WO2021024305A1 - Radar device and mobile body device - Google Patents

Radar device and mobile body device Download PDF

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Publication number
WO2021024305A1
WO2021024305A1 PCT/JP2019/030508 JP2019030508W WO2021024305A1 WO 2021024305 A1 WO2021024305 A1 WO 2021024305A1 JP 2019030508 W JP2019030508 W JP 2019030508W WO 2021024305 A1 WO2021024305 A1 WO 2021024305A1
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Prior art keywords
obstacle
radar
reflector
relative position
mobile device
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PCT/JP2019/030508
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French (fr)
Japanese (ja)
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小澤　尚志
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オムロン株式会社
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Priority to PCT/JP2019/030508 priority Critical patent/WO2021024305A1/en
Publication of WO2021024305A1 publication Critical patent/WO2021024305A1/en

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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

Definitions

  • the present disclosure relates to a radar device mounted on a mobile device, and also relates to a mobile device equipped with a radar device.
  • Patent Document 1 discloses a radar detection device that uses signals of a plurality of systems.
  • Radar devices not only receive reflected waves from objects that can be obstacles to the moving device when it emits radar waves, but also additional or alternative mobile devices such as floors, ground, walls, and ceilings. There is a possibility of receiving reflected waves (clutter) from other structures that are not obstacles to. If the signal level of the reflected wave from an object that can be an obstacle is not high enough, or if the signal level of the reflected wave from another structure is not low enough, the reflective object detected by the radar device is an obstacle. It may be indistinguishable whether it is an existence or another structure. Therefore, there is a need for a radar device that can distinguish obstacles from other structures.
  • the apparatus of Patent Document 1 compares the intensity peak positions of the signals of each system, and the spectrum of the signal having a small variation in the intensity peak position in each system is based on the target. It is determined that the spectrum of the signal having a large variation in the intensity peak position in each system is determined to be due to the clutter.
  • the apparatus of Patent Document 1 includes a plurality of circuits for receiving and processing signals of a plurality of systems, and the circuit scale becomes large. Therefore, there is a need for a radar device that can distinguish obstacles from other structures with a simpler configuration.
  • An object of the present disclosure is to provide a radar device capable of distinguishing an obstacle from other structures with a simple configuration.
  • An object of the present disclosure is to provide a mobile device including such a radar device.
  • a radar device mounted on a mobile device When the mobile device is moving, a transmitter / receiver that emits radar waves at predetermined time intervals and receives radar waves reflected by a reflector.
  • a reflection position analyzer that determines the relative position of the reflector based on the position of the radar device based on the received radar wave.
  • a storage device that stores the determined relative position history of the reflective object, and It is provided with an obstacle classifier for determining whether or not the reflective object is an obstacle based on the stored relative position history of the reflective object.
  • the obstacle classifier determines that the reflector is an obstacle when the relative position of the reflector changes regularly at a speed within a predetermined range and a direction within the predetermined range over a predetermined time length. If not, it is determined that the reflective object is not an obstacle.
  • the radar device when the relative position of the reflecting object stays within a predetermined range for the predetermined time length, the reflecting object is the first parallel to the moving direction of the moving body device. It is judged that the structure has the surface of.
  • the obstacle classifier has a second surface in which the reflector is parallel to the moving direction of the mobile device when the relative position of the reflector changes irregularly over a predetermined time length. It is judged that the structure has.
  • the relative position of the reflector is regularly arranged at a speed within a predetermined range corresponding to the speed and direction of the mobile device and a direction within a predetermined range over a predetermined time length. When it changes, it is determined that the reflector is an obstacle.
  • the radar device according to the aspect of the present disclosure and Drive device and It is equipped with a steering device.
  • the obstacle can be distinguished from other structures with a simple configuration.
  • an obstacle can be distinguished from other structures with a simple configuration.
  • FIG. 1 is a block diagram showing a configuration of a system including the mobile device 1 and the server device 2 according to the embodiment.
  • the mobile device 1 is, for example, an automatic guided vehicle called an AGV (automatic guided vehicle) or an AIV (autonomous intelligent vehicle) that operates under the control of a server device 2.
  • a radar device 12 is mounted on the mobile device 1.
  • the mobile device 1 of FIG. 1 includes a signal generator 31, a transmitting antenna 32, a receiving antenna 33, a mixer 34, an analog / digital (AD) converter 35, a reflection position analyzer 36, a storage device 37, and an obstacle classifier. 38 is provided.
  • a signal generator 31 a transmitting antenna 32, a receiving antenna 33, a mixer 34, an analog / digital (AD) converter 35, a reflection position analyzer 36, a storage device 37, and an obstacle classifier. 38 is provided.
  • the signal generator 31 generates a radio frequency signal for detecting the reflector R at a predetermined time interval and supplies it to the transmitting antenna 32 and the mixer 34.
  • the signal generator 31 may generate a CW (continuous wave) signal having a predetermined frequency as a radio frequency signal, or may generate an FM-CW signal having a frequency that changes periodically.
  • the transmitting antenna 32 radiates the radio frequency signal supplied from the signal generator 31 as a radar wave toward the exploration-symmetrical space.
  • the receiving antenna 33 receives the radar wave reflected by the reflector R and sends it to the mixer 34. At least one of the transmitting antenna 32 and the receiving antenna 33 may have a variable directivity.
  • the mixer 34 mixes the signals sent from the signal generator 31 and the receiving antenna 33 and sends them to the AD converter 35.
  • the mobile device 1 may convert the frequency of the signal from the radio frequency to the baseband frequency before sending the signal mixed by the mixer 34 to the AD converter 35.
  • the AD converter 35 converts the analog signal sent from the mixer 34 into a digital signal and sends it to the reflection position analyzer 36.
  • the signal generator 31, the transmitting antenna 32, the receiving antenna 33, the mixer 34, and the AD converter 35 are examples of transmitters and receivers.
  • the mobile device 1 has another form as long as it emits radar waves at predetermined time intervals when the mobile device 1 is moving and receives the radar waves reflected by the reflector R.
  • a transmitter / receiver may be provided.
  • the mobile device 1 may share a single antenna as a transmitting antenna and a receiving antenna. Further, the mobile device 1 may include other circuits such as a radio frequency amplifier.
  • the reflection position analyzer 36 determines the relative position of the reflector R with reference to the position of the radar device 12 based on the signal sent from the AD converter 35 (that is, the signal corresponding to the received radar wave). To do.
  • the reflection position analyzer 36 estimates the distance from the radar device 12 to the reflector R by using a fast Fourier transform or the like. Further, the reflection position analyzer 36 controls, for example, the signal generator 31, the transmitting antenna 32, and / or the receiving antenna 33, and an incoming wave estimation algorithm such as a beamformer algorithm or a MUSIC (multiple signal classification) algorithm. Is used to estimate the direction of arrival of the reflected radar wave.
  • the reflection position analyzer 36 determines the relative position of the reflector R by estimating the distance and the direction of arrival.
  • the reflection position analyzer 36 estimates the distance or the arrival direction based on the signal portion of a certain moment or time interval in the signal corresponding to the received radar wave, and the estimated distance or arrival direction and this signal portion.
  • the signal strengths of the above may be related to each other for processing.
  • the reflection position analyzer 36 may determine the distance or the arrival direction estimated based on the signal portion having the signal strength equal to or higher than a certain threshold value as the distance or the arrival direction of the reflector R. Further, the reflection position analyzer 36 may perform a constant false alarm rate reception process to determine the distance or the arrival direction of the reflector R. Further, the reflection position analyzer 36 may perform clustering of a plurality of estimated distances or arrival directions to determine the distance or arrival direction of the reflector R.
  • the storage device 37 stores the history of the relative position of the reflector R determined by the reflection position analyzer 36.
  • the obstacle classifier 38 determines whether or not the reflector R is an obstacle based on the history of the relative positions of the reflector R stored in the storage device 37. The obstacle classifier 38 determines that the reflector R is an obstacle when the relative position of the reflector R changes regularly at a speed within a predetermined range and a direction within the predetermined range over a predetermined time length. If not, it is determined that the reflector R is not an obstacle.
  • the obstacle is, for example, a structure having a surface that intersects the moving direction of the moving body device 1.
  • other structures having surfaces parallel to the moving direction of the moving body device 1 such as a floor surface, the ground, a wall surface, and a ceiling, do not pose an obstacle to the moving body device 1.
  • the radar device 12 may receive reflected waves (clutters) from such other structures.
  • the obstacle can be distinguished from other structures with a simple configuration by referring to the temporal change of the relative position of the reflecting object R.
  • the mobile device 1 may include a control device 11, a drive device 13, a steering device 14, and a communication device 15 in addition to the radar device 12.
  • the control device 11 controls the overall operation of the mobile device 1.
  • the drive device 13 moves the mobile device 1 at a predetermined speed under the control of the control device 11.
  • the steering device 14 controls the direction of the moving body device 1 under the control of the control device 11.
  • the communication device 15 receives a control signal from the server device 2 and transmits information on obstacles detected by the radar device 12 to the server device 2.
  • the control device 11 of the mobile device 1 notifies the radar device 12 whether or not the mobile device 1 is moving. Further, the control device 11 may notify the radar device 12 of the speed and direction of the mobile device 1. Further, when an obstacle is detected by the radar device 12, the control device 11 may change the route of the mobile device 1 so as to avoid the obstacle, or may stop the mobile device 1.
  • the server device 2 includes a control device 21, a communication device 22, an input device 23, a storage device 24, and a display device 25.
  • the control device 21 controls the overall operation of the server device 2.
  • the communication device 22 transmits a control signal to the mobile device 1 and also receives information on obstacles from the mobile device 1.
