US20080100493A1 - Radar device - Google Patents

Radar device Download PDF

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Publication number
US20080100493A1
US20080100493A1 US11/677,219 US67721907A US2008100493A1 US 20080100493 A1 US20080100493 A1 US 20080100493A1 US 67721907 A US67721907 A US 67721907A US 2008100493 A1 US2008100493 A1 US 2008100493A1
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Prior art keywords
signal
distance
relative velocity
interference
radar device
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Abandoned
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US11/677,219
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English (en)
Inventor
Kenichi Akita
Kado Nakagawa
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Assigned to MITSUBISHI ELECTRIC CORPORATION reassignment MITSUBISHI ELECTRIC CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: AKITA, KENICHI, NAKAGAWA, KADO
Publication of US20080100493A1 publication Critical patent/US20080100493A1/en
Priority to US12/512,126 priority Critical patent/US7893868B2/en
Abandoned legal-status Critical Current

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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
    • 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
    • G01S13/18—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein range gates are used
    • 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
    • G01S13/26—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
    • 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
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques

Definitions

  • the present invention relates to a radar device that is mounted on a vehicle for detecting an object (target) such as a preceding vehicle that exists around an own vehicle and measuring a distance thereof from the own vehicle and a relative velocity of the object with respect to the own vehicle.
  • an object such as a preceding vehicle that exists around an own vehicle and measuring a distance thereof from the own vehicle and a relative velocity of the object with respect to the own vehicle.
  • a radar device installed on an own vehicle transmits an electromagnetic wave as a transmitter signal, receives a reflected signal that is reflected by a target such as a preceding vehicle as a receiver signal, and calculates a distance and a relative velocity between the own vehicle and the target on the basis of a frequency analysis result with respect to a difference between the transmitter signal and the receiver signal.
  • the radar device is used in an obstacle proximity warning system, an inter-vehicle distance control system, or a traffic jam following system.
  • the radar device when a receiver signal that has been reflected by the target and an electromagnetic wave (interference signal) that has been transmitted from another on-vehicle radar or a communication device are received at the same time, there occurs a so-called interference in which a signal intensity in the frequency analysis result largely increases, and a signal intensity for measuring the distance to the target and the relative velocity of the target is buried. In this situation, although there exists the target, it is impossible to measure the distance to the target and the relative velocity of the target, which causes a problem in controlling the vehicle.
  • an electromagnetic wave electromagnetic wave
  • the interference detecting method of this type there is a method of temporarily stopping transmittance of the electromagnetic waves, receiving only the electromagnetic waves (interference signal) which are transmitted from another on-vehicle radar or the communication device, and detecting the presence or absence of the interference signal based on the frequency analysis results of the receiver signal (see, for example, JP 2004-163340 A).
  • the above-mentioned method is not suitable for detecting the interference signal.
  • the present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a radar device which is cable of detecting an interference signal from the frequency analysis results which are obtained by a difference between a transmitter signal and a receiver signal in all beam directions without stopping the transmission of electromagnetic waves.
  • a radar device which is mounted on a vehicle for detecting an object, including: transmitting means for transmitting an electromagnetic wave as a transmitter signal; receiving means for receiving a reflected signal that is reflected from the object as a receiver signal; signal processing means for measuring a distance and a relative velocity between the vehicle and the object on the basis of a beat signal that is obtained by the transmitter signal and the receiver signal; and interference detecting means for dividing frequencies that are obtained by frequency analysis of the signal processing means into a frequency range that is used for measuring the distance to the object and the relative velocity of the object and a frequency range that is not used for measuring the distance to the object and the relative velocity of the object to detect an interference signal from another radar device or a communication device on the basis of a signal intensity within the frequency range that is not used for measuring the distance to the object and the relative velocity of the object.
  • the present invention it is possible to detect the interference signal from the frequency analysis results which are obtained by the difference between the transmitter signal and the receiver signal in all beam directions without stopping the transmission of electromagnetic waves. Accordingly, since the interference signal that is caused by the electromagnetic waves which are transmitted from another on-vehicle radar or a communication device can always be monitored, it is possible to detect the interference signal at a high speed.
