JP7224292B2 - レーダ装置およびそれを備える自動車 - Google Patents
レーダ装置およびそれを備える自動車 Download PDFInfo
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- JP7224292B2 JP7224292B2 JP2019540876A JP2019540876A JP7224292B2 JP 7224292 B2 JP7224292 B2 JP 7224292B2 JP 2019540876 A JP2019540876 A JP 2019540876A JP 2019540876 A JP2019540876 A JP 2019540876A JP 7224292 B2 JP7224292 B2 JP 7224292B2
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- target
- frequency
- transmission
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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
- G01S7/35—Details of non-pulse 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
-
- 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
- G01S13/06—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
- G01S13/585—Velocity or trajectory determination systems; Sense-of-movement determination systems processing the video signal in order to evaluate or display the velocity value
- G01S13/586—Velocity or trajectory determination systems; Sense-of-movement determination systems processing the video signal in order to evaluate or display the velocity value using, or combined with, frequency tracking means
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q21/00—Antenna arrays or systems
- H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/22—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the orientation in accordance with variation of frequency of radiated wave
Landscapes
- 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)
- Multimedia (AREA)
- Radar Systems Or Details Thereof (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Description
多値の周波数に偏移変調した送信信号を発生させる信号発生器と、
複数のアンテナ素子が同一平面上に列方向に直線状に配置されて形成された単位アンテナからなり、信号発生器で発生した送信信号の偏移変調される多値の各周波数に応じた送信信号波が各アンテナ素子から偏移変調される多値の各周波数毎に順次離散的に送信されることで、送出するビームが仰俯角に傾けられる送信アンテナと、
複数のアンテナ素子が同一平面上に列方向に直線状に配置されて形成された単位アンテナが同一平面上に行方向に複数並んで配置されて構成され、送信アンテナから送信された送信信号波が目標物で反射して戻る反射波が、受信アンテナを構成する単位アンテナの各アンテナ素子に受信信号波として受信される複数の受信アンテナと、
送信信号波および受信信号波の周波数を中間周波数に変換するミキサと、
中間周波数に変換された送信信号波の電圧と受信信号波の電圧との乗算信号を偏移変調される多値の各周波数毎に取得し、取得した乗算信号間の位相差および偏移変調される周波数の差から目標物までの距離を算出し、取得した乗算信号の周波数から目標物との相対速度を算出すると共に、送信アンテナが形成される基板の比誘電率をεS、取得した乗算信号の周波数において送信アンテナに給電される送信信号波の送信周波数をfi、送信アンテナを構成する各アンテナ素子間の距離をd、真空中の光速をc 0 としたときに、送信信号波の多値に偏移変調された周波数および送信アンテナを構成するアンテナ素子間の距離から目標物の仰俯角φiを以下の(12)式によって算出する
を備え、レーダ装置を構成した。
2…RF信号発生器
3…アレイアンテナ
Tx…送信アンテナ
Rx(1),…,Rx(u-1),Rx(u)…受信アンテナ
3(i)…単位アンテナ
p1,p2,p3,p4…パッチアンテナ素子
4…ミキサ
5…ADC
6…演算器
7…目標物
11,12…自動車
13…路面
14…マンホールの蓋
Claims (3)
- 多値の周波数に偏移変調した送信信号を発生させる信号発生器と、
複数のアンテナ素子が同一平面上に列方向に直線状に配置されて形成された単位アンテナからなり、前記信号発生器で発生した送信信号の偏移変調される多値の各周波数に応じた送信信号波が各前記アンテナ素子から偏移変調される多値の各周波数毎に順次離散的に送信されることで、送出するビームが仰俯角に傾けられる送信アンテナと、
複数のアンテナ素子が同一平面上に列方向に直線状に配置されて形成された単位アンテナが前記同一平面上に行方向に複数並んで配置されて構成され、前記送信アンテナから送信された送信信号波が目標物で反射して戻る反射波が、受信アンテナを構成する前記単位アンテナの各前記アンテナ素子に受信信号波として受信される複数の受信アンテナと、
前記送信信号波および前記受信信号波の周波数を中間周波数に変換するミキサと、
