JPH11118917A5 - - Google Patents
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- Publication number
- JPH11118917A5 JPH11118917A5 JP1997278639A JP27863997A JPH11118917A5 JP H11118917 A5 JPH11118917 A5 JP H11118917A5 JP 1997278639 A JP1997278639 A JP 1997278639A JP 27863997 A JP27863997 A JP 27863997A JP H11118917 A5 JPH11118917 A5 JP H11118917A5
- Authority
- JP
- Japan
- Prior art keywords
- threshold
- vehicle
- gain
- radar device
- beat signal
- Prior art date
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- Granted
Links
Description
【００１６】
【課題を解決するための手段】
第１の発明のＦＭ−ＣＷレーダ装置は、上記ビート信号を増幅する増幅器の利得値に応じて、上記ビート信号の目標判定の閾値を決定する閾値算出手段と、上記ビート信号の出力波形と上記閾値を比較する比較手段とを備えたものである。
また、第２の発明のＦＭ−ＣＷレーダ装置は、上記ビート信号を増幅する増幅器の利得を制御する利得制御手段と、この利得に応じて上記ＦＭ−ＣＷレーダ装置の送受信機が発生する周波数軸上のノイズ成分の平均値を予め記憶しておくノイズ平均値記憶手段と、上記利得に応じた上記ノイズ成分の平均値により上記ビート信号の目標判定の閾値を決定する閾値算出手段と、上記ビート信号の出力波形と上記閾値を比較する比較手段と、上記周波数分析結果の極大値を検出する極大値検出手段とを備えたものである。[0016]
[Means for solving the problem]
The FM-CW radar device of the first invention comprises threshold calculation means for determining a target determination threshold for the beat signal in accordance with a gain value of an amplifier that amplifies the beat signal, and comparison means for comparing the output waveform of the beat signal with the threshold.
An FM-CW radar system according to a second aspect of the present invention comprises gain control means for controlling the gain of an amplifier that amplifies the beat signal; noise average value storage means for storing in advance the average value of noise components on the frequency axis generated by a transmitter/receiver of the FM-CW radar system in accordance with the gain; threshold calculation means for determining a target determination threshold for the beat signal based on the average value of the noise components in accordance with the gain; comparison means for comparing the output waveform of the beat signal with the threshold; and maximum value detection means for detecting a maximum value of the frequency analysis result.
【００１７】
また、第３の発明のＦＭ−ＣＷレーダ装置は、第１または第２の発明において、予め送受信機の利得と受信機ノイズのスペクトルを測定しておき、利得に合わせて目標検出の閾値を設定するようにしたものである。[0017]
The FM-CW radar device of the third invention is the same as that of the first or second invention, except that the gain of the transmitter/receiver and the spectrum of the receiver noise are measured in advance, and a target detection threshold is set in accordance with the gain.
【００１８】
また、第４の発明のＦＭ−ＣＷレーダ装置は、第１または第２の発明において、予め送受信機の利得と受信機ノイズの平均値の関係及び車体の傾斜と受信機ノイズのスペクトルの関係を測定しておき、利得と車体の傾斜状況に合わせて目標検出の閾値を設定するようにしたものである。[0018]
The FM-CW radar device of the fourth invention is the same as that of the first or second invention, except that the relationship between the gain of the transmitter and receiver and the average value of the receiver noise and the relationship between the inclination of the vehicle body and the spectrum of the receiver noise are measured in advance, and a target detection threshold is set in accordance with the gain and the inclination of the vehicle body.
【００１９】
また、第５の発明のＦＭ−ＣＷレーダ装置は、第１または第２の発明において、予め送受信機の利得と受信機ノイズの平均値の関係及び降雨と受信機ノイズのスペクトルの関係を測定しておき、利得と降雨の状態に合わせて目標検出の閾値を設定するようにしたものである。[0019]
The FM-CW radar device of the fifth invention is the same as that of the first or second invention, except that the relationship between the gain of the transmitter and receiver and the average value of the receiver noise and the relationship between rainfall and the spectrum of the receiver noise are measured in advance, and a target detection threshold is set in accordance with the gain and rainfall conditions.
【００２０】
また、第６の発明のＦＭ−ＣＷレーダ装置は、第１または第２の発明において、予め送受信機の利得と受信機ノイズの平均値の関係及び送受信機の温度と受信機ノイズの関係を測定しておき、利得と送受信機の温度に合わせて目標検出の閾値を設定するようにしたものである。[0020]
The FM-CW radar device of the sixth aspect of the invention is the same as that of the first or second aspect of the invention, except that the relationship between the gain of the transmitter and receiver and the average value of the receiver noise and the relationship between the temperature of the transmitter and receiver are measured in advance, and the target detection threshold is set in accordance with the gain and the temperature of the transmitter and receiver.
