JP2010043990A - Radar system control method, radar system, moving object, and transmitting/receiving apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a radar system control method capable of computing a relative direction of any of other moving objects, and to provide a radar system therewith, a moving object and a transmitting/receiving apparatus. <P>SOLUTION: When a plurality of transmitting/receiving parts installed at predetermined positions of the moving objects transmit signals including numbers of the moving objects and numbers of installation positions and receive signals transmitted from the plurality of transmitting/receiving parts installed on other moving objects, relative directions of the other moving objects are determined by identifying installation positions of the receiving part which receives signals, other moving objects which receives signals and the transmitting part which transmits signals. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a radar apparatus control method, a radar apparatus, a moving body, and a transmission / reception apparatus.

  Conventionally, in various fields, a radar apparatus that calculates a distance to an object located at a predetermined place and a moving speed of the object is used. A user of a moving body (for example, an automobile, a ship, or an aircraft) on which such a radar apparatus is mounted can recognize the distance to the other moving body and the moving speed of the other moving body. Thereby, the user can operate the moving body so as not to collide with other moving bodies.

JP 2007-11432 A

  However, in the conventional radar apparatus described above, the direction in which another moving body is facing (hereinafter referred to as “relative”) to the direction in which the moving body in which the apparatus is mounted (hereinafter referred to as “self-moving body”) is facing. There was a problem that it was not possible to calculate “direction”. The direction of the other moving body is important information for determining whether the user may collide with the other moving body.

  For example, even when the moving body and another moving body are located at a short distance, if the direction of the moving body is different from the direction of the other moving body, the user It can be determined that there is no possibility of colliding with the moving body. On the other hand, when the mobile unit and another mobile unit are located at a short distance and the direction of the mobile unit and the direction of the other mobile unit are facing each other, the user collides with another mobile unit. Can be determined.

  For this reason, it is desired to realize a radar apparatus that can calculate not only the distance to other moving bodies and the moving speed of other moving bodies but also the relative direction of other moving bodies with respect to the direction of the moving body. It was rare.

  The disclosed technology has been made in order to solve the above-described problems caused by the prior art, and includes a radar device control method, a radar device, a moving body, and a transmission / reception device capable of calculating the relative orientation of another moving body. The purpose is to provide.

  In order to solve the above-described problems and achieve the object, a radar apparatus control method disclosed in the present application is a radar apparatus control method for controlling a radar apparatus mounted on a predetermined moving body, and the radar apparatus includes: A reception step of receiving a signal including installation position information indicating a position of the transmission unit installed in the other mobile unit from a plurality of transmission units installed in the other mobile unit; And calculating a relative direction, which is a direction in which the other moving body is facing, with respect to the direction in which the predetermined moving body is facing, based on the received signal.

  In addition, what applied the component of the radar apparatus control method disclosed in this application, expression, or arbitrary combinations of a component to a method, an apparatus, a system, a computer program, a recording medium, a data structure etc. is also effective as another aspect It is.

  According to the radar apparatus control method disclosed in the present application, there is an effect that the relative direction of another moving body can be calculated.

  Hereinafter, embodiments of a radar device control method, a radar device, a moving body, and a transmission / reception device disclosed in the present application will be described in detail based on the drawings. The radar apparatus control method, the radar apparatus, the moving body, and the transmission / reception apparatus disclosed in the present application are not limited to the embodiment.

  First, an overview of the radar apparatus 100 according to the first embodiment will be described. The radar apparatus 100 includes a plurality of transmission / reception units that transmit and receive signals to and from other moving objects. The plurality of transmission / reception units are installed at predetermined positions of the moving body. Then, the radar apparatus 100 determines whether the transmission / reception unit that has received a signal from another mobile body is installed, and the position at which the transmission / reception unit of another mobile body that has transmitted the signal is installed. The relative orientation of the moving object is calculated.

  This will be specifically described with reference to FIG. FIG. 1 is a diagram for explaining the outline of the object information calculation process performed by the radar apparatus 100 according to the first embodiment. In the example of FIG. 1, automobiles A to D on which radar devices 100A to 100D are mounted are shown. In the present specification, the radar apparatus 100 according to the first embodiment may be referred to as “radar apparatus 100x” like the radar apparatuses 100A to 100D.

  In the automobile A, transmission / reception units 150a-A to 150h-A are installed at predetermined positions of the own vehicle. Specifically, the transmission / reception unit 150a-A is installed in front of the vehicle A, the transmission / reception unit 150b-A is installed in the left front of the vehicle A, and the transmission / reception unit 150c-A is installed in the right front of the vehicle A. 150d-A is installed at the rear of the car A, the transceiver 150e-A is installed at the left rear of the car A, the transceiver 150f-A is installed at the right rear of the car A, and the transceiver 150g-A is installed in the car The transmission / reception unit 150h-A is installed on the right side surface of the automobile A. Similarly, the automobiles B to D are provided with transmission / reception units 150a-B to 150h-B, transmission / reception units 150a-C to 150h-C, and transmission / reception units 150a-D to 150h-D, respectively.

