WO2022201455A1 - レーダ装置 - Google Patents

レーダ装置 Download PDF

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Publication number
WO2022201455A1
WO2022201455A1 PCT/JP2021/012652 JP2021012652W WO2022201455A1 WO 2022201455 A1 WO2022201455 A1 WO 2022201455A1 JP 2021012652 W JP2021012652 W JP 2021012652W WO 2022201455 A1 WO2022201455 A1 WO 2022201455A1
Authority
WO
WIPO (PCT)
Prior art keywords
frequency
target
modulated signal
signal
distance
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/JP2021/012652
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
嵩浩 堀口
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.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
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 Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to PCT/JP2021/012652 priority Critical patent/WO2022201455A1/ja
Priority to CN202280022683.3A priority patent/CN116997815A/zh
Priority to DE112022000734.6T priority patent/DE112022000734T5/de
Priority to PCT/JP2022/014039 priority patent/WO2022203006A1/ja
Priority to JP2023509306A priority patent/JP7345703B2/ja
Publication of WO2022201455A1 publication Critical patent/WO2022201455A1/ja
Priority to US18/217,867 priority patent/US12504508B2/en
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
    • 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
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/354—Extracting wanted echo-signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G01S13/343—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using sawtooth modulation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G01S13/347—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using more than one modulation frequency
    • 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
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
    • 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
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G01S7/0232—Avoidance by frequency multiplex
    • 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
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G01S7/0235—Avoidance by time multiplex

Definitions

  • the present invention relates to a radar device that calculates the distance to a target and the relative speed to the target.
  • a radar apparatus comprises a radar signal output unit that repeatedly outputs a frequency modulated signal, a transmitter/receiver that transmits the frequency modulated signal toward a target and receives a reflected wave from the target, and a frequency modulated signal.
  • a beat signal generator that generates a beat signal having a frequency difference between the frequency and the frequency of the reflected wave and converts it into digital data;
  • a signal processing unit that calculates the Doppler frequency corresponding to the relative speed with the target and detects the distance and relative speed of the target, and the radar signal output unit changes the frequency with a preset first chirp slope.
  • FIG. 1 shows a configuration diagram of a radar device according to this embodiment.
  • the radar device 1 is composed of a radar signal output section 11 , a transmission/reception section 15 , a beat signal generation section 18 and a signal processing section 22 .
  • the distributor 14 distributes each radar signal repeatedly output from the signal source 13 into two.
  • the distributor 14 outputs one of the distributed radar signals to the transmitting antenna 16 and outputs the other distributed radar signal to the beat signal generator 18 as a local oscillation signal.
  • the radar signal output unit 11 intermittently and repeatedly outputs the frequency-modulated signal whose frequency changes over time to the transmission/reception unit 15 as a radar signal.
  • the transmitting/receiving unit 15 includes a transmitting antenna 16 and a receiving antenna 17, transmits the radar signal repeatedly output from the radar signal output unit 11 toward the target, and reflects each radar signal reflected by the target. Receive as waves.
  • the transmission/reception unit 15 in which the receiving antenna 17 is directly connected to the frequency mixing unit 19 has been described, but this is only an example, and an amplifier is connected between the receiving antenna 17 and the frequency mixing unit 19.
  • the amplifier may amplify the received signal output from the receiving antenna 17 and output the amplified received signal to the frequency mixing section 19 .
  • FIG. 3 is a hardware configuration diagram of a computer when the signal processing unit 22 is realized by software, firmware, or the like.
  • the signal source 13 repeatedly outputs the radar signal Tx(k) to the distributor 14 according to the output timing indicated by the control signal output from the output controller 12 .
  • the distributor 14 divides the radar signal Tx(k) into two each time it receives the radar signal Tx(k) from the signal source 13 .
  • the distributor 14 outputs one of the distributed radar signals Tx(k) to the transmitting antenna 16, and outputs the other distributed radar signal Tx(k) to the frequency mixer 19 as the local oscillation signal Lo(k). do.
  • step ST ⁇ b>12 the second spectrum calculator 52 repeatedly acquires K first frequency spectra from the first spectrum calculator 51 .
  • the second spectrum calculator 52 calculates a second frequency spectrum by Fourier transforming the K first frequency spectra in the Doppler direction every time K first frequency spectra are obtained.
  • the distance/velocity calculation processing unit 53 compares a plurality of spectrum values included in the two-dimensional spectrum including the first frequency spectrum and the second frequency spectrum with the threshold value Th for peak detection. , a spectral value larger than the threshold value Th among a plurality of spectral values is detected as a peak value.
  • the threshold value Th for peak detection may be stored in the internal memory of the distance/velocity calculation processing unit 53 or may be given from the outside of the radar device 1 .
  • the peak value detected in step ST13 is the location indicated by the distance/velocity calculation result (ST13) in FIGS.
  • ST13 distance/velocity calculation result
  • FIG. 6 since there is no electromagnetic noise, only the peak values of the target are indicated by circles, and in FIG. 7, not only the peak values of the target but also the peak values of the electromagnetic noise are indicated by triangles. ing.
  • the beat frequency and the Doppler frequency are used to determine a pseudo target by electromagnetic noise, in ST13 of FIGS. The result of detecting the peak value as the relative speed BIN corresponding to the frequency is shown.
  • FIG. 10 shows radar signals in two measurement modes used in this embodiment.
  • the absolute value of the chirp slope S1 in the first measurement mode is greater than the absolute value of the chirp slope S2 in the second measurement mode, and the chirp periods in the first and second measurement modes have the same value T. .
  • the true target 2 exists at a long distance, it is outside the detection range of the first measurement mode and is observed only in the second measurement mode.
  • the pseudo target due to electromagnetic noise has the same distance BIN in both the first measurement mode and the second measurement mode because the frequency of the electromagnetic noise corresponds to the beat frequency.
  • the Doppler frequency corresponding to the electromagnetic noise is the same value, and the relative velocity BIN is also the same in the first measurement mode and the second measurement mode. has a value of That is, in the first measurement mode and the second measurement mode, it can be determined that the target corresponding to the peak where both the distance BIN and the relative velocity BIN match is a pseudo target caused by electromagnetic noise.
  • the determination unit 24 After completing the signal processing for the measurement mode, the calculation results of the first measurement mode, the second measurement mode, and the third measurement mode are acquired from the memory. After that, the determination unit 24 compares the distance R and the relative velocity v corresponding to the peak value in the two-dimensional spectrum of each measurement mode, and determines whether the target corresponding to each peak value is a pseudo target due to electromagnetic noise. make a judgment as to whether
  • step ST53 if there is a target pair that satisfies the condition of step ST52, the target in the second measurement mode is extracted from the pair of targets, and the two-dimensional spectrum in the third measurement mode is extracted. Acquire information on the target corresponding to the peak value.
  • step ST54 regarding the information on the target corresponding to the peak value in the two-dimensional spectrum in the third measurement mode obtained in step ST53, the target in the second measurement mode and the third measurement that satisfy the conditions in step ST52. A comparison is made to see if the distance values and relative velocity values match between targets in the mode.