  • the input device 23 includes a keyboard, a pointing device, and the like, and receives user input.
  • the storage device 24 stores the obstacle information received from the mobile device 1.
  • the display device 25 displays information on obstacles received from the mobile device 1.
  • the control device 21 of the server device 2 may generate a map of the area in which the mobile device 1 can move based on the obstacle information received from the mobile device 1.
  • the server device 2 may transmit a control signal to the plurality of mobile devices 1 and may receive information on obstacles from the plurality of mobile devices 1.
  • FIG. 2 is a diagram illustrating a schematic operation of the radar device 12 of FIG.
  • FIG. 3 is a diagram showing the relative positions of the reflecting objects detected by the radar device 12 of FIG. 2 and 3 show a case where the mobile device 1 is moving in the vicinity of the obstacle 102 on the smooth floor surface 101.
  • the radar device 12 when the radar device 12 radiates the radar wave, the radar device 12 not only receives the reflected wave by the obstacle 102 for the moving body device 1, but also reflects by the floor surface 101 which does not become an obstacle for the moving body device 1. May receive waves (clutter).
  • the signal level of the reflected wave by the floor surface 101 is large, as shown in FIG. 3, it is impossible to distinguish whether the reflected object R detected by the radar device 12 is an obstacle 102 or a floor surface 101. There is.
  • FIG. 4 is a diagram illustrating a schematic operation of the radar device 12 when the mobile device 1 of FIG. 1 is moving in the vicinity of the obstacle 102.
  • FIG. 5 is a diagram showing a change in the relative position of the reflecting object detected by the radar device 12 of FIG.
  • the radar device 12 emits radar waves at times t1, t2, and t3, and the radar waves reflected by the obstacle 102 are emitted.
  • Reference numerals 1 (t1) to 1 (t3) indicate the positions of the mobile device 1 at times t1 to t3.
  • the radar wave received by the radar device 12 is once regarded as a radar wave reflected by the unknown reflector R.
  • the relative position of the reflector R with respect to the position of the radar device 12 changes as shown in FIG.
  • Reference numerals R (t1) to R (t3) indicate relative positions of the reflector R at times t1 to t3. Since the obstacle 102 has a fixed position on the floor surface 101, when the moving body device 1 is moving, the relative position of the obstacle 102 is within a predetermined range according to the speed and direction of the moving body device 1. It changes regularly in the direction of speed and within a predetermined range. Therefore, when the relative position of the reflecting object R changes regularly at a speed within a predetermined range and a direction within a predetermined range over a predetermined time length, it can be seen that the reflecting object R is an obstacle 102. In the examples of FIGS. 4 and 5, the relative position of the obstacle 102 changes at a constant speed in the ⁇ Y direction. From this, it can be seen that the reflecting object R is not the floor surface 101 but the obstacle 102.
  • the same reflector may be tracked between the relative positions of the reflectors detected at different times as follows. For example, reflectors that generate reflected waves with signal levels closer than a predetermined threshold between the relative positions of the reflectors detected at adjacent times are considered to be the same reflector. It may be considered and tracked. In addition, even if a reflector having a position closer than a predetermined threshold value among the relative positions of the reflectors detected at adjacent times is regarded as the same reflector and tracked. Good. Also, between the relative positions of the reflectors detected at adjacent times, the reflectors having a velocity and direction closer than a predetermined threshold value are considered to be the same reflector and tracked. You may. You may combine these tracking methods.
  • the relative position of the obstacle 102 changes in the direction ( ⁇ Y direction) in which the moving direction (+ Y direction) of the moving body device 1 is reversed has been described.
  • the change in the relative position of the obstacle 102 in response to the movement of the device 1 is not limited thereto.
  • the relative position of the obstacle 102 is different from the direction in which the moving direction of the moving body device 1 is reversed. May change direction.
  • the relative position of the reflecting object R is set at a speed within a predetermined range and a predetermined value over a predetermined time length in accordance with the movement of the moving body device 1.
  • the reflector R is an obstacle 102.
  • the obstacle classifier 38 may refer to the speed and direction of the mobile device 1 when determining whether or not the reflecting object is an obstacle. For example, as shown in FIG. 4, when the mobile device 1 moves in the + Y direction at a constant speed, the obstacle classifier 38 changes in the ⁇ Y direction at the same speed as the mobile device 1. Only the reflector R having a relative position may be determined to be an obstacle. In this case, the obstacle classifier 38 has a reflector R having a relative position that changes in a direction different from the ⁇ Y direction, and a reflector R having a relative position that changes at a speed different from that of the mobile device 1. May be determined not to be an obstacle (eg, another mobile device).
  • the relative position of the reflecting object is regulated at a speed within a predetermined range and a direction within a predetermined range corresponding to the speed and direction of the mobile device 1 over a predetermined time length.
  • the reflecting object is an obstacle.
  • obstacles can be identified with higher accuracy than when no reference is made.
  • FIG. 6 is a diagram illustrating a schematic operation of the radar device 12 when the mobile device 1 of FIG. 1 is moving on a smooth floor surface 101.
  • FIG. 7 is a diagram showing a change in the relative position of the reflecting object detected by the radar device 12 of FIG.
  • the radar device 12 is reflected from the radar device 12 with respect to the floor surface 101 at the same incident angle even if the moving body device 1 moves. Receives radar waves.
  • the relative position of the reflector R is immovable. Therefore, in the obstacle classifier 38, when the relative position of the reflector R stays within a predetermined range for a predetermined time length, the reflector R is parallel and smooth with respect to the moving direction of the moving body device 1. It is determined that the floor surface is 101.
  • FIG. 8 is a diagram illustrating a schematic operation of the radar device 12 when the mobile device 1 of FIG. 1 is moving on the rough floor surface 101A.
  • FIG. 9 is a diagram showing a change in the relative position of the reflecting object detected by the radar device 12 of FIG.
  • the radar device 12 receives the radar wave reflected at a random position on the floor surface 101A each time the radar wave is emitted. ..
  • the relative position of the reflector R changes randomly. Therefore, in the obstacle classifier 38, when the relative position of the reflector R changes irregularly over a predetermined time length, the reflector R is parallel to the moving direction of the moving body device 1 and the floor surface is rough. It is determined that it is 101A.
  • the floor surface being "coarse” may mean, for example, that the average period d of the unevenness on the floor surface exceeds 1/2 of the wavelength of the radar wave, as shown in FIG. Further, the fact that the floor surface is "smooth” may mean that, for example, the average period d of the unevenness on the floor surface is 1/2 or less of the wavelength of the radar wave. Other definitions may be used for the smoothness / roughness of the floor surface.
  • FIG. 10 is a flowchart showing an obstacle detection process executed by the radar device 12 of FIG. The process of FIG. 10 is executed when the mobile device 1 is moving.
  • step S1 the obstacle classifier 38 initializes the number of processing cycles n to zero.
  • step S2 the signal generator 31, the transmitting antenna 32, the receiving antenna 33, the mixer 34, and the AD converter 35 transmit and receive radar waves.
  • step S3 the reflection position analyzer 36 determines the relative position of the reflector R and stores it in the storage device 37.
  • step S4 the obstacle classifier 38 determines whether or not data for N cycles is stored in the storage device 37, and if YES, proceeds to step S6, and if NO, proceeds to step S5.
  • the threshold value N in step S4 is set to, for example, 3 or more.
  • step S5 the obstacle classifier 38 increments the number of processing cycles n by 1.
  • step S6 the obstacle classifier 38 reads the data for the immediately preceding N cycles from the storage device 37 and tracks the same reflector R.
  • step S7 the obstacle classifier 38 determines whether or not the relative position of the reflecting object R changes regularly. If YES, the process proceeds to step S8, and if NO, the process proceeds to step S9. In step S8, the obstacle classifier 38 determines that the reflected signal of interest is the reflection of the obstacle.
  • step S9 the obstacle classifier 38 determines whether or not the relative position of the reflecting object R changes randomly, and if YES, proceeds to step S10, and if NO, proceeds to step S11.
  • step S10 the obstacle classifier 38 determines that the reflected signal of interest is the reflection of the rough floor surface.
  • step S11 the obstacle classifier 38 determines whether or not the relative position of the reflecting object R is immovable. If YES, the process proceeds to step S12, and if NO, the process proceeds to step S13. In step S12, the obstacle classifier 38 determines that the reflected signal of interest is the reflection of the smooth floor surface.
  • step S13 the obstacle classifier 38 determines that the reflected signal of interest is the reflection of another floor surface.
  • the radar device 12 When a plurality of reflective objects are detected in the received radar wave, the radar device 12 performs the processing of steps S7 to S13 (that is, determination of obstacle / rough floor surface / smooth floor surface) for each reflective object. It may be repeated.
  • steps S9 and S11 may be changed. Further, in the process of FIG. 10, steps S9 to S12 may be omitted.
  • the radar device 12 it is determined whether or not the reflecting object R has a smooth floor surface, and whether or not the reflecting object R has a rough floor surface. Obstacles can be identified with higher accuracy.
  • the radar device 12 not only the floor surface but also other structures such as the ground, the wall surface, the ceiling, and other large structures that do not become obstacles to the mobile device 1 are identified. be able to.
  • the processing speed can be increased.
  • the radar device 12 according to the embodiment may be mounted on a mobile device that operates autonomously without communicating with the server device 2.
  • the radar device 12 according to the embodiment is not limited to an automatic guided vehicle, and may be mounted on an automobile or the like. Further, the radar device 12 according to the embodiment may be applied to a mobile device such as a train or an elevator which does not have a steering device and has a drive device.
  • the radar device 12 is mounted on the mobile device 1.