  In the example shown in FIG. 1, the transmission / reception units 150a-A to 150h-A installed in the automobile A transmit signals A1 to A8, respectively. At this time, the transmission / reception units 150d-B, 150e-B, and 150f-B installed in the automobile B receive the signal A1. In such a case, the radar apparatus 100B includes a transmission / reception unit in which transmission / reception units 150d-B, 150e-B, and 150f-B installed at the rear, left rear, and right rear of the vehicle B are installed in front of the vehicle A. It is detected that the signal A1 transmitted from 150a-A has been received.

  Subsequently, based on the detection result, the radar apparatus 100 </ b> B calculates “a direction equal to the car B” as the relative direction of the car A with respect to the direction of the car B. The reason for this calculation is that when the direction of the car A is equal to the direction of the car B, only the transmission / reception units 150d-B to 150f-B installed behind the car B are installed in front of the car A. This is because a signal is received from the transmitting / receiving unit 150a-A.

  Further, the radar apparatus 100B calculates “behind the automobile B” as the direction from the place where the automobile B is located to the place where the automobile A is located. The reason why it can be calculated in this manner is that when the car A is located behind the car B, only the transmission / reception units 150d-B to 150f-B installed behind the car B receive signals from the car A. It is. In the following, the direction from the place where the mobile body is located to the place where another mobile body is located is referred to as “relative direction”.

  Based on the relative orientation and relative orientation calculated in this way, the radar apparatus 100B controls the display and the positional relationship of the automobiles A and B on a predetermined display unit so that a human can visually recognize them. As a result, the radar device 100B indicates that the direction of the automobile A is equal to the direction of the own vehicle (the automobile B) and the automobile A is located behind the own vehicle with respect to the user who uses the automobile B. Can be recognized. As a result, the user can be careful not to apply sudden braking, for example, in order to prevent the vehicle A from colliding with the vehicle.

  In addition, the transmission / reception unit 150b-C installed in the automobile C receives the signal A3, and the transmission / reception units 150e-C and 150g-C receive the signal A8. In such a case, in the radar apparatus 100C, the transmission / reception unit 150b-C installed at the front left of the automobile C receives the signal A3 transmitted from the transmission / reception unit 150c-A installed at the front right of the automobile A. Detect that. In the radar apparatus 100C, the transmission / reception units 150e-C and 150g-C installed on the left rear side and the left side of the vehicle C are transmitted from the transmission / reception unit 150h-A installed on the right side of the vehicle A. It is detected that the signal A8 has been received.

  Subsequently, the radar apparatus 100 </ b> C calculates “a direction equal to the car C” as the relative direction of the car A with respect to the direction of the car C based on the detection result. Further, the radar apparatus 100C calculates “the left side of the automobile C and slightly behind” as the relative orientation of the automobile A with respect to the automobile C.

  Then, the radar apparatus 100C controls display of the orientation and positional relationship of the automobiles A and C on a predetermined display unit based on the relative orientation and relative orientation calculated in this way. As a result, the radar device 100C is configured such that the direction of the automobile A is equal to the direction of the own vehicle (the automobile C) and the automobile A is located slightly behind the own vehicle with respect to the user who uses the automobile C. Can be recognized.

  In addition, the transmission / reception units 150a-D and 150c-D installed in the automobile D receive the signal A5. In such a case, in the radar apparatus 100D, the transmission / reception units 150a-D and 150c-D installed at the front and right front of the vehicle D are transmitted from the transmission / reception unit 150e-A installed at the left rear of the vehicle A. It is detected that the received signal A5 is received.

  Subsequently, the radar apparatus 100 </ b> D calculates “a direction equal to the car D” as the relative direction of the car A with respect to the direction of the car D based on the detection result. In addition, the radar apparatus 100D calculates “diagonal right front of the automobile D” as the relative orientation of the automobile A with respect to the automobile D.

  The radar apparatus 100D controls display of the orientations and positional relationships of the automobiles A and D on a predetermined display unit based on the relative orientation and relative orientation calculated in this way. As a result, the radar device 100D determines that the direction of the automobile A is equal to the direction of the own vehicle (the automobile D) and the automobile A is positioned diagonally forward to the right of the own vehicle with respect to the user who uses the automobile D. Can be recognized. As a result, in order to prevent the user from colliding with the automobile A, for example, the user can be careful not to perform an operation of moving the host vehicle to the right side.

  As described above, in the radar apparatus 100 according to the first embodiment, a plurality of transmission / reception units installed at predetermined positions of a moving body transmit signals, and are transmitted from a plurality of transmission / reception units installed in other moving bodies. Receive a signal. Thereby, the radar apparatus 100 can calculate the relative direction of the other moving body based on the received signal.

