WO2022064601A1 - レーダー装置及びレーダーシステム - Google Patents

レーダー装置及びレーダーシステム Download PDF

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Publication number
WO2022064601A1
WO2022064601A1 PCT/JP2020/036058 JP2020036058W WO2022064601A1 WO 2022064601 A1 WO2022064601 A1 WO 2022064601A1 JP 2020036058 W JP2020036058 W JP 2020036058W WO 2022064601 A1 WO2022064601 A1 WO 2022064601A1
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WIPO (PCT)
Prior art keywords
radar
antenna
transmission
reception
transmit
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/JP2020/036058
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English (en)
French (fr)
Japanese (ja)
Inventor
洋介 佐藤
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Kokusai Denki Electric Inc
Original Assignee
Hitachi Kokusai Electric Inc
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 Hitachi Kokusai Electric Inc filed Critical Hitachi Kokusai Electric Inc
Priority to JP2022551495A priority Critical patent/JP7487322B2/ja
Priority to PCT/JP2020/036058 priority patent/WO2022064601A1/ja
Publication of WO2022064601A1 publication Critical patent/WO2022064601A1/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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/422—Simultaneous measurement of distance and other co-ordinates sequential lobing, e.g. conical scan
    • 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

Definitions

  • the present invention relates to a radar device that detects an object existing within a predetermined detection range.
  • the radar device 100 of FIG. 1 includes a transmitter / receiver 120 including a power distributor 102, a transmit power amplifier 103, a transmit antenna 104, a receive antenna 105, a receive power amplifier 106, and a mixer 107, and supplies transmission to the transmitter / receiver 120. It includes an FMCW transmission source (radar transmission source) 101 that generates a radar signal (FMCW signal), and a signal processing unit 108 that processes a received radar signal from the transmitter / receiver 120.
  • radar transmission source radar transmission source
  • FMCW signal FMCW signal
  • the FMCW transmission source 101 supplies a frequency-modulated transmission radar signal to the transceiver 120 under the control of the signal processing unit 108.
  • the transceiver 120 amplifies the transmission radar signal supplied from the FMCW transmission source 101 by the transmission power amplifier 103, and emits a radar wave from the transmission antenna 104.
  • the radar wave emitted from the transmitting antenna 104 has directivity and is hereinafter referred to as an "antenna beam".
  • the object T reflecting object
  • the antenna beam is reflected by the object T.
  • the receiver 120 When the transmitter / receiver 120 receives the reflected wave from the object T by the receiving antenna 105, the receiver 120 amplifies the received radar signal by the received power amplifier 106, and then distributes the transmitted radar signal component and the mixer 107 by the power distributor 102. Mix with and convert to an IF signal.
  • the signal processing unit 108 performs various signal processing including object detection processing after A / D (Analog to Digital) conversion of the received radar signal output from the transmitter / receiver 120.
  • object detection processing such as the reflected received power (reflected wave power) by the object T, the distance to the object T, and the speed when the object T is moving (relative speed with respect to the radar device 100) can be obtained. ..
  • Patent Document 1 when a moving body is detected within the detection range of the radar device, it is calculated based on the moving speed of the moving body from the time when the reflected received power by the moving body exceeds a predetermined threshold value.
  • the invention is disclosed in which the operation of the radar device is stopped until the time elapses.
  • Radar devices are used to detect objects existing on the road surface such as roads and runways. There are usually no reflective objects such as falling objects or abandoned objects on roads and runways. Therefore, the radar device continues to emit the antenna beam to the detection range where there is no reflector, and the received wave (reflected wave) is obtained only when some reflector appears within the detection range, and the object is detected. Will be done.
  • FIG. 2 shows an outline of a radar system provided with the radar device 100 of FIG.
  • the radar system of FIG. 2 includes a radar device 100 that emits an antenna beam toward a predetermined detection range, and a radar monitoring device 150 and a display device 160 installed in a control room, a monitoring room, or the like.