  • the radar device 12 includes a transmitter / receiver, a reflection position analyzer 36, a storage device 37, and an obstacle classifier 38.
  • the transmitter / receiver emits radar waves at predetermined time intervals and receives the radar waves reflected by the reflector.
  • the reflection position analyzer 36 determines the relative position of the reflecting object based on the position of the radar device 12 based on the received radar wave.
  • the storage device 37 stores the history of the relative positions of the determined reflectors.
  • the obstacle classifier 38 determines whether or not the reflector is an obstacle based on the history of the stored relative positions of the reflector.
  • the obstacle classifier 38 determines that the reflector is an obstacle when the relative position of the reflector changes regularly at a speed within a predetermined range and a direction within the predetermined range over a predetermined time length. If not, determine that the reflector is not an obstacle.
  • the obstacle classifier 38 is within a predetermined range for the relative position of the reflecting object over a predetermined time length. When staying at the position of, it is determined that the reflecting object is a structure having a first surface parallel to the moving direction of the moving body device 1.
  • the obstacle classifier 38 has a relative position of the reflecting object over a predetermined time length. When it changes irregularly, it is determined that the reflecting object is a structure having a second surface parallel to the moving direction of the moving body device 1.
  • the obstacle classifier 38 determines in advance the relative position of the reflecting object. When the speed and direction of the mobile device 1 change regularly in a predetermined range and a direction within a predetermined range over a specified time length, it is determined that the reflecting object is an obstacle.
  • the mobile device 1 includes a radar device 12, a drive device 13, and a steering device 14 according to one of the first to fourth aspects.
  • the radar device can be applied to a mobile device such as an AGV (automatic guided vehicle) or an AIV (autonomous intelligent vehicle).
  • a mobile device such as an AGV (automatic guided vehicle) or an AIV (autonomous intelligent vehicle).

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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Abstract

In the present invention, a transceiver emits radar waves at predetermined time intervals when a mobile body device is in movement, and receives radar waves that have been reflected by a reflecting object. A reflection location analyzer determines the relative position of the reflecting object relative to the location of the radar device on the basis of the received radar waves. A storage device stores a history of relative positions of the reflecting object that have been determined. An obstacle identifier determines whether or not the reflecting object is an obstacle on the basis of the stored history of relative positions of the reflecting object. The obstacle identifier determines the reflecting object to be an obstacle if the relative position of the reflecting object changes regularly at a speed within a predetermined range and in a direction within a predetermined range over a predetermined time length, and determines the reflecting object not to be an obstacle when the foregoing is not the case.

Description

レーダ装置及び移動体装置Radar device and mobile device
　本開示は、移動体装置に搭載されるレーダ装置に関し、また、レーダ装置を備えた移動体装置に関する。 The present disclosure relates to a radar device mounted on a mobile device, and also relates to a mobile device equipped with a radar device.
　自動車又は自動搬送車などの移動体装置は、その移動中に障害物を検出するために、レーダ装置を搭載することがある。例えば、特許文献１は、複数の系統の信号を用いるレーダ探知装置を開示している。 Mobile devices such as automobiles or automatic guided vehicles may be equipped with radar devices in order to detect obstacles during their movement. For example, Patent Document 1 discloses a radar detection device that uses signals of a plurality of systems.
特開２０１７－２０７４２５号公報JP-A-2017-207425
　レーダ装置は、レーダ波を放射したとき、移動体装置にとって障害物となりうる物体による反射波を受信するだけでなく、追加又は代替として、例えば床面、地面、壁面、及び天井など、移動体装置にとって障害物とはならない他の構造物による反射波（クラッタ）を受信する可能性がある。障害物となりうる物体による反射波の信号レベルが十分に大きくない場合、又は、他の構造物による反射波の信号レベルが十分に小さくない場合、レーダ装置によって検出された反射物が、障害物であるのか、それとも他の構造物であるのか、区別できなくなることがある。従って、障害物を他の構造物から区別することできるレーダ装置が求められる。 Radar devices not only receive reflected waves from objects that can be obstacles to the moving device when it emits radar waves, but also additional or alternative mobile devices such as floors, ground, walls, and ceilings. There is a possibility of receiving reflected waves (clutter) from other structures that are not obstacles to. If the signal level of the reflected wave from an object that can be an obstacle is not high enough, or if the signal level of the reflected wave from another structure is not low enough, the reflective object detected by the radar device is an obstacle. It may be indistinguishable whether it is an existence or another structure. Therefore, there is a need for a radar device that can distinguish obstacles from other structures.
　例えば、特許文献１の装置は、ターゲットをクラッタから区別するために、各々の系統の信号のスペクトルの強度ピーク位置を比較し、各々の系統における強度ピーク位置のばらつきが小さい信号のスペクトルをターゲットによるものと判定し、各々の系統における強度ピーク位置のばらつきが大きい信号のスペクトルをクラッタによるものと判定する。しかしながら、特許文献１の装置は、複数の系統の信号を受信して処理するために複数の回路を備え、回路規模が大きくなる。従って、より簡単な構成で、障害物を他の構造物から区別することできるレーダ装置が求められる。 For example, in order to distinguish the target from the clutter, the apparatus of Patent Document 1 compares the intensity peak positions of the signals of each system, and the spectrum of the signal having a small variation in the intensity peak position in each system is based on the target. It is determined that the spectrum of the signal having a large variation in the intensity peak position in each system is determined to be due to the clutter. However, the apparatus of Patent Document 1 includes a plurality of circuits for receiving and processing signals of a plurality of systems, and the circuit scale becomes large. Therefore, there is a need for a radar device that can distinguish obstacles from other structures with a simpler configuration.
　本開示の目的は、簡単な構成で障害物を他の構造物から区別することできるレーダ装置を提供することにある。また、本開示の目的は、そのようなレーダ装置を備えた移動体装置を提供することにある。 An object of the present disclosure is to provide a radar device capable of distinguishing an obstacle from other structures with a simple configuration. An object of the present disclosure is to provide a mobile device including such a radar device.
　本開示の側面に係るレーダ装置によれば、
　移動体装置に搭載されるレーダ装置であって、
　前記移動体装置が移動中であるとき、予め決められた時間間隔でレーダ波を放射し、反射物によって反射されたレーダ波を受信する送受信機と、
　受信された前記レーダ波に基づいて、前記レーダ装置の位置を基準とする前記反射物の相対位置を決定する反射位置解析器と、
　決定された前記反射物の相対位置の履歴を記憶する記憶装置と、
　記憶された前記反射物の相対位置の履歴に基づいて、前記反射物が障害物であるか否かを判断する障害物識別器とを備え、
　前記障害物識別器は、前記反射物の相対位置が予め決められた時間長にわたって所定範囲内の速度かつ所定範囲内の方向で規則的に変化するとき、前記反射物が障害物であると判断し、そうでないとき、前記反射物が障害物ではないと判断する。 According to the radar device according to the aspect of the present disclosure.
A radar device mounted on a mobile device
When the mobile device is moving, a transmitter / receiver that emits radar waves at predetermined time intervals and receives radar waves reflected by a reflector.
A reflection position analyzer that determines the relative position of the reflector based on the position of the radar device based on the received radar wave.
A storage device that stores the determined relative position history of the reflective object, and
It is provided with an obstacle classifier for determining whether or not the reflective object is an obstacle based on the stored relative position history of the reflective object.
The obstacle classifier determines that the reflector is an obstacle when the relative position of the reflector changes regularly at a speed within a predetermined range and a direction within the predetermined range over a predetermined time length. If not, it is determined that the reflective object is not an obstacle.
　これにより、反射物の相対位置の時間的変化を参照することにより、簡単な構成で障害物を他の構造物から区別することできる。 This makes it possible to distinguish obstacles from other structures with a simple configuration by referring to the temporal changes in the relative position of the reflector.
　本開示の側面に係るレーダ装置によれば、
　前記障害物識別器は、前記反射物の相対位置が前記予め決められた時間長にわたって所定範囲内の位置にとどまるとき、前記反射物が、前記移動体装置の移動方向に対して平行な第１の面を有する構造物であると判断する。 According to the radar device according to the aspect of the present disclosure.
In the obstacle classifier, when the relative position of the reflecting object stays within a predetermined range for the predetermined time length, the reflecting object is the first parallel to the moving direction of the moving body device. It is judged that the structure has the surface of.
　これにより、滑らかな面を識別することにより、障害物を検出する精度を向上することができる。 This makes it possible to improve the accuracy of detecting obstacles by identifying smooth surfaces.
　本開示の側面に係るレーダ装置によれば、
　前記障害物識別器は、前記反射物の相対位置が前記予め決められた時間長にわたって不規則に変化するとき、前記反射物が、前記移動体装置の移動方向に対して平行な第２の
面を有する構造物であると判断する。 According to the radar device according to the aspect of the present disclosure.
The obstacle classifier has a second surface in which the reflector is parallel to the moving direction of the mobile device when the relative position of the reflector changes irregularly over a predetermined time length. It is judged that the structure has.
　これにより、粗い面を識別することにより、障害物を検出する精度を向上することができる。 This makes it possible to improve the accuracy of detecting obstacles by identifying the rough surface.
　本開示の側面に係るレーダ装置によれば、
　前記障害物識別器は、前記反射物の相対位置が、前記予め決められた時間長にわたって、前記移動体装置の速度及び方向に対応する所定範囲内の速度かつ所定範囲内の方向で規則的に変化するとき、前記反射物が障害物であると判断する。 According to the radar device according to the aspect of the present disclosure.
In the obstacle classifier, the relative position of the reflector is regularly arranged at a speed within a predetermined range corresponding to the speed and direction of the mobile device and a direction within a predetermined range over a predetermined time length. When it changes, it is determined that the reflector is an obstacle.