中間周波数に変換された前記送信信号波の電圧と前記受信信号波の電圧との乗算信号を偏移変調される多値の各周波数毎に取得し、取得した前記乗算信号間の位相差および偏移変調される周波数の差から目標物までの距離を算出し、取得した前記乗算信号の周波数から目標物との相対速度を算出すると共に、前記送信アンテナが形成される基板の比誘電率をεS、取得した前記乗算信号の周波数において前記送信アンテナに給電される前記送信信号波の送信周波数をfi、前記送信アンテナを構成する前記アンテナ素子間の距離をd、真空中の光速をc 0 としたときに、前記送信信号波の多値に偏移変調された周波数および前記送信アンテナを構成する前記アンテナ素子間の距離から目標物の仰俯角φiを以下の(12)式によって算出する
を備えるレーダ装置。 - 各前記受信アンテナに受信される受信信号波間の位相差および前記受信アンテナを構成する前記アンテナ素子間の距離から目標物の方位角を算出する演算器を備えることを特徴とする請求項1に記載のレーダ装置。
- 請求項1または請求項2に記載のレーダ装置を備えた自動車。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017170689 | 2017-09-05 | ||
JP2017170689 | 2017-09-05 | ||
PCT/JP2018/031254 WO2019049680A1 (ja) | 2017-09-05 | 2018-08-23 | レーダ装置およびそれを備える自動車 |
Publications (2)
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JPWO2019049680A1 JPWO2019049680A1 (ja) | 2020-09-17 |
JP7224292B2 true JP7224292B2 (ja) | 2023-02-17 |
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ID=65634035
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JP2019540876A Active JP7224292B2 (ja) | 2017-09-05 | 2018-08-23 | レーダ装置およびそれを備える自動車 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11231483B2 (ja) |
JP (1) | JP7224292B2 (ja) |
CN (1) | CN111051918B (ja) |
DE (1) | DE112018004001T5 (ja) |
WO (1) | WO2019049680A1 (ja) |
Families Citing this family (2)
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KR20190016254A (ko) * | 2017-08-08 | 2019-02-18 | 삼성전자주식회사 | 거리 측정 방법 및 장치 |
KR20210060844A (ko) * | 2019-11-19 | 2021-05-27 | 삼성전자주식회사 | 레이더 센서를 이용한 3차원 위치 측정 방법 및 장치 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009192359A (ja) | 2008-02-14 | 2009-08-27 | Toyota Motor Corp | レーダー装置 |
JP2012512387A (ja) | 2008-12-15 | 2012-05-31 | ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング | 車両のためのfmcwレーダセンサ |
JP2015190777A (ja) | 2014-03-27 | 2015-11-02 | 株式会社豊田中央研究所 | 歩行者検出装置 |
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-
2018
- 2018-08-23 JP JP2019540876A patent/JP7224292B2/ja active Active
- 2018-08-23 DE DE112018004001.1T patent/DE112018004001T5/de active Pending
- 2018-08-23 WO PCT/JP2018/031254 patent/WO2019049680A1/ja active Application Filing
- 2018-08-23 CN CN201880056881.5A patent/CN111051918B/zh active Active
-
2020
- 2020-03-04 US US16/808,640 patent/US11231483B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009192359A (ja) | 2008-02-14 | 2009-08-27 | Toyota Motor Corp | レーダー装置 |
JP2012512387A (ja) | 2008-12-15 | 2012-05-31 | ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング | 車両のためのfmcwレーダセンサ |
JP2015190777A (ja) | 2014-03-27 | 2015-11-02 | 株式会社豊田中央研究所 | 歩行者検出装置 |
Also Published As
Publication number | Publication date |
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US20200217924A1 (en) | 2020-07-09 |
CN111051918A (zh) | 2020-04-21 |
DE112018004001T5 (de) | 2020-04-23 |
CN111051918B (zh) | 2023-10-20 |
US11231483B2 (en) | 2022-01-25 |
JPWO2019049680A1 (ja) | 2020-09-17 |
WO2019049680A1 (ja) | 2019-03-14 |
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