  • the radar device 100 receives the reflected wave of the antenna beam emitted toward the detection range, and outputs the data of the result of the object detection process to the radar monitoring device 150.
  • the radar monitoring device 150 causes the display device 160 to display detection information of an object (falling object or abandoned object) existing in the detection range based on the data output from the radar device 100.
  • a plurality of radar devices 100 may be connected to the radar monitoring device 150.
  • the detection range of the radar device 100 is determined by the antenna beam range of the transmitting / receiving antennas (transmitting antenna 104 and receiving antenna 105).
  • FIG. 2 consider a case where the road surface 1 and the road surface 2 that are the detection range are provided side by side.
  • the antenna beam range is set with respect to the road surface 1, the object existing on the road surface 1 can be detected, but the object existing on the road surface 2 attached to the road surface 1 cannot be detected. ..
  • the antenna beam range is not set to the optimum angle with respect to the road surface 2, it is not possible to detect an object existing on the road surface 2 under the optimum conditions. Therefore, in order to be able to appropriately detect an object existing on the road surface 2, it is necessary to additionally install another radar device.
  • the present invention has been made in view of the above-mentioned conventional circumstances, and an object of the present invention is to propose a technique capable of expanding the detection range without increasing the number of radar devices.
  • the radar device is configured as follows. That is, the radar device according to the present invention is a radar device that detects an object existing within a predetermined detection range, and is a first transmission / reception that emits a radar wave and receives a reflected wave while rotating around a predetermined axis. It comprises an antenna and a second transmit / receive antenna that emits radar waves and receives reflected waves while rotating around the same axis as the first transmit / receive antenna, and the first transmit / receive antenna and the second transmit / receive antenna have a rotation axis. It is characterized in that the antenna directions in the rotation plane orthogonal to the rotation plane are different from each other, and the antenna inclinations with respect to the rotation plane are different from each other.
  • the first transmitting / receiving antenna and the second transmitting / receiving antenna may have different periods for emitting radar waves and receiving reflected waves.
  • the radar device is used for a radar transmission source that generates a transmission radar signal supplied to the first transmission / reception antenna or the second transmission / reception antenna, and a reception radar signal obtained by the first transmission / reception antenna or the second transmission / reception antenna. It may be provided with a signal processing unit that performs object detection processing based on the above.
  • the radar device is used for a radar transmission source that generates a transmission radar signal supplied to the first transmission / reception antenna or the second transmission / reception antenna, and a reception radar signal obtained by the first transmission / reception antenna or the second transmission / reception antenna. It may be connected to a radar monitoring device including a signal processing unit that performs object detection processing based on the above.
  • the radar device amplifies the first transmission / reception antenna, the first transmission power amplifier that amplifies the transmission radar signal supplied to the first transmission / reception antenna, and the reception radar signal obtained by the first transmission / reception antenna.
  • a first transmitter / receiver having a first receive power amplifier, a second transmit / receive antenna, a second transmit power amplifier that amplifies a transmit radar signal supplied to the second transmit / receive antenna, and a second transmit / receive antenna.
  • a second transmitter / receiver having a second received power amplifier that amplifies the obtained received radar signal, and a transmission radar signal generated by the radar transmission source are transferred to the first transmission power amplifier or the second transmission power amplifier.
  • Signal processing of the first switch that selectively outputs to either and either the received radar signal amplified by the first transmission power amplifier or the received radar signal amplified by the second transmission power amplifier.
  • a second switch that selectively outputs to the unit may be provided.
  • the radar device includes a transmission power amplifier that amplifies a transmission radar signal supplied to the first transmission / reception antenna or the second transmission / reception antenna, and a reception radar signal or a second transmission / reception antenna obtained by the first transmission / reception antenna.
  • a first that selectively outputs a receive power amplifier that amplifies the obtained receive radar signal and a transmit radar signal amplified by the transmit power amplifier to either the first transmit / receive antenna or the second transmit / receive antenna.