　これにより、移動体装置の速度及び方向を参照することにより、障害物を検出する精度を向上することができる。 This makes it possible to improve the accuracy of detecting obstacles by referring to the speed and direction of the mobile device.
　本開示の側面に係る移動体装置によれば、
　本開示の側面に係るレーダ装置と、
　駆動装置と、
　操舵装置とを備える。 According to the mobile device according to aspects of the present disclosure.
The radar device according to the aspect of the present disclosure and
Drive device and
It is equipped with a steering device.
　これにより、本開示の側面に係るレーダ装置を備え、反射物の相対位置の時間的変化を参照することにより、簡単な構成で障害物を他の構造物から区別することできる。 Thereby, by providing the radar device according to the aspect of the present disclosure and referring to the temporal change of the relative position of the reflecting object, the obstacle can be distinguished from other structures with a simple configuration.
　本開示の側面に係るレーダ装置及び移動体装置によれば、簡単な構成で障害物を他の構造物から区別することできる。 According to the radar device and the mobile device according to the aspect of the present disclosure, an obstacle can be distinguished from other structures with a simple configuration.
実施形態に係る移動体装置１及びサーバ装置２を含むシステムの構成を示すブロック図である。It is a block diagram which shows the structure of the system including the mobile apparatus 1 and the server apparatus 2 which concerns on embodiment. 図１のレーダ装置１２の概略動作を説明する図である。It is a figure explaining the schematic operation of the radar apparatus 12 of FIG. 図２のレーダ装置１２によって検出される反射物の相対位置を示す図である。It is a figure which shows the relative position of the reflector detected by the radar apparatus 12 of FIG. 図１の移動体装置１が障害物１０２の近傍において移動中であるときの、レーダ装置１２の概略動作を説明する図である。It is a figure explaining the schematic operation of the radar device 12 when the mobile device 1 of FIG. 1 is moving in the vicinity of the obstacle 102. 図４のレーダ装置１２によって検出される反射物の相対位置の変化を示す図である。It is a figure which shows the change of the relative position of the reflector detected by the radar apparatus 12 of FIG. 図１の移動体装置１が滑らかな床面１０１において移動中であるときの、レーダ装置１２の概略動作を説明する図である。It is a figure explaining the schematic operation of the radar device 12 when the mobile device 1 of FIG. 1 is moving on the smooth floor surface 101. 図６のレーダ装置１２によって検出される反射物の相対位置の変化を示す図である。It is a figure which shows the change of the relative position of the reflector detected by the radar apparatus 12 of FIG. 図１の移動体装置１が粗い床面１０１Ａにおいて移動中であるときの、レーダ装置１２の概略動作を説明する図である。It is a figure explaining the schematic operation of the radar apparatus 12 when the mobile apparatus 1 of FIG. 1 is moving on a rough floor surface 101A. 図８のレーダ装置１２によって検出される反射物の相対位置の変化を示す図である。It is a figure which shows the change of the relative position of the reflector detected by the radar apparatus 12 of FIG. 図１のレーダ装置１２によって実行される障害物検出処理を示すフローチャートである。It is a flowchart which shows the obstacle detection process executed by the radar apparatus 12 of FIG.
　以下、本開示の一側面に係る実施形態（以下、「本実施形態」とも表記する）を、図面に基づいて説明する。各図面において、同じ符号は同様の構成要素を示す。 Hereinafter, an embodiment according to one aspect of the present disclosure (hereinafter, also referred to as “the present embodiment”) will be described with reference to the drawings. In each drawing, the same reference numerals indicate similar components.
［適用例］
　図１は、実施形態に係る移動体装置１及びサーバ装置２を含むシステムの構成を示すブロック図である。移動体装置１は、例えば、ＡＧＶ（automatic guided vehicle）又はＡＩＶ（autonomous intelligent vehicle）などと呼ばれる、サーバ装置２の制御下で動作する自動搬送車である。移動体装置１にはレーダ装置１２が搭載される。 [Application example]
FIG. 1 is a block diagram showing a configuration of a system including the mobile device 1 and the server device 2 according to the embodiment. The mobile device 1 is, for example, an automatic guided vehicle called an AGV (automatic guided vehicle) or an AIV (autonomous intelligent vehicle) that operates under the control of a server device 2. A radar device 12 is mounted on the mobile device 1.
　図１の移動体装置１は、信号発生器３１、送信アンテナ３２、受信アンテナ３３、ミキサ３４、アナログ／ディジタル（ＡＤ）変換器３５、反射位置解析器３６、記憶装置３７、及び障害物識別器３８を備える。 The mobile device 1 of FIG. 1 includes a signal generator 31, a transmitting antenna 32, a receiving antenna 33, a mixer 34, an analog / digital (AD) converter 35, a reflection position analyzer 36, a storage device 37, and an obstacle classifier. 38 is provided.
　信号発生器３１は、予め決められた時間間隔で、反射物Ｒを検出するための無線周波信号を発生して送信アンテナ３２及びミキサ３４に供給する。信号発生器３１は、無線周波信号として、予め決められた周波数を有するＣＷ（continuous wave）信号を発生してもよく、周期的に変化する周波数を有するＦＭ－ＣＷ信号を発生してもよい。 The signal generator 31 generates a radio frequency signal for detecting the reflector R at a predetermined time interval and supplies it to the transmitting antenna 32 and the mixer 34. The signal generator 31 may generate a CW (continuous wave) signal having a predetermined frequency as a radio frequency signal, or may generate an FM-CW signal having a frequency that changes periodically.
　送信アンテナ３２は、信号発生器３１から供給された無線周波信号を、探査対称の空間に向けてレーダ波として放射する。受信アンテナ３３は、反射物Ｒによって反射されたレーダ波を受信してミキサ３４に送る。送信アンテナ３２及び受信アンテナ３３の少なくとも一方は、可変な指向性を有してもよい。 The transmitting antenna 32 radiates the radio frequency signal supplied from the signal generator 31 as a radar wave toward the exploration-symmetrical space. The receiving antenna 33 receives the radar wave reflected by the reflector R and sends it to the mixer 34. At least one of the transmitting antenna 32 and the receiving antenna 33 may have a variable directivity.
　ミキサ３４は、信号発生器３１及び受信アンテナ３３から送られた信号を混合してＡＤ変換器３５に送る。移動体装置１は、ミキサ３４によって混合された信号をＡＤ変換器３５に送る前に、信号の周波数を無線周波数からベースバンド周波数に変換してもよい。 The mixer 34 mixes the signals sent from the signal generator 31 and the receiving antenna 33 and sends them to the AD converter 35. The mobile device 1 may convert the frequency of the signal from the radio frequency to the baseband frequency before sending the signal mixed by the mixer 34 to the AD converter 35.
　ＡＤ変換器３５は、ミキサ３４から送られたアナログ信号をディジタル信号に変換して反射位置解析器３６に送る。 The AD converter 35 converts the analog signal sent from the mixer 34 into a digital signal and sends it to the reflection position analyzer 36.
　信号発生器３１、送信アンテナ３２、受信アンテナ３３、ミキサ３４、及びＡＤ変換器３５は、送受信機の一例である。移動体装置１は、移動体装置１が移動中であるとき、予め決められた時間間隔でレーダ波を放射し、反射物Ｒによって反射されたレーダ波を受信するのであれば、他の形態の送受信機を備えてもよい。例えば、移動体装置１は、単一のアンテナを送信アンテナ及び受信アンテナとして共用してもよい。また、移動体装置１は、無線周波増幅器など、他の回路を備えてもよい。 The signal generator 31, the transmitting antenna 32, the receiving antenna 33, the mixer 34, and the AD converter 35 are examples of transmitters and receivers. The mobile device 1 has another form as long as it emits radar waves at predetermined time intervals when the mobile device 1 is moving and receives the radar waves reflected by the reflector R. A transmitter / receiver may be provided. For example, the mobile device 1 may share a single antenna as a transmitting antenna and a receiving antenna. Further, the mobile device 1 may include other circuits such as a radio frequency amplifier.
　反射位置解析器３６は、ＡＤ変換器３５から送られた信号（すなわち、受信されたレーダ波に対応する信号）に基づいて、レーダ装置１２の位置を基準とする反射物Ｒの相対位置を決定する。反射位置解析器３６は、高速フーリエ変換などを用いて、レーダ装置１２から反射物Ｒまでの距離を推定する。また、反射位置解析器３６は、例えば、信号発生器３１、送信アンテナ３２、及び／又は受信アンテナ３３を制御し、ビームフォーマ（beamformer）アルゴリズム又はＭＵＳＩＣ（multiple signal classification）アルゴリズムなどの到来波推定アルゴリズムを用いて、反射されたレーダ波の到来方向を推定する。反射位置解析器３６は、距離及び到来方向を推定することにより、反射物Ｒの相対位置を決定する。 The reflection position analyzer 36 determines the relative position of the reflector R with reference to the position of the radar device 12 based on the signal sent from the AD converter 35 (that is, the signal corresponding to the received radar wave). To do. The reflection position analyzer 36 estimates the distance from the radar device 12 to the reflector R by using a fast Fourier transform or the like. Further, the reflection position analyzer 36 controls, for example, the signal generator 31, the transmitting antenna 32, and / or the receiving antenna 33, and an incoming wave estimation algorithm such as a beamformer algorithm or a MUSIC (multiple signal classification) algorithm. Is used to estimate the direction of arrival of the reflected radar wave. The reflection position analyzer 36 determines the relative position of the reflector R by estimating the distance and the direction of arrival.
