WO2014104299A1 - On-vehicle radar device - Google Patents
On-vehicle radar deviceDownload PDFInfo
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- WO2014104299A1 WO2014104299A1PCT/JP2013/085118JP2013085118WWO2014104299A1WO 2014104299 A1WO2014104299 A1WO 2014104299A1JP 2013085118 WJP2013085118 WJP 2013085118WWO 2014104299 A1WO2014104299 A1WO 2014104299A1
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- azimuth
- target
- azimuth angle
- radar device
- vehicle radar
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- 238000003384imaging methodMethods0.000claimsabstractdescription11
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
Definitions
- the present inventionrelates to an on-vehicle radar device that obtains the direction of a target that reflects a radar wave from a phase difference between antennas.
- an azimuth detection methodfor detecting the azimuth of a target reflecting a radio wave from a phase difference between reception signals received using a plurality of antenna elements.
- a methodsuch as monopulse, phased array, or digital beam forming (DBF) is used. It has been known.
- the path difference ⁇ L of the radio wave traveling back and forth with the targetvaries depending on the combination of antenna elements (hereinafter also referred to as “channel”), and thus occurs between received signals received on each channel. Based on the phase difference ⁇ [rad], the direction ⁇ of the target reflecting the radio wave is obtained.
- ⁇⁇ o (
- Patent Document 1a technique for identifying an azimuth angle region where a target exists by collating data obtained by transmission / reception of radio waves with data obtained by imaging with a camera has been proposed (see Patent Document 1).
- Patent Document 1it is necessary to collate data obtained by transmission / reception of radio waves with data obtained by imaging with a camera in all azimuth angle regions that specify the azimuth of the target. This complicates the configuration and processing.
- An on-vehicle radar deviceincludes at least one transmission antenna and at least one reception antenna, and transmits and receives radio waves for each channel formed by combining the at least one transmission antenna and the at least one reception antenna.
- First azimuth detecting meansfor detecting the azimuth of the target reflecting the radio wave based on the phase difference between the reception signals received at the azimuth angle region A where the phase difference is ⁇ 1 to ⁇ 2 ;
- the phase differenceis from ⁇ 1
- the imaging meansfor imaging the surroundings of the vehicle
- the second azimuth detection meansfor detecting the azimuth of the target based on the image captured by the imaging means
- the azimuth of the targetis specified using at least the first azimuth detecting means
- the direction of the azimuth angle region Ais
- the azimuth angle area C excluding the azimuth angle area Bincludes azimuth specifying means for specifying the azimuth of the target using the first azimuth detecting means and the second azimuth detecting means, and the ⁇ 1 , ⁇ 2.
- An on-vehicle radar devicecharacterized in that the following formulas (1) to (4) are satisfied for 2 , ⁇ 1 , and ⁇ 2 .
- Formula (1)⁇ 1 ⁇ 1 ⁇ 2 ⁇ 2
- Formula (2)⁇ 2 ⁇ 1 ⁇ 2 ⁇
- Formula (3)⁇ 2 ⁇ 1 ⁇ 2 ⁇
- Formula (4)⁇ 2 ⁇ 1 ⁇ 2 ⁇
- FIG. 1is a block diagram illustrating a configuration of an in-vehicle radar device 1.
- FIG.It is a flowchart showing the process which the vehicle-mounted radar apparatus 1 performs.
- Azimuth angle regions A, Bwhich is a schematic diagram of the C 1, C 2.
- FIG.It is a block diagram showing the structure of the modification of the vehicle-mounted radar apparatus. It is a block diagram showing the structure of the modification of the vehicle-mounted radar apparatus.
- the configuration of the in-vehicle radar device 1will be described with reference to FIG.
- the in-vehicle radar device 1includes a transmitter 4, an N-channel receiver 6, an A / D conversion unit 8, a signal processing unit 10, a comprehensive judgment processing unit 16, and a camera 18.
- the transmitter 4transmits a millimeter wave band radar wave to the front of the host vehicle (a vehicle on which the in-vehicle radar device 1 is mounted) via the transmission antenna AS.
- the receiver 6transmits radar waves (hereinafter referred to as reflected waves) transmitted from the transmitter 4 and reflected by a target such as a preceding vehicle or a roadside object to N reception antennas AR1 to ARN arranged in a line at equal intervals. And N beat signals B1 to BN, which will be described later, are generated.
- the A / D converter 8includes N AD converters A / D1 to A / DN that sample beat signals B1 to BN generated by the receiver 6 and convert them into digital data D1 to DN, respectively.
- the signal processing unit 10performs various signal processing based on the digital data D1 to DN captured via the AD converters A / D1 to A / DN.
- the transmitter 4includes a high-frequency oscillator 12 and a distributor 14.
- the high-frequency oscillator 12generates a high-frequency signal in the millimeter wave band that is modulated so that the frequency repeats a linear increase and decrease with time.
- the distributor 14distributes the power of the output of the high-frequency oscillator 12 to the transmission signal Ss and the local signal L.
- the transmitter 4supplies the transmission signal Ss to the transmission antenna AS and supplies the local signal L to the receiver 6.
- the receiver 6includes a high-frequency mixer MXi and an amplifier AMPi.
- the high frequency mixer MXimixes the received signal Sri with the local signal L, and generates a beat signal Bi that is a frequency component of the difference between these signals.
- the amplifier AMPiamplifies the beat signal Bi.
- the amplifier AMPialso has a filter function for removing unnecessary high frequency components from the beat signal Bi.
- the configurations MXi, AMPi, and A / Di for generating the digital data Di from the received signal Sri corresponding to each receiving antenna ARiare collectively referred to as a receiving channel chi.
- the half-value angle of the antennais set to 20 ° ( ⁇ 10 to + 10 ° with the front direction F of the host vehicle being 0 °).
- the receiving antennas AR1 to ARNare arranged in a line in the horizontal direction, and their arrangement interval is set to 7.2 mm (that is, arranged at equal intervals).
- the high frequency oscillator 12is set so as to generate a radio wave having a wavelength of 3.9 mm (about 77 GHz).
- a radar wave composed of a frequency-modulated continuous wave (FMCW)is transmitted by the transmitter 4 via the transmission antenna AS, and the reflected wave is transmitted to each of the reception antennas AR1 to ARN. Received at.
- FMCWfrequency-modulated continuous wave
- the reception signal Sri from the reception antenna ARiis mixed with the local signal L from the transmitter 4 by the mixer MXi, so that the frequency component of the difference between the reception signal Sri and the local signal L is mixed.
- a beat signal Biis generated.
- the amplifier AMPiamplifies the beat signal Bi and removes unnecessary high-frequency components, and then repeatedly samples the signal by the AD converter A / Di and converts it into digital data Di.
- the signal processing unit 10is configured around a known microcomputer including a CPU, a ROM, and a RAM.
- the signal processing unit 10includes an input port for inputting data from the A / D conversion unit 8 and a digital signal processor (DSP) for executing fast Fourier transform (FFT) processing.
- DSPdigital signal processor
- the signal processing unit 10every time a measurement period including uplink modulation in which the frequency of the transmission signal Ss increases and downlink modulation in which the frequency decreases ends, the signal is sampled by the A / D conversion unit 8 during the measurement period.
- the targetis detected based on the detected digital data Di, and the target detection process for calculating the distance, relative speed, and direction from the detected target is executed.
- the digital data Diis subjected to FFT processing for each channel, and the target is detected by specifying the frequency component based on the reflected wave from the target. Further, for each of the detected targets, the distance from the host vehicle to the target and the relative speed of the target with respect to the host vehicle are calculated using a known method in the FMCW radar.
- the direction of the targetis calculated based on the information of the phase difference ⁇ between the channels of the frequency components based on the same target.
- a specific calculation method of the azimuthis only required to use information on the phase difference ⁇ .
- signal processingsuch as DBF or ESPRIT can be used.
- radar wavesare used for the above target detection.
