WO2023218632A1 - Dispositif radar et procédé de détection cible - Google Patents

Dispositif radar et procédé de détection cible Download PDF

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Publication number
WO2023218632A1
WO2023218632A1 PCT/JP2022/020185 JP2022020185W WO2023218632A1 WO 2023218632 A1 WO2023218632 A1 WO 2023218632A1 JP 2022020185 W JP2022020185 W JP 2022020185W WO 2023218632 A1 WO2023218632 A1 WO 2023218632A1
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Prior art keywords
axis
axis direction
radar device
peak value
antenna
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Ceased
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PCT/JP2022/020185
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English (en)
Japanese (ja)
Inventor
美裕 中尾
幸徳 赤峰
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Hitachi Ltd
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Hitachi Ltd
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Priority to PCT/JP2022/020185 priority Critical patent/WO2023218632A1/fr
Publication of WO2023218632A1 publication Critical patent/WO2023218632A1/fr
Anticipated expiration legal-status Critical
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00

Definitions

  • the present invention relates to a radar device and a target object detection method.
  • a millimeter wave radar mounted on a vehicle or the like can determine the distance, speed, and angle of a target by receiving the reflected waves of transmitted waves reflected by the target.
  • Millimeter wave radar can calculate the horizontal angle if multiple receiving antennas are arranged horizontally, and can calculate the height of a target if multiple receiving antennas are arranged vertically (e.g. , see Patent Document 1).
  • There is also a method of determining the horizontal angle and vertical angle by arranging a plurality of receiving antennas in a plane to generate a two-dimensional spectrum for example, see Patent Document 2.
  • the present invention has been made in consideration of the above points, and an object of the present invention is to accurately detect a target while suppressing the amount of calculation.
  • one aspect of the present invention provides a radar device that estimates the direction of arrival of a received signal in which a reflected wave of a transmitted signal reflected by a target object is received via a plurality of antennas, a signal processing unit that processes a received signal to estimate the direction of arrival;
  • the plurality of antennas are two-dimensionally arranged in a coordinate system having a first axis and a second axis as coordinate axes; , calculate a steering vector of the antenna in the first axis direction based on the received signal, and scan an angle in the first axis direction at a first spectral intensity of the received signal based on the steering vector to obtain a first steering vector.
  • a first axis direction estimating unit that calculates a peak value of and performs processing for estimating the direction of arrival regarding the first axis based on the first peak value; and a first axis direction estimation unit that calculates a peak value of to calculate a steering vector of the antenna in the second axis direction, and calculate a second peak value by scanning an angle in the second axis direction at a second spectral intensity of the received signal based on the steering vector.
  • a second axis direction estimator that performs a process of estimating the direction of arrival regarding the second axis based on the second peak value.
  • target detection can be performed with high accuracy while suppressing the amount of calculation.
  • FIG. 1 is a diagram showing the configuration of a radar device according to a first embodiment
  • FIG. FIG. 3 is a diagram showing the angle of the reflected wave from the target with respect to the first axis and the angle of the reflected wave from the target with respect to the second axis according to the first embodiment.
  • FIG. 6 is a diagram showing how to use two-dimensionally arranged receiving antennas in a second axis spatial averaging processing section and a first axis direction estimating section. It is a figure which shows the process in a scanning range limitation process part and a 2nd axis direction estimation part. It is a flowchart which shows the flow of processing from the second axis spatial averaging processing section to the second axis direction estimating section of the signal processing section.
  • FIG. 3 is a diagram showing an example of antenna arrangement according to the first embodiment. It is a figure which shows an example of the calculation result of the one-dimensional angular spectrum intensity of a 1st axis direction. It is a figure which shows an example of the calculation result of the two-dimensional angular spectrum intensity of a 2nd axis direction. 7 is a diagram showing an example of antenna arrangement according to Embodiment 2.
  • FIG. 3 is a diagram showing an example of antenna arrangement according to the first embodiment. It is a figure which shows an example of the calculation result of the one-dimensional angular spectrum intensity of a 1st axis direction. It is a figure which shows an example of the calculation result of the two-dimensional angular spectrum intensity of a 2nd axis direction.
