JP2012002637A - レーダ装置 - Google Patents
レーダ装置 Download PDFInfo
- Publication number
- JP2012002637A JP2012002637A JP2010137206A JP2010137206A JP2012002637A JP 2012002637 A JP2012002637 A JP 2012002637A JP 2010137206 A JP2010137206 A JP 2010137206A JP 2010137206 A JP2010137206 A JP 2010137206A JP 2012002637 A JP2012002637 A JP 2012002637A
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- JP
- Japan
- Prior art keywords
- reflected wave
- target
- intensity
- wave
- relative 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.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—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
-
- 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
- G01S13/345—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 triangular 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
- G01S13/88—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
- G01S7/41—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
- G01S7/411—Identification of targets based on measurements of radar reflectivity
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
【解決手段】演算処理器26は、反射波の強度の2階微分値を算出し、当該2階微分値に基づいてターゲット32が上方構造物であるか車両であるかを判別する。または、反射波の強度波形を周波数成分に分離し、特定の周波数成分の強度に基づいてターゲット32が上方構造物であるか車両であるかを判別する。
【選択図】図10
Description
Claims (5)
- 送信波を発振する発振器と、
前記送信波を出力する送信アンテナと、
ターゲットからの反射波を受信する受信アンテナと、
前記反射波の前記受信アンテナへの入射角に基づいて、前記反射波のノイズ除去を行う角度検出器と、
前記ノイズ除去後の前記反射波の強度を算出するとともに、前記ターゲットまでの相対距離を求める演算処理器と、を備え、
前記演算処理器は、前記相対距離に対する前記強度の2階微分値に基づいて所定の処理を行うことを特徴とする、レーダ装置。 - 送信波を発振する発振器と、
前記送信波を出力する送信アンテナと、
ターゲットからの反射波を受信する受信アンテナと、
前記反射波の前記受信アンテナへの入射角に基づいて、前記反射波のノイズ除去を行う角度検出器と、
前記ノイズ除去後の前記反射波の強度を算出するとともに、前記ターゲットまでの相対距離を求める演算処理器と、を備え、
前記演算処理器は、前記相対距離に対する前記強度の周波数成分のうち、予め定めた帯域の周波数成分の強度に基づいて所定の処理を行うことを特徴とする、レーダ装置。 - 請求項1または2に記載のレーダ装置であって、
前記演算処理装置は、前記所定の処理として、前記ターゲットの高さを求めることを特徴とする、レーダ装置。 - 請求項3に記載のレーダ装置であって、
前記演算処理装置は、前記所定の処理として、前記ターゲットの高さに基づいて、ターゲットの属性を判定することを特徴とする、レーダ装置。 - 請求項1から4のいずれか一つに記載のレーダ装置であって、
前記角度検出器は、前記受信アンテナに入射した前記反射波の入射角を求め、予め定めた水平方向の入射角範囲外の反射波を排除することにより前記反射波のノイズ除去を行うことを特徴とする、レーダ装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010137206A JP5616693B2 (ja) | 2010-06-16 | 2010-06-16 | 車両用のレーダシステム及びターゲット高さ判定方法 |
US13/703,739 US9121934B2 (en) | 2010-06-16 | 2011-06-07 | Radar system and detection method |
PCT/IB2011/001251 WO2011158081A1 (en) | 2010-06-16 | 2011-06-07 | Radar system and detection method |
DE201111102017 DE112011102017T5 (de) | 2010-06-16 | 2011-06-07 | Radarsystem und Erkennungsverfahren |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010137206A JP5616693B2 (ja) | 2010-06-16 | 2010-06-16 | 車両用のレーダシステム及びターゲット高さ判定方法 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2012002637A true JP2012002637A (ja) | 2012-01-05 |
JP2012002637A5 JP2012002637A5 (ja) | 2012-12-06 |
JP5616693B2 JP5616693B2 (ja) | 2014-10-29 |
Family
ID=44532950
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2010137206A Expired - Fee Related JP5616693B2 (ja) | 2010-06-16 | 2010-06-16 | 車両用のレーダシステム及びターゲット高さ判定方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9121934B2 (ja) |
JP (1) | JP5616693B2 (ja) |
DE (1) | DE112011102017T5 (ja) |
WO (1) | WO2011158081A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014006071A (ja) * | 2012-06-21 | 2014-01-16 | Toyota Motor Corp | 上方構造物検出装置 |
JP2014102165A (ja) * | 2012-11-20 | 2014-06-05 | Denso Corp | 物標判定装置 |
JP2019109179A (ja) * | 2017-12-20 | 2019-07-04 | いすゞ自動車株式会社 | 車両の物体検出装置 |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5852456B2 (ja) * | 2012-01-30 | 2016-02-03 | トヨタ自動車株式会社 | 周辺物体検知装置 |
JP2013205225A (ja) * | 2012-03-28 | 2013-10-07 | Denso Corp | 車載用レーダ装置 |
DE102014114999A1 (de) * | 2014-10-15 | 2016-04-21 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Erfassen zumindest eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs, Fahrerassistenzsystem sowie Kraftfahrzeug |
JP6531903B2 (ja) * | 2015-06-01 | 2019-06-19 | パナソニックIpマネジメント株式会社 | 物体検出装置 |