  Further, since the radar apparatus 100 controls display of the orientation and the positional relationship of the mobile unit and other mobile units on a predetermined display unit based on the calculated relative orientation, the radar device 100 can be used for a user who uses the mobile unit. Thus, the relative orientation of other moving objects can be recognized. As a result, the user can determine whether or not there is a possibility of collision with another moving body in consideration of the relative orientation of the other moving body.

  Although not described above, the radar apparatus 100 calculates the distance from the moving body to another moving body and the moving speed of the other moving body, as in the conventional radar apparatus. Based on the distance to the other moving body and the moving speed of the other moving body, the radar apparatus 100 determines the positional relationship between the own moving body and the other moving body, and the moving speed of the other moving body as Display control on the display unit.

  Next, the configuration of the radar apparatus 100 according to the first embodiment will be described. FIG. 2 is a diagram illustrating the configuration of the radar apparatus 100 according to the first embodiment. As shown in FIG. 2, the radar apparatus 100 includes a code generation unit 110, code generation units 120a to 120h, multiplication units 130a to 130h, E / O (Electrical / Optical) 140a to 140h, and transmission / reception units 150a to 150a. 150h, O / E (Optical / Electrical) 160a to 160h, correlators 170a to 170h, a control unit 180, and a display unit 190.

  The code generation unit 110 generates a predetermined code. Specifically, the code generation unit 110 generates a moving body number for identifying the moving body on which the radar apparatus 100 is mounted. For example, when the radar apparatus 100 is mounted on an automobile, the code generation unit 110 generates an automobile ID for identifying the automobile as the moving body number.

  This will be described using the example shown in FIG. In the example illustrated in FIG. 1, the code generation unit 110 of the radar apparatus 100 </ b> A mounted on the vehicle A generates a vehicle ID “A” for identifying the vehicle A. Similarly, the code generation units 110 of the radar apparatuses 100B to 100D mounted on the automobiles B to D generate automobile IDs “B” to “D” for identifying the automobiles B to D, respectively.

  The code generation units 120a to 120h generate a predetermined code. Specifically, the code generation units 120a to 120h generate installation position numbers indicating the positions where the transmission / reception units 150a to 150h are installed.

  A description will be given by taking the automobile A shown in FIG. 1 as an example. The transmission / reception units 150a-A to 150h-A installed in the automobile A shown in FIG. 1 correspond to the transmission / reception units 150a to 150h shown in FIG. In this case, the code generation unit 120a of the radar apparatus 100A generates an installation position number indicating the position “front” where the transmission / reception unit 150a-A is installed. Further, the code generation unit 120b generates an installation position number indicating the position “front left” where the transmission / reception unit 150b-A is installed. Similarly, the code generation units 120c to 120h have positions “right front”, “rear”, “left rear”, “right rear”, and “left side” where the corresponding transmission / reception units 150c-A to 150h-A are installed. An installation position number indicating “right side” is generated.

  The multipliers 130a to 130h spread-modulate predetermined information with other information to generate a spread spectrum signal. Specifically, the multiplying unit 130a generates a spread spectrum signal obtained by performing spread modulation on the moving object number generated by the code generating unit 110 using the installation position number generated by the code generating unit 120a. Similarly, the multipliers 130b to 130h generate spread spectrum signals obtained by performing spread modulation on the mobile body number generated by the code generator 110 with the installation position numbers generated by the corresponding code generators 120b to 120h, respectively. .

  The E / Os 140a to 140h convert electrical signals into optical signals. Specifically, the E / O 140a converts the spread spectrum signal output from the multiplication unit 130a into an optical signal and outputs the optical signal to the transmission / reception unit 150a. Similarly, the E / Os 140b to 140h convert the spread spectrum signals output from the corresponding multipliers 130b to 130h into optical signals, respectively.

  The transmission / reception units 150a to 150h are highly directional light projecting / receiving units that transmit and receive optical signals. Specifically, the transmission / reception unit 150a achieves sharp directivity by using a lens or a light shielding plate, and includes a transmission unit 151a and a reception unit 152a. The transmission unit 151a transmits the optical signal output from the E / O 140a. The receiver 152a receives an optical signal transmitted from a transmitter included in another radar device.

  Similarly, the transmission / reception units 150b to 150h have corresponding transmission units 151b to 151h and reception units 152b to 152h, respectively. The transmission units 151b to 151h transmit optical signals output from the corresponding E / Os 140b to 140h, respectively. The receivers 152b to 152h receive the optical signals transmitted from the transmitters included in other radar devices, similarly to the receiver 152a described above. In this specification, “optical signals” transmitted and received by the transmission / reception units 150a to 150h may be simply referred to as “signals”.

