JP5462626B2 - レーダ装置、及び方位角検出方法 - Google Patents
レーダ装置、及び方位角検出方法 Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims description 23
- 238000000034 method Methods 0.000 claims description 40
- 239000002131 composite material Substances 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 description 27
- 238000010586 diagram Methods 0.000 description 7
- 230000007423 decrease Effects 0.000 description 6
- 230000003111 delayed effect Effects 0.000 description 5
- 239000000203 mixture Substances 0.000 description 4
- 230000035559 beat frequency Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000001934 delay Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000002194 synthesizing 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
- 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
-
- 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
-
- 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
- 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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
- G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Description
W22がアンテナ12に到達する時間の方が、伝搬距離の差Δdの分遅延する。このとき、受信波W21及びW22の波長をλとすると、受信波対W21、W22の間には、遅延時間に応じた位相差φ(=Δd・2π/λ)が生じる。このことは、物標Tの方位角θが、
基準方向の右側にずれた場合にも妥当する。
ここで、受信波の位相差φが±πを超えると、つまり、いわゆる位相の折返しが生じると、次式2のように、位相差φからθが一意に特定できなくなる。
)
よって、位相差φから方位角θが一意に求まる範囲は、式2においてk=1とした次式3により示される。
式3に示した位相差φと方位角θの関係は、図2(A)の直線Lにより示される。すなわち、±arcsin(λ・φ/(2d))の範囲において、位相差φ1から方位角θ1が一意に求ま
る。以下では、このように位相差φから方位角θが一意に求まる方位角の範囲を、位相折返し区間(A1)といい、位相折返しが生じる方位角-arcsin(λ・φ/(2d))をθa、+arcsin(λ・φ/(2d))をθbと表す。
信号処理部24は、例えばCPUと、CPUが実行する各種処理プログラムを格納するROMと、CPUによる各種演算の作業領域として用いられるRAMとを有するマイクロコンピュータで構成される。
Claims (4)
- レーダ波を基準方向に送信し、物標により反射された前記レーダ波を受信波として受信し、前記物標の前記基準方向に対する方位角を検出するレーダ装置において、
所定間隔離間した第1のアンテナ対により受信される第1の受信波対の位相差に基づいて前記方位角を検出する方位角検出手段と、
前記第1の受信波対を合成して第1の合成波を生成する合成波生成部と、
前記方位角検出手段が検出した方位角の正誤判定を行う方位角判定手段とを有し、
前記合成波生成部は、
前記基準方向に対する各方位角に物標が存在したと仮定した場合において前記第1のアンテナ対により受信される受信波対を合成して、前記各方位角に対応してレベルが変化する第1の基準合成波を生成し、
前記方位角判定手段は、
前記方位角検出手段が検出した方位角が、前記第1の基準合成波のレベルと基準値とに基づき予め定められた方位角範囲内の場合に、前記合成波生成部に前記第1の合成波の生成を指示し、
前記指示により前記合成波生成部が生成した前記第1の合成波の前記レベルが、前記基準値以上となるときに当該検出した方位角を正、前記基準値を下回るときに当該検出した方位角を誤と判定することを特徴とするレーダ装置。 - 請求項1において、
前記第1の受信波対のいずれかの受信波の位相を移動させる移相器をさらに有し、
前記合成波生成部は、
前記基準方向に対する前記各方位角に物標が存在したと仮定した場合において、位相が移動した受信波を含む第2の受信波対を合成して、前記各方位角に対応してレベルが変化する第2の基準合成波を生成し、
前記方位角判定手段は、
前記方位角検出手段が検出した方位角が、前記第1及び第2の基準合成波のレベルと前記基準値とに基づき予め定められた方位角範囲内の場合に、前記合成波生成部に前記第1の合成波、及び、前記位相が移動した受信波を含む第2の受信波対から、基準方向に対する方位角に対応してレベルが変化する第2の合成波の生成を指示し、
前記指示により前記合成波生成部が生成した前記第1、または第2の合成波のいずれかのレベルが前記基準値以上となるときに当該検出した方位角を正、前記基準値を下回るときに当該検出した方位角を誤と判定する正誤判定を行うことを特徴とするレーダ装置。 - 請求項1において、
前記第1のアンテナ対より大きい間隔離間した第2のアンテナ対により受信される第3の受信波対のいずれかの受信波の位相を移動させる移相器をさらに有し、
前記合成波生成部は、
前記基準方向に対する前記各方位角に物標が存在したと仮定した場合において、位相が移動した受信波を含む第4の受信波対を合成して、前記各方位角に対応してレベルが変化する第3の基準合成波を生成し、
前記方位角判定手段は、
前記方位角検出手段が検出した方位角が、前記第1及び第3の基準合成波のレベルと前記基準値とに基づき予め定められた方位角範囲内の場合に、前記合成波生成部に前記第1の合成波、及び、前記位相が移動した受信波を含む第4の受信波対から、基準方向に対する方位角に対応してレベルが変化する第3の合成波の生成を指示し、
前記指示により前記合成波生成部が生成した前記第1、または第3の合成波のいずれかのレベルが前記基準値以上となるときに当該検出した方位角を正、前記基準値を下回るときに当該検出した方位角を誤と判定する正誤判定を行うことを特徴とするレーダ装置。 - レーダ波を基準方向に送信し、物標により反射された前記レーダ波を受信波として受信するレーダ装置による前記物標の前記基準方向に対する方位角を検出する方位角検出方法において、
前記基準方向に対する各方位角に物標が存在したと仮定した場合において、所定間隔離間したアンテナ対により受信される受信波対を合成して、前記各方位角に対応してレベルが変化する基準合成波を生成する工程と、
前記検出された前記方位角が、前記基準合成波のレベルと基準値とに基づき予め定められた方位角範囲内の場合に、前記所定間隔離間したアンテナ対により受信される受信波対の合成波を生成し、当該生成した合成波のレベルが、前記基準値以上となるときに当該検出した方位角を正、前記基準値を下回るときに当該検出した方位角を誤と判定する工程とを有することを特徴とする方位角検出方法。
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PCT/JP2008/002155 WO2009019881A1 (ja) | 2007-08-08 | 2008-08-07 | レーダ装置、及び方位角検出方法 |
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US (1) | US8400350B2 (ja) |
EP (1) | EP2177930B1 (ja) |
JP (1) | JP5462626B2 (ja) |
CN (1) | CN101779139B (ja) |
WO (1) | WO2009019881A1 (ja) |
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JP5930590B2 (ja) | 2011-03-04 | 2016-06-08 | 富士通テン株式会社 | レーダ装置 |
JP2013096908A (ja) * | 2011-11-02 | 2013-05-20 | Honda Elesys Co Ltd | 車載用のレーダ装置、車載用のレーダ方法および車載用のレーダプログラム |
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JP5912879B2 (ja) * | 2012-05-31 | 2016-04-27 | 株式会社デンソー | レーダ装置 |
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JP6622167B2 (ja) * | 2016-09-26 | 2019-12-18 | 株式会社デンソー | 軸ずれ推定装置 |
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US20100134344A1 (en) | 2010-06-03 |
US8400350B2 (en) | 2013-03-19 |
EP2177930B1 (en) | 2014-05-21 |
EP2177930A1 (en) | 2010-04-21 |
JPWO2009019881A1 (ja) | 2010-10-28 |
CN101779139A (zh) | 2010-07-14 |
CN101779139B (zh) | 2013-08-07 |
WO2009019881A1 (ja) | 2009-02-12 |
EP2177930A4 (en) | 2013-05-15 |
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