  • FIG. 1 is a block diagram showing a configuration of a radar device according to the present invention
  • FIG. 2 is an explanatory diagram showing a voltage waveform that is applied to a voltage control oscillator according to the present invention
  • FIG. 3 is an explanatory diagram showing a relationship between a transmitter signal and a receiver signal in the case where a target of a relative velocity 0 is detected in an FM system;
  • FIG. 4 is an explanatory diagram showing a relationship between the transmitter signal and the receiver signal in the case where the target of a relative velocity V is detected in the FM system;
  • FIG. 5 is an explanatory diagram showing a beat signal which is a difference between the transmitter signal and the receiver signal of FIG. 4 ;
  • FIG. 6 is an explanatory diagram showing a temporal relationship between a transmitter pulse and a receiver pulse
  • FIG. 7 is a diagram showing a spectrum that is obtained by analyzing the frequency of the beat signal
  • FIG. 8 is a diagram showing a spectrum when an interference occurs.
  • FIG. 9 is an explanatory diagram showing a beam direction at the time of antenna scanning.
  • FIG. 1 is a block diagram showing a configuration of a radar device according to a first embodiment of the present invention.
  • the radar device shown in FIG. 1 represents a radar device of an FM - pulse Doppler system, and includes, as a transmitter circuit, a voltage control oscillator 1 for generating a signal according to an applied voltage waveform, a directive coupler 2 for supplying the signal that is outputted from the voltage control oscillator 1 to a transceiver circuit, an amplifier 3 for amplifying an output signal of the directive coupler 2 , a transmission/reception changeover switch 4 for changing over the transmission/reception of the radar, and a transmission/reception antenna 5 for both of transmission and reception.
  • a voltage control oscillator 1 for generating a signal according to an applied voltage waveform
  • a directive coupler 2 for supplying the signal that is outputted from the voltage control oscillator 1 to a transceiver circuit
  • an amplifier 3 for amplifying an output signal of the directive coupler 2
  • the radar device shown in FIG. 1 includes, as a receiver circuit, a low-noise amplifier 6 for amplifying a receiver signal, a mixer 7 for mixing a receiver signal which is an output signal of the low-noise amplifier 6 with a transmitter signal that is transmitted from the directive coupler 2 to take out a beat signal which is a difference in the frequency between the receiver signal and the transmitter signal, a low-pass filter 8 for removing unnecessary high frequency components from the beat signal, and an A/D converter 9 for converting an output signal of the low-pass filter 8 into a digital signal.
  • a low-noise amplifier 6 for amplifying a receiver signal
  • a mixer 7 for mixing a receiver signal which is an output signal of the low-noise amplifier 6 with a transmitter signal that is transmitted from the directive coupler 2 to take out a beat signal which is a difference in the frequency between the receiver signal and the transmitter signal
  • a low-pass filter 8 for removing unnecessary high frequency components from the beat signal
  • an A/D converter 9 for converting
  • the radar device shown in FIG. 1 includes a control unit 11 for controlling the voltage control oscillator 1 , the transmit/receive changeover switch 4 , and a driving motor 10 for a reflector 14 , a signal processing unit (signal processing means) 12 for analyzing a signal that has been converted into the digital signal by the A/D converter 9 to measure a position of the target and a relative velocity of the target according to the frequency spectrum of the frequency analysis results, and an interference detecting unit (interference detecting means) 13 for detecting an interference signal from another radar device or a communication device on the basis of the processing results of the signal processing unit 12 .
  • Reference numerals 15 and 16 denote the transmitter signal and the receiver signal, respectively.
  • the control unit 11 supplies a chopping signal shown in FIG. 2 to the voltage control oscillator 1 .
  • the voltage control oscillator 1 outputs a continuous wave (FM-CW: frequency-modulated continuous wave) which has been frequency-modulated into a chopping waveform on the basis of a voltage that has been applied from the control unit 11 .
  • a signal that has been outputted from the voltage control oscillator 1 is inputted to the directivity coupler 2 , and one of the output signals from the directive coupler 2 is amplified by the amplifier 3 , and the other output signal is inputted into the mixer 7 as a local signal.
