2022044914A1 publication Critical patent/WO2022044914A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • 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
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q19/00—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic
    • H01Q19/10—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using reflecting surfaces
    • H01Q19/18—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using reflecting surfaces having two or more spaced reflecting surfaces
    • H01Q19/185—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using reflecting surfaces having two or more spaced reflecting surfaces wherein the surfaces are plane

Definitions

  • This disclosure relates to a vehicle radar system and a vehicle equipped with the vehicle radar system.
  • Vehicles that can run in automatic driving mode are equipped with multiple sensors that acquire data indicating the surrounding environment of the vehicle, such as millimeter-wave radar, cameras, and LiDAR units.
  • sensors that acquire data indicating the surrounding environment of the vehicle, such as millimeter-wave radar, cameras, and LiDAR units.
  • a long-distance millimeter-wave radar for monitoring a region in front of a vehicle is mounted on the vehicle.
  • the long-distance millimeter-wave radar is arranged in the center of the vehicle in the left-right direction in order to reliably detect an object such as another vehicle existing in the front region of the vehicle. For this reason, long-range millimeter-wave radars are located behind vehicle emblems and around vehicle license plates. On the other hand, depending on the type of vehicle, it may not be possible to secure sufficient space for arranging the long-range millimeter-wave radar behind the emblem. Further, when the long-distance millimeter-wave radar is arranged around the license plate, the millimeter-wave radar cannot be hidden from the outside by a front bumper or the like, so that the design of the appearance of the vehicle is deteriorated. In this way, there is room for study on a method for increasing the degree of freedom in the mounting location of the millimeter-wave radar.
  • the vehicle radar system mounted on the vehicle is A first radar configured to acquire data indicating the surrounding environment of the vehicle by emitting radio waves toward the front of the vehicle, and A first reflector that faces the first radar and is configured to reflect radio waves emitted from the first radar. A second reflector configured to reflect radio waves reflected by the first reflector toward the front of the vehicle is provided.
  • the path of the radio wave emitted from the first radar can be changed by the first reflector and the second reflector, so that the degree of freedom of the mounting location of the first radar can be increased. Become. In this way, it is possible to provide a vehicle radar system capable of increasing the degree of freedom in the mounting location of the radar mounted on the vehicle.
  • a vehicle equipped with the above-mentioned vehicle radar system may be provided.
  • a radar system for a vehicle and a vehicle capable of increasing the degree of freedom in the mounting location of the radar mounted on the vehicle.
  • the "left-right direction”, “front-back direction”, and “vertical direction” of the vehicle 1 may be appropriately referred to. These directions are relative directions set for the vehicle 1 shown in FIG.
  • the "left-right direction” is a direction including the “left direction” and the “right direction”.
  • the “front-back direction” is a direction including the "forward direction” and the "rear direction”.
  • the vertical direction is not shown in FIG. 2, the vertical direction is a direction orthogonal to the horizontal direction and the front-back direction.
  • the vertical direction of the first radar 2 and the second radar 6 mounted on the vehicle 1 is parallel to the vertical direction of the vehicle 1.
  • the horizontal direction of the first radar 2 and the second radar 6 is a direction orthogonal to the vertical direction.
  • FIG. 1 is a schematic diagram showing an example of a radar system 10. As shown in FIG. 1, the radar system 10 is mounted on the vehicle 1 and includes a first radar 2, a first reflector 3, a second reflector 5, and a second radar 6.
  • the first radar 2, the first reflector 3, the second reflector 5, and the second radar 6 are covered by the front bumper 8 of the vehicle 1 and surrounded by the front bumper 8 and the vehicle body body (not shown). It is arranged in the internal space S. That is, the radar system 10 is concealed from the outside of the vehicle 1 by the front bumper 8.
  • the first radar 2 is, for example, a millimeter wave radar or a microwave radar.
  • the first radar 2 is configured to acquire radar data indicating the surrounding environment of the vehicle 1 by emitting radio waves toward the front of the vehicle 1.
  • the first radar 2 functions as a long-distance radar (forward monitoring radar) capable of acquiring information on an object (another vehicle, a pedestrian, etc.) existing at a position away from the vehicle 1.
  • the detection distance of the first radar 2 is, for example, 200 m or more (specifically, within the range of 200 m to 300 m).
  • the horizontal field of view V1 of the first radar 2 is within the range of ⁇ 5 ° to ⁇ 10 °.
  • the vertical field of view of the first radar 2 is within the range of ⁇ 2 ° to ⁇ 5 °.
  • the first radar 2 receives a transmitting antenna that emits radio waves in the air, a transmitting side RF (radio frequency) circuit that outputs a high frequency signal to the transmitting antenna, and radio waves reflected by an object existing in front of the vehicle 1. It includes a receiving antenna, a receiving side RF circuit that receives a minute high frequency signal from the receiving antenna, and a signal processing circuit that generates radar data.