【００２４】
次に比較手段３０は周波数分析手段１２の出力が閾値ａを越えていれば目標物であると判断する。図８は閾値ａ（閾値２５）により受信機ノイズ２３は選択されず、第１目標物２０と第２目標物２１のみが選択された例を示す。比較手段３０で選択された目標物の振幅値は極大値検出手段３１に送る。極大値検出手段３１は振幅値が周波数軸上で連続していれは、その極大点を検出し、極大点の周波数の値を距離速度算出手段１４に送る。距離速度算出手段１４では従来と同様に目標物の相対速度、相対距離を求めることができる。[0024]
Next, the comparison means 30 determines that the target is a target if the output of the frequency analysis means 12 exceeds the threshold a. Figure 8 shows an example in which the receiver noise 23 is not selected due to the threshold a (threshold 25), and only the first target 20 and the second target 21 are selected. The amplitude value of the target selected by the comparison means 30 is sent to the maximum value detection means 31. If the amplitude values are continuous on the frequency axis, the maximum value detection means 31 detects the maximum point and sends the frequency value of the maximum point to the distance and velocity calculation means 14. The distance and velocity calculation means 14 can calculate the relative velocity and relative distance of the target in the same way as in the conventional method.
【００３７】
Ａ／Ｄ変換器１１においてディジタルの信号形式に変換されたビート信号は周波数分析手段１２と利得制御手段２７に送られる。利得制御手段２７はビート信号の大きさをみて、Ａ／Ｄ変換器１１が飽和しないレベルかあるいは入力が小さすぎないか確認し、ビート信号が最適なレベルになるように増幅器１０の利得を調整する。また、利得制御手段２７は増幅器１０に設定した値に対応する引数を閾値算出手段２９に送る。閾値算出手段２９は利得制御手段２７から渡された引数によりノイズ平均値記憶手段２８から利得に応じたノイズ平均値を取り込む。閾値算出手段２９はまた、温度検出手段３５から送受信機１５の温度情報を取り込む。温度検出手段３５は例えば送受信機１５にサーミスタ等の温度センサーをつけることで情報を得る。閾値算出手段２９は上記ノイズ平均値と温度情報から目標物を区別する閾値を求め、比較手段３０に送る、通常、送受信機１５は温度によって送信出力や利得が変化しノイズ成分の振幅が変動する。従って予め利得制御手段２７の出力を固定した状態で各温度のノイズ平均値を測定しておき、各温度間でのノイズ成分の差を補正値として持つことにより閾値をより正確に算出することができる。比較手段３０は周波数分析手段１２の出力が閾値を越えていれば目標物であると判断し、振幅値を極大値検出手段３１に送る。極大値検出手段３１は振幅値が周波数軸上で連続していれば、その極大点を検出し、極大点の周波数の値を距離速度算出手段１４に送る。距離速度算出手段１４では従来と同様に目標物の相対速度、相対距離を求めることができる。[0037]
The beat signal converted into a digital signal format by the A/D converter 11 is sent to the frequency analysis means 12 and the gain control means 27. The gain control means 27 checks the magnitude of the beat signal to ensure that the A/D converter 11 is not saturated or that the input is not too small, and adjusts the gain of the amplifier 10 so that the beat signal is at an optimal level. The gain control means 27 also sends an argument corresponding to the value set in the amplifier 10 to the threshold calculation means 29. The threshold calculation means 29 retrieves a noise average value corresponding to the gain from the noise average value storage means 28 using the argument passed from the gain control means 27. The threshold calculation means 29 also retrieves temperature information of the transceiver 15 from the temperature detection means 35. The temperature detection means 35 obtains this information, for example, by attaching a temperature sensor such as a thermistor to the transceiver 15. The threshold calculation means 29 calculates a threshold value for distinguishing targets from the noise average value and temperature information and sends the result to the comparison means 30. Normally, the transmission output and gain of the transceiver 15 change depending on the temperature, causing the amplitude of the noise component to fluctuate. Therefore, by measuring the noise average value at each temperature in advance with the output of the gain control means 27 fixed and using the difference in noise component between each temperature as a correction value, the threshold can be calculated more accurately. If the output of the frequency analysis means 12 exceeds the threshold, the comparison means 30 determines that it is a target and sends the amplitude value to the maximum value detection means 31. If the amplitude values are continuous on the frequency axis, the maximum value detection means 31 detects the maximum point and sends the frequency value of the maximum point to the distance/speed calculation means 14. The distance/speed calculation means 14 can calculate the relative speed and relative distance of the target in the same way as in the conventional method.