  • 7 is a diagram showing an example of antenna arrangement according to Embodiment 2.
  • a computer executes a program using a processor (for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit)), and performs processing determined by the program while using storage resources (for example, a memory). Therefore, the main body of processing performed by executing a program may be a processor.
  • the main body of the processing performed by executing the program may be an arithmetic unit, and may include a dedicated circuit that performs specific processing.
  • the dedicated circuit is, for example, an FPGA (Field Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), or a CPLD (Complex Programmable Logic Device).
  • FIG. 1 is a diagram showing the configuration of a radar device 1 according to the first embodiment.
  • the radar device 1 is mounted, for example, on a vehicle such as a railroad or a car.
  • the radar device 1 is used to detect targets existing around or in front of the vehicle.
  • the radar device 1 acquires target data by transmitting a transmitted wave that is reflected by a target object and receiving a reflected wave that returns to the radar device 1 .
  • the data on the target includes the distance to the target, the relative speed of the target with respect to the radar device 1, the direction in which the target exists, and the like.
  • the radar device 1 includes a transmitting section 10, a receiving section 20, a signal processing section 30, and a memory section 40.
  • the transmitter 10 includes an oscillator 11 and a transmitting antenna 12.
  • distance and speed information are calculated based on the results of transmitting and receiving a chirp signal whose frequency changes linearly depending on time, which is generally referred to as the FMCW (Frequency Modulated Continuous Wave) method.
  • the oscillator 11 receives information about a signal to be transmitted from the signal control section 31 in the signal processing section 30 and generates a chirp signal.
  • the generated chirp signal is transmitted as a transmission wave from the transmission antenna 12.
  • the transmitted wave is reflected by a target object such as another vehicle, and becomes a reflected wave.
  • the receiving unit 20 includes a plurality of receiving antennas 21, a mixer 22 connected to each receiving antenna 21, and an A/D (Analog to Digital) converter 23.
  • a part of the reflected wave reflected by the target object is received by the receiving antenna 21.
  • the received signal that has received the reflected wave is input to the mixer 22 .
  • the mixer 22 generates a beat signal by mixing the received signal and the transmitted signal (oscillation signal of the oscillator 11).
  • the beat signal is converted into a digital signal by the A/D converter 23 and output to the signal processing section 30.
  • the beat signal after A/D conversion is used to perform Fourier transform, distance/velocity calculation, first axis direction estimation, and second axis direction estimation.
  • the memory section 40 stores information necessary for the signal processing section 30, such as antenna coordinate information and information on modulation settings of the transmission signal.
  • the antenna coordinate information is, for example, the distance d1 in the first axis direction and the distance d2 in the second axis direction of the two-dimensionally arranged receiving antennas 21 (described later with reference to FIG. 6). Further, the antenna coordinate information includes offset values d12, d13, . . . of other receiving antenna subarrays with respect to the receiving antenna subarray that is a reference for the receiving antenna 21 in the first axis direction. Similarly, the antenna coordinate information includes offset values d22, d23, . . . of other columns with respect to the reference column of the receiving antenna 21 in the second axis direction (described later with reference to FIG. 9).
  • the signal transmitted from the transmitting antenna 12 is received by the receiving antenna 21 through a route that is twice the distance to the target object.
  • a delay time occurs between the time when a signal whose frequency changes depending on the time of day is transmitted and when it is reflected by a target object and reaches the receiving antenna 21, resulting in a frequency difference between the transmitted signal and the received signal. occurs.
  • the longer the distance to the target the greater the delay time and the greater the frequency difference between the transmitted and received signals.
  • the beat signal after A/D conversion is Fourier transformed in the time direction, thereby determining the distance to the target based on the frequency difference.
  • the Fourier transform unit 32 performs two-dimensional FFT (Fast Fourier Transform) on the received signal input to the signal processing unit 30 as described above.
  • a power spectrum of distance and velocity is obtained by FFT processing.