- target detection using radar wavesis based on the condition that the intensity of the signal resulting from the target (that is, the intensity of the reflected wave) exceeds a predetermined threshold T. That is, it is determined that the target is detected when the intensity of the signal resulting from the target (that is, the intensity of the reflected wave) exceeds a predetermined threshold T.
- the value of the threshold Tis changed according to the direction of the target. Details will be described later.
- the comprehensive judgment processing unit 16is mainly configured by a known microcomputer including a CPU, a ROM, and a RAM.
- the comprehensive judgment processing unit 16acquires an image around the host vehicle (particularly in front) captured using the camera 18 and detects a target and its orientation by a known image recognition technique based on the image.
- thisis referred to as target detection using a camera.
- the comprehensive judgment processing unit 16comprehensively detects the target and its direction using at least one of the target detection information using the camera and the target detection information using the radar wave. To do. Details will be described later.
- the transmitter 4, the receiver 6, the A / D conversion unit 8, and the signal processing unit 10are an embodiment of a first azimuth detection unit, and the camera 18 is an embodiment of an imaging unit,
- the comprehensive judgment processing unit 16is an embodiment of the second azimuth detecting means and the azimuth specifying means.
- the comprehensive determination processing unit 16determines whether or not the camera 18 is in a usable state.
- the usable statemeans a state in which the brightness outside the host vehicle is within a predetermined range and the target can be recognized in the image captured by the camera 18. Examples of the unusable state include a nighttime state and a state where direct sunlight hits the lens of the camera 18. Whether or not the camera 18 is in a usable state can be determined based on, for example, a measurement value of an illuminometer that measures the brightness outside the host vehicle.
- the processproceeds to step 2 when the camera 18 is available, and proceeds to step 8 when the camera 18 is not available.
- step 2the comprehensive judgment processing unit 16 sets a range in which a target is detected using a radar wave as an azimuth angle region A shown in FIG.
- This azimuth angle area Ais an angle area in which the phase difference is ⁇ 1 (rad) to ⁇ 2 (rad) with reference to the host vehicle 101.
- the phase differenceis defined as follows. That is, as shown in FIG. 3, when the host vehicle 101 is viewed from vertically above, the front direction F of the host vehicle 101 is set to a phase difference of 0 (rad), and the phase difference is increased as it proceeds clockwise.
- the following formulas (1) to (4)are established for ⁇ 1 and ⁇ 2 and ⁇ 1 and ⁇ 2 described later.
- Formula (1)⁇ 1 ⁇ 1 ⁇ 2 ⁇ 2 Formula (2) ⁇ 2 ⁇ 1 ⁇ 2 ⁇ Formula (3) ⁇ 2 ⁇ 1 ⁇ 2 ⁇ Formula (4) ⁇ 2 ⁇ 1 ⁇ 2 ⁇ ⁇ 1 and ⁇ 1 are negative values, and ⁇ 2 and ⁇ 2 are positive values. Furthermore, the absolute values of ⁇ 1 and ⁇ 2 are the same, and the absolute values of ⁇ 1 and ⁇ 2 are also the same.
- the comprehensive judgment processing unit 16sets a threshold T related to target detection using radar waves as shown in FIG. That is, in the azimuth angle region A, in the region where the phase difference is ⁇ 1 to ⁇ 2 (hereinafter, referred to as the azimuth angle region B), a large threshold T 1 is set and the phase difference is the region where the phase difference is ⁇ 1 to ⁇ 1 .
- a threshold value T 2 smaller than the threshold value T 1is set in the region (hereinafter referred to as the azimuth angle region C 1 ) and the region having a phase difference of ⁇ 2 to ⁇ 2 (hereinafter referred to as the azimuth angle region C 2 ).
- the azimuth angle region Bis a region where phase wrapping does not occur, as is apparent from the above equation (2).
- the azimuth angle regions C 1 and C 2are regions where phase folding may occur.
- step 3the comprehensive judgment processing unit 16 performs target detection using a radar wave in the azimuth angle region A.
- the threshold value Tis set in step 2 above.
- step 4the comprehensive determination processing unit 16 performs target detection using the camera 18 in the azimuth angle regions C 1 and C 2 .
- step 5the comprehensive judgment processing unit 16 detects the target and direction detected by target detection using the camera in step 4 for the target detected by target detection using the radar wave in step 3. It is determined whether or not the two overlap (match). The process proceeds to step 6 when the directions overlap, and proceeds to step 7 when the directions do not overlap.
- step 6the comprehensive judgment processing unit 16 registers the target detected in the step 3. Registration means that the information (including the direction) of the detected target is finally specified and stored in the comprehensive judgment processing unit 16. The registered target information can be used later for well-known anti-collision processing as required.
- step 7the comprehensive determination processing unit 16 determines whether or not the target that is determined not to overlap in step 5 is within the azimuth angle region B. The process proceeds to step 6 if it is within the azimuth angle region B, and ends if it is outside the azimuth angle region B.
- step 1the process proceeds to step 8, and the comprehensive determination processing unit 16 executes target detection using radar waves in the azimuth angle region B.
- the value of the threshold Tis T 1 .
- Step 9the comprehensive judgment processing unit 16 registers the target detected in Step 8.
- the on-vehicle radar device 1uses a camera for a target detected by using a radar wave in the azimuth angle regions C 1 and C 2 in which phase folding may occur. It registers as a condition that it overlaps with the direction of the detected target. As a result, erroneous detection due to phase wrapping can be suppressed.
- the in-vehicle radar device 1registers the target detected using the radar wave without performing the target detection using the camera in the azimuth angle region B where the phase return does not occur. Therefore, the processing can be simplified as compared with a method in which target detection using a camera including the azimuth angle region B is executed and collated with the result of target detection using radar waves.
- the on-vehicle radar device 1sets the threshold value T low in the azimuth angle regions C 1 and C 2 . This facilitates target detection using radar waves even in the azimuth angle regions C 1 and C 2 where the reflected waves are weak.
- the in-vehicle radar device 1may include a plurality of transmission antennas and a single reception antenna as shown in FIG. 5, or may include a plurality of transmission antennas and a plurality of reception antennas as shown in FIG. You may prepare.
- azimuth angle areas A and Bmay be asymmetric with respect to the front direction F.
- Step 4you may perform the target detection using a camera in the whole azimuth
- the determination in Step 5can be performed using the results in the azimuth angle regions C 1 and C 2 .
- the on-vehicle radar device 1may detect a target behind or on the side of the own vehicle.
- the value of the threshold value Tmay be constant in any of the azimuth angle areas A.
- the on-vehicle radar deviceincludes at least one transmission antenna and at least one reception antenna, and transmits / receives radio waves for each channel formed by combining the at least one transmission antenna and the at least one reception antenna, and is received by each channel.
- First azimuth detecting meansfor detecting the azimuth of the target reflecting the radio wave based on the phase difference between the received signals in the azimuth angle region A where the phase difference is ⁇ 1 to ⁇ 2 , and the surroundings of the vehicle Imaging means for picking up images and second orientation detection means for detecting the orientation of the target based on the image taken by the imaging means.
- the in-vehicle radar devicespecifies the azimuth of the target using at least the first azimuth detection means in the azimuth angle region B having a phase difference of ⁇ 1 to ⁇ 2 .
- the azimuth of the targetis specified using the first azimuth detection means and the second azimuth detection means.
- the in-vehicle radar devicedetects the azimuth of the target in, for example, the first azimuth detecting means in the azimuth angle region B where the phase wrap does not occur. Further, in the azimuth angle region C where the phase wrapping may occur, the first azimuth detecting unit and the second azimuth detecting unit are used together to suppress erroneous detection due to the phase wrapping.
- the on-vehicle radar deviceit is possible to suppress erroneous detection due to phase folding, and it is always necessary to use the first azimuth detecting unit and the second azimuth detecting unit together throughout the azimuth angle region A. Since there is no, the configuration of the in-vehicle radar device and the processing to be executed can be simplified.
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Abstract
Description
本発明は、アンテナ間の位相差からレーダ波を反射した物標の方位を求める車載レーダ装置に関する。The present invention relates to an on-vehicle radar device that obtains the direction of a target that reflects a radar wave from a phase difference between antennas.
