WO2022244316A1 - レーダ装置 - Google Patents
レーダ装置 Download PDFInfo
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- WO2022244316A1 WO2022244316A1 PCT/JP2022/003916 JP2022003916W WO2022244316A1 WO 2022244316 A1 WO2022244316 A1 WO 2022244316A1 JP 2022003916 W JP2022003916 W JP 2022003916W WO 2022244316 A1 WO2022244316 A1 WO 2022244316A1
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- radar device
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- 238000012545 processing Methods 0.000 claims abstract description 63
- 238000012937 correction Methods 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 28
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- 238000000034 method Methods 0.000 abstract description 11
- 230000008569 process Effects 0.000 abstract description 6
- 230000006870 function Effects 0.000 description 35
- 238000010586 diagram Methods 0.000 description 14
- 230000005540 biological transmission Effects 0.000 description 8
- 230000006866 deterioration Effects 0.000 description 6
- 230000005856 abnormality Effects 0.000 description 5
- 238000000605 extraction Methods 0.000 description 5
- 230000004913 activation Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 230000001186 cumulative effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
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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
- 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
-
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
-
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
- G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation
-
- 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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
-
- 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
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
Definitions
- the present invention relates to a radar system, and more particularly, to a technique related to correction of angular deviation in mounting an in-vehicle radar system mounted on a vehicle.
- the millimeter-wave radar device used in autonomous driving is generally installed inside the bumper in many cases. may deviate from
- the mounting angle of the millimeter-wave radar deviates, for example, when a vehicle traveling in the own lane is erroneously detected as an adjacent lane when detecting a vehicle ahead, there is a risk that the activation of an alarm or automatic braking will be delayed.
- the synthesis of the same target may not go well and it may be determined that it is a different target, or the target may be overlooked. occurs.
- Even if the mounting angle deviation is relatively small, it is necessary to consider the mounting angle deviation and secure a wide gate range for catching the target when tracking the target. Widening the gate range increases the frequency of picking up noise such as clutter, increasing the probability of erroneous tracking and, as a result, the possibility of missing a target.
- Patent Document 1 is known as a technique for correcting the mounting angle of a millimeter wave radar of a vehicle.
- an axle is calculated by sensing the entire vehicle using a vehicle surroundings recognition sensor, and from the relationship between a target installed in front of the vehicle, the calculated axle, and the angular orientation of the target detected by the sensor, the sensor is detected. The deviation amount of the mounting angle is calculated. While accurate axles can be calculated, a dedicated system is required, so after shipping the vehicle, it becomes necessary to bring the vehicle to a dedicated facility where the system is installed.
- Patent Document 2 a target whose relative speed is zero is detected under the condition that the vehicle is traveling straight ahead, and the target whose relative speed is zero is 90 degrees with respect to the traveling direction. The amount of angular deviation is calculated.
- this method it is not necessary to bring the vehicle into the dedicated facility, but it is necessary to accumulate targets whose relative velocity is zero.
- a target with an angle azimuth just beside (90 degrees to the running direction) is almost never detected, so even if the mounting angle is deviated, the angle deviation is not detected. It is necessary to run for a long time in a state.
- An object of the present invention is to realize a radar device that automatically detects and automatically corrects the deviation in a short time when the mounting angle is deviated in the radar device.
- a side wall parallel to the traveling direction is extracted from the distance and relative velocity, which are the positioning results of the radar device, by function fitting processing by a function fitting processing unit (112).
- a calculation processing unit (114) calculates the angular orientation ⁇ of each point extracted as the side wall based on the vehicle speed and the distance to the side wall calculated during the function fitting.
- a comparison processing unit (115) compares the calculated angular orientation ⁇ and the angular orientation ⁇ , which is the result of positioning, to detect mounting angle deviation in the radar device and correct it in a correction processing unit (116).
- FIG. 1 is a diagram illustrating the block configuration of a radar device according to an embodiment of the present invention.
- FIG. 2 is an image diagram showing the relationship between the side wall parallel to the vehicle speed vector and the relative speed.
- FIG. 3 is an image diagram of a curve showing a side wall parallel to the velocity vector of the vehicle on a two-dimensional plane of distance R and relative velocity V, and an equation of the curve.
- FIG. 4 is a diagram showing the result of a point group detected as a target and the result of curve fitting extracted on a two-dimensional plane of distance R and relative velocity V.