  • the distance/velocity calculation unit 33 searches for a peak bin that is equal to or greater than a threshold value from the power spectrum of the distance/velocity obtained by the Fourier transform unit 32, thereby determining the distance and velocity of the detected target.
  • the Fourier transform unit 32 Since the Fourier transform unit 32 performs FFT processing on the signals received by each receiving antenna 21, it obtains the same number of distance and velocity spectra as the number of channels of the receiving antenna 21. Here, the obtained peak bin is the same for all receiving antennas 21, but the complex information of the amplitude and phase of the frequency spectrum at the peak bin differs for each receiving antenna 21. Since the way in which the complex information differs for each receiving antenna 21 is determined by the antenna arrangement and the target object direction, the direction of the target object is determined from the complex information obtained from each receiving antenna 21 and the antenna arrangement.
  • the received signal refers to the complex signal at the peak bin of the distance and velocity spectra.
  • the processing after the second axis spatial averaging processing unit 34 is the processing for determining the direction of the target object.
  • FIG. 2 is a diagram showing the angle of the reflected wave from the target with respect to the first axis and the angle of the reflected wave from the target with respect to the second axis according to the first embodiment.
  • the receiving antenna has a two-dimensional arrangement with the first axis and the second axis, and the angle ⁇ of the target with respect to the first axis is defined as shown in FIG.
  • the angle ⁇ of the target object is defined as shown in FIG. 2(b).
  • the first axis is the horizontal direction and the second axis is the vertical direction, but the invention is not limited thereto.
  • FIG. 3 is a diagram showing how to use the two-dimensionally arranged receiving antenna 21 in the second axis spatial averaging processing section and the first axis direction estimation section.
  • the second axis spatial averaging processing unit 34 performs processing for using the two-dimensionally arranged receiving antennas 21 as one-dimensional antennas. Specifically, the received signals obtained by the two-dimensionally arranged receiving antennas 21 are grouped into each receiving antenna array 21A having the same second axis coordinates, the correlation matrix R of the received signals of each group is determined, and the correlation matrix R of the received signals of each group is calculated. Performs averaging processing of the correlation matrix. Details will be described later.
  • the correlation matrix R of the received signal obtained here is regarded as the correlation matrix of the received signal by the one-dimensional antenna array parallel to the first axis.
  • the first axis direction estimation unit 35 uses the correlation matrix R obtained by the second axis spatial averaging processing unit 34 and the antenna coordinates regarded as one-dimensional to estimate the one-dimensional angular spectrum intensity P1( ⁇ ) regarding the angle ⁇ . Do calculations. Then, the first axis direction estimating unit 35 estimates the angle ⁇ indicating the direction in which the target exists with respect to the first axis by determining the angle ⁇ at which the one-dimensional angular spectrum intensity P1( ⁇ ) is equal to or greater than the threshold value. For example, when the first axis is in the horizontal direction, the calculation is to find the horizontal angle.
  • the direction is estimated using a known method such as Capon or MUSIC (Multiple Signal Classification).
  • FIG. 4 is a diagram showing processing in the scanning range limitation processing section 36 and the second axis direction estimation section 37.
  • the scanning range limitation processing unit 36 determines the angular range of the first axis in which two-dimensional direction estimation is performed based on the result of the first axis direction estimation unit 35.
  • the angular range of the first axis in which the two-dimensional direction estimation is performed is a predetermined range that includes the angle ⁇ at which the one-dimensional angular spectrum intensity P1( ⁇ ) is equal to or greater than the threshold value in the first axial direction estimator 35.
  • the second axis direction estimating unit 37 limits the range of the angle ⁇ determined by the scanning range limiting processing unit 36, calculates the two-dimensional angle spectrum intensity P2 ( ⁇ , ⁇ ) regarding the angle ⁇ , and calculates the two-dimensional angle
  • a second axis direction estimation is performed to obtain an angle ⁇ at which the spectral intensity P2( ⁇ , ⁇ ) is equal to or greater than a threshold value.
  • the second axis spatial averaging processing section 34 the first axis direction estimation section 35, the scanning range limitation processing section 36, and the second axis direction estimation section 37 will be explained.
  • the antenna arrangement will be explained.