  The O / Es 160a to 160h convert optical signals into electrical signals. Specifically, the O / E 160a converts the optical signal received by the receiving unit 152a into an electrical signal (spread spectrum signal). Similarly, the O / Es 160b to 160h convert the optical signals received by the corresponding receiving units 152b to 152h into electric signals, respectively.

  The correlators 170a to 170h separate various information included in the predetermined signal. Specifically, the correlator 170a separates various types of information included in the spread spectrum signal output from the O / E 160a into a mobile unit number and an installation position number. Similarly, the correlators 170b to 170h separate the various information included in the spread spectrum signals output from the corresponding O / Es 160b to 160h into the mobile unit number and the installation position number, respectively. The configuration of the correlators 170a to 170h will be described in detail later with reference to FIG.

  The control unit 180 controls the radar apparatus 100 as a whole, and in particular calculates a relative direction and a relative direction. Specifically, the control unit 180 calculates a relative direction and a relative direction based on various information (moving body number and installation position number) separated by the correlators 170a to 170h. The configuration of the control unit 180 will be described in detail later with reference to FIG.

  The display unit 190 is a display device that displays various types of information, such as a liquid crystal display device. Specifically, on the display unit 190, the control unit 180 displays and controls the orientation, positional relationship, moving speed, and the like of each moving body as shown in FIG.

  Next, the configuration of the correlators 170a to 170h illustrated in FIG. 2 will be described. FIG. 3 is a diagram illustrating a configuration of correlators 170a to 170h illustrated in FIG. Since all of the correlators 170a to 170h have the same configuration, the correlator 170a will be described as an example here.

  As illustrated in FIG. 3, the correlator 170 a includes matched filters 171-1 to 171-9, a register 172, and a P / S (parallel / serial) conversion unit 173. The matched filters 171-1 to 171-9 extract various types of information included in the spread spectrum signal output from the O / E 160a for each code generation unit in which the various types of information are generated.

  Specifically, the matched filter 171-1 extracts information (installation position number) generated by the code generation unit 120a included in the other radar apparatus from various information included in the input spread spectrum signal. Similarly, the matched filters 171-2 to 171-8 are information (installation position numbers) generated by the code generators 120 b to 120 h included in other radar devices among various types of information included in the input spread spectrum signal. ). In addition, the matched filter 171-9 extracts information (mobile unit number) generated by the code generation unit 110 included in another radar device from various information included in the input spread spectrum signal.

  In FIG. 3, the character strings in parentheses shown in the rectangles indicating the matched filters 171-1 to 171-9 indicate code generation units that have generated information extracted by the matched filters 171-1 to 171-9. . For example, the matched filter (for code generation unit 120a) 171-1 indicates that the matched filter 171-1 extracts information (installation position number) generated by the code generation unit 120a included in another radar device. Yes.

  The register 172 is a storage device that temporarily stores various types of information, and is, for example, a shift register. Specifically, the register 172 temporarily stores various information (mobile unit number and installation position number) extracted by the matched filters 171-1 to 171-9.

  The P / S conversion unit 173 converts the parallel signal into a serial signal. Specifically, the P / S conversion unit 173 acquires various information from the register 172, converts the acquired various information into a serial signal, and outputs the serial signal.

  Next, the configuration of the control unit 180 shown in FIG. 2 will be described. FIG. 4 is a diagram showing a configuration of the control unit 180 shown in FIG. As illustrated in FIG. 4, the control unit 180 includes S / P conversion units 181-1 to 181-8, identification units 182-1 to 182-8, and a calculation unit 183.

  The S / P converters 181-1 to 181-8 convert serial signals into parallel signals. In FIG. 4, signals # 1 to # 8 indicate serial signals output from the correlators 170a to 170h, respectively. That is, the S / P converter 181-1 converts the serial signal input from the correlator 170a into a parallel signal. Similarly, the S / P converters 181-2 to 181-8 convert the serial signals input from the corresponding correlators 170 b to 170 h into parallel signals.

  The identifying units 182-1 to 182-8 receive the signals among the receiving units 152a to 152h based on the parallel signals input from the corresponding S / P conversion units 181-1 to 181-8, respectively. Is identified. In addition, when the receiving units 152a to 152h receive signals, the specifying units 182-1 to 182-8 are provided with a moving body in which a transmitting unit that transmits signals and a transmitting unit that transmits signals are installed. To identify the position.

  Specifically, the identification unit 182-1 detects that the reception unit 152a has received a signal when a parallel signal is input from the S / P conversion unit 181-1. This is because when the reception unit 152a receives a signal, the signal is input to the specifying unit 182-1 via the O / E 160a, the correlator 170a, and the S / P conversion unit 181-1. It is. Similarly, the identification units 182-2 to 182-8 receive signals from the corresponding reception units 152b to 152h when parallel signals are input from the corresponding S / P conversion units 181-2 to 181-8, respectively. Detect that it has been received.