- FIG. FIG. 5 shows the result of linear approximation of the point group extracted as the side wall, with the horizontal axis representing the angular orientation ⁇ and the vertical axis representing the angular orientation ⁇ .
- FIG. 6 is an example of the data configuration output to the memory.
- FIG. 7A is an image diagram of curves in a two-dimensional plane of distance R and relative velocity V when there is a side wall that curves convexly with respect to the vehicle.
- FIG. 7B is an image diagram of curves in a two-dimensional plane of distance R and relative velocity V when there is a side wall that curves concavely with respect to the vehicle.
- FIG. 8A is an image diagram of curves on a two-dimensional plane of the distance R and the relative velocity V when there is an oblique side wall in the direction approaching the own vehicle velocity Vr vector.
- FIG. 8B is an image diagram of curves on a two-dimensional plane of the distance R and the relative velocity V when there is an oblique side wall in the direction away from the own vehicle velocity Vr vector.
- FIG. 9 is a diagram illustrating the block configuration of the radar device according to the embodiment of the present invention.
- FIG. 1 is a diagram illustrating the block configuration of a radar device according to an embodiment.
- FIG. 2 is an image diagram showing the relationship between the side wall parallel to the vehicle speed vector and the relative speed.
- FIG. 3 is an image diagram of a curve showing a side wall parallel to the velocity vector of the vehicle on a two-dimensional plane of distance R and relative velocity V, and an equation of the curve.
- a radar device (201) is an in-vehicle millimeter-wave radar device attached to the left and right front corners of an automobile. It consists of a positioning processing unit (102) and an angle deviation detection unit (103).
- the analog processing unit (101) outputs millimeter wave radar as the transmission signal 1 from the transmission antenna (104).
- the transmission signal 1 the output signal of the synthesizer (105) is used, and a chirp signal obtained by linearly shifting the frequency with time is often used.
- An output signal output from the synthesizer (105) is amplified by the transmission amplifier 3 and transmitted from the transmission antenna (104).
- a transmitted transmission signal 1 is reflected by a target, and part of the reflected wave returns to the reception array antenna (106) and is received as a reception signal 2.
- FIG. A receiving array antenna (106) has a plurality of receiving antennas for receiving reflected waves of millimeter wave radar. Received signals 2 received by a plurality of reception antennas of a reception array antenna (106) are amplified by a plurality of reception amplifiers 4, respectively, and input to a plurality of mixers (107), which are frequency converters. ) to be down-converted. At this time, the output signal of the synthesizer (105) is used as the local signal of the mixer (107).
- the frequency corresponding to the time difference between the transmission signal and the reception signal is output from the multiple mixers (107) as multiple analog output signals.
- a plurality of analog output signals from the mixer (107) are filtered by a plurality of filters 5, and then input to a plurality of A/D converters (analog-to-digital conversion circuits) (108) and converted into a plurality of digital signals. and transmitted to the positioning processing unit (102) as a plurality of digital output signals.
- the target includes moving objects such as automobiles and people, and stationary objects on the ground such as walls and telephone poles.
- the positioning processing unit (102) receives a plurality of digital output signals from the analog processing unit (101) as reception signals, and performs FFT (FFT: Perform fast Fourier transform processing.
- FFT processing includes frequency FFT and time FFT.
- the distance R can be grasped by performing the frequency FFT, and the relative velocity V can be grasped by performing the time FFT. If the target distance R and relative velocity V are determined, the complex signal of each received signal can be extracted from the result of FFT processing.
- the angular orientation ⁇ (angular orientation 1) of the target is calculated using angular orientation processing such as spatial FFT processing, digital beam forming processing, and MUSIC (Multiple Signal Classification) processing.
- the output of the positioning processing unit (102) is a point group (111) having information on the distance R, relative velocity V, and angular orientation ⁇ corresponding to the number of targets.
- the relative velocity V calculated by the time/frequency FFT processing circuit (109) corresponds to the amount of change per unit time of the concentric distance centered on the millimeter wave radar device (201), and as shown in FIG.
- a vehicle 210 shown in FIG. 2 shows an example in which a millimeter wave radar device (201) is also provided at the left front corner.
- the side wall (204) which is a feature parallel to the vehicle speed Vr vector (202) shown in FIG. ).
