JPWO2019181448A1 - レーダ装置 - Google Patents
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- JPWO2019181448A1 JPWO2019181448A1 JP2020508133A JP2020508133A JPWO2019181448A1 JP WO2019181448 A1 JPWO2019181448 A1 JP WO2019181448A1 JP 2020508133 A JP2020508133 A JP 2020508133A JP 2020508133 A JP2020508133 A JP 2020508133A JP WO2019181448 A1 JPWO2019181448 A1 JP WO2019181448A1
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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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/589—Velocity or trajectory determination systems; Sense-of-movement determination systems measuring the velocity vector
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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
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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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
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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
- G01S13/50—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
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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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/588—Velocity or trajectory determination systems; Sense-of-movement determination systems deriving the velocity value from the range measurement
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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
- G01S13/66—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
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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
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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
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/292—Extracting wanted echo-signals
- G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
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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
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
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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
- G01S7/41—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
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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
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
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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
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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
- G01S2013/0236—Special technical features
- G01S2013/0245—Radar with phased array antenna
- G01S2013/0263—Passive array antenna
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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
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
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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
- G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers
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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)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
初めに、従来の速度検出方式を説明する。図9は、従来の速度検出方式と課題を説明するための図である。
本発明の実施例1を図1〜図5の図面に基づいて説明する。図1は本発明の一実施例に関わる車載レーダ装置504の機能ブロックを示す図である。
図1に示す本実施例の車載レーダ装置504は、一例としてFCM(Fast Chirp Modulation)という方式を用いて対象物までの距離、正面からの角度、及び速度等の情報を求めるレーダ装置である。なお、FCM方式では、周波数が連続的に増加または減少するチャープ波をレーダ波として使用し、その送受信信号から生成されたビート信号に対して2次元FFTを施すことにより、距離・速度を計測する。FCM方式では、送受信信号から生成されるビート信号の周波数から対象物までの距離を求め、同一の対象物について連続的に検出される周波数成分の位相回転から対象物の相対速度を求める。
次に本実施例で解決する課題の代表的な一例である、対象車両が自車両の正面を横切る際の検知速度精度の低下と、検知速度精度が低下した際の速度の算出方法を、図1〜図5までの図面に基づき説明する。
ここまでの動作をフローとして、図1と図4と図5を用いて説明する。
本発明の実施例2を図6〜図7の図面に基づいて説明する。実施例2では、ホイール情報を用いての算出速度精度を向上する。すなわち、実施例1で述べた、時間微分で求められる対象車両の速度Vrの正確性を、対象車両の回転するホイール情報を用いることで向上する。
図6に示すように、車載レーダ804を搭載した自車812が対象車両801を車載レーダ804で検知する場合、対象車両801から受ける複数の反射点を一つの車両として纏めるグルーピング処理をおこなう必要がある。グルーピング処理の方法の一例として、図7に示すように、所定の面積をもつバスケット901という範囲を設定し、バスケット901の範囲の中に存在する反射点を同一の対象車両からのものとして認識する方法がある。