  • the second switch that selectively outputs either the receive radar signal obtained by the first transmit / receive antenna or the receive radar signal obtained by the second transmit / receive antenna to the receive power amplifier. May be provided.
  • the radar device Prior to the description of the embodiment of the present invention, the radar device according to the prior art will be further described.
  • the detection range is the road surface located in front of the radar device 100.
  • the transceiver 120 of the radar device 100 emits an antenna beam from the transmitting antenna 104 and receives the reflected wave by the receiving antenna 105 while continuously rotating 360 ° (degrees) with respect to the horizontal plane.
  • the plane orthogonal to the rotation axis of the transmission / reception antenna is referred to as an antenna rotation plane.
  • FIG. 4 shows the temporal change of the antenna beam range of the radar device 100.
  • the antenna beam range of the radar device 100 rotates counterclockwise around the radar device 100. Therefore, the overall antenna beam range of the radar device 100 has a ring-shaped shape as shown in FIG.
  • one radar device is provided with two or more transmission / reception antennas so that the object detection process can be performed even at a rotation angle in which the radar operation is not performed in the prior art.
  • the radar device according to the embodiment of the present invention will be specifically described.
  • FIG. 7 shows a configuration example of the radar device according to the first embodiment of the present invention.
  • the radar device 200 according to the first embodiment includes a first transceiver 120-1 and a second transceiver 120-2.
  • the first transceiver 120-1 has a power distributor 102-1, a transmit power amplifier 103-1, a transmit antenna 104-1, a receive antenna 105-1, a receive power amplifier 106-1, and a mixer 107-1. ..
  • the second transceiver 120-2 has a power distributor 102-2, a transmit power amplifier 103-2, a transmit antenna 104-2, a receive antenna 105-2, a receive power amplifier 106-2, and a mixer 107-2. ..
  • the first transceiver 120-1 and the second transceiver 120-2 are connected to the FMCW transmission source 101 via the changeover switch 201, and are connected to the signal processing unit 108 via the changeover switch 202.
  • the antennas (104-1, 105-1) of the first transceiver 120-1 are mounted on the road surface 1 on the side of the road surface 1 and the road surface 2 provided close to the radar device 200, as shown in FIG. 8A.
  • the antenna beam is set to be in focus.
  • the antennas (104-2, 105-2) of the second transceiver 120-2 are set so that the antenna beam is focused on the road surface 2 on the side away from the radar device 200, as shown in FIG. 8B.
  • the antenna inclination of the first transmitter / receiver 120-1 with respect to the antenna rotation plane is ⁇ 1
  • the antenna inclination of the second transmitter / receiver 120-2 with respect to the antenna rotation plane is ⁇ 2
  • FIGS. 10A to 10C show the temporal change of the antenna beam range by the second transceiver 120-2.
  • the antenna of the first transceiver 120-1 and the antenna of the second transceiver 120-2 are provided so that the antenna directions in the antenna rotation plane are opposite to each other. That is, the first transceiver 120-1 and the second transceiver 120-2 are provided back to back with each other.
  • the first transceiver 120-1 and the second transceiver 120-2 repeatedly start / stop the radar operation every 180 ° rotation. That is, by switching the transceiver 120 that performs radar operation every 180 ° rotation, it is possible to alternately monitor the road surface 1 and the road surface 2.
  • the transmission power and antenna conditions of the first transceiver 120-1 are set to be optimum for the road surface 1
  • the transmission power and antenna conditions of the second transceiver 120-2 are set for the road surface 2. By setting to be optimum, it is possible to monitor both the road surface 1 and the road surface 2 under the optimum conditions.
  • FIG. 11A shows the overall antenna beam range of the first transceiver 120-1
  • FIG. 11B shows the overall antenna beam range of the second transceiver 120-2
  • FIG. 12A shows the execution timing of the radar operation in the first transceiver 120-1
  • FIG. 12B shows the execution timing of the radar operation in the second transceiver 120-2.