- This curve (301) passes through the proximity distance X (205) when the relative speed V becomes zero, and asymptotically approaches the own vehicle speed Vr as the distance R increases.
- This curve is uniquely determined by the own vehicle speed Vr and the proximity distance X as shown by the equation (302).
- a feature is an object that is stationary on the ground, such as a wall or a telegraph pole.
- function fitting processing is performed by a function fitting processing unit (112) from the point group information of the distance R and the relative speed V among the distance R, the relative speed V, and the angular orientation ⁇ of the point group (111). to extract a side wall (204) parallel to the vehicle speed Vr vector (202). Specifically, in the function fitting process, the vehicle speed Vr and the close distance X are swept to determine the curve (301) in FIG. 3 that best fits the point group. In fitting, points apart from the curve (301) are not regarded as side walls (204), and if the number of points corresponding to fitting exceeds a predetermined threshold, they are detected as side walls (204).
- the vehicle speed Vr and the side wall distance X are calculated as information (113). These pieces of information (113) can be used as a corrector (119) for the own vehicle speed Vr0 output from the vehicle speed sensor (118) and automatic driving information.
- the comparison unit (120) When comparing the vehicle speed Vr by the function fitting processing unit (112) and the vehicle speed Vr0 by the vehicle speed sensor (118) by the comparison unit (120), if the error is larger than a predetermined error, the sensor is detected as a sensor abnormality warning unit ( 121), it is possible to notify the driver of the vehicle 210 of the failure or deterioration of accuracy of the vehicle speed sensor (118) by sound or display.
- the comparing section (120) and the correcting section (119) can be collectively referred to as a correction function of the own vehicle speed Vr0 by the vehicle speed sensor (118).
- FIG. 4 shows the detected target point group (111) and the curve (301) extracted by the function fitting processor (112). It can be seen that the function fitting processor (112) has detected the vehicle speed of 93 km/h, the right side wall at a distance of 8.5 m, and the left side wall at a distance of 4.8 m.
- the angular orientation ⁇ of each point of the point group is calculated by the angle orientation ⁇ calculation unit (114) using the curve equation (302). ).
- the angular orientation ⁇ calculated by the angular orientation ⁇ calculation processing unit (114) and the angular orientation ⁇ calculated in advance by the angular orientation processing unit (110) are It is possible to have two types of angular orientation information.
- the angular bearing ⁇ is based on the vehicle speed Vr vector (202), and the angular bearing ⁇ is based on the mounting direction of the millimeter wave radar device (201), that is, the mounting shaft 206. Therefore, these two angles ( ⁇ , ⁇ ) by the angle comparison processor (115), the mounting angle of the millimeter wave radar device (201) can be calculated.
- the mounting angle of the millimeter wave radar device (201) means the angle between the vehicle speed Vr vector (in the vehicle axle direction or longitudinal direction) and the mounting shaft 206. As shown in FIG. When comparing these two angles ( ⁇ , ⁇ ), for example, it is preferable to form a point group on a two-dimensional plane of the angular orientations ⁇ and ⁇ and perform linear approximation on the point group.
- FIG. 5 shows the result of linear approximation of the point group extracted as the side wall, with the horizontal axis representing the angular orientation ⁇ and the vertical axis representing the angular orientation ⁇ .
- FIG. 6 shows an example of the data structure output to the memory, showing an example of the data structure when data are accumulated statistically.
- the elapsed time (601) represents the elapsed time after the correction of the angle deviation and the issuance of the alarm. Data is accumulated in units of 5 seconds.
- the number of fitted points (602) indicates the number of points of the point group extracted when the curve (301) is subjected to function fitting by the function fitting processing unit (112). Since the more points are used, the more the angle deviation detection accuracy is improved, so the use of these points (602) as weighting makes it possible to improve the accuracy of data utilization.
- the mounting angle (603) is a numerical value (mounting angle deviation) corresponding to the y-intercept of the linear approximation formula (502).
- the side wall distance (604) and the vehicle speed (605) are values calculated by the function fitting processor (112) and correspond to the vehicle speed Vr and the side wall distance X information (113) in FIG.
- the mounting angle deviation there is a method of calculating weighted averaging with the number of points (602) fitted to the mounting angle (603).