　反射位置解析器３６は、受信されたレーダ波に対応する信号のうち、ある瞬間又は時間区間の信号部分に基づいて距離又は到来方向を推定し、推定された距離又は到来方向と、この信号部分の信号強度とを互いに関連付けて処理してもよい。この場合、反射位置解析器３６は、あるしきい値以上の信号強度を有する信号部分に基づいて推定された距離又は到来方向を、反射物Ｒの距離又は到来方向として決定してもよい。また、反射位置解析器３６は、定誤警報率（constant false alarm rate）受信処理を行って反射物Ｒの距離又は到来方向を決定してもよい。また、反射位置解析器３６は、推定された複数の距離又は到来方向のクラスタリングを行って反射物Ｒの距離又は到来方向を決定してもよい。 The reflection position analyzer 36 estimates the distance or the arrival direction based on the signal portion of a certain moment or time interval in the signal corresponding to the received radar wave, and the estimated distance or arrival direction and this signal portion. The signal strengths of the above may be related to each other for processing. In this case, the reflection position analyzer 36 may determine the distance or the arrival direction estimated based on the signal portion having the signal strength equal to or higher than a certain threshold value as the distance or the arrival direction of the reflector R. Further, the reflection position analyzer 36 may perform a constant false alarm rate reception process to determine the distance or the arrival direction of the reflector R. Further, the reflection position analyzer 36 may perform clustering of a plurality of estimated distances or arrival directions to determine the distance or arrival direction of the reflector R.
　記憶装置３７は、反射位置解析器３６によって決定された反射物Ｒの相対位置の履歴を記憶する。 The storage device 37 stores the history of the relative position of the reflector R determined by the reflection position analyzer 36.
　障害物識別器３８は、記憶装置３７に記憶された反射物Ｒの相対位置の履歴に基づいて、反射物Ｒが障害物であるか否かを判断する。障害物識別器３８は、反射物Ｒの相対位置が予め決められた時間長にわたって所定範囲内の速度かつ所定範囲内の方向で規則的に変化するとき、反射物Ｒが障害物であると判断し、そうでないとき、反射物Ｒが障害物ではないと判断する。 The obstacle classifier 38 determines whether or not the reflector R is an obstacle based on the history of the relative positions of the reflector R stored in the storage device 37. The obstacle classifier 38 determines that the reflector R is an obstacle when the relative position of the reflector R changes regularly at a speed within a predetermined range and a direction within the predetermined range over a predetermined time length. If not, it is determined that the reflector R is not an obstacle.
　障害物は、例えば、移動体装置１の移動方向に対して交差する面を有する構造物である。一方、例えば床面、地面、壁面、及び天井など、移動体装置１の移動方向に対して平行な面を有する他の構造物は、移動体装置にとって障害物とはならない。しかしながら、前述したように、レーダ装置１２は、このような他の構造物による反射波（クラッタ）を受信する可能性がある。実施形態に係るレーダ装置１２によれば、反射物Ｒの相対位置の時間的変化を参照することにより、簡単な構成で障害物を他の構造物から区別することできる。 The obstacle is, for example, a structure having a surface that intersects the moving direction of the moving body device 1. On the other hand, other structures having surfaces parallel to the moving direction of the moving body device 1, such as a floor surface, the ground, a wall surface, and a ceiling, do not pose an obstacle to the moving body device 1. However, as described above, the radar device 12 may receive reflected waves (clutters) from such other structures. According to the radar device 12 according to the embodiment, the obstacle can be distinguished from other structures with a simple configuration by referring to the temporal change of the relative position of the reflecting object R.
［実施形態］
［実施形態の構成例］
　図１を参照すると、移動体装置１は、レーダ装置１２に加えて、制御装置１１、駆動装置１３、操舵装置１４、及び通信装置１５を備えてもよい。制御装置１１は、移動体装置１の全体の動作を制御する。駆動装置１３は、制御装置１１の制御下で、移動体装置１を所定の速度で移動させる。操舵装置１４は、制御装置１１の制御下で、移動体装置１の方向を制御する。通信装置１５は、サーバ装置２から制御信号を受信し、また、レーダ装置１２によって検出された障害物の情報をサーバ装置２に送信する。 [Embodiment]
[Structure example of embodiment]
Referring to FIG. 1, the mobile device 1 may include a control device 11, a drive device 13, a steering device 14, and a communication device 15 in addition to the radar device 12. The control device 11 controls the overall operation of the mobile device 1. The drive device 13 moves the mobile device 1 at a predetermined speed under the control of the control device 11. The steering device 14 controls the direction of the moving body device 1 under the control of the control device 11. The communication device 15 receives a control signal from the server device 2 and transmits information on obstacles detected by the radar device 12 to the server device 2.
　移動体装置１の制御装置１１は、移動体装置１が移動中であるか否かをレーダ装置１２に通知する。また、制御装置１１は、移動体装置１の速度及び方向をレーダ装置１２に通知してもよい。また、制御装置１１は、レーダ装置１２によって障害物が検出されたとき、障害物を回避するように移動体装置１の経路を変更してもよく、移動体装置１を停止してもよい。 The control device 11 of the mobile device 1 notifies the radar device 12 whether or not the mobile device 1 is moving. Further, the control device 11 may notify the radar device 12 of the speed and direction of the mobile device 1. Further, when an obstacle is detected by the radar device 12, the control device 11 may change the route of the mobile device 1 so as to avoid the obstacle, or may stop the mobile device 1.
　また、図１を参照すると、サーバ装置２は、制御装置２１、通信装置２２、入力装置２３、記憶装置２４、及び表示装置２５を備える。制御装置２１は、サーバ装置２の全体の動作を制御する。通信装置２２は、移動体装置１に制御信号を送信し、また、移動体装置１から障害物の情報を受信する。入力装置２３は、キーボード及びポインティングデバイスなどを含み、ユーザ入力を受ける。記憶装置２４は、移動体装置１から受信された障害物の情報を記憶する。表示装置２５は、移動体装置１から受信された障害物の情報を表示する。 Further, referring to FIG. 1, the server device 2 includes a control device 21, a communication device 22, an input device 23, a storage device 24, and a display device 25. The control device 21 controls the overall operation of the server device 2. The communication device 22 transmits a control signal to the mobile device 1 and also receives information on obstacles from the mobile device 1. The input device 23 includes a keyboard, a pointing device, and the like, and receives user input. The storage device 24 stores the obstacle information received from the mobile device 1. The display device 25 displays information on obstacles received from the mobile device 1.
　サーバ装置２の制御装置２１は、移動体装置１から受信された障害物の情報に基づいて、移動体装置１が移動可能な領域のマップを生成してもよい。 The control device 21 of the server device 2 may generate a map of the area in which the mobile device 1 can move based on the obstacle information received from the mobile device 1.
　サーバ装置２は、複数の移動体装置１に制御信号を送信し、また、複数の移動体装置１から障害物の情報を受信してもよい。 The server device 2 may transmit a control signal to the plurality of mobile devices 1 and may receive information on obstacles from the plurality of mobile devices 1.
［実施形態の動作例］
　図２は、図１のレーダ装置１２の概略動作を説明する図である。図３は、図２のレーダ装置１２によって検出される反射物の相対位置を示す図である。図２及び図３は、移動体装置１が、滑らかな床面１０１において、障害物１０２の近傍において移動中である場合を示す。前述したように、レーダ装置１２は、レーダ波を放射したとき、移動体装置１にとって障害物１０２による反射波を受信するだけでなく、移動体装置１にとって障害物とはならない床面１０１による反射波（クラッタ）を受信する可能性がある。床面１０１による反射波の信号レベルが大きい場合、図３に示すように、レーダ装置１２によって検出された反射物Ｒが、障害物１０２であるのか、それとも床面１０１であるのか、区別できないことがある。 [Operation example of the embodiment]
FIG. 2 is a diagram illustrating a schematic operation of the radar device 12 of FIG. FIG. 3 is a diagram showing the relative positions of the reflecting objects detected by the radar device 12 of FIG. 2 and 3 show a case where the mobile device 1 is moving in the vicinity of the obstacle 102 on the smooth floor surface 101. As described above, when the radar device 12 radiates the radar wave, the radar device 12 not only receives the reflected wave by the obstacle 102 for the moving body device 1, but also reflects by the floor surface 101 which does not become an obstacle for the moving body device 1. May receive waves (clutter). When the signal level of the reflected wave by the floor surface 101 is large, as shown in FIG. 3, it is impossible to distinguish whether the reflected object R detected by the radar device 12 is an obstacle 102 or a floor surface 101. There is.