  • a transmitting side RF radio frequency
  • the first radar 2 is arranged in the internal space S at a position away from the center in the left-right direction of the vehicle 1. Normally, it is preferable that the forward monitoring radar for monitoring the front area of the vehicle 1 is arranged in the center of the vehicle 1 in the left-right direction. On the other hand, in the present embodiment, since the path of the radio wave emitted from the first radar 2 can be changed by using the first reflector 3 and the second reflector 5, the first radar 2 is moved in the left-right direction. It does not need to be placed in the center.
  • the first radar 2 is fixed, for example, by a bracket (not shown) attached to the vehicle body.
  • the first reflector 3 is configured to face the first radar 2 in the front-rear direction of the vehicle 1 and to reflect the radio waves emitted from the first radar 2 toward the second reflector 5. As shown in FIG. 3A, the first reflector 3 has a first reflector 32 and a first radio wave absorber 30.
  • the first reflector 32 is configured to reflect radio waves emitted from the first radar 2 toward the second reflector 5, and is made of, for example, a metal material (gold, silver, copper, iron, etc.). Has been done.
  • the first reflector 32 has an external size such that the radio waves in the field of view V1 among the radio waves emitted from the first radar 2 can be reflected toward the second reflector 5.
  • the external size of the first reflector 32 is the distance between the first radar 2 and the first reflector 3, the horizontal viewing angle of the first radar 2, and the vertical direction of the first radar 2. It is appropriately determined according to the viewing angle of.
  • the first radio wave absorber 30 is configured to absorb the radio waves emitted from the first radar 2.
  • the first radio wave absorber 30 is configured to absorb a side lobe component which is a component outside the field of view V1 among the radio waves emitted from the first radar 2.
  • the first radio wave absorber 30 is provided on the first reflector 32 so as to be along the end portion of the first reflector 32.
  • the first radio wave absorber 30 is provided on the first reflector 32 so as to completely surround the outer periphery of the first reflector 32.
  • the first radio wave absorber 30 may be formed of, for example, an inorganic binder and radio wave absorbing particles provided in the inorganic binder.
  • the radio wave absorbing particles epsilon-type iron oxide particles and titanium oxide particles may be used.
  • the width dimension of the first radio wave absorber 30 is, for example, about 10 mm.
  • the second reflector 5 is arranged in the center of the vehicle 1 in the left-right direction, and is configured to reflect the radio waves reflected by the first reflector 3 toward the front of the vehicle 1.
  • the second reflector 5 is arranged so as to pass through the center of the vehicle 1 in the left-right direction in the left-right direction and overlap with the virtual plane Ax (see FIG. 2) parallel to the front-rear direction of the vehicle 1. ..
  • the second reflector 5 has a second reflector 52 and a second radio wave absorber 50.
  • the second reflector 52 is configured to reflect the radio waves reflected by the first reflector 32 toward the front of the vehicle 1, and is composed of, for example, a metal material (gold, silver, copper, iron, etc.). Has been done.
  • the second reflector 52 has an external size sufficient to reflect radio waves in the field of view V1 toward the front of the vehicle 1.
  • the external size of the second reflector 52 is the distance between the first radar 2 and the first reflector 3, the distance between the first reflector 3 and the second reflector 5, and the second. It is appropriately determined according to the horizontal viewing angle of the 1 radar 2 and the vertical viewing angle of the 1st radar 2.
  • the second radio wave absorber 50 is configured to absorb the radio waves reflected by the first reflector 32.
  • the second radio wave absorber 50 is configured to absorb the side lobe component which is a component outside the visual field V1 among the radio waves reflected by the first reflector 32.
  • the second radio wave absorber 50 is provided on the second reflector 52 so as to be along the end portion of the second reflector 52.
  • the second radio wave absorber 50 is provided on the second reflector 52 so as to completely surround the outer periphery of the second reflector 52.
  • the second radio wave absorber 50 may be made of, for example, the same material as the material constituting the first radio wave absorber 30.
  • the width dimension of the second radio wave absorber 50 is, for example, about 10 mm.
  • the first reflector 3 and the second reflector 5 are configured to change the path of the radio wave emitted from the first radar 2.
  • the radio waves emitted from the first radar 2 by the two reflectors can be emitted from the center of the vehicle 1 in the left-right direction.
  • the radio wave reflected by the object (for example, another vehicle) existing in the front region of the vehicle 1 is reflected by the second reflector 5 and the first reflector 3, and as a result, the receiving antenna of the first radar 2 is used. Incident.
  • the second radar 6 is, for example, a millimeter wave radar or a microwave radar.
  • the second radar 6 is configured to acquire radar data indicating the surrounding environment of the vehicle 1 by emitting radio waves toward the left front direction of the vehicle 1.
  • the second radar 6 is arranged in the internal space S with the emission surface of the second radar 6 facing the left front direction of the vehicle 1.
  • the second radar 6 functions as a short-range radar (peripheral monitoring radar) capable of acquiring information on an object (another vehicle, a pedestrian, etc.) existing around the vehicle 1.