従来、複数のアンテナ素子を用いて受信した各受信信号間の位相差から、電波を反射した物標の方位を検出する方位検出方法として、モノパルス、フェーズドアレイ、デジタルビームフォーミング（ＤＢＦ）等の方法が知られている。Conventionally, as an azimuth detection method for detecting the azimuth of a target reflecting a radio wave from a phase difference between reception signals received using a plurality of antenna elements, a method such as monopulse, phased array, or digital beam forming (DBF) is used. It has been known.
これらの方位検出方法では、アンテナ素子の組み合わせ（以下「チャンネル」ともいう）によって、物標との間を往復する電波の経路差ΔＬが異なることにより、各チャンネルで受信される受信信号間に生じる位相差Δθ［ｒａｄ］に基づいて、電波を反射した物標の方位αを求めている。In these azimuth detection methods, the path difference ΔL of the radio wave traveling back and forth with the target varies depending on the combination of antenna elements (hereinafter also referred to as “channel”), and thus occurs between received signals received on each channel. Based on the phase difference Δθ [rad], the direction α of the target reflecting the radio wave is obtained.
ただし、この場合、位相の周期性からΔθ＝θｏ（｜θｏ｜＜π）と、Δθ＝θｏ±２ｎπ（ｎ＝１、２，…）とを区別できない（いわゆる位相折返しが発生する）。
このため、位相差Δθが－π～＋π［ｒａｄ］となる範囲に対応する方位角度領域Ａ0に物標が存在すれば、その物標の方位を正しく検出できるが、方位角度領域Ａ0外、すなわち、位相差Δθが（２ｍ－１）π～（２ｍ＋１）π［ｒａｄ］（ｍ≠０の整数）となる範囲に対応する方位角度領域Ａmに物標が存在すると、その物標の方位を、方位角度領域Ａ0内にあるものとして誤検出してしまう。However, in this case, Δθ = θo (| θo | <π) and Δθ = θo ± 2nπ (n = 1, 2,...) Cannot be distinguished from the periodicity of the phase (so-called phase folding occurs).
Therefore, if the target exists in the azimuth angle region A0 corresponding to the range where the phase difference Δθ is −π to + π [rad], the azimuth of the target can be detected correctly, but the azimuth angle region A0 , i.e., when the phase difference Δθ (2m-1) π ~ (2m + 1) π [rad] target in azimuth angular area am corresponding to (m ≠ 0 integer) scope exists, the target orientation, erroneously detected as being the azimuth angle region a within0.
このため、位相差Δθが－π～＋π［ｒａｄ］となる範囲に対応する方位角度領域Ａ0に物標が存在すれば、その物標の方位を正しく検出できるが、方位角度領域Ａ0外、すなわち、位相差Δθが（２ｍ－１）π～（２ｍ＋１）π［ｒａｄ］（ｍ≠０の整数）となる範囲に対応する方位角度領域Ａmに物標が存在すると、その物標の方位を、方位角度領域Ａ0内にあるものとして誤検出してしまう。However, in this case, Δθ = θo (| θo | <π) and Δθ = θo ± 2nπ (n = 1, 2,...) Cannot be distinguished from the periodicity of the phase (so-called phase folding occurs).
Therefore, if the target exists in the azimuth angle region A0 corresponding to the range where the phase difference Δθ is −π to + π [rad], the azimuth of the target can be detected correctly, but the azimuth angle region A0 , i.e., when the phase difference Δθ (2m-1) π ~ (2m + 1) π [rad] target in azimuth angular area am corresponding to (m ≠ 0 integer) scope exists, the target orientation, erroneously detected as being the azimuth angle region a within0.
そこで、電波の送受信により得られるデータと、カメラでの撮像により得られるデータとを照合することで物標が存在する方位角度領域を特定する技術が提案されている（特許文献１参照）。Therefore, a technique for identifying an azimuth angle region where a target exists by collating data obtained by transmission / reception of radio waves with data obtained by imaging with a camera has been proposed (see Patent Document 1).
しかしながら、特許文献１記載の技術では、物標の方位を特定する全ての方位角度領域において、電波の送受信により得られるデータと、カメラでの撮像により得られるデータとを照合する必要がある。このため、構成及び処理が複雑になってしまう。However, in the technique described inPatent Document 1, it is necessary to collate data obtained by transmission / reception of radio waves with data obtained by imaging with a camera in all azimuth angle regions that specify the azimuth of the target. This complicates the configuration and processing.
一実施形態は、簡易な構成で位相折り返しに起因する誤検出を抑制できる車載レーダ装置を提供する。
一実施形態の車載レーダ装置は、少なくとも一つの送信アンテナ及び少なくとも一つの受信アンテナを備え、前記少なくとも一つの送信アンテナ及び前記少なくとも一つの受信アンテナを組み合わせてなるチャンネル毎に電波を送受信し、各チャンネルにて受信される受信信号間の位相差に基づいて前記電波を反射した物標の方位を、前記位相差がα1からα2の方位角度領域Ａにおいて検出する第１の方位検出手段と、車両の周囲を撮像する撮像手段と、前記撮像手段により撮像された画像に基づき物標の方位を検出する第２の方位検出手段と、前記方位角度領域Ａのうち、前記位相差がβ1からβ2の方位角度領域Ｂにおいては、少なくとも前記第１の方位検出手段を用いて物標の方位を特定するとともに、前記方位角度領域Ａのうち、前記方位角度領域Ｂを除く方位角度領域Ｃでは、前記第１の方位検出手段及び前記第２の方位検出手段を用いて物標の方位を特定する方位特定手段と、を備え、前記α1、α2、β1、及びβ2について下記式（１）～（４）が成立することを特徴とする車載レーダ装置。
式（１） α1＜β1＜β2＜α2
式（２） β2―β1＜２π
式（３） α2－β1＜２π
式（４） β2－α1＜２πOne embodiment provides an in-vehicle radar device that can suppress erroneous detection due to phase folding with a simple configuration.
An on-vehicle radar device according to an embodiment includes at least one transmission antenna and at least one reception antenna, and transmits and receives radio waves for each channel formed by combining the at least one transmission antenna and the at least one reception antenna. First azimuth detecting means for detecting the azimuth of the target reflecting the radio wave based on the phase difference between the reception signals received at the azimuth angle region A where the phase difference is α1 to α2 ; Of the azimuth angle region A, the phase difference is from β1 , the imaging means for imaging the surroundings of the vehicle, the second azimuth detection means for detecting the azimuth of the target based on the image captured by the imaging means, In the azimuth angle region B of β2, the azimuth of the target is specified using at least the first azimuth detecting means, and the direction of the azimuth angle region A is The azimuth angle area C excluding the azimuth angle area B includes azimuth specifying means for specifying the azimuth of the target using the first azimuth detecting means and the second azimuth detecting means, and the α1 , α2. An on-vehicle radar device characterized in that the following formulas (1) to (4) are satisfied for2 , β1 , and β2 .
Formula (1) α1 <β1 <β2 <α2
Formula (2) β2 −β1 <2π
Formula (3) α2 −β1 <2π
Formula (4) β2 −α1 <2π
一実施形態の車載レーダ装置は、少なくとも一つの送信アンテナ及び少なくとも一つの受信アンテナを備え、前記少なくとも一つの送信アンテナ及び前記少なくとも一つの受信アンテナを組み合わせてなるチャンネル毎に電波を送受信し、各チャンネルにて受信される受信信号間の位相差に基づいて前記電波を反射した物標の方位を、前記位相差がα1からα2の方位角度領域Ａにおいて検出する第１の方位検出手段と、車両の周囲を撮像する撮像手段と、前記撮像手段により撮像された画像に基づき物標の方位を検出する第２の方位検出手段と、前記方位角度領域Ａのうち、前記位相差がβ1からβ2の方位角度領域Ｂにおいては、少なくとも前記第１の方位検出手段を用いて物標の方位を特定するとともに、前記方位角度領域Ａのうち、前記方位角度領域Ｂを除く方位角度領域Ｃでは、前記第１の方位検出手段及び前記第２の方位検出手段を用いて物標の方位を特定する方位特定手段と、を備え、前記α1、α2、β1、及びβ2について下記式（１）～（４）が成立することを特徴とする車載レーダ装置。
式（１） α1＜β1＜β2＜α2
式（２） β2―β1＜２π
式（３） α2－β1＜２π
式（４） β2－α1＜２πOne embodiment provides an in-vehicle radar device that can suppress erroneous detection due to phase folding with a simple configuration.
