JP2018146486A - レーダ装置および物標高さ推定方法 - Google Patents
レーダ装置および物標高さ推定方法 Download PDFInfo
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- JP2018146486A JP2018146486A JP2017044023A JP2017044023A JP2018146486A JP 2018146486 A JP2018146486 A JP 2018146486A JP 2017044023 A JP2017044023 A JP 2017044023A JP 2017044023 A JP2017044023 A JP 2017044023A JP 2018146486 A JP2018146486 A JP 2018146486A
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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
- G01S13/08—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
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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
-
- 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
- G01S13/46—Indirect determination of position data
-
- 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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
- G01S13/726—Multiple target tracking
-
- 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
- G01S7/35—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
- 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
- G01S7/414—Discriminating targets with respect to background clutter
-
- 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
- G01S13/46—Indirect determination of position data
- G01S2013/462—Indirect determination of position data using multipath 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
- 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
- G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Signal Processing (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
32g 物標高さ推定部
33a バッファ
33b 物標高さ推定値
33c 虚像高さ推定値
100 路面
G 虚像
MC 自車両
TG 物標
Claims (5)
- 送信波と物標による該送信波の反射波とに基づく信号処理を実行することによって前記物標を検出するレーダ装置であって、
垂直方向に沿って配設された複数のアンテナを有するアンテナ部と、
前記アンテナからそれぞれ送信された前記送信波に対する前記反射波に基づいて前記物標の垂直方位を演算し、演算結果を蓄積する演算部と、
前記演算部により蓄積された前記演算結果に基づいて前記垂直方位の最大値の移動平均値を算出し、該最大値の移動平均値を前記物標の高さとして推定する推定部と
を備えることを特徴とするレーダ装置。 - 前記推定部は、
前記演算部により蓄積された前記演算結果から無効分を除外した有効分につき、前記最大値の移動平均値を算出すること
を特徴とする請求項1に記載のレーダ装置。 - 前記推定部は、
前記演算結果に基づいて前記垂直方位の最小値の移動平均値を算出し、該最小値の移動平均値を前記物標に対応する虚像の高さとして推定すること
を特徴とする請求項1または2に記載のレーダ装置。 - 前記推定部は、
推定した前記物標の高さと前記虚像の高さとの差が所定値以下である場合に、当該物標が下方物であると判定し、該下方物の高さに前記虚像の高さを採用すること
を特徴とする請求項3に記載のレーダ装置。 - 垂直方向に沿って配設された複数のアンテナを有するアンテナ部を備え、送信波と物標による該送信波の反射波とに基づく信号処理を実行することによって前記物標を検出するレーダ装置を用いた物標高さ推定方法であって、
前記アンテナからそれぞれ送信された前記送信波に対する前記反射波に基づいて前記物標の垂直方位を演算し、演算結果を蓄積する演算工程と、
前記演算工程により蓄積された前記演算結果に基づいて前記垂直方位の最大値の移動平均値を算出し、該最大値の移動平均値を前記物標の高さとして推定する推定工程と
を含むことを特徴とする物標高さ推定方法。
Priority Applications (3)
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JP2017044023A JP6924046B2 (ja) | 2017-03-08 | 2017-03-08 | レーダ装置および物標高さ推定方法 |
US15/893,051 US11002845B2 (en) | 2017-03-08 | 2018-02-09 | Radar device and target height estimation method |
DE102018103031.2A DE102018103031B4 (de) | 2017-03-08 | 2018-02-12 | Radarvorrichtung und zielhöhenabschätzungsverfahren |
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JP2017044023A JP6924046B2 (ja) | 2017-03-08 | 2017-03-08 | レーダ装置および物標高さ推定方法 |
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JP2018146486A true JP2018146486A (ja) | 2018-09-20 |
JP6924046B2 JP6924046B2 (ja) | 2021-08-25 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2021175954A (ja) * | 2020-05-01 | 2021-11-04 | 株式会社デンソー | 上方構造物認識装置 |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102018104808A1 (de) * | 2018-03-02 | 2019-09-05 | Jenoptik Robot Gmbh | Verfahren und Vorrichtung zur Schätzung der Höhe eines Reflektors eines Fahrzeugs |
JP7092529B2 (ja) * | 2018-03-16 | 2022-06-28 | 株式会社デンソーテン | レーダ装置およびレーダ装置の制御方法 |
JP7188894B2 (ja) * | 2018-03-16 | 2022-12-13 | 株式会社デンソーテン | レーダ装置及び信号処理方法 |
US11454705B2 (en) * | 2019-02-22 | 2022-09-27 | Veoneer Us, Llc | Tracking system and method for characterizing target height using percentage of range bins |
US11327170B2 (en) * | 2019-04-22 | 2022-05-10 | GM Global Technology Operations LLC | Azimuth and elevation radar imaging with single-dimension antenna arrays of radar system |
CN111862631B (zh) * | 2019-05-24 | 2022-07-29 | 北京骑胜科技有限公司 | 交通工具行驶检测方法、装置、电子设备及可读存储介质 |
US11294031B2 (en) * | 2019-07-16 | 2022-04-05 | Nxp B.V. | Method and system for height estimation in ultra-short-range radar |
US20220390582A1 (en) * | 2021-06-03 | 2022-12-08 | Qualcomm Incorporated | Object detection and ranging using one-dimensional radar arrays |
JP2024021637A (ja) * | 2022-08-04 | 2024-02-16 | 三菱電機株式会社 | レーダ装置 |
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2017
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2018
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- 2018-02-12 DE DE102018103031.2A patent/DE102018103031B4/de active Active
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JP6924046B2 (ja) | 2021-08-25 |
US20180259634A1 (en) | 2018-09-13 |
DE102018103031B4 (de) | 2023-12-28 |
US11002845B2 (en) | 2021-05-11 |
DE102018103031A1 (de) | 2018-09-13 |
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