  • a significant detection result could be obtained only in the range of 180 ° out of the 360 ° rotation of the transceiver (see FIGS. 5 and 6), but according to the present invention.
  • Significant detection results can be obtained during the entire period in which the transceiver rotates 360 °.
  • the transceiver to be used is switched by the changeover switches 201 and 202.
  • the output destination of the transmission radar signal from the FMCW transmission source 101 is selectively switched to either the first transceiver 120-1 or the second transceiver 120-2 by the changeover switch 201.
  • the input source of the received radar signal processed by the signal processing unit 108 is selectively switched to either the first transceiver 120-1 or the second transceiver 120-2 by the changeover switch 202.
  • the FMCW transmission source 101 and the signal processing unit 108 can be shared by the two transceivers 120-1 and 120-2, so that the detection range can be expanded without increasing the number of radar devices. ..
  • the radar device exemplified in the first embodiment has a first transmitting / receiving antenna (104-1, 105-1) that emits a radar wave and receives a reflected wave while rotating around a predetermined axis.
  • a second transmit / receive antenna (104-2, 105-2) that emits radar waves and receives reflected waves while rotating around the same axis as the first transmit / receive antenna, and has a first transmit / receive antenna and a second.
  • the transmitting and receiving antennas are provided so that the antenna directions in the antenna rotation plane orthogonal to the rotation axis are different from each other and the antenna inclinations with respect to the antenna rotation plane are different from each other.
  • the object detection process can be performed even at a rotation angle that is out of the detection range in the conventional technology, so that the detection range can be expanded without increasing the number of radar devices. Further, by making the settings such as the antenna angle and the transmission power different between the first transmission / reception antenna and the second transmission / reception antenna, the object detection process can be performed under the optimum conditions for each detection range.
  • the period in which the first transmitting / receiving antenna emits the radar wave and receives the reflected wave and the period in which the second transmitting / receiving antenna emits the radar wave and receives the reflected wave are mutual. It is made different. Therefore, the first transmit / receive antenna and the second transmit / receive antenna can operate so as to complement each other during the period during which the radar wave cannot be emitted and the reflected wave cannot be received.
  • FIG. 13 shows a configuration example of the radar device 300 according to the second embodiment of the present invention.
  • the radar device 300 according to the second embodiment includes a first antenna unit 320-1 and a second antenna unit 320-2.
  • the first antenna unit 320-1 has a transmitting antenna 104-1 and a receiving antenna 105-1.
  • the second antenna unit 320-2 has a transmitting antenna 104-2 and a receiving antenna 105-2.
  • the first antenna unit 320-1 and the second antenna unit 320-2 are connected to the transmission power amplifier 103 via the changeover switch 301, and are connected to the receive power amplifier 106 via the changeover switch 302.
  • the radar device 300 of FIG. 13 switches the antenna unit to be used by the changeover switches 301 and 302. Specifically, the output destination of the transmission radar signal amplified by the received power amplifier 106 is selectively selected to either the first antenna unit 320-1 or the second antenna unit 320-2 by the changeover switch 301. Switch. Further, the input source of the received radar signal amplified by the received power amplifier 106 is selectively switched to either the first antenna unit 320-1 or the second antenna unit 320-2 by the changeover switch 302. With such a configuration, the detection range can be expanded without increasing the number of radar devices, and the number of parts can be reduced as compared with the radar device 200 of FIG.
  • the configuration in which the two transceivers 120 (or the antenna unit 320) are provided has been described, but three or more transceivers 120 (or the antenna unit 320) may be provided.
  • 14A-14C show the antenna beam range of the radar device 400 according to the third embodiment.
  • the radar device 400 according to the third embodiment includes three transceivers 120-1, 120-2, 120-3. Further, it is assumed that the road surface 1, the road surface 2, and the road surface 3 that are the detection range are provided side by side.