  • the signal that has been amplified by the amplifier 3 is modulated into a pulse by the transmission/reception changeover switch 4 having a changeover timing controlled by the control unit 11 , and radiated toward a space from the transmission/reception antenna 5 as the transmitter signal 15 .
  • the transmission/reception changeover switch 4 changes over to a receiving side when, for example, a pulse width Tg has elapsed since the start of transmission of the transmitter signal 15 , and connects the transmission/reception antenna 5 and the low-nose amplifier 6 .
  • the transmitter signal 15 that has been modulated into the pulse by the transmission/reception changeover switch 4 and radiated toward the space from the transmission/reception antenna 5 is reflected by the target that exists in front of the radar, and then received by the transmission/reception antenna 5 as the receiver signal 16 .
  • the receiver signal 16 that has been received by the transmission/reception antenna 5 is amplified by the low-noise amplifier 6 , and then mixed with a local signal (transmitter signal) that is supplied from the directivity coupler 2 by means of the mixer 7 .
  • the signal that has been outputted from the mixer 7 becomes a signal (beat signal) having a beat frequency which is a difference in the frequency between the receiver signal and the transmitter signal.
  • Unnecessary frequency components are removed from the beat signal that has been outputted from the mixer 7 by means of the low-pass filter 8 .
  • the output signal of the low-pass filter 8 is converted into a digital signal by means of the A/D converter 9 , and then is inputted to the signal processing unit (signal processing means) 12 .
  • FIGS. 3 and 4 show the transmitter signal 15 by a solid line and the receiver signal 16 that has been reflected by the target by a dotted line with the axis of abscissas indicating a time and the axis of ordinate indicating a frequency.
  • the transmitter signal 15 has been frequency-modulated into the chopping waveform in a frequency trace width B (Hz) a modulation cycle Tm (sec).
  • the transmitter signal 15 that has been transmitted from the transmission/reception antenna 5 is reflected by the target of the relative velocity 0 which is located at a distance R, the transmitter signal 15 is received by the transmission/reception antenna 5 after a delay time ⁇ (sec) which is represented by the following expression.
  • the receiver signal is received with, when the frequency is modulated up, a frequency difference of fbu (Hz) and with, when the frequency is modulated down, a frequency difference of fbd (Hz) with reference to the transmitter signal 15 .
  • a difference in the frequency between the transmitter signal 15 and the receiver signal 16 is called “beat frequency”.
  • the beat frequency fbu (Hz) by which the frequency is modulated up becomes equal to the beat frequency fbd (Hz) by which the frequency is modulated down.
  • the receiver signal 16 has a Doppler shift fd (Hz), and as shown in FIG. 4 , the frequency of the receiver signal 16 fluctuates by fd (Hz) as compared with a case where the relative velocity is 0 (m/s). Therefore, in this situation, the beat frequency that is outputted from the mixer 7 is as shown in FIG. 5 . Also, the frequency fb (Hz) of the receiver signal that is outputted from the mixer 7 is represented by the following expression.
  • ⁇ (m) is the wavelength of the transmitter signal.
  • the following expression is used with the beat frequency fbu (Hz) by which the frequency is modulated up and the beat frequency fbd (Hz) by which the frequency is modulated down.
  • the transmitter signal that has been modulated in the frequency is modulated in the pulse, and sampling of n-times is conducted at the sampling interval Ts (m) from the transmission of the pulse signal 15 as shown in FIG. 6 .
  • the n sampling points are called “range gate”, and the frequency analysis of the digital signal that has been subjected to A/D conversion by the A/D converter 9 is conducted for each of the range gates. For that reason, a distance range Rg(n) (m) which can be measured in each of the range gates is determined according to the pulse width Tg (sec) and the sampling interval Ts (sec), and is represented by the following expression.
  • n is a range gate No.
  • the reflected signal from the target which appears at the range gate 4 is a signal that is received between (200 ⁇ 4) (nsec) to (200 ⁇ 4+200) (nsec) from the pulse transmission. Therefore, the measurement distance range Rg( 4 ) at the range gate 4 is represented by the following expression.