  • the detection distance of the second radar 6 is, for example, in the range of 70 m to 100 m.
  • the horizontal field of view V2 of the second radar 6 is within the range of ⁇ 40 ° to ⁇ 75 °.
  • the vertical field of view of the second radar 6 is within the range of ⁇ 2 ° to ⁇ 5 °.
  • the detection distance of the second radar 6 is smaller than the detection distance of the first radar 2, and the horizontal field of view V2 of the second radar 6 is larger than the horizontal field of view V1 of the first radar 2. growing.
  • the second radar 6 includes a transmitting antenna, a transmitting side RF circuit, a receiving antenna, a receiving side RF circuit, and a signal processing circuit.
  • the number of antenna elements (patch antenna elements) constituting the transmitting antenna of the second radar 6 is smaller than the number of antenna elements (patch antenna elements) constituting the transmitting antenna of the first radar 2.
  • the second radar 6 is fixed, for example, by a bracket (not shown) attached to the vehicle body.
  • the second radar 6 may be arranged in the left front lamp 4a arranged on the left front side of the vehicle 1. Further, a peripheral monitoring radar for acquiring information on the surrounding environment in the right front region of the vehicle 1 may be arranged in the right front lamp 4b arranged on the right front side of the vehicle 1. A peripheral monitoring radar for acquiring information on the surrounding environment in the left rear region of the vehicle 1 may be arranged in the left rear lamp 4c arranged on the left rear side of the vehicle 1. A peripheral monitoring radar for acquiring information on the surrounding environment in the right rear region of the vehicle 1 may be arranged in the right rear lamp 4d arranged on the right rear side of the vehicle 1.
  • the path of the radio wave emitted from the first radar 2 can be changed by the first reflector 3 and the second reflector 5, so that the degree of freedom of the mounting location of the first radar 2 is increased. It will be possible to increase. In this respect, it is not necessary to arrange the first radar 2 at a position overlapping the virtual plane Ax (for example, behind the emblem of the vehicle 1 or around the license plate of the vehicle 1). In this way, it is possible to provide a radar system 10 capable of increasing the degree of freedom in the mounting location of the first radar 2 mounted on the vehicle 1.
  • the radio waves emitted from the first radar 2 are transmitted by the first reflector 3 and the second reflector 5. After being reflected, it is emitted from the center of the vehicle 1 in the left-right direction toward the front region of the vehicle 1 (see FIG. 2). In this way, even when the first radar 2 is not arranged in the center of the vehicle 1 in the left-right direction, the radio wave from the first radar 2 is directed from the center of the vehicle 1 in the left-right direction to the front region of the vehicle 1. Therefore, it is possible to increase the degree of freedom in the mounting location of the first radar 2.
  • the first radar 2, the second radar 6, the first reflector 3, and the second reflector 5 are covered with the front bumper 8, so that the design of the appearance of the vehicle 1 can be improved. It can be improved and the radar system 10 can be protected against an external impact.
  • the radio wave absorber 30 is provided on the first reflecting plate 3 and the second radio wave absorber 50 is provided on the second reflecting plate 5, the radio wave emitted from the first radar 2 is provided.
  • radio waves (side lobe components) outside the field of view V1 are absorbed by the first radio wave absorber 30 and the second radio wave absorber 50.
  • the radio wave (side lobe component) outside the field of view V1 is incident on the receiving antenna of the first radar 2 as noise. In this way, the reliability of the first radar 2 can be improved through the absorption of the side lobe component by the radio wave absorber.

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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)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
PCT/JP2021/030189 2020-08-31 2021-08-18 車両用レーダシステム及び車両 Ceased WO2022044914A1 (ja)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS604314A (ja) * 1983-06-23 1985-01-10 Nippon Telegr & Teleph Corp <Ntt> アンテナ装置
JPH11160426A (ja) * 1997-12-01 1999-06-18 Mitsubishi Electric Corp 車載レーダ装置
JPH11243317A (ja) * 1998-02-26 1999-09-07 Mitsubishi Electric Corp アンテナ装置
CN203218457U (zh) * 2013-04-23 2013-09-25 零八一电子集团有限公司 双波段双圆极化共口径反射面天线
WO2019142825A1 (ja) * 2018-01-18 2019-07-25 株式会社デンソー 車両レーダシステム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS604314A (ja) * 1983-06-23 1985-01-10 Nippon Telegr & Teleph Corp <Ntt> アンテナ装置
JPH11160426A (ja) * 1997-12-01 1999-06-18 Mitsubishi Electric Corp 車載レーダ装置
JPH11243317A (ja) * 1998-02-26 1999-09-07 Mitsubishi Electric Corp アンテナ装置
CN203218457U (zh) * 2013-04-23 2013-09-25 零八一电子集团有限公司 双波段双圆极化共口径反射面天线
WO2019142825A1 (ja) * 2018-01-18 2019-07-25 株式会社デンソー 車両レーダシステム

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