  The identifying units 182-1 to 182-8 determine which mobile unit has received the signals received by the corresponding receiving units 152a to 152h based on the mobile unit numbers included in the input parallel signals. To detect. Further, the identification units 182-1 to 182-8 detect on which position the transmitting unit that has transmitted the signal is installed in another moving body based on the installation position number included in the input parallel signal. To do.

  This will be described using the example shown in FIG. In the example illustrated in FIG. 1, the reception unit 152a (reception unit 152a-D) installed in the car D transmits from the transmission unit 151e (transmission unit 151e-A) installed in the car A. The received signal A5 is received. In such a case, the identification unit 182-1 of the radar apparatus 100D receives the parallel signal from the S / P conversion unit 181-1, and thus detects that the reception unit 152a-D has received the signal. Further, in the identification unit 182-1 of the radar apparatus 100D, the reception units 152a-D are installed on the left rear side of the automobile A based on the moving body number and the installation position number included in the input parallel signal. It is detected that the signal transmitted from the transmitter 151e-A has been received.

  Based on the result of the specific processing by the specifying units 182-1 to 182-8, the calculating unit 183 determines the relative direction of the other moving body with respect to the direction of the moving body (own moving body) on which the radar device 100 is mounted, The relative orientation of another moving body with respect to the moving body is calculated.

  This will be described using the example shown in FIG. In the example illustrated in FIG. 1, the receivers 152d to 152f (receivers 152d-B to 152f-B) installed in the automobile B are the transmitter 151a (transmitter 151a-A) of the radar apparatus 100A. ) Is received. At this time, the identification unit 182-4 of the radar apparatus 100B detects that the reception unit 152d-B has received the signal transmitted from the transmission unit 151a-A installed in front of the automobile A. Similarly, the identification unit 182-5 of the radar apparatus 100B detects that the reception unit 152e-B has received the signal transmitted from the transmission unit 151a-A. Similarly, the identification unit 182-6 of the radar apparatus 100B detects that the reception unit 152f-B has received the signal transmitted from the transmission unit 151a-A.

  When detected in this way, the calculation unit 183 of the radar apparatus 100B calculates “the same direction as the car B” as the relative direction of the car A with respect to the direction of the car B. As described above, when the direction of the car A is equal to the direction of the car B, only the transmission / reception units 150d-B to 150f-B installed behind the car B are installed in front of the car A. This is because a signal is received from the transmitting / receiving unit 150a-A.

  Further, the calculation unit 183 calculates “rear of the automobile B” as the relative orientation of the automobile A with respect to the automobile B. This is because, as described above, when the car A is located behind the car B, only the transmission / reception units 150d-B to 150f-B installed behind the car B receive signals from the car A. It is.

  The radar apparatus 100 associates the relative positions and orientations of other moving bodies with a predetermined storage unit (hereinafter, referred to as “relative position”) in association with the combination of the receiving units 152a to 152h that have received the signal and the source transmission unit of the signal. Or “relative information storage unit”). And the calculation part 183 may calculate a relative direction and a relative azimuth | direction based on the various information memorize | stored in this relative information storage part.

  An example of the relative information storage unit is shown in FIG. As illustrated in FIG. 5, the relative information storage unit includes items such as a reception unit number, a transmission unit number, a relative direction, and a relative direction. The “reception unit number” indicates information for identifying the reception units 152a to 152h included in the radar apparatus 100. In the example shown in FIG. 5, the reference numerals (152a to 152h) given to the receiving units 152a to 152h shown in FIG. The “transmission unit number” indicates information for identifying the transmission units 151a to 151h included in other radar devices. In the example shown in FIG. 5, the reference numerals (151a to 151h) given to the transmission units 151a to 151h shown in FIG.

  That is, in the first row of the relative information storage unit illustrated in FIG. 5, when the receiving units 152 d to 152 f receive a signal from the transmitting unit 151 a included in another radar device, the relative direction of the other moving body is self-moving. It is equal to the body, and the relative orientation of the other moving body is “backward”. The first line of the relative information storage unit shown in FIG. 5 shows the relationship between the automobile A and the automobile B exemplified in FIG. 1, and the second line of the relative information storage unit is exemplified in FIG. The relationship between the car A and the car C is shown, and the third line of the relative information storage unit shows the relation between the car A and the car D illustrated in FIG.

  Next, a procedure of signal transmission processing by the radar apparatus 100 according to the first embodiment will be described. FIG. 6 is a flowchart illustrating a signal transmission processing procedure performed by the radar apparatus 100 according to the first embodiment. As shown in FIG. 6, the code generation unit 110 of the radar apparatus 100 generates a moving body number for identifying a moving body on which the radar apparatus 100 is mounted (step S101).