　図４は、図１の移動体装置１が障害物１０２の近傍において移動中であるときの、レーダ装置１２の概略動作を説明する図である。図５は、図４のレーダ装置１２によって検出される反射物の相対位置の変化を示す図である。図４は、移動体装置１が＋Ｙ方向に向かって一定の速度で移動しながら、レーダ装置１２が、時刻ｔ１、ｔ２、ｔ３においてレーダ波を放射し、障害物１０２によって反射されたレーダ波を受信する場合を示す。符号１（ｔ１）～１（ｔ３）は、時刻ｔ１～ｔ３における移動体装置１の位置を示す。レーダ装置１２によって受信されたレーダ波は、いったん、未知の反射物Ｒによって反射されたレーダ波であるとみなされる。この場合、レーダ装置１２の位置を基準とする反射物Ｒの相対位置は、図５に示すように変化する。符号Ｒ（ｔ１）～Ｒ（ｔ３）は、時刻ｔ１～ｔ３における反射物Ｒの相対位置を示す。障害物１０２は床面１０１において決まった位置を有するので、移動体装置１が移動中であるとき、障害物１０２の相対位置は、移動体装置１の速度及び方向に応じて、所定範囲内の速度かつ所定範囲内の方向で規則的に変化する。従って、反射物Ｒの相対位置が予め決められた時間長にわたって所定範囲内の速度かつ所定範囲内の方向で規則的に変化するとき、反射物Ｒが障害物１０２であることがわかる。図４及び図５の例では、障害物１０２の相対位置は、－Ｙ方向に向かって一定の速度で変化する。これにより、反射物Ｒが、床面１０１ではなく、障害物１０２であることがわかる。 FIG. 4 is a diagram illustrating a schematic operation of the radar device 12 when the mobile device 1 of FIG. 1 is moving in the vicinity of the obstacle 102. FIG. 5 is a diagram showing a change in the relative position of the reflecting object detected by the radar device 12 of FIG. In FIG. 4, while the moving body device 1 moves in the + Y direction at a constant speed, the radar device 12 emits radar waves at times t1, t2, and t3, and the radar waves reflected by the obstacle 102 are emitted. Indicates the case of receiving. Reference numerals 1 (t1) to 1 (t3) indicate the positions of the mobile device 1 at times t1 to t3. The radar wave received by the radar device 12 is once regarded as a radar wave reflected by the unknown reflector R. In this case, the relative position of the reflector R with respect to the position of the radar device 12 changes as shown in FIG. Reference numerals R (t1) to R (t3) indicate relative positions of the reflector R at times t1 to t3. Since the obstacle 102 has a fixed position on the floor surface 101, when the moving body device 1 is moving, the relative position of the obstacle 102 is within a predetermined range according to the speed and direction of the moving body device 1. It changes regularly in the direction of speed and within a predetermined range. Therefore, when the relative position of the reflecting object R changes regularly at a speed within a predetermined range and a direction within a predetermined range over a predetermined time length, it can be seen that the reflecting object R is an obstacle 102. In the examples of FIGS. 4 and 5, the relative position of the obstacle 102 changes at a constant speed in the −Y direction. From this, it can be seen that the reflecting object R is not the floor surface 101 but the obstacle 102.
　異なる時刻において検出される反射物の相対位置の間において、同一の反射物は、以下のように追跡されてもよい。例えば、互いに隣接する時刻において検出される反射物の相対位置の間において、予め決められたしきい値よりも近接した信号レベルを有する反射波を生じた反射物を、同一の反射物であるとみなして追跡してもよい。また、互いに隣接する時刻において検出される反射物の相対位置の間において、予め決められたしきい値よりも近接した位置を有する反射物を、同一の反射物であるとみなして追跡してもよい。また、互いに隣接する時刻において検出される反射物の相対位置の間において、予め決められたしきい値よりも近接した速度及び方向を有する反射物を、同一の反射物であるとみなして追跡してもよい。これらの追跡方法を組み合わせてもよい。 The same reflector may be tracked between the relative positions of the reflectors detected at different times as follows. For example, reflectors that generate reflected waves with signal levels closer than a predetermined threshold between the relative positions of the reflectors detected at adjacent times are considered to be the same reflector. It may be considered and tracked. In addition, even if a reflector having a position closer than a predetermined threshold value among the relative positions of the reflectors detected at adjacent times is regarded as the same reflector and tracked. Good. Also, between the relative positions of the reflectors detected at adjacent times, the reflectors having a velocity and direction closer than a predetermined threshold value are considered to be the same reflector and tracked. You may. You may combine these tracking methods.
　図４及び図５の例では、障害物１０２の相対位置が、移動体装置１の移動方向（＋Ｙ方向）を反転した方向（－Ｙ方向）に向かって変化する場合について説明したが、移動体装置１の移動に応じた障害物１０２の相対位置の変化はそれに限定されない。例えば、移動体装置１がカーブに沿って進むとき、又は、移動体装置１がその場所で旋回するとき、障害物１０２の相対位置は、移動体装置１の移動方向を反転した方向とは異なる方向に変化することがある。いずれにしても、障害物識別器３８は、移動体装置１の移動に応じて、反射物Ｒの相対位置が予め決められた時間長にわたって反射物Ｒの相対位置が所定範囲内の速度かつ所定範囲内の方向で規則的に変化するとき、反射物Ｒが障害物１０２であると判断することができる。 In the examples of FIGS. 4 and 5, the case where the relative position of the obstacle 102 changes in the direction (−Y direction) in which the moving direction (+ Y direction) of the moving body device 1 is reversed has been described. The change in the relative position of the obstacle 102 in response to the movement of the device 1 is not limited thereto. For example, when the moving body device 1 advances along a curve, or when the moving body device 1 turns at that location, the relative position of the obstacle 102 is different from the direction in which the moving direction of the moving body device 1 is reversed. May change direction. In any case, in the obstacle classifier 38, the relative position of the reflecting object R is set at a speed within a predetermined range and a predetermined value over a predetermined time length in accordance with the movement of the moving body device 1. When it changes regularly in the direction within the range, it can be determined that the reflector R is an obstacle 102.
　障害物識別器３８は、反射物が障害物であるか否かを判断するとき、移動体装置１の速度及び方向を参照してもよい。例えば、図４に示すように、移動体装置１が＋Ｙ方向に向かって一定の速度で移動する場合、障害物識別器３８は、－Ｙ方向に向かって移動体装置１と同じ速度で変化する相対位置を有する反射物Ｒのみを障害物であると判断してもよい。この場合、障害物識別器３８は、－Ｙ方向とは異なる方向に向かって変化する相対位置を有する反射物Ｒ、及び、移動体装置１とは異なる速度で変化する相対位置を有する反射物Ｒを、障害物ではない（例えば、他の移動体装置など）と判断してもよい。このように、障害物識別器３８は、反射物の相対位置が、予め決められた時間長にわたって、移動体装置１の速度及び方向に対応する所定範囲内の速度かつ所定範囲内の方向で規則的に変化するとき、反射物が障害物であると判断する。移動体装置１の速度及び方向を参照することにより、参照しない場合よりも高精度に障害物を識別することができる。 The obstacle classifier 38 may refer to the speed and direction of the mobile device 1 when determining whether or not the reflecting object is an obstacle. For example, as shown in FIG. 4, when the mobile device 1 moves in the + Y direction at a constant speed, the obstacle classifier 38 changes in the −Y direction at the same speed as the mobile device 1. Only the reflector R having a relative position may be determined to be an obstacle. In this case, the obstacle classifier 38 has a reflector R having a relative position that changes in a direction different from the −Y direction, and a reflector R having a relative position that changes at a speed different from that of the mobile device 1. May be determined not to be an obstacle (eg, another mobile device). As described above, in the obstacle classifier 38, the relative position of the reflecting object is regulated at a speed within a predetermined range and a direction within a predetermined range corresponding to the speed and direction of the mobile device 1 over a predetermined time length. When it changes, it is judged that the reflecting object is an obstacle. By referring to the speed and direction of the mobile device 1, obstacles can be identified with higher accuracy than when no reference is made.
　図６は、図１の移動体装置１が滑らかな床面１０１において移動中であるときの、レーダ装置１２の概略動作を説明する図である。図７は、図６のレーダ装置１２によって検出される反射物の相対位置の変化を示す図である。図６に示すように、床面１０１が滑らかである場合、レーダ装置１２は、移動体装置１が移動しても、レーダ装置１２から床面１０１に対して同じ入射角で入射して反射されたレーダ波を受信する。この場合、図７に示すように、反射物Ｒの相対位置は不動である。従って、障害物識別器３８は、反射物Ｒの相対位置が予め決められた時間長にわたって所定範囲内の位置にとどまるとき、反射物Ｒが、移動体装置１の移動方向に対して平行かつ滑らかな床面１０１であると判断する。 FIG. 6 is a diagram illustrating a schematic operation of the radar device 12 when the mobile device 1 of FIG. 1 is moving on a smooth floor surface 101. FIG. 7 is a diagram showing a change in the relative position of the reflecting object detected by the radar device 12 of FIG. As shown in FIG. 6, when the floor surface 101 is smooth, the radar device 12 is reflected from the radar device 12 with respect to the floor surface 101 at the same incident angle even if the moving body device 1 moves. Receives radar waves. In this case, as shown in FIG. 7, the relative position of the reflector R is immovable. Therefore, in the obstacle classifier 38, when the relative position of the reflector R stays within a predetermined range for a predetermined time length, the reflector R is parallel and smooth with respect to the moving direction of the moving body device 1. It is determined that the floor surface is 101.
　図８は、図１の移動体装置１が粗い床面１０１Ａにおいて移動中であるときの、レーダ装置１２の概略動作を説明する図である。図９は、図８のレーダ装置１２によって検出される反射物の相対位置の変化を示す図である。図８に示すように、移動体装置１が粗い床面１０１Ａにおいて移動する場合、レーダ装置１２は、レーダ波を放射するごとに、床面１０１Ａにおけるランダムな位置において反射されたレーダ波を受信する。この場合、図９に示すように、反射物Ｒの相対位置はランダムに変化する。従って、障害物識別器３８は、反射物Ｒの相対位置が予め決められた時間長にわたって不規則に変化するとき、反射物Ｒが、移動体装置１の移動方向に対して平行かつ粗い床面１０１Ａであると判断する。 FIG. 8 is a diagram illustrating a schematic operation of the radar device 12 when the mobile device 1 of FIG. 1 is moving on the rough floor surface 101A. FIG. 9 is a diagram showing a change in the relative position of the reflecting object detected by the radar device 12 of FIG. As shown in FIG. 8, when the moving body device 1 moves on the rough floor surface 101A, the radar device 12 receives the radar wave reflected at a random position on the floor surface 101A each time the radar wave is emitted. .. In this case, as shown in FIG. 9, the relative position of the reflector R changes randomly. Therefore, in the obstacle classifier 38, when the relative position of the reflector R changes irregularly over a predetermined time length, the reflector R is parallel to the moving direction of the moving body device 1 and the floor surface is rough. It is determined that it is 101A.