An on-vehicle radar device according to an embodiment includes at least one transmission antenna and at least one reception antenna, and transmits and receives radio waves for each channel formed by combining the at least one transmission antenna and the at least one reception antenna. First azimuth detecting means for detecting the azimuth of the target reflecting the radio wave based on the phase difference between the reception signals received at the azimuth angle region A where the phase difference is α1 to α2 ; Of the azimuth angle region A, the phase difference is from β1 , the imaging means for imaging the surroundings of the vehicle, the second azimuth detection means for detecting the azimuth of the target based on the image captured by the imaging means, In the azimuth angle region B of β2, the azimuth of the target is specified using at least the first azimuth detecting means, and the direction of the azimuth angle region A is The azimuth angle area C excluding the azimuth angle area B includes azimuth specifying means for specifying the azimuth of the target using the first azimuth detecting means and the second azimuth detecting means, and the α1 , α2. An on-vehicle radar device characterized in that the following formulas (1) to (4) are satisfied for2 , β1 , and β2 .
Formula (1) α1 <β1 <β2 <α2
Formula (2) β2 −β1 <2π
Formula (3) α2 −β1 <2π
Formula (4) β2 −α1 <2π
本発明の実施形態を図面に基づいて説明する。
１．車載レーダ装置１の構成
車載レーダ装置１の構成を図１に基づき説明する。車載レーダ装置１は、送信器４と、Ｎチャネルの受信器６と、Ａ／Ｄ変換部８と、信号処理部１０と、総合判断処理部１６と、カメラ１８とを備えている。送信器４は、送信アンテナＡＳを介してミリ波帯のレーダ波を自車両（車載レーダ装置１を搭載した車両）の前方に送信する。受信器６は、送信器４から送出され先行車両や路側物等といった物標で反射したレーダ波（以下、反射波という）を、一列に等間隔で配置されたＮ個の受信アンテナＡＲ１～ＡＲＮにて受信し、後述するＮ個のビート信号Ｂ１～ＢＮを生成する。Ａ／Ｄ変換部８は、受信器６が生成するビート信号Ｂ１～ＢＮを、それぞれサンプリングしてデジタルデータＤ１～ＤＮに変換するＮ個のＡＤ変換器Ａ／Ｄ１～Ａ/ＤＮからなる。信号処理部１０は、ＡＤ変換器Ａ／Ｄ１～Ａ/ＤＮを介して取り込んだデジタルデータＤ１～ＤＮに基づいて各種信号処理を行う。Embodiments of the present invention will be described with reference to the drawings.
1. Configuration of In-vehicle Radar Device 1 The configuration of the in-vehicle radar device 1 will be described with reference to FIG. The in-vehicle radar device 1 includes a transmitter 4, an N-channel receiver 6, an A / D conversion unit 8, asignal processing unit 10, a comprehensivejudgment processing unit 16, and acamera 18. The transmitter 4 transmits a millimeter wave band radar wave to the front of the host vehicle (a vehicle on which the in-vehicle radar device 1 is mounted) via the transmission antenna AS. The receiver 6 transmits radar waves (hereinafter referred to as reflected waves) transmitted from the transmitter 4 and reflected by a target such as a preceding vehicle or a roadside object to N reception antennas AR1 to ARN arranged in a line at equal intervals. And N beat signals B1 to BN, which will be described later, are generated. The A / D converter 8 includes N AD converters A / D1 to A / DN that sample beat signals B1 to BN generated by the receiver 6 and convert them into digital data D1 to DN, respectively. Thesignal processing unit 10 performs various signal processing based on the digital data D1 to DN captured via the AD converters A / D1 to A / DN.
１．車載レーダ装置１の構成
車載レーダ装置１の構成を図１に基づき説明する。車載レーダ装置１は、送信器４と、Ｎチャネルの受信器６と、Ａ／Ｄ変換部８と、信号処理部１０と、総合判断処理部１６と、カメラ１８とを備えている。送信器４は、送信アンテナＡＳを介してミリ波帯のレーダ波を自車両（車載レーダ装置１を搭載した車両）の前方に送信する。受信器６は、送信器４から送出され先行車両や路側物等といった物標で反射したレーダ波（以下、反射波という）を、一列に等間隔で配置されたＮ個の受信アンテナＡＲ１～ＡＲＮにて受信し、後述するＮ個のビート信号Ｂ１～ＢＮを生成する。Ａ／Ｄ変換部８は、受信器６が生成するビート信号Ｂ１～ＢＮを、それぞれサンプリングしてデジタルデータＤ１～ＤＮに変換するＮ個のＡＤ変換器Ａ／Ｄ１～Ａ/ＤＮからなる。信号処理部１０は、ＡＤ変換器Ａ／Ｄ１～Ａ/ＤＮを介して取り込んだデジタルデータＤ１～ＤＮに基づいて各種信号処理を行う。Embodiments of the present invention will be described with reference to the drawings.
1. Configuration of In-
送信器４は、高周波発振器１２と分配器１４とを備えている。高周波発振器１２は、時間に対して周波数が直線的に漸増、漸減を繰り返すよう変調されたミリ波帯の高周波信号を生成する。分配器１４は、高周波発振器１２の出力を送信信号Ｓｓとローカル信号Ｌとに電力分配する。送信器４は、送信信号Ｓｓを送信アンテナＡＳへ供給し、ローカル信号Ｌを受信器６へ供給する。The transmitter 4 includes a high-frequency oscillator 12 and a distributor 14. The high-frequency oscillator 12 generates a high-frequency signal in the millimeter wave band that is modulated so that the frequency repeats a linear increase and decrease with time. The distributor 14 distributes the power of the output of the high-frequency oscillator 12 to the transmission signal Ss and the local signal L. The transmitter 4 supplies the transmission signal Ss to the transmission antenna AS and supplies the local signal L to the receiver 6.
一方、受信器６は、高周波用ミキサＭＸｉと増幅器ＡＭＰｉとを備えている。高周波用ミキサＭＸｉは、各受信アンテナＡＲｉ（ｉ＝１～Ｎ）毎に、その受信信号Ｓriにローカル信号Ｌを混合し、これら信号の差の周波数成分であるビート信号Ｂｉを生成する。増幅器ＡＭＰｉは、ビート信号Ｂｉを増幅する。なお、増幅器ＡＭＰｉは、ビート信号Ｂｉから不要な高周波成分を取り除くフィルタ機能も有している。On the other hand, the receiver 6 includes a high-frequency mixer MXi and an amplifier AMPi. For each receiving antenna ARi (i = 1 to N), the high frequency mixer MXi mixes the received signal Sri with the local signal L, and generates a beat signal Bi that is a frequency component of the difference between these signals. The amplifier AMPi amplifies the beat signal Bi. The amplifier AMPi also has a filter function for removing unnecessary high frequency components from the beat signal Bi.
以下、各受信アンテナＡＲｉに対応して受信信号ＳriからデジタルデータＤｉを生成するための構成ＭＸｉ、ＡＭＰｉ、Ａ／Ｄｉを、一括して受信チャネルｃｈｉと呼ぶ。Hereinafter, the configurations MXi, AMPi, and A / Di for generating the digital data Di from the received signal Sri corresponding to each receiving antenna ARi are collectively referred to as a receiving channel chi.