【００３８】
【発明の効果】
第１または第２の発明によれば、送受信機の利得とノイズ成分の振幅値の関係を予め測定しておき、目標検出の閾値を利得に連動させて設定することで閾値設定を容易にし、且つ複数の目標信号間の干渉を抑えて目標検出ができる効果がある。[0038]
[Effects of the Invention]
According to the first or second invention, the relationship between the gain of the transmitter/receiver and the amplitude value of the noise component is measured in advance, and the target detection threshold is set in conjunction with the gain, which makes it easier to set the threshold and enables target detection while suppressing interference between multiple target signals.
【００３９】
また、第３の発明によれば、利得に対するノイズ成分の周波数分布をパターンとして予め測定しておき、目標検出の閾値を利得に連動させて設定することで閾値設定を正確に行い、且つ複数の目標信号間の干渉を抑えて目標検出ができる効果がある。[0039]
Furthermore, according to the third aspect of the present invention, the frequency distribution of noise components relative to gain is measured in advance as a pattern, and the target detection threshold is set in conjunction with the gain, thereby enabling accurate threshold setting and target detection while suppressing interference between multiple target signals.
【００４０】
また、第４の発明によれば、アンテナの向きと地面からの電波の反射レベルの関係を予め測定しておき、目標検出の閾値を車両の向きと送受信機の利得に連動させて設定することで閾値設定を正確に行い、且つ複数の目標信号間の干渉を抑えて目標検出ができる効果がある。[0040]
Furthermore, according to the fourth aspect of the present invention, the relationship between the orientation of the antenna and the level of reflection of radio waves from the ground is measured in advance, and the target detection threshold is set in conjunction with the orientation of the vehicle and the gain of the transmitter/receiver, thereby enabling accurate threshold setting and target detection while suppressing interference between multiple target signals.
【００４１】
また、第５の発明によれば、降雨と地面からの電波の反射レベルの関係を予め測定しておき、降雨情報と送受信機の利得に連動させて設定することで閾値設定を正確に行い、且つ複数の目標信号間の干渉を抑えて目標検出ができる効果がある。[0041]
Furthermore, according to the fifth invention, the relationship between rainfall and the reflection level of radio waves from the ground is measured in advance, and the threshold value is set in conjunction with the rainfall information and the gain of the transmitter/receiver, thereby enabling accurate threshold setting and target detection while suppressing interference between multiple target signals.
【００４２】
また、第６の発明によれば、送受信機の温度とノイズ振幅値の関係を予め測定しておき、送受信機の温度と利得に連動させて設定することで閾値設定を正確に行い、且つ複数の目標信号間の干渉を抑えて目標検出ができる効果がある。[0042]
Furthermore, according to the sixth aspect of the present invention, the relationship between the temperature of the transmitter and receiver and the noise amplitude value is measured in advance, and the threshold value is set in conjunction with the temperature and gain of the transmitter and receiver, thereby enabling accurate threshold setting and target detection while suppressing interference between multiple target signals.
Claims (6)
上記ビート信号を増幅する増幅器の利得値に応じて、上記ビート信号の目標判定の閾値を決定する閾値算出手段と、上記ビート信号の出力波形と上記閾値を比較する比較手段とを備えたことを特徴とするＦＭ−ＣＷレーダ装置。An FM-CW radar device is mounted on a vehicle, transmits FM-CW waves ahead of the vehicle, receives reflected waves from the vehicle or obstacle ahead, and determines the distance and speed to the vehicle or obstacle ahead based on a beat signal between the transmitted and received waves.
an FM-CW radar device comprising: threshold calculation means for determining a threshold for target determination of the beat signal in accordance with a gain value of an amplifier that amplifies the beat signal; and comparison means for comparing an output waveform of the beat signal with the threshold.