- the cumulative value of the fitted points (602) exceeds a predetermined threshold, by providing a mechanism for calculating the weighted average value described above, the mounting angle deviation value can be calculated with a desired error accuracy.
- the correction processing section (116) performs a simple correction process of subtracting the angle deviation (603) from the angular orientation ⁇ calculated by the angle orientation processing section (110). It is possible to calculate the post-correction angular orientation ⁇ ′ without any error and output the positioning result (117) related to the corrected point group.
- a mechanism (sensor abnormality alarm unit 121 in FIG. 1) is provided to issue an alarm as an abnormality of the sensor. It is also possible to use it to guarantee the viewing angle as a system design.
- 7A, 7B and 8A, 8B are diagrams showing deviation from the curve (301) extracted by the function fitting processor (112) in these cases.
- FIG. 7A shows the distance R of the side wall (701) curved convexly with respect to the vehicle and the curve (702) of the relative velocity V in the two-dimensional plane.
- FIG. 7B shows curves (704) in a two-dimensional plane of distance R and relative velocity V of side walls (703) curved concavely with respect to the vehicle.
- These curves (702) and (704) are different from the curve (301) on the two-dimensional plane of the side wall (204) parallel to the vehicle speed Vr vector (202). ) are likely to be omitted during the function fitting process. That is, since it is not detected as the side wall (204), it does not affect the error of the angular orientation ⁇ .
- FIG. 8A and 8B show the case where a side wall exists diagonally with respect to the vehicle speed Vr vector (202).
- FIG. 8A is a curve (802) of distance R and relative velocity V on a two-dimensional plane when a side wall (801) is slanted in a direction approaching the host vehicle.
- FIG. 8B is a curve (804) on a two-dimensional plane of distance R and relative velocity V when a side wall (803) is slanted in the direction of going away.
- These curves (802) and (804) are characterized by being asymmetrical on the plus side and the minus side of the relative speed V. Since the curve is different from the curve (301) in the two-dimensional plane, it is omitted during the function fitting process by the function fitting processor (112), as in the case of the curved sidewalls (701) and (703). likely to be
- the relative velocity V is faster than a predetermined velocity
- the relative velocity V that is slower than the actual value caused by the FFT folding during the calculation of the time/frequency FFT processing circuit (109) may occur. output. Therefore, there is a possibility that the function fitting processing by the function fitting processing unit (112) may fail, which is a factor of deterioration in the detection accuracy of the mounting angle deviation.
- this folding back of the relative velocity after repeatedly arranging the two-dimensional plane of the distance R and the relative velocity V, the function fitting processing is performed by the function fitting processing unit (112). It is possible.
- the side wall is extracted only at a predetermined traveling speed using a speed sensor, it is possible to further suppress the deterioration of the detection accuracy of the mounting angle deviation.
- the return speed of the relative speed is 70 km/h
- the detected speed by the speed detection output of the speed sensor is limited to a predetermined speed range such as 5 km/h to 70 km/h, and the side wall is extracted.
- a predetermined speed range such as 5 km/h to 70 km/h
- side wall extraction is not performed outside the speed range of 5 km/h to 70 km/h. That is, the predetermined steering angle range and the predetermined speed range can be used as conditions for activating the angle deviation detection section (103) or the function fitting processing section (112).
- FIG. 9 is a diagram illustrating the block configuration of the radar device according to the embodiment of the present invention.
- FIG. 9 differs from FIG. 1 in that the radar device 201A in FIG. The point is that it is input to the processing unit (112).
- Other configurations and operations of the radar device 201A are the same as those of the radar device 201 of FIG. 1, and overlapping descriptions are omitted.
- the function fitting processing unit (112) extracts the side wall in a predetermined steering angle range such that the steering angle detection output of the steering angle sensor 130 is within ⁇ 5 degrees of the steering angle, as described above.
- the operation is controlled so that the speed detected by the speed detection output of the speed sensor is extracted in a predetermined speed range such as 5 km/h to 70 km/h.
- the side wall extraction of the function fitting processing unit (112) is performed so that side wall extraction is performed within a steering angle range of +/- 5 degrees and limited to a speed range of 5 km / h to 70 km / h.
- the predetermined steering angle range and the predetermined speed range can be used as activation conditions for the angle deviation detection section (103) or the function fitting processing section (112).
- the deviation can be automatically detected and automatically corrected in a short period of time.