DE102016207463A1 (de) * | 2016-04-29 | 2017-11-02 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben wenigstens eines Fahrzeugs in Bezug auf wenigstens ein passierbares Objekt in der Umgebung des wenigstens einen Fahrzeugs |
FR3054888B1 (fr) * | 2016-08-02 | 2020-06-19 | Thales | Procede de mesure de la hauteur d'une cible par rapport au sol par un radar en mouvement, et radar mettant en oeuvre un tel procede |
EP3505878B1 (en) * | 2017-12-22 | 2020-10-21 | Endress+Hauser Group Services AG | Method for detecting the tilt of a floating roof floating on a medium stored in a tank |
CN112888961A (zh) * | 2018-10-12 | 2021-06-01 | 京瓷株式会社 | 电子设备、电子设备的控制方法以及电子设备的控制程序 |
US11353567B2 (en) * | 2019-02-22 | 2022-06-07 | Semiconductor Components Industries, Llc | Ultrasonic sensor having edge-based echo detection |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH09288178A (ja) * | 1996-04-23 | 1997-11-04 | Toyota Motor Corp | 車載モノパルスレーダ装置 |
JP2001515601A (ja) * | 1998-01-17 | 2001-09-18 | ダイムラークライスラー アクチエンゲゼルシャフト | レーダ信号処理方法 |
JP2002040139A (ja) * | 2000-07-28 | 2002-02-06 | Denso Corp | 物体認識方法及び装置、記録媒体 |
WO2007111130A1 (ja) * | 2006-03-27 | 2007-10-04 | Murata Manufacturing Co., Ltd. | レーダ装置および移動体 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
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JP3750102B2 (ja) | 1999-11-24 | 2006-03-01 | 富士通テン株式会社 | 車載レーダ装置 |
DE10164030A1 (de) * | 2001-12-28 | 2003-07-17 | Grieshaber Vega Kg | Verfahren und Schaltungsanordnung zum Messen der Entfernung eines Gegenstandes |
JP2004239744A (ja) | 2003-02-06 | 2004-08-26 | Hitachi Ltd | レーダ装置 |
US6819285B1 (en) * | 2004-02-03 | 2004-11-16 | Lockheed Martin Corporation | Monopulse radar system for determining the height of a target |
JP4720137B2 (ja) | 2004-09-29 | 2011-07-13 | 日産自動車株式会社 | 障害物検出装置 |
US7504989B2 (en) * | 2006-08-09 | 2009-03-17 | Fujitsu Ten Limited | On-vehicle radar device |
US7623061B2 (en) * | 2006-11-15 | 2009-11-24 | Autoliv Asp | Method and apparatus for discriminating with respect to low elevation target objects |
WO2011064823A1 (ja) | 2009-11-27 | 2011-06-03 | トヨタ自動車株式会社 | レーダー装置 |
US8354920B2 (en) * | 2010-01-22 | 2013-01-15 | John Kole | Vehicle overhead clearance detection system and method of operation |
DE102010012662A1 (de) * | 2010-03-24 | 2011-01-05 | Daimler Ag | Vorrichtung und Verfahren zur Bestimmung einer Durchfahrtshöhe |
DE112010005662T5 (de) | 2010-06-16 | 2013-03-21 | Toyota Jidosha Kabushiki Kaisha | Objektidentifikationsvorrichtung und Verfahren |
WO2012059955A1 (ja) * | 2010-11-04 | 2012-05-10 | トヨタ自動車株式会社 | 道路形状推定装置 |
-
2010
- 2010-06-16 JP JP2010137206A patent/JP5616693B2/ja not_active Expired - Fee Related
-
2011
- 2011-06-07 WO PCT/IB2011/001251 patent/WO2011158081A1/en active Application Filing
- 2011-06-07 DE DE201111102017 patent/DE112011102017T5/de not_active Ceased
- 2011-06-07 US US13/703,739 patent/US9121934B2/en not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09288178A (ja) * | 1996-04-23 | 1997-11-04 | Toyota Motor Corp | 車載モノパルスレーダ装置 |
JP2001515601A (ja) * | 1998-01-17 | 2001-09-18 | ダイムラークライスラー アクチエンゲゼルシャフト | レーダ信号処理方法 |
JP2002040139A (ja) * | 2000-07-28 | 2002-02-06 | Denso Corp | 物体認識方法及び装置、記録媒体 |
WO2007111130A1 (ja) * | 2006-03-27 | 2007-10-04 | Murata Manufacturing Co., Ltd. | レーダ装置および移動体 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014006071A (ja) * | 2012-06-21 | 2014-01-16 | Toyota Motor Corp | 上方構造物検出装置 |
JP2014102165A (ja) * | 2012-11-20 | 2014-06-05 | Denso Corp | 物標判定装置 |
US9135823B2 (en) | 2012-11-20 | 2015-09-15 | Denso Corporation | Object type determination apparatus |
JP2019109179A (ja) * | 2017-12-20 | 2019-07-04 | いすゞ自動車株式会社 | 車両の物体検出装置 |
JP7045648B2 (ja) | 2017-12-20 | 2022-04-01 | いすゞ自動車株式会社 | 車両の物体検出装置 |
Also Published As
Publication number | Publication date |
---|---|
US20130082868A1 (en) | 2013-04-04 |
WO2011158081A1 (en) | 2011-12-22 |
JP5616693B2 (ja) | 2014-10-29 |
DE112011102017T5 (de) | 2013-03-28 |
US9121934B2 (en) | 2015-09-01 |
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