　床面が「粗い」とは、例えば、図８に示すように、床面における凹凸の平均周期ｄがレーダ波の波長の１／２を超えることを意味してもよい。また、床面が「滑らか」であるとは、例えば、床面における凹凸の平均周期ｄがレーダ波の波長の１／２以下であることを意味してもよい。床面の滑らかさ／粗さについては、他の定義を用いてもよい。 The floor surface being "coarse" may mean, for example, that the average period d of the unevenness on the floor surface exceeds 1/2 of the wavelength of the radar wave, as shown in FIG. Further, the fact that the floor surface is "smooth" may mean that, for example, the average period d of the unevenness on the floor surface is 1/2 or less of the wavelength of the radar wave. Other definitions may be used for the smoothness / roughness of the floor surface.
　図１０は、図１のレーダ装置１２によって実行される障害物検出処理を示すフローチャートである。図１０の処理は、移動体装置１が移動中であるときに実行される。 FIG. 10 is a flowchart showing an obstacle detection process executed by the radar device 12 of FIG. The process of FIG. 10 is executed when the mobile device 1 is moving.
　ステップＳ１において、障害物識別器３８は、処理のサイクル数ｎをゼロに初期化する。ステップＳ２において、信号発生器３１、送信アンテナ３２、受信アンテナ３３、ミキサ３４、及びＡＤ変換器３５は、レーダ波を送受信する。ステップＳ３において、反射位置解析器３６は、反射物Ｒの相対位置を決定して記憶装置３７に記憶する。ステップＳ４において、障害物識別器３８は、記憶装置３７にＮサイクル分のデータが記憶されているか否かを判断し、ＹＥＳのときはステップＳ６に進み、ＮＯのときはステップＳ５に進む。ステップＳ４のしきい値Ｎは、例えば、３以上に設定される。ステップＳ５において、障害物識別器３８は、処理のサイクル数ｎを１だけインクリメントする。 In step S1, the obstacle classifier 38 initializes the number of processing cycles n to zero. In step S2, the signal generator 31, the transmitting antenna 32, the receiving antenna 33, the mixer 34, and the AD converter 35 transmit and receive radar waves. In step S3, the reflection position analyzer 36 determines the relative position of the reflector R and stores it in the storage device 37. In step S4, the obstacle classifier 38 determines whether or not data for N cycles is stored in the storage device 37, and if YES, proceeds to step S6, and if NO, proceeds to step S5. The threshold value N in step S4 is set to, for example, 3 or more. In step S5, the obstacle classifier 38 increments the number of processing cycles n by 1.
　ステップＳ６において、障害物識別器３８は、記憶装置３７から直前のＮサイクル分のデータを読み出し、同じ反射物Ｒを追跡する。 In step S6, the obstacle classifier 38 reads the data for the immediately preceding N cycles from the storage device 37 and tracks the same reflector R.
　ステップＳ７において、障害物識別器３８は、反射物Ｒの相対位置が規則的に変化するか否かを判断し、ＹＥＳのときはステップＳ８に進み、ＮＯのときはステップＳ９に進む。ステップＳ８において、障害物識別器３８は、関心対象の反射信号が障害物による反射であると判断する。 In step S7, the obstacle classifier 38 determines whether or not the relative position of the reflecting object R changes regularly. If YES, the process proceeds to step S8, and if NO, the process proceeds to step S9. In step S8, the obstacle classifier 38 determines that the reflected signal of interest is the reflection of the obstacle.
　ステップＳ９において、障害物識別器３８は、反射物Ｒの相対位置がランダムに変化するか否かを判断し、ＹＥＳのときはステップＳ１０に進み、ＮＯのときはステップＳ１１に進む。ステップＳ１０において、障害物識別器３８は、関心対象の反射信号が粗い床面による反射であると判断する。 In step S9, the obstacle classifier 38 determines whether or not the relative position of the reflecting object R changes randomly, and if YES, proceeds to step S10, and if NO, proceeds to step S11. In step S10, the obstacle classifier 38 determines that the reflected signal of interest is the reflection of the rough floor surface.
　ステップＳ１１において、障害物識別器３８は、反射物Ｒの相対位置が不動であるか否かを判断し、ＹＥＳのときはステップＳ１２に進み、ＮＯのときはステップＳ１３に進む。ステップＳ１２において、障害物識別器３８は、関心対象の反射信号が滑らかな床面による反射であると判断する。 In step S11, the obstacle classifier 38 determines whether or not the relative position of the reflecting object R is immovable. If YES, the process proceeds to step S12, and if NO, the process proceeds to step S13. In step S12, the obstacle classifier 38 determines that the reflected signal of interest is the reflection of the smooth floor surface.
　ステップＳ１３において、障害物識別器３８は、関心対象の反射信号が他の床面による反射であると判断する。 In step S13, the obstacle classifier 38 determines that the reflected signal of interest is the reflection of another floor surface.
　レーダ装置１２は、受信されたレーダ波において複数の反射物が検出された場合、各反射物について、ステップＳ７～Ｓ１３の処理（すなわち、障害物／粗い床面／滑らかな床面の判断）を繰り返してもよい。 When a plurality of reflective objects are detected in the received radar wave, the radar device 12 performs the processing of steps S7 to S13 (that is, determination of obstacle / rough floor surface / smooth floor surface) for each reflective object. It may be repeated.
　図１０の処理において、ステップＳ９及びステップＳ１１の順序を入れ替えてもよい。また、図１０の処理において、ステップＳ９～Ｓ１２を省略してもよい。 In the process of FIG. 10, the order of steps S9 and S11 may be changed. Further, in the process of FIG. 10, steps S9 to S12 may be omitted.
［実施形態の効果］
　従来、ある瞬間における反射波を参照するだけでは、障害物を他の構造物から区別することできなかった。また、特許文献１の装置によれば、複数の系統の信号を受信して処理するために複数の回路が必要であった。一方、実施形態に係るレーダ装置１２によれば、反射物Ｒの相対位置の時間的変化を参照することにより、簡単な構成で障害物を他の構造物から区別することできる。実施形態に係るレーダ装置１２によれば、レーダ波を放射して受信する単一の系統の回路のみを備え、従来よりも簡単な構成を有するので、そのコストを低減することができる。 [Effect of Embodiment]
Conventionally, it has not been possible to distinguish an obstacle from another structure simply by referring to the reflected wave at a certain moment. Further, according to the apparatus of Patent Document 1, a plurality of circuits are required to receive and process signals of a plurality of systems. On the other hand, according to the radar device 12 according to the embodiment, the obstacle can be distinguished from other structures with a simple configuration by referring to the temporal change of the relative position of the reflecting object R. According to the radar device 12 according to the embodiment, the cost can be reduced because it includes only a single system circuit that radiates and receives radar waves and has a simpler configuration than the conventional one.
　また、実施形態に係るレーダ装置１２によれば、反射物Ｒが滑らかな床面であるか否かを判断し、また、反射物Ｒが粗い床面であるか否かを判断することにより、より高精度に障害物を識別することができる。 Further, according to the radar device 12 according to the embodiment, it is determined whether or not the reflecting object R has a smooth floor surface, and whether or not the reflecting object R has a rough floor surface. Obstacles can be identified with higher accuracy.
　また、実施形態に係るレーダ装置１２によれば、床面に限らず、地面、壁面、天井、及び他の大きな構造物など、移動体装置１にとって障害物とはならない他の構造物を識別することができる。 Further, according to the radar device 12 according to the embodiment, not only the floor surface but also other structures such as the ground, the wall surface, the ceiling, and other large structures that do not become obstacles to the mobile device 1 are identified. be able to.
　また、実施形態に係るレーダ装置１２によれば、移動体装置１の速度及び方向を参照しなくてもよいので、処理を高速化することができる。 Further, according to the radar device 12 according to the embodiment, since it is not necessary to refer to the speed and direction of the mobile device 1, the processing speed can be increased.
［変形例］
　実施形態に係るレーダ装置１２は、サーバ装置２と通信することなく、自律的に動作する移動体装置に搭載されてもよい。実施形態に係るレーダ装置１２は、自動搬送車に限らず、自動車などに搭載されてもよい。また、実施形態に係るレーダ装置１２は、列車及びエレベータなど操舵装置をもたず、駆動装置を備えた移動体装置に適用されてもよい。 [Modification example]
The radar device 12 according to the embodiment may be mounted on a mobile device that operates autonomously without communicating with the server device 2. The radar device 12 according to the embodiment is not limited to an automatic guided vehicle, and may be mounted on an automobile or the like. Further, the radar device 12 according to the embodiment may be applied to a mobile device such as a train or an elevator which does not have a steering device and has a drive device.
［まとめ］
　本開示の各側面に係るレーダ装置及び移動体装置は、以下のように表現されてもよい。 [Summary]
The radar device and the mobile device according to each aspect of the present disclosure may be expressed as follows.