上記ビート信号を増幅する増幅器の利得を制御する利得制御手段と、この利得に応じて上記ＦＭ−ＣＷレーダ装置の送受信機が発生する周波数軸上のノイズ成分の平均値を予め記憶しておくノイズ平均値記憶手段と、上記利得に応じた上記ノイズ成分の平均値により上記ビート信号の目標判定の閾値を決定する閾値算出手段と、上記ビート信号の出力波形と上記閾値を比較する比較手段と、上記周波数分析結果の極大値を検出する極大値検出手段とを備えたことを特徴とするＦＭ−ＣＷレーダ装置。An FM-CW radar device is mounted on a vehicle, transmits FM-CW waves ahead of the vehicle, receives reflected waves from the vehicle or obstacle ahead, and determines the distance and speed to the vehicle or obstacle ahead based on a beat signal between the transmitted and received waves.
an FM-CW radar device comprising: gain control means for controlling the gain of an amplifier that amplifies the beat signal; noise average value storage means for storing in advance an average value of noise components on the frequency axis generated by a transmitter/receiver of the FM-CW radar device in accordance with the gain; threshold calculation means for determining a target determination threshold of the beat signal based on the average value of the noise components in accordance with the gain; comparison means for comparing an output waveform of the beat signal with the threshold; and maximum value detection means for detecting a maximum value of the frequency analysis result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP27863997A JP3829436B2 (en) | 1997-10-13 | 1997-10-13 | FM-CW radar equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP27863997A JP3829436B2 (en) | 1997-10-13 | 1997-10-13 | FM-CW radar equipment |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2005367589A Division JP3906869B2 (en) | 2005-12-21 | 2005-12-21 | FM-CW radar equipment |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JPH11118917A JPH11118917A (en) | 1999-04-30 |
| JPH11118917A5 true JPH11118917A5 (en) | 2004-10-21 |
| JP3829436B2 JP3829436B2 (en) | 2006-10-04 |
Family
ID=17600089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP27863997A Expired - Lifetime JP3829436B2 (en) | 1997-10-13 | 1997-10-13 | FM-CW radar equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3829436B2 (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100307550B1 (en) * | 1999-09-13 | 2001-11-07 | 송재인 | Radar receiving device |
| US6903679B2 (en) * | 2000-08-16 | 2005-06-07 | Raytheon Company | Video amplifier for a radar receiver |
| KR20020062001A (en) * | 2001-01-19 | 2002-07-25 | 엘지이노텍 주식회사 | Changing apparatus of frequency channel according to jammming signal and changing method of the same |
| JP3784327B2 (en) * | 2002-01-18 | 2006-06-07 | 三菱電機株式会社 | Ranging radar equipment |
| JP4828144B2 (en) * | 2005-03-29 | 2011-11-30 | 三菱電機株式会社 | Millimeter wave radar module |
| JP5002904B2 (en) | 2005-04-04 | 2012-08-15 | ブラザー工業株式会社 | Radio tag communication apparatus, communication method thereof, and communication program thereof |
| US7439876B2 (en) * | 2005-08-02 | 2008-10-21 | General Electric Company | Microwave detection system and method |
| JP4001611B2 (en) * | 2006-02-08 | 2007-10-31 | 三菱電機株式会社 | Ranging radar equipment |
| JP4765915B2 (en) * | 2006-12-01 | 2011-09-07 | 三菱電機株式会社 | FM-CW radar equipment |
| JP2009174900A (en) * | 2008-01-22 | 2009-08-06 | Fujitsu Ten Ltd | Object detecting device, object detection method, and object detecting system |
| JP2009250616A (en) * | 2008-04-01 | 2009-10-29 | Mitsubishi Electric Corp | Radar signal processing device |
| JP5733881B2 (en) * | 2009-01-20 | 2015-06-10 | 日本無線株式会社 | FM-CW radar equipment |
| JP5835959B2 (en) * | 2011-06-17 | 2015-12-24 | 日本信号株式会社 | Railroad crossing obstacle detection device |
| KR102168359B1 (en) * | 2013-11-06 | 2020-10-21 | 현대모비스 주식회사 | Radar system for vehicle and method for controlling gain of receiving signal there of |
| JP6379709B2 (en) * | 2014-06-18 | 2018-08-29 | 沖電気工業株式会社 | Signal processing apparatus, signal processing method, and program |
| JP6839549B2 (en) * | 2017-01-27 | 2021-03-10 | 古河電気工業株式会社 | Radar device and control method of radar device |
| WO2019208565A1 (en) * | 2018-04-27 | 2019-10-31 | ミツミ電機株式会社 | Short-distance sensor |
-
1997
- 1997-10-13 JP JP27863997A patent/JP3829436B2/en not_active Expired - Lifetime
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