  • the antenna of the first transceiver 120-1 has the antenna beam focused on the road surface 1 closest to the radar device 400 among the road surface 1, the road surface 2, and the road surface 3 provided therein.
  • the antenna of the second transceiver 120-2 is set so that the antenna beam is focused on the road surface 2 in the middle, as shown in FIG. 14B.
  • the antenna of the third transceiver 120-3 is set so that the antenna beam is focused on the road surface 3 farthest from the radar device 400, as shown in FIG. 14C.
  • the antenna inclinations of the transceivers 120-1, 120-2, and 120-3 with respect to the antenna rotation plane are ⁇ 1, ⁇ 2, and ⁇ 3, then ⁇ 1> ⁇ 2> ⁇ 3. That is, the antennas of the first transceiver 120-2, the second transceiver 120-2, and the third transceiver 120-3 are provided so that the antenna inclinations with respect to the antenna rotation plane are different from each other.
  • the three transceivers 120-1, 120-2, and 120-3 are provided so that the antenna directions in the antenna rotation plane differ by 120 °. Further, the three transceivers 120-1, 120-2, and 120-3 monitor the road surface 1, the road surface 2, and the road surface 3 in order by switching the transceiver 120 that performs radar operation every time the transceiver 120 rotates by 120 °. .. As described above, when three road surfaces are provided in front of the radar device 400, the three transceivers 120-1, 120-2, 120-3 have transmission power and antenna conditions suitable for each road surface. By using, it is possible to monitor each road surface under optimum conditions.
  • one radar device equipped with multiple transceivers is used for monitoring multiple road surfaces (detection ranges), but it is used for shortening the display update time of radar detection results. It is also possible to do. 15A and 15B show the overall antenna beam range of the radar device 500 according to the fourth embodiment of the present invention.
  • the two transceivers 120-1 and 120-2 monitor different road surfaces, but the radar device 500 according to the fourth embodiment has two transceivers. The same road surface is monitored using the machines 120-1 and 120-2. That is, the antenna of the first transceiver 120-1 and the antenna of the second transceiver 120-2 have the antenna inclinations with respect to the antenna rotation plane aligned with each other.
  • the first transceiver 120-1 and the second transceiver 120-2 alternately monitor the same road surface 1.
  • FIG. 16 shows the execution timing of the radar operation of the first transceiver 120-1 and the second transceiver 120-2 in the fourth embodiment.
  • the radar device 500 can be shortened to 1/2 as compared with the case of one transceiver. Therefore, the radar device 500 according to the fourth embodiment is useful in applications where more real-time performance is required.
  • (Fifth Embodiment) 17A to 17C show the entire antenna beam range of the radar device 600 according to the fifth embodiment of the present invention.
  • the radar device 600 according to the fifth embodiment monitors the same road surface using three transceivers 120-1, 120-2, 120-3. As a result, the display update time of the radar detection result is further shortened.
  • FIG. 18 shows the execution timing of the radar operation of the first transceiver 120-1, the second transceiver 120-2, and the third transceiver 120-3 in the fifth embodiment.
  • the display update time of the radar detection result can be shortened to 1/3 as compared with the case of one transceiver.
  • the above idea can be applied in the same manner when there are four or more transceivers.
  • the rotation angle at which one transceiver performs radar operation becomes narrower.
  • the transmitter / receiver is switched every 180 °, so the detection rotation angle is 180 °, whereas when there are three transceivers, the transceiver is switched every 120 °, so the detection rotation angle is 120 °. Decreases to.
  • the above equation is limited to the case where the FMCW transmission source 101 and the signal processing unit 108 are present in only one in the radar device.
  • the radar detection results of multiple transceivers can be processed in parallel at the same time, so that the display update time can be shortened and the detection can be performed. It is also possible not to reduce the rotation angle.