  • FIG. 6 is a diagram showing an example of antenna arrangement according to the first embodiment.
  • the reception antenna array is composed of 18 elements of reception antennas Rx1 to Rx18 arranged in a grid with six columns in the first axis direction and three columns in the second axis direction.
  • G1 be the receiving antenna subarray of Rx1 to Rx6,
  • G2 be the receiving antenna subarray of Rx7 to Rx12,
  • G3 be the receiving antenna subarray of Rx13 to Rx18.
  • d1 be the interval between the six receiving antenna elements arranged parallel to the first axis in the receiving antenna subarrays G1, G2, G3, and the second axis coordinate difference ( interval) is set as d2.
  • a plurality of antennas arranged in a grid are divided by a plurality of parallel lines, a plurality of reception antenna subarrays G1, G2, and G3 are arranged in the second axis direction and are located at the same distance from the second axis. This is an example of a linear antenna subarray including the same number of elements.
  • the receiving antennas Rx1 to Rx18 may be virtual antennas obtained by MIMO (Multiple-Input and Multiple-Output) or other extended signal processing.
  • MIMO Multiple-Input and Multiple-Output
  • a virtual received signal at the virtual antenna may be generated before the second axis spatial averaging process.
  • FIG. 5 is a flowchart showing the flow of processing from the second axis spatial averaging processing unit 34 to the second axis direction estimation unit 37 of the signal processing unit 30.
  • the second axis spatial averaging processing unit 34 groups antenna arrays having the same second axis coordinates as subarrays (one-dimensional antenna subarray generation process).
  • G1 be the receiving antenna subarray of Rx1 to Rx6,
  • G2 be the receiving antenna subarray of Rx7 to Rx12, and
  • G3 be the receiving antenna subarray of Rx13 to Rx18.
  • the received signals obtained by each receiving antenna Rx1 to Rx18 are assumed to be s1 to s18.
  • step S2 the second axis spatial averaging processing unit 34 uses the received signals s(1), s(2), and s(3) obtained from each receiving antenna subarray to create correlation matrices R1, R2, Calculate R3 (subarray correlation matrix calculation process).
  • step S3 the second axis spatial averaging processing unit 34 calculates three correlation matrices R1, R2 calculated from the received signals s(1), s(2), s(3) of each receiving antenna sub-array. , R3 is generated (correlation matrix averaging process).
  • the first axial direction estimation unit 35 calculates the one-dimensional angular spectrum intensity necessary for first axial direction estimation.
  • a one-dimensional steering vector is required when two-dimensionally arranged antennas are used as one-dimensional antennas.
  • the first axis direction estimation unit 35 generates a one-dimensional steering vector a1 ( ⁇ ) based on the antenna coordinate information (first axis one-dimensional steering vector generation process).
  • the one-dimensional steering vector a1( ⁇ ) is expressed as in equation (1) using the coordinates of the receiving antenna along the first axis.
  • ⁇ indicates wavelength.
  • ⁇ is a value that changes depending on the direction of the desired spectrum.
  • step S5 the first axis direction estimation unit 35 uses the matrix Rmean obtained in step S3 and the one-dimensional steering vector a1( ⁇ ) generated in step S4 to determine the one-dimensional angular spectrum intensity in the first axis direction.
  • P1( ⁇ ) is calculated (first axis one-dimensional direction spectrum calculation process).
  • a method for calculating the one-dimensional angular spectrum intensity P1( ⁇ ) is expressed as in equation (2) when using the Capon method, for example.
  • the one-dimensional angular spectrum intensity P1( ⁇ ) in the first axis direction is calculated by scanning the angle ⁇ in a predetermined range predetermined from the viewing angle of the antenna.
  • FIG. 7 shows an example of the one-dimensional angular spectrum intensity P1( ⁇ ) obtained when two targets with different first axis directions exist in the same distance/velocity bin.
  • Calculation of the one-dimensional angular spectrum intensity P1 ( ⁇ ) is not limited to Capon, and for example, DBF (Digital Beamforming), MUSIC, or the like may be used.