なお、本実施形態では、アンテナの半値角は２０°（自車両の正面方向Ｆを０°として－１０～＋１０°）に設定されている。また、受信アンテナＡＲ１～ＡＲＮは水平方向に一列に配置され、それらの配置間隔は７．２ｍｍに設定される（すなわち等間隔に配置される）。高周波発振器１２は、波長が３．９ｍｍ（約７７ＧＨｚ）の電波を生成するように設定されている。In the present embodiment, the half-value angle of the antenna is set to 20 ° (−10 to + 10 ° with the front direction F of the host vehicle being 0 °). Further, the receiving antennas AR1 to ARN are arranged in a line in the horizontal direction, and their arrangement interval is set to 7.2 mm (that is, arranged at equal intervals). The high frequency oscillator 12 is set so as to generate a radio wave having a wavelength of 3.9 mm (about 77 GHz).
このように構成された車載レーダ装置１では、周波数変調された連続波（ＦＭＣＷ）からなるレーダ波が、送信器４によって送信アンテナＡＳを介して送信され、その反射波が各受信アンテナＡＲ１～ＡＲＮにて受信される。In the in-vehicle radar device 1 configured as described above, a radar wave composed of a frequency-modulated continuous wave (FMCW) is transmitted by the transmitter 4 via the transmission antenna AS, and the reflected wave is transmitted to each of the reception antennas AR1 to ARN. Received at.
すると、各受信チャネルｃｈｉでは、受信アンテナＡＲｉからの受信信号Ｓriを、ミキサＭＸｉにて送信器４からのローカル信号Ｌと混合することにより、これら受信信号Ｓriとローカル信号Ｌとの差の周波数成分であるビート信号Ｂｉを生成する。増幅器ＡＭＰｉは、このビート信号Ｂｉを増幅すると共に不要な高周波成分を除去した後、ＡＤ変換器Ａ／Ｄｉにて繰り返しサンプリングしてデジタルデータＤｉに変換する。Then, in each reception channel chi, the reception signal Sri from the reception antenna ARi is mixed with the local signal L from the transmitter 4 by the mixer MXi, so that the frequency component of the difference between the reception signal Sri and the local signal L is mixed. A beat signal Bi is generated. The amplifier AMPi amplifies the beat signal Bi and removes unnecessary high-frequency components, and then repeatedly samples the signal by the AD converter A / Di and converts it into digital data Di.
信号処理部１０は、ＣＰＵ、ＲＯＭ、ＲＡＭからなる周知のマイクロコンピュータを中心に構成されている。信号処理部１０は、Ａ／Ｄ変換部８からデータを入力する入力ポートや高速フーリエ変換（ＦＦＴ）処理を実行するためのデジタルシグナルプロセッサ（ＤＳＰ）等を備えている。Thesignal processing unit 10 is configured around a known microcomputer including a CPU, a ROM, and a RAM. Thesignal processing unit 10 includes an input port for inputting data from the A / D conversion unit 8 and a digital signal processor (DSP) for executing fast Fourier transform (FFT) processing.
信号処理部１０では、送信信号Ｓｓの周波数が増加する上り変調、及び周波数が減少する下り変調からなる測定期間が終了する毎に、その測定期間の間にＡ／Ｄ変換部８にてサンプリングされたデジタルデータＤｉに基づいて物標を検出し、その検出した物標との距離や相対速度、方位を算出する物標検出処理を実行する。In thesignal processing unit 10, every time a measurement period including uplink modulation in which the frequency of the transmission signal Ss increases and downlink modulation in which the frequency decreases ends, the signal is sampled by the A / D conversion unit 8 during the measurement period. The target is detected based on the detected digital data Di, and the target detection process for calculating the distance, relative speed, and direction from the detected target is executed.
上記の物標検出処理では、デジタルデータＤｉをチャンネル毎にＦＦＴ処理する等して、物標からの反射波に基づく周波数成分を特定することで物標の検出を行う。さらに、その検出した物標のそれぞれについて、ＦＭＣＷレーダにおける周知の方法を用いて、自車両から物標までの距離や、自車両に対する物標の相対速度を算出する。In the above target detection processing, the digital data Di is subjected to FFT processing for each channel, and the target is detected by specifying the frequency component based on the reflected wave from the target. Further, for each of the detected targets, the distance from the host vehicle to the target and the relative speed of the target with respect to the host vehicle are calculated using a known method in the FMCW radar.
これとともに、検出した物標のそれぞれについて、同一物標に基づく周波数成分の各チャンネル間における位相差Δθの情報に基づいて物標の方位を算出する。なお、具体的な方位の算出方法は、位相差Δθの情報を用いるものであればよく、例えば、ＤＢＦやＥＳＰＲＩＴなどの信号処理を用いることができる。以下では、上記の物標検出に、レーダ波を利用する。At the same time, for each detected target, the direction of the target is calculated based on the information of the phase difference Δθ between the channels of the frequency components based on the same target. Note that a specific calculation method of the azimuth is only required to use information on the phase difference Δθ. For example, signal processing such as DBF or ESPRIT can be used. In the following, radar waves are used for the above target detection.
なお、レーダ波を利用した物標検出においては、その物標に起因する信号の強度（すなわち反射波の強度）が所定の閾値Ｔを越えていることを条件とする。すなわち、物標に起因する信号の強度（すなわち反射波の強度）が所定の閾値Ｔを越えた場合に、物標が検出されたものと判定される。その閾値Ｔの値は、物標の方位に応じて変更される。詳しくは後述する。Note that target detection using radar waves is based on the condition that the intensity of the signal resulting from the target (that is, the intensity of the reflected wave) exceeds a predetermined threshold T. That is, it is determined that the target is detected when the intensity of the signal resulting from the target (that is, the intensity of the reflected wave) exceeds a predetermined threshold T. The value of the threshold T is changed according to the direction of the target. Details will be described later.
総合判断処理部１６は、ＣＰＵ、ＲＯＭ、ＲＡＭからなる周知のマイクロコンピュータを中心に構成される。総合判断処理部１６は、カメラ１８を用いて撮像された、自車両の周囲（特に前方）の画像を取得し、その画像に基づき、周知の画像認識技術により物標及びその方位を検出する。以下では、これを、カメラを利用した物標検出とする。The comprehensivejudgment processing unit 16 is mainly configured by a known microcomputer including a CPU, a ROM, and a RAM. The comprehensivejudgment processing unit 16 acquires an image around the host vehicle (particularly in front) captured using thecamera 18 and detects a target and its orientation by a known image recognition technique based on the image. Hereinafter, this is referred to as target detection using a camera.
さらに、総合判断処理部１６は、カメラを利用した物標検出の情報と、レーダ波を利用した物標検出の情報とのうちの少なくとも一方を用いて、総合的に物標及びその方位を検出する。詳しくは後述する。Further, the comprehensivejudgment processing unit 16 comprehensively detects the target and its direction using at least one of the target detection information using the camera and the target detection information using the radar wave. To do. Details will be described later.
なお、送信器４、受信器６、Ａ／Ｄ変換部８、及び信号処理部１０は、第１の方位検出手段の一実施形態であり、カメラ１８は、撮像手段の一実施形態であり、総合判断処理部１６は第２の方位検出手段及び方位特定手段の一実施形態である。The transmitter 4, the receiver 6, the A / D conversion unit 8, and thesignal processing unit 10 are an embodiment of a first azimuth detection unit, and thecamera 18 is an embodiment of an imaging unit, The comprehensivejudgment processing unit 16 is an embodiment of the second azimuth detecting means and the azimuth specifying means.