  Further, the code generation units 120a to 120h generate installation position numbers for identifying the positions where the corresponding transmission / reception units 150a to 150h are installed (step S102). Subsequently, the multiplying units 130a to 130h spread-modulate the mobile body number generated by the code generating unit 110 with the installation position numbers generated by the code generating units 120a to 120h to generate a spread spectrum signal (step S103). ).

  Subsequently, the E / Os 140a to 140h convert the spread spectrum signals generated by the corresponding multipliers 130a to 130h into optical signals (step S104). Then, the transmission units 151a to 151h transmit the optical signals converted by the corresponding E / Os 140a to 140h to the outside of the radar apparatus 100 (step S105).

  Next, a procedure of signal reception processing by the radar apparatus 100 according to the first embodiment will be described. FIG. 7 is a flowchart illustrating a signal reception processing procedure performed by the radar apparatus 100 according to the first embodiment. As illustrated in FIG. 7, when the optical signals transmitted from other radar devices are received by the receiving units 152a to 152h of the radar device 100 (Yes in step S201), the O / Es 160a to 160h Conversion into a signal (step S202).

  Subsequently, the correlators 170a to 170h separate the various information included in the electrical signals (spread spectrum signals) converted by the corresponding O / Es 160a to 160h into the mobile body number and the installation position number (step S203). ).

  Subsequently, the specifying units 182-1 to 182-8 of the control unit 180 specify the receiving units 152a to 152h that have received the signals based on the signals input from the corresponding correlators 170a to 170h, respectively (step S204). ).

  Subsequently, the identifying units 182-1 to 182-8 identify the mobile body that transmitted the signal based on the mobile body numbers separated by the correlators 170a to 170h (step S205). Further, the specifying units 182-1 to 182-8 specify the positions where the transmitting units that transmitted the signals are installed based on the installation position numbers separated by the correlators 170a to 170h (step S206).

  And the calculation part 183 is based on the installation position of the receiving part which received the signal specified by specific part 182-1-182-8, another mobile body, and a transmission part, and relative direction of another mobile body And relative orientation are calculated (step S207).

  As described above, in the radar apparatus 100 according to the first embodiment, the plurality of transmission / reception units installed at predetermined positions of the moving body transmit signals including the moving body number and the installation position number, Receives signals transmitted from a plurality of transmission / reception units installed in the mobile body. When the radar apparatus 100 receives a signal from another radar apparatus, the radar apparatus 100 identifies the position where the receiving unit that has received the signal, the other mobile body that has transmitted the signal, and the transmitting unit that has transmitted the signal are installed. . Thereby, the radar apparatus 100 can calculate the relative direction of another moving body with respect to the direction of the own moving body.

  In addition, since the radar apparatus 100 according to the first embodiment has a plurality of transmission / reception units installed on the moving body, the position of other moving body parts (front, rear, left side, right side, etc.) relative to the own apparatus is detailed. Therefore, it is possible to accurately calculate the relative orientation and relative position of other moving objects. That is, the radar apparatus 100 according to the first embodiment can accurately calculate the relative direction and the relative position even when another moving body is located at a short distance.

  In particular, the radar apparatus 100 according to the first embodiment can identify the positional relationship between the own moving body and another moving body in more detail as the number of transmission / reception units installed in the moving body is increased. And the relative position can be calculated more accurately.

  In the first embodiment, the example in which the relative orientation and the relative position of another moving body are calculated has been described. However, the radar apparatus may calculate the size and shape of another moving body. Therefore, in the second embodiment, a radar apparatus 200 that calculates the size and shape of another moving body will be described.

  A configuration of the radar apparatus 200 according to the second embodiment will be described. FIG. 8 is a diagram illustrating the configuration of the radar apparatus 200 according to the second embodiment. In addition, below, the detailed description is abbreviate | omitted as attaching | subjecting the same code | symbol to the site | part which has the function similar to the already shown component site | part. As illustrated in FIG. 8, the radar apparatus 200 newly includes a code generation unit 210 and a multiplication unit 220 as compared with the radar apparatus 100 illustrated in FIG. 2. Further, the radar apparatus 200 includes correlators 270a to 270h instead of the correlators 170a to 170h, and includes a controller 280 instead of the controller 180, as compared with the radar apparatus 100 illustrated in FIG.

  The code generation unit 210 generates shape information indicating the size and shape of the mobile body. Specifically, the code generation unit 210 generates a numerical value indicating the vertical, horizontal, and height of the moving body and a predetermined code value indicating the shape of the moving body as shape information.

  The multiplication unit 220 superimposes the moving body number generated by the code generation unit 110 and the shape information generated by the code generation unit 210. Thereby, the optical signal transmitted by the radar apparatus 200 becomes a signal in which the shape information is superimposed on the optical signal transmitted by the radar apparatus 100 according to the first embodiment.