  • the radar device has a built-in FMCW transmission source 101 and a signal processing unit 108, but the FMCW transmission source 101 and the signal processing unit 108 may be provided by another device.
  • a radar monitoring device 150 in FIG. 2 connected to the radar device may include an FMCW transmission source 101 and a signal processing unit 108.
  • the switching of each switch of the radar device may be controlled by the radar device itself or by a radar monitoring device connected to the radar device.
  • the present invention can also be realized as a radar system including a plurality of radar devices for detecting an object existing within a predetermined detection range.
  • each radar device emits a radar wave while rotating around a predetermined axis and receives a reflected wave, and emits a radar wave while rotating around the same axis as the first transmitting / receiving antenna.
  • a second transmit / receive antenna that receives reflected waves, a radar transmitter that generates a transmit radar signal to supply to the first transmit / receive antenna or the second transmit / receive antenna, and a first transmit / receive antenna or a second transmit / receive antenna. It is provided with a signal processing unit that performs object detection processing based on the obtained received radar signal.
  • the first transmitting / receiving antenna and the second transmitting / receiving antenna of each radar device have different antenna directions in the rotation plane orthogonal to the rotation axis, and the antenna inclinations with respect to the rotation plane are different from each other. According to such a radar system, the detection range by one radar device is expanded as compared with the conventional method, so that it is possible to perform a wide range of monitoring while suppressing the number of radar devices.
  • the present invention can also be realized as a radar system including a plurality of radar devices for detecting an object existing within a predetermined detection range and a radar monitoring device connected to each radar device.
  • each radar device emits a radar wave while rotating around a predetermined axis and receives a reflected wave, and emits a radar wave while rotating around the same axis as the first transmitting / receiving antenna.
  • a second transmit / receive antenna that receives the reflected wave.
  • the radar monitoring device includes a radar transmission source that generates a transmission radar signal supplied to the first transmission / reception antenna or the second transmission / reception antenna of each radar device, and the first transmission / reception antenna or the second transmission / reception antenna of each radar device.
  • It includes a signal processing unit that performs object detection processing based on the received radar signal obtained by the antenna.
  • the first transmitting / receiving antenna and the second transmitting / receiving antenna of each radar device have different antenna directions in the rotation plane orthogonal to the rotation axis, and the antenna inclinations with respect to the rotation plane are different from each other. According to such a radar system, not only can a wide range of monitoring be performed while reducing the number of radar devices, but also the operation of each radar device can be centrally controlled by the radar monitoring device.
  • the radar device according to the present invention is not limited to the application for monitoring such a road surface.
  • a radar device equipped with a first antenna facing diagonally downward (road surface side), a second antenna facing horizontally, and a third antenna facing diagonally upward (above side) is used.
  • the surroundings of moving objects such as cars and trains may be monitored.
  • it may be applied to radars for mobile objects with high real-time characteristics such as cars, ships, and aircraft.
  • the present invention also provides, for example, a method including a technical procedure relating to the above processing, a program for executing the above processing by a processor, a storage medium for storing such a program in a computer-readable manner, and the like. Is also possible.
  • the present invention can be used for a radar device that detects an object existing within a predetermined detection range.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
PCT/JP2020/036058 2020-09-24 2020-09-24 レーダー装置及びレーダーシステム Ceased WO2022064601A1 (ja)

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JP2022551495A JP7487322B2 (ja) 2020-09-24 2020-09-24 レーダー装置及びレーダーシステム
PCT/JP2020/036058 WO2022064601A1 (ja) 2020-09-24 2020-09-24 レーダー装置及びレーダーシステム

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JP2013250274A (ja) * 2013-07-24 2013-12-12 Mitsubishi Space Software Kk 観測装置、観測対象推定装置、観測対象推定プログラムおよび観測対象推定方法
US20170141454A1 (en) * 2015-11-17 2017-05-18 Vega Grieshaber Kg Antenna device and method for operating an antenna device

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