２．車載レーダ装置１が実行する処理
車載レーダ装置１が所定時間ごとに繰り返し実行する処理を図２～図４に基づいて説明する。図２のステップ１では、総合判断処理部１６は、カメラ１８を利用可能な状態であるか否かを判断する。利用可能な状態とは、自車両の外部における明るさが所定の範囲内であり、カメラ１８で撮像した画像において物標を認識可能な状態を意味する。利用可能でない状態としては、例えば、夜間や、直射日光がカメラ１８のレンズに当たっている状態等が挙げられる。カメラ１８を利用可能な状態であるか否かは、例えば、自車両の外部における明るさを測定する照度計の測定値に基づき判断できる。処理は、カメラ１８が利用可能な状態である場合はステップ２に進み、利用可能な状態でない場合はステップ８に進む。2. Processing Performed by the In-Vehicle Radar Device 1 Processing that the in-vehicle radar device 1 repeatedly executes every predetermined time will be described with reference to FIGS. Instep 1 of FIG. 2, the comprehensivedetermination processing unit 16 determines whether or not thecamera 18 is in a usable state. The usable state means a state in which the brightness outside the host vehicle is within a predetermined range and the target can be recognized in the image captured by thecamera 18. Examples of the unusable state include a nighttime state and a state where direct sunlight hits the lens of thecamera 18. Whether or not thecamera 18 is in a usable state can be determined based on, for example, a measurement value of an illuminometer that measures the brightness outside the host vehicle. The process proceeds to step 2 when thecamera 18 is available, and proceeds to step 8 when thecamera 18 is not available.
車載レーダ装置１が所定時間ごとに繰り返し実行する処理を図２～図４に基づいて説明する。図２のステップ１では、総合判断処理部１６は、カメラ１８を利用可能な状態であるか否かを判断する。利用可能な状態とは、自車両の外部における明るさが所定の範囲内であり、カメラ１８で撮像した画像において物標を認識可能な状態を意味する。利用可能でない状態としては、例えば、夜間や、直射日光がカメラ１８のレンズに当たっている状態等が挙げられる。カメラ１８を利用可能な状態であるか否かは、例えば、自車両の外部における明るさを測定する照度計の測定値に基づき判断できる。処理は、カメラ１８が利用可能な状態である場合はステップ２に進み、利用可能な状態でない場合はステップ８に進む。2. Processing Performed by the In-
ステップ２では、総合判断処理部１６は、レーダ波を用いて物標を検出する範囲を、図３に示す方位角度領域Ａとする。この方位角度領域Ａは、自車両１０１を基準とし、位相差がα1（ｒａｄ）からα2（ｒａｄ）までの角度領域である。ここで、位相差は以下のように定義する。すなわち、図３に示すように、鉛直上方から自車両１０１を見たとき、自車両１０１の正面方向Ｆを位相差０（ｒａｄ）とし、時計回りに進むほど、位相差が大きくなるとする。α1、α2と、後述するβ1、β2とについて、下記式（１）～（４）が成立する。Instep 2, the comprehensivejudgment processing unit 16 sets a range in which a target is detected using a radar wave as an azimuth angle region A shown in FIG. This azimuth angle area A is an angle area in which the phase difference is α1 (rad) to α2 (rad) with reference to thehost vehicle 101. Here, the phase difference is defined as follows. That is, as shown in FIG. 3, when thehost vehicle 101 is viewed from vertically above, the front direction F of thehost vehicle 101 is set to a phase difference of 0 (rad), and the phase difference is increased as it proceeds clockwise. The following formulas (1) to (4) are established for α1 and α2 and β1 and β2 described later.
式（１） α1＜β1＜β2＜α2
式（２） β2―β1＜２π
式（３） α2－β1＜２π
式（４） β2－α1＜２π
また、α1、β1は負の値であり、α2、β2は正の値である。さらに、α1とα2の絶対値は同じであり、β1とβ2の絶対値も同じである。Formula (1) α1 <β1 <β2 <α2
Formula (2) β2 −β1 <2π
Formula (3) α2 −β1 <2π
Formula (4) β2 −α1 <2π
Α1 and β1 are negative values, and α2 and β2 are positive values. Furthermore, the absolute values of α1 and α2 are the same, and the absolute values of β1 and β2 are also the same.
式（２） β2―β1＜２π
式（３） α2－β1＜２π
式（４） β2－α1＜２π
また、α1、β1は負の値であり、α2、β2は正の値である。さらに、α1とα2の絶対値は同じであり、β1とβ2の絶対値も同じである。Formula (1) α1 <β1 <β2 <α2
Formula (2) β2 −β1 <2π
Formula (3) α2 −β1 <2π
Formula (4) β2 −α1 <2π
Α1 and β1 are negative values, and α2 and β2 are positive values. Furthermore, the absolute values of α1 and α2 are the same, and the absolute values of β1 and β2 are also the same.
また、本ステップでは、総合判断処理部１６は、レーダ波を用いた物標の検出に関する閾値Ｔを、図４に示すように設定する。すなわち、方位角度領域Ａのうち、位相差がβ1からβ2の領域（以下、方位角度領域Ｂとする）では、大きい閾値Ｔ1を設定するとともに、位相差がα1からβ1の領域（以下、方位角度領域Ｃ1とする）、及び位相差がβ2からα2の領域（以下、方位角度領域Ｃ2とする）では、閾値Ｔ1よりも小さい閾値Ｔ2を設定する。Further, in this step, the comprehensivejudgment processing unit 16 sets a threshold T related to target detection using radar waves as shown in FIG. That is, in the azimuth angle region A, in the region where the phase difference is β1 to β2 (hereinafter, referred to as the azimuth angle region B), a large threshold T1 is set and the phase difference is the region where the phase difference is α1 to β1 . A threshold value T2 smaller than the threshold value T1 is set in the region (hereinafter referred to as the azimuth angle region C1 ) and the region having a phase difference of β2 to α2 (hereinafter referred to as the azimuth angle region C2 ).
ここで、方位角度領域Ｂは、上記式（２）から明らかなように、位相折り返しが生じない領域である。それに対し、方位角度領域Ｃ1、Ｃ2は、位相折り返しが生じる可能性がある領域である。Here, the azimuth angle region B is a region where phase wrapping does not occur, as is apparent from the above equation (2). On the other hand, the azimuth angle regions C1 and C2 are regions where phase folding may occur.
ステップ３では、総合判断処理部１６は、方位角度領域Ａにおいて、レーダ波を利用した物標検出を行う。このときの閾値Ｔの設定は、前記ステップ２で設定したものである。
ステップ４では、総合判断処理部１６は、方位角度領域Ｃ1、Ｃ2において、カメラ１８を利用した物標検出を行う。In step 3, the comprehensivejudgment processing unit 16 performs target detection using a radar wave in the azimuth angle region A. At this time, the threshold value T is set instep 2 above.
In step 4, the comprehensivedetermination processing unit 16 performs target detection using thecamera 18 in the azimuth angle regions C1 and C2 .
ステップ４では、総合判断処理部１６は、方位角度領域Ｃ1、Ｃ2において、カメラ１８を利用した物標検出を行う。In step 3, the comprehensive
In step 4, the comprehensive
ステップ５では、総合判断処理部１６は、前記ステップ３のレーダ波を利用した物標検出により検出された物標について、前記ステップ４のカメラを利用した物標検出により検出された物標と方位が重なる（一致する）か否かを判断する。処理は、方位が重なる場合はステップ６に進み、重ならない場合はステップ７に進む。In step 5, the comprehensivejudgment processing unit 16 detects the target and direction detected by target detection using the camera in step 4 for the target detected by target detection using the radar wave in step 3. It is determined whether or not the two overlap (match). The process proceeds to step 6 when the directions overlap, and proceeds to step 7 when the directions do not overlap.
ステップ６では、総合判断処理部１６は、前記ステップ３で検出した物標を登録する。登録とは、検出した物標の情報（方位を含む）を最終的に特定し、総合判断処理部１６に記憶することを意味する。登録した物標の情報は、後に、必要に応じて、周知の衝突防止処理等に使用することができる。In step 6, the comprehensivejudgment processing unit 16 registers the target detected in the step 3. Registration means that the information (including the direction) of the detected target is finally specified and stored in the comprehensivejudgment processing unit 16. The registered target information can be used later for well-known anti-collision processing as required.
ステップ７では、総合判断処理部１６は、前記ステップ５において方位が重ならないと判断した物標は方位角度領域Ｂ内にあるか否かを判断する。処理は、方位角度領域Ｂ内にある場合はステップ６に進み、方位角度領域Ｂ外である場合は終了する。In step 7, the comprehensivedetermination processing unit 16 determines whether or not the target that is determined not to overlap in step 5 is within the azimuth angle region B. The process proceeds to step 6 if it is within the azimuth angle region B, and ends if it is outside the azimuth angle region B.