Landscapes

  • 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/JP2021/012652 2021-03-25 2021-03-25 レーダ装置 Ceased WO2022201455A1 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
PCT/JP2021/012652 WO2022201455A1 (ja) 2021-03-25 2021-03-25 レーダ装置
CN202280022683.3A CN116997815A (zh) 2021-03-25 2022-03-24 雷达装置
DE112022000734.6T DE112022000734T5 (de) 2021-03-25 2022-03-24 Radareinrichtung
PCT/JP2022/014039 WO2022203006A1 (ja) 2021-03-25 2022-03-24 レーダ装置
JP2023509306A JP7345703B2 (ja) 2021-03-25 2022-03-24 レーダ装置
US18/217,867 US12504508B2 (en) 2021-03-25 2023-07-03 Radar device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/012652 WO2022201455A1 (ja) 2021-03-25 2021-03-25 レーダ装置

Publications (1)

Publication Number Publication Date
WO2022201455A1 true WO2022201455A1 (ja) 2022-09-29

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PCT/JP2021/012652 Ceased WO2022201455A1 (ja) 2021-03-25 2021-03-25 レーダ装置
PCT/JP2022/014039 Ceased WO2022203006A1 (ja) 2021-03-25 2022-03-24 レーダ装置

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US (1) US12504508B2 (https=)
JP (1) JP7345703B2 (https=)
CN (1) CN116997815A (https=)
DE (1) DE112022000734T5 (https=)
WO (2) WO2022201455A1 (https=)

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CN115641729B (zh) * 2022-12-07 2023-09-22 创辉达设计股份有限公司 一种高速行驶车辆信息抽取方法及系统
WO2025013644A1 (ja) * 2023-07-11 2025-01-16 ソニーグループ株式会社 情報処理装置、レーダ装置及び情報処理方法
CN117310639A (zh) * 2023-09-05 2023-12-29 苏州承泰科技有限公司 一种应用于毫米波雷达的杂散识别方法

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DE112022000734T5 (de) 2023-11-16
CN116997815A (zh) 2023-11-03
US20230350012A1 (en) 2023-11-02
JP7345703B2 (ja) 2023-09-15
JPWO2022203006A1 (https=) 2022-09-29
US12504508B2 (en) 2025-12-23
WO2022203006A1 (ja) 2022-09-29

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