- it is possible to improve the detection accuracy of the mounting angle deviation.
- it is possible to suppress the deterioration of the detection accuracy of the mounting angle deviation.
- the positioning processing unit 102, the angular deviation detection unit 103, the angular orientation ⁇ correction processing unit 116, the vehicle speed Vr0 correction unit 119, the vehicle speed comparison unit 120, the sensor abnormality warning unit 121, etc. may be configured by dedicated hardware circuits, or may be configured by software.
- a system is configured using a microcomputer or microprocessor equipped with a central processing unit CPU, read-only memory ROM, random access memory RAM, etc., and software stored in ROM is executed by the CPU. , and the execution results are stored in the RAM. This makes it possible to automatically detect the mounting angle of the radar on the vehicle in a short period of time and with high accuracy.
- Curved side wall, 704 Curved side wall distance - curves in the plane of relative velocity, 801 ... oblique sidewalls, 802 ... distances of oblique sidewalls - curves in the plane of relative velocity, 803 ... oblique sidewalls, 804 ... distances of oblique sidewalls - curves in the plane of relative velocity
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Abstract
Description
検出された取付角度ずれについては、角度方位処理部(110)で算出された角度方位Θから角度ずれ(603)を引くという単純な補正処理を補正処理部(116)により行うことで、取付角度の誤差のない補正後の角度方位Θ’を算出して補正された点群に係る測位結果(117)を出力することが可能となる。また、検出した取付角度ずれ値(603)が所定の閾値を超えた場合にはセンサの異常として警報を発報するしくみ(図1のセンサ異常警報部121)を設けることでアンテナ設計におけるビーム幅やシステム設計としての視野角を保証するという利用のしかたも可能である。
Claims (9)
- 複数の受信アンテナにより物標の角度方位1と、前記物標までの距離と相対速度を測位できる車載のレーダ装置において、
前記距離と前記相対速度の情報から車両の走行方向に平行な側壁を含む地物を関数フィッティングにより抽出する関数フィッティング処理部と、
前記関数フィッティングの結果から前記地物の角度方位2を算出する処理部と、
前記角度方位1と前記角度方位2を比較することで前記レーダ装置の取付軸の角度ずれを算出する処理部と、を具備する、ことを特徴とするレーダ装置。 - 請求項1に記載のレーダ装置であって、
前記角度ずれの算出結果から取付軸の角度ずれを補正する処理部を具備する、ことを特徴とするレーダ装置。 - 請求項1に記載のレーダ装置であって、
前記角度ずれの算出結果から所定の角度ずれを上回る場合に警報を発する機能を具備する、ことを特徴とするレーダ装置。 - 請求項1に記載のレーダ装置であって、
前記関数フィッティング処理部は、前記関数フィッティングの際に前記地物までの前記距離と前記相対速度の情報から自車速度を算出するよう構成される、ことを特徴とするレーダ装置。 - 請求項4に記載のレーダ装置であって、
前記自車速度の結果から、速度センサの誤差を補正する補正機能を有する、ことを特徴とするレーダ装置。 - 請求項5に記載のレーダ装置であって、
前記関数フィッティング処理部は、前記速度センサからの速度検出出力が所定の速度範囲において、前記関数フィッティングを行う、ことを特徴とするレーダ装置。 - 請求項5に記載のレーダ装置であって、
前記関数フィッティング処理部は、舵角センサからの舵角検出出力が所定の舵角範囲において、前記関数フィッティングを行う、ことを特徴とするレーダ装置。 - 請求項7に記載のレーダ装置であって、
前記関数フィッティング処理部は、前記舵角検出出力が前記所定の舵角範囲であり、かつ、前記速度センサからの速度検出出力が所定の速度範囲のとき、前記関数フィッティングを行う、ことを特徴とするレーダ装置。 - 車両に取付けられたレーダ装置であって、
前記レーダ装置の測位結果である距離と前記車両の相対速度から関数フィッティングにより前記車両の走行方向と平行な側壁を抽出し、
前記関数フィッティングの際に算出される前記車両の自車速度と前記側壁までの距離をもとに、前記側壁として抽出された各点の角度方位βを算出し、
前記算出した角度方位βと前記測位結果である角度方位Θとを比較することで、前記レーダ装置における取付角度ずれを検出して、取付角度ずれを補正する、レーダ装置。
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