  • step S6 the first axial direction estimation unit 35 extracts the angle ⁇ when the one-dimensional angular spectrum intensity P1( ⁇ ) exceeds a predetermined threshold (first axial direction peak extraction process).
  • a predetermined threshold first axial direction peak extraction process
  • the scanning range limitation processing unit 36 receives the first axis peak angles ⁇ 1 and ⁇ 2 extracted by the first axis direction estimation unit 35, and calculates the two-dimensional angle by the next second axis direction estimation unit 37.
  • the calculation range of the angular spectrum intensity P2 ( ⁇ , ⁇ ) is determined and listed. For example, in the case of 1 degree increments within the ⁇ 1 degree range of each of ⁇ 1 and ⁇ 2, the second axis direction estimating unit 37 inputs ( ⁇ 1-1, ⁇ 1, ⁇ 1+1) and ( ⁇ 2-1, ⁇ 2, ⁇ 2+1) to ⁇ . Output as the scan range. For example, this list may include only ⁇ 1 and ⁇ 2.
  • the second axis direction estimation list only contains ⁇ 1 and ⁇ 2. However, sufficient accuracy can be obtained.
  • the second axis direction estimation unit 37 calculates the two-dimensional angular spectrum intensity P2 ( ⁇ , ⁇ ) necessary for second axis direction estimation.
  • the second axis direction estimation unit 37 generates an 18 ⁇ 18 correlation matrix R using the received signals s1 to s18 of the two-dimensionally arranged receiving antennas (full antenna array correlation matrix calculation process). .
  • a two-dimensional steering vector of the two-dimensionally arranged receiving antenna 21 is required.
  • the second axis direction estimation unit 37 generates a two-dimensional steering vector a2 ( ⁇ , ⁇ ) based on the antenna coordinate information (second axis two-dimensional steering vector calculation process).
  • the two-dimensional steering vector a2 ( ⁇ , ⁇ ) is expressed as in equation (3).
  • ⁇ is changed by a value in a list determined by the scanning range limiting processing unit 36, and first, it is changed by a value in a list including ⁇ 1.
  • the second axis direction estimating unit 37 calculates a two-dimensional angular spectrum intensity P2 for ⁇ determined by the scanning range limiting processing unit 36 and ⁇ in a predetermined range determined in advance from the viewing angle of the antenna. ( ⁇ , ⁇ ) (two-dimensional directional spectrum calculation process within a predetermined range).
  • the two-dimensional angular spectrum intensity P2 ( ⁇ , ⁇ ) is calculated as shown in equation (4) using the two-dimensional steering vector a2 ( ⁇ , ⁇ ) and the correlation matrix R.
  • step S11 the second axis direction estimation unit 37 extracts ⁇ and ⁇ when the two-dimensional angular spectrum intensity P2 ( ⁇ , ⁇ ) is equal to or greater than a predetermined threshold (direction peak extraction process within a predetermined range). .
  • the second axis direction estimation unit 37 similarly performs the processing of steps S9 to S11 for the list including ⁇ 2.
  • FIG. 8 is a diagram showing an example of the calculation result of the two-dimensional angular spectrum intensity P2 ( ⁇ , ⁇ ) in the second axis direction.
  • FIG. 8 shows an example of the two-dimensional angular spectrum intensity P2 ( ⁇ , ⁇ ) obtained when there are two targets with the same distance and speed bin that are different in both the first and second axis directions. .
  • steps S1 to S11 are repeated for each distance/velocity bin.
  • the receiving antenna 21 has a rectangular arrangement consisting of 18 elements in total, 6 elements in the first axis direction and 3 elements in the second axis direction, but they are arranged in the first axis direction and the second axis direction.
  • the combination of the number of antenna elements is not limited to this.
  • the number of targets to be detected is not limited to this.
  • the receiving antennas are grouped into antenna arrays parallel to the first axis that are two-dimensionally arranged in a coordinate system having the first axis and the second axis as the coordinate axes. Then, a peak angle in the first axis direction at which the spectrum intensity of the received signal in the first axis direction reaches a peak value is calculated. Then, calculation of the peak angle in the second axis direction at which the spectrum intensity of the received signal in the second axis direction has a peak value is performed within a limited range based on the peak angle in the first axis direction.