  • the maximum Doppler shift fd_max (Hz) corresponding to the measurable maximum relative velocity is determined. Accordingly, the maxim frequency fd_max (n) (Hz) which is observed by the respective range gates is represented by the following expression through Expressions (2) and (4).
  • the frequency range of the frequency spectrum which is obtained by the frequency analysis is 0 to 1 ⁇ 2 Tp (sec) on the basis of the sampling theorem.
  • the pulse width Tg is 200 (nsec)
  • the sampling interval Ts is 200 (nsec)
  • the wavelength of the transmitter signal ⁇ is 4 (mm)
  • the modulation period Tm is 10 (msec)
  • the frequency modulation width B is 50 (MHz)
  • the measurable maximum relative velocity is ⁇ 180 (km/h).
  • the maximum frequency of the spectrum which is obtained by the frequency analysis is 1 ⁇ 2 Tp (Hz), that is, 100 (kHz). Therefore, the frequency range between 27 (kHz) (not inclusive) and 100 (kHz) (inclusive) is not used for measurement of the distance to the target and the relative velocity of the target at the range gate 0 under the above-mentioned conditions.
  • the signal intensity in the frequency range that is not used for the measurement of the distance to the target and the relative velocity of the target does not increase so far as an interference signal from another radar device or a communication device is not received.
  • the interference detecting unit 13 monitors whether the signal intensity in the frequency range that is not used for the measurement of the distance to the target and the relative velocity of the target exceeds a predetermined threshold value or not, thereby making it possible to detect the interference signal from another radar device or the communication device.
  • a threshold value Ith for interference detection is set in the interference detecting unit 13 in advance, and the interference detecting unit 13 monitors whether the signal intensity in the frequency range that is not used for measurement of the distance to the target and the relative velocity of the target exceeds the threshold value Ith or not, in all of the range gates. In the case where the signal intensities in all of the range gates which have been monitored exceed the threshold value, if it is determined that the interference occurs, it is possible to conduct the interference detection with a high precision.
  • a second embodiment is identical in the configuration with the first embodiment except that the interference detecting unit 13 monitors whether the signal intensity in the frequency range that is not used for measurement of the distance to the target and the relative velocity of the target exceeds the threshold value or not, in the plurality of range gates that are equal to or more than a given rate, and it is determined that the interference occurs in the case where the signal intensity exceeds the threshold value in the monitored range gates.
  • the second embodiment since it is determined whether the interference occurs or not, by using not all of the range gates, but the plurality of range gates of the given rate or more, it is possible to determine that the interference occurs with a high precision and at a higher speed than that of the first embodiment.
  • a third embodiment is identical in the configuration with the first embodiment except that the interference detecting unit 13 monitors whether the signal intensity in the frequency range that is not used for measurement of the distance to the target and the relative velocity of the target exceeds the threshold value Ith or not, in a given range gate, and it is determined that the interference occurs in the case where the signal intensity exceeds the threshold value in the monitored range gate.
  • the maximum frequency fb_max(n) (Hz) of the beat signal which is used for measurement of the distance to the target and the relative velocity of the target is the largest. Therefore, because the frequency range that is not used for measurement of the distance to the target and the relative velocity of the target is narrow, that is, a range in which the interference is monitored is narrow, the amount of calculation is reduced, thereby making it possible to detect the interference at a higher speed than that in the second embodiment.
  • the interference detecting unit 13 determines whether the interference occurs or not, by using not the plurality of range gates, but a single distance range gate, it is possible to determine that the interference occurs at a higher speed than that in the second embodiment.
  • the longest distance range gate is used as the given range gate, the amount of calculation is reduced, thereby making it possible to detect the interference at a higher speed.
  • a fourth embodiment is identical in the configuration with the third embodiment except that the interference detecting unit 13 uses the shortest distance range gate as the given range gate.