ここまでの動作をフローとして、図7〜図8を用いて説明する。図8に示すように、S1002で、対象の車両906のバスケット901内において、複数ある反射点の中で際立って大きな速度を持っている反射点907や908をホイールとして認識する。その際、ホイールの回転によりどれだけの速度が車速に加算されるかは、ホイールの直径と、反射点がホイールの中心からどれだけ離れたものかに関係するが、本実施例ではホイールだと認識される際の閾値をバスケット901内の反射点の速度平均の1.5倍とする。
距離の分解能ΔRと最大検知距離Rmaxはトレードオフの関係にある。検知対象が前方を横切る際、長い検知距離は必要ないので、送信波の変調帯域Fmを上げることで分解能ΔRを上げ、検知対象の検知点を増やすことでグルーピングの精度を向上してもよい。
102…送信回路
103…信号処理部
104…受信アンテナ
105…受信回路
106…ADコンバータ
107…FFT計算部
108…ピーク検出部
109…距離・角度計算部
110…速度マッチング部
111…微分処理部
112…速度信頼度判断部
113…メモリ
201…車両
204…車両
210…車載レーダ装置
504…車載レーダ装置
505…自車両
506…車両
507…角度
508…直線距離
801…対象車両
803…移動速度
804…車載レーダ
807…拡大図
808…速度
809…速度
812…自車
813…後輪の位置
814…中心
815…前輪の位置
816…ホイールベース
901…バスケット
902…反射点
903…速度
904…検知速度
905…検知速度
906…車両
907…反射点
908…反射点
Claims (7)
- 送信波を送信する送信アンテナと、
前記送信波を反射する物体から反射波を受信する受信アンテナと、
前記送信波の信号と前記反射波の信号に基づいて前記物体までの距離、角度及び第1の速度を計算し、前記物体までの距離と角度で表される位置を時間微分することより第2の速度を計算し、前記第1の速度が閾値を超える場合、第1の速度を前記物体の速度として出力し、前記第1の速度が閾値以下の場合、第2の速度を前記物体の速度として出力する信号処理部と、
を備え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、
前記信号処理部は、
所定の面積を有する範囲を示すバスケット内の前記物体の複数の反射点からホイール上の反射点を検出し、前記ホイール上の反射点の位置に基づいて前記物体までの距離を計算する
ことを特徴とするレーダ装置。 - 請求項2に記載のレーダ装置であって、
前記信号処理部は、
前記バスケット内の前記物体の反射点の第1の速度がその代表値を逸脱する場合、ホイール上の反射点を検出したと判定する
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、
前記信号処理部は、
前輪のホイール上の反射点の位置と後輪のホイール上の反射点の位置とから、ホイールベースを計算する
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、
前記信号処理部は、
前記ホイールベースから前記物体としての車両の位置を計算する
ことを特徴とするレーダ装置。 - 請求項2に記載のレーダ装置であって、
前記信号処理部は、
前記ホイール上の反射点を検出する場合、距離の分解能を上げる
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、
前記信号処理部は、
前記レーダ装置の位置を原点とする極座標系において前記物体までの前記距離及び前記角度を計算する距離・角度計算部と、
ドップラーシフトによる速度計算又は位相回転による速度計算を行うことで前記第1の速度を計算する速度マッチング部と、
前記第2の速度を計算する微分速度処理部と、
前記第1の速度が閾値を超える場合、第1の速度を前記物体の速度として出力し、前記第1の速度が閾値以下の場合、第2の速度を前記物体の速度として出力する速度信頼度判断部と、
を備えることを特徴とするレーダ装置。
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JP2018050868 | 2018-03-19 | ||
JP2018050868 | 2018-03-19 | ||
PCT/JP2019/008270 WO2019181448A1 (ja) | 2018-03-19 | 2019-03-04 | レーダ装置 |
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DE102019216805A1 (de) * | 2019-10-31 | 2021-05-06 | Continental Automotive Gmbh | Verfahren zum Verfolgen eines entfernten Zielfahrzeugs in einem Umgebungsbereich eines Kraftfahrzeugs mittels einer Kollisionserkennungsvorrichtung |
KR102473714B1 (ko) * | 2021-05-07 | 2022-12-06 | 현대모비스 주식회사 | 객체를 감지하기 위한 차량 제어 시스템 및 그에 관한 방법 |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH0763843A (ja) * | 1993-08-30 | 1995-03-10 | Toyota Motor Corp | 車載レーダ装置 |
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JP2013257236A (ja) * | 2012-06-13 | 2013-12-26 | Panasonic Corp | 追尾レーダ装置および追尾方法 |
US20140354450A1 (en) * | 2012-02-10 | 2014-12-04 | Yoshihiko Takahashi | Warning device |
EP3176603A1 (en) * | 2015-12-01 | 2017-06-07 | Autoliv Development AB | A vehicle radar system |
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2019
- 2019-03-04 WO PCT/JP2019/008270 patent/WO2019181448A1/ja active Application Filing
- 2019-03-04 DE DE112019000357.7T patent/DE112019000357T5/de active Pending
- 2019-03-04 JP JP2020508133A patent/JP7203822B2/ja active Active
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JPH0763843A (ja) * | 1993-08-30 | 1995-03-10 | Toyota Motor Corp | 車載レーダ装置 |
JP2001141820A (ja) * | 1999-11-16 | 2001-05-25 | Mitsubishi Electric Corp | 画像レーダ装置 |
JP2001174548A (ja) * | 1999-12-16 | 2001-06-29 | Fujitsu Ltd | Fm−cwレーダの周波数変調特性測定方法及び装置 |
WO2006016445A1 (ja) * | 2004-08-10 | 2006-02-16 | Murata Manufacturing Co., Ltd. | レーダ |
US20110037641A1 (en) * | 2006-12-28 | 2011-02-17 | Wolf Steffens | Method for operating a radar and radar |
JP2009168624A (ja) * | 2008-01-16 | 2009-07-30 | Toyota Motor Corp | 物体速度検出装置 |
JP2010060465A (ja) * | 2008-09-04 | 2010-03-18 | Toyota Motor Corp | 物体検出装置 |
WO2013069253A1 (ja) * | 2011-11-09 | 2013-05-16 | パナソニック株式会社 | 周波数拡散型レーダ装置及びその制御方法 |
US20140354450A1 (en) * | 2012-02-10 | 2014-12-04 | Yoshihiko Takahashi | Warning device |
JP2013257236A (ja) * | 2012-06-13 | 2013-12-26 | Panasonic Corp | 追尾レーダ装置および追尾方法 |
EP3176603A1 (en) * | 2015-12-01 | 2017-06-07 | Autoliv Development AB | A vehicle radar system |
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DE112019000357T5 (de) | 2020-10-01 |
WO2019181448A1 (ja) | 2019-09-26 |
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