  • the direction of arrival of the reflected wave of the transmitted signal reflected by the target object that is, the angle of the position of the target object with respect to the two axes, can be determined with high precision while suppressing the amount of calculation. Further, it is possible to achieve high resolution in millimeter wave radar.
  • the received signals are grouped for each antenna subarray, the received signals received through different antennas in the second axis direction are averaged, and the first Calculate the axial steering vector. Therefore, according to the present embodiment, it is possible to calculate a steering vector in the first axis direction based on the received signals of a plurality of receiving antennas having different coordinates of the second axis.
  • the number of elements lined up in the first axis direction is greater than or equal to the number of elements lined up in the second axis direction. If the number of elements aligned in the first axis direction is sufficiently larger than the number of elements aligned in the second axis direction, when calculating the peak value of the two-dimensional angular spectrum intensity P2 ( ⁇ , ⁇ ), the angle ⁇ in the first axis direction The scanning range can be made smaller. Furthermore, only the angle ⁇ that gives the peak value of the one-dimensional angular spectrum intensity P1( ⁇ ) can be used. Therefore, the amount of calculation can be suppressed.
  • multiple antennas can be configured using virtual antennas.
  • the receiving antenna is composed of a group of six antenna subarrays.
  • the correlation matrix of the received signal obtained here is regarded as the correlation matrix of the received signal by the one-dimensional antenna array parallel to the second axis.
  • the angle ⁇ indicating the direction in which the target exists with respect to the second axis is estimated using the correlation matrix after the averaging process and the antenna coordinates that are regarded as a one-dimensional array in the second axis direction.
  • an angular range of the second axis is determined for which the direction regarding the first direction is estimated using the two-dimensional steering vector.
  • the direction of the target object with respect to the first axis is estimated within the angle range of the second axis for which direction estimation is performed, and the angle of the target object with respect to the first axis and the angle with respect to the second axis are determined.
  • the first axis and the second axis are exchanged, and the first axis after the exchange is A process for estimating the direction of arrival regarding the axis and a process for estimating the direction of arrival regarding the second axis are performed. Therefore, by checking whether the estimated values of the angle in the first axis direction and the second axis direction match before and after the first axis and the second axis are exchanged, it is possible to guarantee the angle estimation accuracy while suppressing the amount of calculation.
  • Embodiment 2 In the antenna arrangement example of Embodiment 1 shown in FIG. 6, there are antenna arrays parallel to the first axis and antenna arrays parallel to the second axis, but antennas with different coordinates in the second axis direction are parallel to the second axis. They do not have to be parallel. In this embodiment, an antenna arrangement different from the antenna arrangement example of Embodiment 1 will be described.
  • FIG. 9 is a diagram showing an example of antenna arrangement according to the second embodiment.
  • the reception antenna array is composed of 18 elements of reception antennas Rx1 to Rx18 arranged in a grid with six rows in the first axis direction and three rows in the second axis direction.
  • the receiving antenna sub-array of Rx1 to Rx6 is G11
  • the receiving antenna sub-array of Rx7 to Rx12 is G12
  • the receiving antenna sub-array of Rx13 to Rx18 is G13.
  • the interval between the six receiving antenna elements arranged parallel to the first axis is d1
  • the second axis coordinate difference (interval) of the antenna subarrays having different second axis coordinates is d2.
  • d12 be the difference (offset value) in the first axis coordinates between the receiving antenna subarray G11 and the receiving antenna subarray G12
  • d13 be the difference (offset value) in the first axis coordinates between the receiving antenna subarray G12 and the receiving antenna subarray G13.
  • a plurality of reception antenna subarrays G11, G12, and G13 are arranged in the second axis direction when a plurality of antennas arranged in a grid are divided by a plurality of parallel lines, and each one is arranged at a different distance from the second axis.
  • 1 is an example of a linear antenna subarray containing the same number of elements located in a row.
  • the antenna arrangement is different from the first embodiment.