  The correlators 270a to 270h receive the spread spectrum signal on which the shape information is superimposed, and separate various information included in the spread spectrum signal into the mobile unit number, the installation position number, and the shape information. Although not shown here, correlators 270a to 270h have a configuration in which a matched filter (for code generation unit 210) is added to correlator 170a shown in FIG.

  The control unit 280 calculates the relative direction and the relative direction of the other moving body based on various information (the moving body number, the installation position number, and the shape information) separated by the correlators 270a to 270h, and performs other movements. Calculate body size and shape.

  Then, on the display unit 190, based on the relative orientation, relative orientation, size, shape, and the like of the other mobile object calculated by the control unit 280, the orientation and positional relationship between the mobile object and the other mobile object, The size, shape, etc. are displayed.

  The radar apparatus 200 may store information indicating the size or shape in a predetermined storage unit in association with identification information (for example, shape ID) for identifying the size or shape of the moving body. In such a case, the radar apparatus 200 transmits an optical signal on which the shape ID generated by the code generation unit 210 is superimposed. When the radar apparatus 200 receives an optical signal from another moving body, the control unit 280 acquires information indicating the size and shape stored in association with the shape ID from a predetermined storage unit.

  As described above, since the radar apparatus 200 according to the second embodiment transmits an optical signal on which shape information indicating the size and shape of the own mobile body is superimposed, when an optical signal is received from another mobile body, The size and shape of other moving bodies can be calculated. Thereby, the radar apparatus 200 can cause the display unit 190 to display information on the size and shape of other moving objects. As a result, the user who uses the moving body on which the radar apparatus 200 is mounted determines whether there is a possibility of colliding with another moving body in consideration of the size and shape of the other moving body. Can do.

  In the second embodiment, the example in which the size and shape of another moving body is calculated has been described. However, the radar apparatus may further calculate the traveling direction and the planned course of another moving body. Thus, in a third embodiment, a radar apparatus 300 that calculates the traveling direction and planned course of another moving body will be described.

  A configuration of the radar apparatus 300 according to the third embodiment will be described. FIG. 9 is a diagram illustrating the configuration of the radar apparatus 300 according to the third embodiment. As illustrated in FIG. 9, the radar apparatus 300 newly includes an electronic compass 310, a course information generation unit 320, and multiplication units 330 and 340, as compared with the radar apparatus 200 illustrated in FIG. Have. Further, the radar apparatus 300 includes correlators 370a to 370h instead of the correlators 270a to 270h, and includes a controller 380 instead of the controller 280, compared to the radar apparatus 200 illustrated in FIG.

  The electronic compass 310 acquires information indicating the traveling direction of the mobile body (hereinafter referred to as “traveling direction information”). The course information generation unit 320 is a car navigation system or the like, and acquires information (hereinafter referred to as “scheduled route information”) indicating the planned route of the mobile body.

  The multiplying unit 330 superimposes the traveling direction information acquired by the electronic compass 310 and the planned course information acquired by the course information generating unit 320. Multiplier 340 superimposes the moving body number generated by code generator 110 and the information (traveling direction information and scheduled route information) output from multiplier 330. Thereby, the optical signal transmitted by the radar apparatus 300 becomes a signal in which the traveling direction information and the planned course information are superimposed on the optical signal transmitted by the radar apparatus 200 according to the second embodiment.

  The correlators 370a to 370h receive the spread spectrum signal on which the shape information, the traveling direction information, and the planned route information are superimposed, and the various information included in the spread spectrum signal is converted into the mobile unit number, the installation position number, and the shape. Information, direction information, and planned route information are separated.

  Although not shown here, the correlators 370a to 370h include a matched filter (for the code generation unit 210), a matched filter (for the electronic compass 310), and a matched filter (coarse) as shown in FIG. The information generation unit 320) is added. The matched filter (for the electronic compass 310) extracts information (traveling direction information) acquired by the electronic compass 310 of another moving body from various information included in the input spread spectrum signal. The matched filter (for the course information generation unit 320) uses the information (scheduled course information) acquired by the course information generation unit 320 of another mobile body among various types of information included in the input spread spectrum signal. Extract.

  Based on various information (moving body number, installation position number, shape information, traveling direction information, and scheduled route information) separated by correlators 370a to 370h, the control unit 380 determines the relative orientation and relative orientation of other moving bodies. In addition to calculating the size and shape, the traveling direction information and the planned course information of other moving bodies are calculated.

  Then, the display unit 190 displays the moving object and other movements based on the relative orientation, relative orientation, size, shape, traveling direction information, planned course information, and the like of the other moving object calculated by the control unit 380. The body orientation, positional relationship, size, shape, traveling direction, and planned course are displayed.