　本開示の第１の側面に係るレーダ装置１２は、移動体装置１に搭載される。レーダ装置１２は、送受信機、反射位置解析器３６、記憶装置３７、及び障害物識別器３８を備える。送受信機は、移動体装置１が移動中であるとき、予め決められた時間間隔でレーダ波を放射し、反射物によって反射されたレーダ波を受信する。反射位置解析器３６は、受信されたレーダ波に基づいて、レーダ装置１２の位置を基準とする反射物の相対位置を決定する。記憶装置３７は、決定された反射物の相対位置の履歴を記憶する。障害物識別器３８は、記憶された反射物の相対位置の履歴に基づいて、反射物が障害物であるか否かを判断する。障害物識別器３８は、反射物の相対位置が予め決められた時間長にわたって所定範囲内の速度かつ所定範囲内の方向で規則的に変化するとき、反射物が障害物であると判断し、そうでないとき、反射物が障害物ではないと判断する。 The radar device 12 according to the first aspect of the present disclosure is mounted on the mobile device 1. The radar device 12 includes a transmitter / receiver, a reflection position analyzer 36, a storage device 37, and an obstacle classifier 38. When the mobile device 1 is moving, the transmitter / receiver emits radar waves at predetermined time intervals and receives the radar waves reflected by the reflector. The reflection position analyzer 36 determines the relative position of the reflecting object based on the position of the radar device 12 based on the received radar wave. The storage device 37 stores the history of the relative positions of the determined reflectors. The obstacle classifier 38 determines whether or not the reflector is an obstacle based on the history of the stored relative positions of the reflector. The obstacle classifier 38 determines that the reflector is an obstacle when the relative position of the reflector changes regularly at a speed within a predetermined range and a direction within the predetermined range over a predetermined time length. If not, determine that the reflector is not an obstacle.
　本開示の第２の側面に係るレーダ装置１２によれば、第１の側面に係るレーダ装置１２において、障害物識別器３８は、反射物の相対位置が予め決められた時間長にわたって所定範囲内の位置にとどまるとき、反射物が、移動体装置１の移動方向に対して平行な第１の面を有する構造物であると判断する。 According to the radar device 12 according to the second aspect of the present disclosure, in the radar device 12 according to the first aspect, the obstacle classifier 38 is within a predetermined range for the relative position of the reflecting object over a predetermined time length. When staying at the position of, it is determined that the reflecting object is a structure having a first surface parallel to the moving direction of the moving body device 1.
　本開示の第３の側面に係るレーダ装置１２によれば、第１又は第２の側面に係るレーダ装置１２において、障害物識別器３８は、反射物の相対位置が予め決められた時間長にわたって不規則に変化するとき、反射物が、移動体装置１の移動方向に対して平行な第２の面を有する構造物であると判断する。 According to the radar device 12 according to the third aspect of the present disclosure, in the radar device 12 according to the first or second aspect, the obstacle classifier 38 has a relative position of the reflecting object over a predetermined time length. When it changes irregularly, it is determined that the reflecting object is a structure having a second surface parallel to the moving direction of the moving body device 1.
　本開示の第４の側面に係るレーダ装置１２によれば、第１～第３のうちの１つの側面に係るレーダ装置１２において、障害物識別器３８は、反射物の相対位置が、予め決められた時間長にわたって、移動体装置１の速度及び方向に対応する所定範囲内の速度かつ所定範囲内の方向で規則的に変化するとき、反射物が障害物であると判断する。 According to the radar device 12 according to the fourth aspect of the present disclosure, in the radar device 12 according to one of the first to third aspects, the obstacle classifier 38 determines in advance the relative position of the reflecting object. When the speed and direction of the mobile device 1 change regularly in a predetermined range and a direction within a predetermined range over a specified time length, it is determined that the reflecting object is an obstacle.
　本開示の第５の側面に係る移動体装置１は、第１～第４のうちの１つの側面に係るレーダ装置１２と、駆動装置１３と、操舵装置１４とを備える。 The mobile device 1 according to the fifth aspect of the present disclosure includes a radar device 12, a drive device 13, and a steering device 14 according to one of the first to fourth aspects.
　本開示の側面に係るレーダ装置は、例えば、ＡＧＶ（automatic guided vehicle）又はＡＩＶ（autonomous intelligent vehicle）などの移動体装置に適用可能である。 The radar device according to the aspect of the present disclosure can be applied to a mobile device such as an AGV (automatic guided vehicle) or an AIV (autonomous intelligent vehicle).
１　移動体装置
２　サーバ装置
１１　制御装置
１２　レーダ装置
１３　駆動装置
１４　操舵装置
１５　通信装置
２１　制御装置
２２　通信装置
２３　入力装置
２４　記憶装置
２５　表示装置
３１　信号発生器
３２　送信アンテナ
３３　受信アンテナ
３４　ミキサ
３５　アナログ／ディジタル（ＡＤ）変換器
３６　反射位置解析器
３７　記憶装置
３８　障害物識別器
１０１　滑らかな床面
１０１Ａ　粗い床面
１０２　障害物
Ｒ　反射物 1 Mobile device 2 Server device 11 Control device 12 Radar device 13 Drive device 14 Steering device 15 Communication device 21 Control device 22 Communication device 23 Input device 24 Storage device 25 Display device 31 Signal generator 32 Transmission antenna 33 Reception antenna 34 Mixer 35 Analog-to-digital (AD) converter 36 Reflection position analyzer 37 Storage device 38 Obstacle classifier 101 Smooth floor surface 101A Rough floor surface 102 Obstacle R Reflective object

Claims (5)

  1. 　移動体装置に搭載されるレーダ装置であって、
    　前記移動体装置が移動中であるとき、予め決められた時間間隔でレーダ波を放射し、反射物によって反射されたレーダ波を受信する送受信機と、
    　受信された前記レーダ波に基づいて、前記レーダ装置の位置を基準とする前記反射物の相対位置を決定する反射位置解析器と、
    　決定された前記反射物の相対位置の履歴を記憶する記憶装置と、
    　記憶された前記反射物の相対位置の履歴に基づいて、前記反射物が障害物であるか否かを判断する障害物識別器とを備え、
    　前記障害物識別器は、前記反射物の相対位置が予め決められた時間長にわたって所定範囲内の速度かつ所定範囲内の方向で規則的に変化するとき、前記反射物が障害物であると判断し、そうでないとき、前記反射物が障害物ではないと判断する、
    レーダ装置。     A radar device mounted on a mobile device
    When the mobile device is moving, a transmitter / receiver that emits radar waves at predetermined time intervals and receives radar waves reflected by a reflector.
    A reflection position analyzer that determines the relative position of the reflector based on the position of the radar device based on the received radar wave.
    A storage device that stores the determined relative position history of the reflective object, and
    It is provided with an obstacle classifier for determining whether or not the reflective object is an obstacle based on the stored relative position history of the reflective object.
    The obstacle classifier determines that the reflector is an obstacle when the relative position of the reflector changes regularly at a speed within a predetermined range and a direction within the predetermined range over a predetermined time length. If not, it is determined that the reflector is not an obstacle,
    Radar device.
  2. 　前記障害物識別器は、前記反射物の相対位置が前記予め決められた時間長にわたって所定範囲内の位置にとどまるとき、前記反射物が、前記移動体装置の移動方向に対して平行な第１の面を有する構造物であると判断する、
    請求項１記載のレーダ装置。     In the obstacle classifier, when the relative position of the reflecting object stays within a predetermined range for the predetermined time length, the reflecting object is the first parallel to the moving direction of the moving body device. Judging that it is a structure with a surface of
    The radar device according to claim 1.
  3. 　前記障害物識別器は、前記反射物の相対位置が前記予め決められた時間長にわたって不規則に変化するとき、前記反射物が、前記移動体装置の移動方向に対して平行な第２の面を有する構造物であると判断する、
    請求項１又は２記載のレーダ装置。     The obstacle classifier has a second surface in which the reflector is parallel to the moving direction of the mobile device when the relative position of the reflector changes irregularly over a predetermined time length. Judging that it is a structure with
    The radar device according to claim 1 or 2.
  4. 　前記障害物識別器は、前記反射物の相対位置が、前記予め決められた時間長にわたって、前記移動体装置の速度及び方向に対応する所定範囲内の速度かつ所定範囲内の方向で規則的に変化するとき、前記反射物が障害物であると判断する、
    請求項１～３のうちの１つに記載のレーダ装置。     In the obstacle classifier, the relative position of the reflector is regularly arranged at a speed within a predetermined range corresponding to the speed and direction of the mobile device and a direction within a predetermined range over a predetermined time length. When it changes, it determines that the reflector is an obstacle,
    The radar device according to any one of claims 1 to 3.
  5. 　請求項１～４のうちの１つに記載のレーダ装置と、
    　駆動装置と、
    　操舵装置とを備えた、
    移動体装置。     The radar device according to one of claims 1 to 4,
    Drive device and
    Equipped with a steering device,
    Mobile device.
PCT/JP2019/030508 2019-08-02 2019-08-02 Radar device and mobile body device WO2021024305A1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002257934A (en) * 2001-02-27 2002-09-11 Omron Corp Road surface condition detector for vehicle and range- finder for vehicle
JP2005128722A (en) * 2003-10-23 2005-05-19 Matsushita Electric Works Ltd Vehicle with obstruction avoidance function
JP2008026030A (en) * 2006-07-18 2008-02-07 Denso Corp Vehicle obstacle detector and vehicle control system
US20180300563A1 (en) * 2015-08-03 2018-10-18 Volkswagen Aktiengesellschaft Method and Device in a Motor Vehicle for Improved Data Fusion in an Environment Detection

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002257934A (en) * 2001-02-27 2002-09-11 Omron Corp Road surface condition detector for vehicle and range- finder for vehicle
JP2005128722A (en) * 2003-10-23 2005-05-19 Matsushita Electric Works Ltd Vehicle with obstruction avoidance function
JP2008026030A (en) * 2006-07-18 2008-02-07 Denso Corp Vehicle obstacle detector and vehicle control system
US20180300563A1 (en) * 2015-08-03 2018-10-18 Volkswagen Aktiengesellschaft Method and Device in a Motor Vehicle for Improved Data Fusion in an Environment Detection

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