  • the two-axis spatial averaging process steps S1 to S3
  • the two-dimensional direction estimation process steps S4 to S6
  • the scanning range limiting process step S7
  • the entire antenna array correlation matrix calculation process step S8
  • a plurality of antennas arranged in a grid are divided by a plurality of parallel lines, and it is assumed that a plurality of linear antenna sub-arrays including the same number of elements are arranged in the second axis direction.
  • the plurality of antenna subarrays are each located at a different distance from the second axis. Therefore, the receiving antenna can be arranged flexibly.
  • the radar device can be mounted on vehicles in various forms.
  • the first axis is horizontal and the second axis is vertical. If a target is detected and the first axis direction is estimated, and it is estimated that there is a target in the direction of travel of the vehicle, etc. to which the radar device 1 is attached, it is determined whether the target is in front of the collision. It is important to judge whether it is at the top where it will not collide. Since the second axis direction estimation in this case is important, it is necessary to obtain it more accurately.
  • the second axis direction estimation may be less accurate than the case where detection is performed in the traveling direction. For this reason, the scanning interval of the angle in the two-dimensional angle spectrum intensity calculation of the second axis may be increased or the scanning range may be narrowed.
  • the detected target is in front of the collision, or in a location other than the front, such as on the top of the vehicle, where it will not collide. You can judge.
  • the first axis direction estimation if it is determined that the target object is located outside the course where it will not collide, such as at the top of a curve or tunnel, two-dimensional angular spectrum intensity calculation is performed when estimating the second axis direction. Increase the angular scanning interval or narrow the scanning range.
  • the first axis direction estimator 35 calculates the peak value of the one-dimensional angular spectrum intensity P1( ⁇ ) according to the result of the spatial Fourier transform between the receiving antennas.
  • the scanning range and/or scanning interval of the uniaxial angle ⁇ may be determined.
  • the received signal is subjected to spatial Fourier transform between multiple antennas, and the angular scanning range or scanning interval in the first axis direction when calculating the first peak value is calculated using the spatial Fourier transform result.
  • the direction of the target can be determined efficiently by changing the direction according to the .
  • inter-receiving antenna spatial Fourier transform may be processed as a three-dimensional Fourier transform together with the two-dimensional Fourier transform for determining distance and velocity in the Fourier transform unit 32.
  • the area where highly accurate target detection is required is identified in advance, and the spectrum is calculated at fine angles within this specific area to perform highly accurate target detection, while reducing the detection accuracy outside the specific area. This allows highly accurate target detection without increasing the calculation load.
  • the present invention is not limited to the above-described embodiments, but includes various modifications.
  • the above-described embodiments have been described in detail to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to having all the configurations described.
  • combinations of embodiments and modifications such as replacing part of the configuration of one embodiment with the configuration of another embodiment or adding the configuration of another embodiment to the configuration of one embodiment are also possible as long as there is no contradiction. be.
  • the configurations and processes shown in the embodiments can be distributed, integrated, or replaced as appropriate based on processing efficiency or implementation efficiency.

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  • Computer Networks & Wireless Communication (AREA)
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Abstract

Un dispositif radar (1) comprend une pluralité d'antennes agencées de manière bidimensionnelle dans un système de coordonnées ayant un premier axe et un second axe en tant qu'axes de coordonnées. Le dispositif radar (1) comprend une première unité d'estimation de direction d'axe (35) qui calcule, sur la base de signaux reçus, une première valeur de crête par balayage d'angles dans la première direction d'axe concernant une première intensité de spectre sur la base de vecteurs de direction des antennes dans la première direction d'axe. Le dispositif radar (1) comprend également une seconde unité d'estimation de direction d'axe (37) qui calcule, sur la base de signaux reçus et de la première valeur de crête, une seconde valeur de crête par balayage d'angles dans la seconde direction d'axe concernant une seconde intensité de spectre des signaux reçus sur la base de vecteurs de direction des antennes dans la seconde direction d'axe.
PCT/JP2022/020185 2022-05-13 2022-05-13 Dispositif radar et procédé de détection cible Ceased WO2023218632A1 (fr)

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