一方、処理は、前記ステップ１で否定判断をした場合はステップ８に進み、総合判断処理部１６は、方位角度領域Ｂにおいてレーダ波を利用した物標検出を実行する。なお、本ステップにおいて閾値Ｔの値はＴ1である。On the other hand, if the determination is negative instep 1, the process proceeds to step 8, and the comprehensivedetermination processing unit 16 executes target detection using radar waves in the azimuth angle region B. In this step, the value of the threshold T is T1 .
ステップ９では、総合判断処理部１６は、前記ステップ８で検出した物標を登録する。In Step 9, the comprehensivejudgment processing unit 16 registers the target detected in Step 8.
３．車載レーダ装置１が奏する効果
（１）車載レーダ装置１は、位相折り返しが生じる可能性がある方位角度領域Ｃ1、Ｃ2において、レーダ波を利用して検出した物標については、カメラを利用して検出した物標の方位と重なることを条件として登録する。そのことにより、位相折り返しに起因する誤検出を抑制することができる。3. Effects of the on-vehicle radar device 1 (1) The on-vehicle radar device 1 uses a camera for a target detected by using a radar wave in the azimuth angle regions C1 and C2 in which phase folding may occur. It registers as a condition that it overlaps with the direction of the detected target. As a result, erroneous detection due to phase wrapping can be suppressed.
（１）車載レーダ装置１は、位相折り返しが生じる可能性がある方位角度領域Ｃ1、Ｃ2において、レーダ波を利用して検出した物標については、カメラを利用して検出した物標の方位と重なることを条件として登録する。そのことにより、位相折り返しに起因する誤検出を抑制することができる。3. Effects of the on-vehicle radar device 1 (1) The on-
（２）車載レーダ装置１は、位相折り返しが生じない方位角度領域Ｂにおいては、カメラを利用した物標検出を行わず、レーダ波を利用して検出した物標を登録する。そのため、方位角度領域Ｂを含めてカメラを利用した物標検出を実行し、レーダ波を利用した物標検出の結果と照合する方法に比べて、処理を簡易化することができる。(2) The in-vehicle radar device 1 registers the target detected using the radar wave without performing the target detection using the camera in the azimuth angle region B where the phase return does not occur. Therefore, the processing can be simplified as compared with a method in which target detection using a camera including the azimuth angle region B is executed and collated with the result of target detection using radar waves.
（３）車載レーダ装置１は、方位角度領域Ｃ1、Ｃ2においては、閾値Ｔを低く設定する。そのことにより、反射波が弱い方位角度領域Ｃ1、Ｃ2においても、レーダ波を利用した物標検出が容易になる。(3) The on-vehicle radar device 1 sets the threshold value T low in the azimuth angle regions C1 and C2 . This facilitates target detection using radar waves even in the azimuth angle regions C1 and C2 where the reflected waves are weak.
尚、本発明は前記実施の形態になんら限定されるものではなく、本発明を逸脱しない範囲において種々の態様で実施しうる。
例えば、車載レーダ装置１は、図５に示すように、送信アンテナを複数備え、単一の受信アンテナを備えてもよいし、図６に示すように、複数の送信アンテナと複数の受信アンテナを備えてもよい。In addition, this invention is not limited to the said embodiment at all, In the range which does not deviate from this invention, it can implement with a various aspect.
For example, the in-vehicle radar device 1 may include a plurality of transmission antennas and a single reception antenna as shown in FIG. 5, or may include a plurality of transmission antennas and a plurality of reception antennas as shown in FIG. You may prepare.
例えば、車載レーダ装置１は、図５に示すように、送信アンテナを複数備え、単一の受信アンテナを備えてもよいし、図６に示すように、複数の送信アンテナと複数の受信アンテナを備えてもよい。In addition, this invention is not limited to the said embodiment at all, In the range which does not deviate from this invention, it can implement with a various aspect.
For example, the in-
また、方位角度領域Ａ、Ｂは、正面方向Ｆに関して非対称であってもよい。Further, the azimuth angle areas A and B may be asymmetric with respect to the front direction F.
また、前記ステップ４において、方位角度領域Ａの全体でカメラを利用した物標検出を行ってもよい。この場合、カメラを利用した物標検出の結果のうち、方位角度領域Ｃ1、Ｃ2における結果を用いて、前記ステップ５の判断を行うことができる。Moreover, in the said step 4, you may perform the target detection using a camera in the whole azimuth | direction angle area | region A. FIG. In this case, among the results of target detection using the camera, the determination in Step 5 can be performed using the results in the azimuth angle regions C1 and C2 .
また、車載レーダ装置１は、自車両の後方、又は側方の物標を検出してもよい。Further, the on-vehicle radar device 1 may detect a target behind or on the side of the own vehicle.
また、閾値Ｔの値は、方位角度領域Ａのいずれにおいても一定であってもよい。Further, the value of the threshold value T may be constant in any of the azimuth angle areas A.
上記車載レーダ装置は、少なくとも一つの送信アンテナ及び少なくとも一つの受信アンテナを備え、前記少なくとも一つの送信アンテナ及び前記少なくとも一つの受信アンテナを組み合わせてなるチャンネル毎に電波を送受信し、各チャンネルにて受信される受信信号間の位相差に基づいて前記電波を反射した物標の方位を、前記位相差がα1からα2の方位角度領域Ａにおいて検出する第１の方位検出手段と、車両の周囲を撮像する撮像手段と、前記撮像手段により撮像された画像に基づき物標の方位を検出する第２の方位検出手段と、を備える。The on-vehicle radar device includes at least one transmission antenna and at least one reception antenna, and transmits / receives radio waves for each channel formed by combining the at least one transmission antenna and the at least one reception antenna, and is received by each channel. First azimuth detecting means for detecting the azimuth of the target reflecting the radio wave based on the phase difference between the received signals in the azimuth angle region A where the phase difference is α1 to α2 , and the surroundings of the vehicle Imaging means for picking up images and second orientation detection means for detecting the orientation of the target based on the image taken by the imaging means.
そして、上記車載レーダ装置は、方位角度領域Ａのうち、位相差がβ1からβ2の方位角度領域Ｂにおいては、少なくとも第１の方位検出手段を用いて物標の方位を特定するとともに、方位角度領域Ａのうち、方位角度領域Ｂを除く方位角度領域Ｃでは、第１の方位検出手段及び第２の方位検出手段を用いて物標の方位を特定する。In the azimuth angle region A, the in-vehicle radar device specifies the azimuth of the target using at least the first azimuth detection means in the azimuth angle region B having a phase difference of β1 to β2 . Among the azimuth angle areas A, in the azimuth angle area C excluding the azimuth angle area B, the azimuth of the target is specified using the first azimuth detection means and the second azimuth detection means.
ここで、前記α1、α2、β1、及びβ2について下記式（１）～（４）が成立する。
式（１） α1＜β1＜β2＜α2
式（２） β2―β1＜２π
式（３） α2－β1＜２π
式（４） β2－α1＜２πHere, the following formulas (1) to (4) hold for α1 , α2 , β1 , and β2 .
Formula (1) α1 <β1 <β2 <α2
Formula (2) β2 −β1 <2π
Formula (3) α2 −β1 <2π
Formula (4) β2 −α1 <2π
式（１） α1＜β1＜β2＜α2
式（２） β2―β1＜２π
式（３） α2－β1＜２π
式（４） β2－α1＜２πHere, the following formulas (1) to (4) hold for α1 , α2 , β1 , and β2 .