  • the maximum frequency fb_max(n) (Hz) of the beat signal which is used for measurement of the distance to the target and the relative velocity of the target is the smallest. Therefore, because the frequency range that is not used for measurement of the distance to the target and the relative velocity of the target is wide, that is, a range in which the interference is monitored is wide, the misjudgment of the interference occurrence due to noises or the like is prevented, thereby making it possible to detect the interference with higher reliability.
  • the fourth embodiment since it is determined that the interference occurs by using the shortest range gate as the given range gate, it is possible to detect the interference with the higher reliability than that of the third embodiment.
  • a fifth embodiment is identical in the configuration with the first embodiment, but structured in such a manner that antenna scanning is conducted as shown in FIG. 9 , and the interference detecting unit 13 determines whether the interference occurs or not for the respective beams B 1 to B 7 independently.
  • the interference detecting unit 13 In the case where the interference detecting unit 13 detects the interference with respect to only the beam 1 , the interference detecting unit 13 does not measure the distance and the relative velocity from the frequency analysis result in the beam 1 , but notifies the occurrence of the interference. Also, the interference detecting unit 13 measures the distance and the relative velocity from the frequency analysis result with respect to other beams.
  • the interference detecting unit 13 monitors whether the signal intensity in the frequency range which is not used for measurement of the distance to the object and the relative velocity of the object in all of beam directions exceeds the threshold value Ith or not, at the time of antenna scanning, and in the case where the interference detecting unit 13 detects the interference signal that exceeds the threshold value Ith from another radar device or a communication device in a given beam direction, the interference detecting unit 13 does not measure the distance to the object and the relative velocity of the object in the beam direction.
  • the frequency analysis result of the beam in which interference is not detected can be used for measurement of the distance to the target and the relative velocity of the target. Therefore, even if the interference occurs, an influence of the interference on the measurement can be suppressed to the minimum.
  • a sixth embodiment is identical in the configuration with the fifth embodiment except that the past measured values of the distance and the relative velocity of the respective beams are recorded in advance, and the past measured values of the distance and the relative velocity which have been recorded are used instead of the current measured values in the beam in which the interference occurs.
  • the interference detecting unit 13 monitors whether the signal intensity in the frequency range which is not used for measurement of the distance to the object and the relative velocity of the object in all beam directions exceeds the threshold value Ith or not, at the time of antenna scanning, and in the case where the interference detecting unit 13 detects the interference signal that exceeds the threshold value Ith from another radar device or a communication device in a given beam direction, the interference detecting unit 13 uses the past measured values of the distance and the relative velocity in the measurement of the distance to the object and the relative velocity of the object in the beam direction.
  • the interference detecting unit 13 uses the past measured values of the distance and the relative velocity as the measured values of the distance and the relative velocity of the beam in which the interference occurs, even if the interference occurs, it is possible to measure the distance of the target and the relative velocity of the target in all of the beams without any deficiency.
  • a seventh embodiment is identical in the configuration with the fifth embodiment except that the interference detecting unit 13 sets a new threshold value on the basis of the signal intensity of the frequency range that is not used for measurement of the distance and the relative velocity in the beam in which the interference occurs, and measures the distance to the target and the relative velocity of the target with respect to the spectrum that is equal to or higher than the threshold value.
  • the interference detecting unit 13 monitors whether the signal intensity in the frequency range which is not used for measurement of the distance to the object and the relative velocity of the object in all beam directions exceeds the threshold value or not, at the time of antenna scanning, and in the case where the interference detecting unit 13 detects the interference signal that exceeds the threshold value from another radar device or a communication device in a given beam direction, the interference detecting unit 13 measures the distance to the object and the relative velocity of the object in the beam direction with respect to only the spectrum that exceeds the threshold value.
  • the interference detecting unit 13 detects the target by using the newly set threshold value on the basis of the signal intensity of the frequency range which is not used for measurement of the distance and the relative velocity in the beam in which the interference occurs. As a result, it is possible to measure the distance and the relative velocity with respect to the shorter distance target that is relatively high in the receiving intensity regardless of the presence or absence of the interference occurrence.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
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US20090289831A1 (en) 2009-11-26
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DE102007013266B4 (de) 2012-02-02
JP2008107280A (ja) 2008-05-08

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