Formula (1) α1 <β1 <β2 <α2
Formula (2) β2 −β1 <2π
Formula (3) α2 −β1 <2π
Formula (4) β2 −α1 <2π
上記車載レーダ装置は、位相折り返しが発生しない方位角度領域Ｂにおいては、例えば、第１の方位検出手段により物標の方位を検出する。また、位相折り返しが発生する可能性がある方位角度領域Ｃでは、第１の方位検出手段と第２の方位検出手段とを併用して、位相折り返しに起因する誤検出を抑制する。The in-vehicle radar device detects the azimuth of the target in, for example, the first azimuth detecting means in the azimuth angle region B where the phase wrap does not occur. Further, in the azimuth angle region C where the phase wrapping may occur, the first azimuth detecting unit and the second azimuth detecting unit are used together to suppress erroneous detection due to the phase wrapping.
すなわち、上記車載レーダ装置によれば、位相折り返しに起因する誤検出を抑制できるとともに、必ずしも、方位角度領域Ａの全体にわたって第１の方位検出手段と第２の方位検出手段とを併用する必要が無いので、車載レーダ装置の構成及び実行する処理を簡易化できる。That is, according to the above-described on-vehicle radar device, it is possible to suppress erroneous detection due to phase folding, and it is always necessary to use the first azimuth detecting unit and the second azimuth detecting unit together throughout the azimuth angle region A. Since there is no, the configuration of the in-vehicle radar device and the processing to be executed can be simplified.
１…車載レーダ装置、４、４１～４Ｎ…送信器、６…受信器、
８…Ａ／Ｄ変換部、１０…信号処理部、１２…高周波発振器、
１４…分配器、１６…総合判断処理部、１８・・・カメラ、
１０１・・・自車両、１０３・・・正面方向、
Ａ／Ｄ１～Ａ／ＤＮ…変換器、ＡＭＰ１～ＡＭＰＮ…増幅器、
ＡＲ、ＡＲ１～ＡＲＮ…受信アンテナ、
ＡＳ、ＡＳ１～ＡＳＮ…送信アンテナ、
ＭＸ１～ＭＸＮ…高周波用ミキサDESCRIPTION OFSYMBOLS 1 ... Car-mounted radar apparatus, 4, 41-4N ... Transmitter, 6 ... Receiver
8 ... A / D converter, 10 ... signal processor, 12 ... high frequency oscillator,
14 ... distributor, 16 ... comprehensive judgment processing unit, 18 ... camera,
101 ... own vehicle, 103 ... front direction,
A / D1 to A / DN ... converter, AMP1 to AMPN ... amplifier,
AR, AR1 to ARN ... receiving antenna,
AS, AS1 to ASN ... transmitting antenna,
MX1 to MXN: High frequency mixer
８…Ａ／Ｄ変換部、１０…信号処理部、１２…高周波発振器、
１４…分配器、１６…総合判断処理部、１８・・・カメラ、
１０１・・・自車両、１０３・・・正面方向、
Ａ／Ｄ１～Ａ／ＤＮ…変換器、ＡＭＰ１～ＡＭＰＮ…増幅器、
ＡＲ、ＡＲ１～ＡＲＮ…受信アンテナ、
ＡＳ、ＡＳ１～ＡＳＮ…送信アンテナ、
ＭＸ１～ＭＸＮ…高周波用ミキサDESCRIPTION OF
8 ... A / D converter, 10 ... signal processor, 12 ... high frequency oscillator,
14 ... distributor, 16 ... comprehensive judgment processing unit, 18 ... camera,
101 ... own vehicle, 103 ... front direction,
A / D1 to A / DN ... converter, AMP1 to AMPN ... amplifier,
AR, AR1 to ARN ... receiving antenna,
AS, AS1 to ASN ... transmitting antenna,
MX1 to MXN: High frequency mixer
Claims (5)
- 少なくとも一つの送信アンテナ（ＡＳ）及び少なくとも一つの受信アンテナ（ＡＲ１～ＡＲＮ）を備え、前記少なくとも一つの送信アンテナ及び前記少なくとも一つの受信アンテナを組み合わせてなるチャンネル毎に電波を送受信し、各チャンネルにて受信される受信信号間の位相差に基づいて前記電波を反射した物標の方位を、前記位相差がα1からα2の方位角度領域Ａにおいて検出する第１の方位検出手段（４、６、８、１０）と、
車両の周囲を撮像する撮像手段（１８）と、
前記撮像手段により撮像された画像に基づき物標の方位を検出する第２の方位検出手段（１６）と、
前記方位角度領域Ａのうち、前記位相差がβ1からβ2の方位角度領域Ｂにおいては、少なくとも前記第１の方位検出手段を用いて物標の方位を特定するとともに、前記方位角度領域Ａのうち、前記方位角度領域Ｂを除く方位角度領域Ｃでは、前記第１の方位検出手段及び前記第２の方位検出手段を用いて物標の方位を特定する方位特定手段（１６）と、
を備え、
前記α1、α2、β1、及びβ2について下記式（１）～（４）が成立することを特徴とする車載レーダ装置（１）。
式（１） α1＜β1＜β2＜α2
式（２） β2―β1＜２π
式（３） α2－β1＜２π
式（４） β2－α1＜２πAt least one transmitting antenna (AS) and at least one receiving antenna (AR1 to ARN) are provided, and radio waves are transmitted and received for each channel formed by combining the at least one transmitting antenna and the at least one receiving antenna. First azimuth detecting means (4,) for detecting the azimuth of the target reflecting the radio wave based on the phase difference between the received signals in the azimuth angle region A where the phase difference is α1 to α2 . 6, 8, 10),
Imaging means (18) for imaging the surroundings of the vehicle;
Second azimuth detecting means (16) for detecting the azimuth of the target based on the image picked up by the image pickup means;
In the azimuth angle area A, in the azimuth angle area B having a phase difference of β1 to β2 , the azimuth angle of the target is specified using at least the first azimuth detecting means, and the azimuth angle area A Among them, in the azimuth angle area C excluding the azimuth angle area B, the azimuth specifying means (16) for specifying the azimuth of the target using the first azimuth detecting means and the second azimuth detecting means,
With
The on-vehicle radar device (1), wherein the following formulas (1) to (4) are established for α1 , α2 , β1 , and β2 .
Formula (1) α1 <β1 <β2 <α2
Formula (2) β2 −β1 <2π
Formula (3) α2 −β1 <2π
Formula (4) β2 −α1 <2π - 前記方位特定手段は、前記方位角度領域Ｃにおいて、前記第１の方位検出手段により検出した方位と、前記第２の方位検出手段により検出した方位とが一致することを条件として、その方位を物標の方位として特定することを特徴とする請求項１記載の車載レーダ装置。In the azimuth angle region C, the azimuth specifying means determines that the azimuth detected by the first azimuth detection means and the azimuth detected by the second azimuth detection means coincide with each other. 2. The on-vehicle radar device according to claim 1, wherein the in-vehicle radar device is specified as an orientation of a mark.
- 前記第１の方位検出手段における電波の受信に関する閾値は、前記方位角度領域Ｃにおいて、前記方位角度領域Ｂよりも小さいことを特徴とする請求項１又は２に記載の車載レーダ装置。3. The on-vehicle radar device according to claim 1, wherein a threshold value related to radio wave reception in the first azimuth detecting unit is smaller in the azimuth angle region C than in the azimuth angle region B. 4.
- 前記チャンネルは、一つの前記送信アンテナと複数の前記受信アンテナとで構成されていることを特徴とする請求項１～３のいずれか１項に記載の車載レーダ装置。The in-vehicle radar device according to any one of claims 1 to 3, wherein the channel includes one transmitting antenna and a plurality of receiving antennas.
- 複数の前記受信アンテナは、一列かつ等間隔に配置されていることを特徴とする請求項４に記載の車載レーダ装置。The in-vehicle radar device according to claim 4, wherein the plurality of receiving antennas are arranged in a line and at equal intervals.
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| JP4082442B2 (en)* | 2007-07-24 | 2008-04-30 | 株式会社デンソー | Direction detection device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108519605A (en)* | 2018-04-09 | 2018-09-11 | 重庆邮电大学 | Road edge detection method based on lidar and camera |
| CN108519605B (en)* | 2018-04-09 | 2021-09-07 | 重庆邮电大学 | Road edge detection method based on lidar and camera |
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| JP2014126498A (en) | 2014-07-07 |
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