  As described above, the radar apparatus 300 according to the third embodiment transmits the optical signal on which the traveling direction information and the planned route information are superimposed. Therefore, when the optical signal is received from another moving body, the other moving body It is possible to calculate the traveling direction and the planned course. As a result, the radar apparatus 300 can cause the display unit 190 to display information related to the traveling direction of the other moving object and the planned route. As a result, the user who uses the moving body on which the radar apparatus 300 is mounted determines whether or not there is a possibility of colliding with another moving body in consideration of the traveling direction of the other moving body and the planned route. can do.

  By the way, in the second and third embodiments, an example in which an optical signal is transmitted by superimposing the size, shape, traveling direction, and planned course of another moving body has been shown. An optical signal may be transmitted by superimposing various information related to the other moving object being calculated. Therefore, in a fourth embodiment, a description will be given of a radar apparatus 400 that transmits an optical signal by superimposing various types of information on other moving objects that have already been calculated by the own apparatus.

  A configuration of the radar apparatus 400 according to the fourth embodiment will be described. FIG. 10 is a diagram illustrating the configuration of the radar apparatus 400 according to the fourth embodiment. As illustrated in FIG. 10, the radar apparatus 400 includes a multiplying unit 410 instead of the multiplying unit 330 as compared with the radar apparatus 300 illustrated in FIG. 9. The radar apparatus 400 includes correlators 470a to 470h instead of the correlators 370a to 370h, and includes a control unit 480 instead of the control unit 380, compared to the radar apparatus 300 illustrated in FIG.

  Similar to the control unit 380 illustrated in FIG. 9, the control unit 480 calculates various information (size, shape, traveling direction, and the like) related to other moving objects. Furthermore, the control unit 480 outputs various information related to other mobile objects that have already been calculated to the multiplication unit 410.

  The multiplication unit 410 superimposes the traveling direction information acquired by the electronic compass 310 and various types of information regarding other moving objects output from the control unit 480. As a result, the optical signal transmitted by the radar apparatus 400 becomes a signal in which various information relating to other moving objects already calculated by the radar apparatus 400 is superimposed on the optical signal transmitted by the radar apparatus 300 according to the third embodiment.

  Note that the control unit 480 may cause the predetermined storage unit to store various types of information relating to other mobile objects that have already been calculated. In such a case, the multiplication unit 410 superimposes the traveling direction information acquired by the electronic compass 310 and various information stored in a predetermined storage unit.

  Correlators 470a to 470h receive a spread spectrum signal on which various types of information about other mobile units are superimposed, and various types of information included in the spread spectrum signals are represented by a mobile unit number, an installation position number, shape information, The travel direction information, the scheduled route information, and various information related to other moving objects are separated.

  Although not shown here, the correlators 470a to 470h include a matched filter (for the code generation unit 210), a matched filter (for the electronic compass 310), a matched filter (course), and the correlator 170a shown in FIG. The information generation unit 320) and a matched filter (for various information related to other moving objects) are added. The matched filter (for various information related to other mobile objects) extracts information output by the control unit 480 included in the other mobile objects from various information included in the input spread spectrum signal.

  As described above, the radar apparatus 400 according to the fourth embodiment transmits an optical signal on which various types of information related to other moving objects that have already been calculated are superimposed. Therefore, when the radar apparatus 400 receives an optical signal from another moving body X, the radar apparatus 400 can calculate various information related to the other moving body Y that has already been calculated by the other moving body X. That is, the radar apparatus 400 can also calculate information related to other moving objects to which an optical signal transmitted from the radar apparatus does not reach. As a result, the radar apparatus 400 can also display on the display unit 190 information related to other moving objects that do not reach the optical signal transmitted by the radar apparatus. As a result, a user who uses a moving body on which the radar apparatus 400 is mounted may collide with another moving body in consideration of other moving bodies to which an optical signal transmitted from the moving body does not reach. It can be determined whether or not there is.

  By the way, in the first to fourth embodiments, an example in which various types of information related to other moving bodies are calculated has been described. However, the radar apparatus collides with the moving body based on the various types of calculated information. It may be determined whether there is a fear. Thus, in a fifth embodiment, a radar apparatus 500 that determines whether or not the own mobile body and another mobile body may collide will be described.

  First, an outline of the collision determination process by the radar apparatus 500 according to the fifth embodiment will be described. FIG. 11 is a diagram for explaining the outline of the collision determination process performed by the radar apparatus 500 according to the fifth embodiment. In FIG. 11, radar devices 500E and 500F according to the fifth embodiment are mounted on moving bodies E and F, respectively. As for the mobile body E, the transmission / reception parts 150a-E-150h-E are installed similarly to the motor vehicles AD shown in FIG. Although illustration is omitted in FIG. 11, the mobile unit F is provided with transmission / reception units 150a-F to 150h-F as in the case of the automobiles A to D shown in FIG.

  Here, an outline of collision determination processing by the radar apparatus 500E mounted on the moving object E will be described. First, the radar apparatus 500E divides an area centered on the own mobile body into areas equal to the number of transmission / reception units installed on the own mobile body. In the example illustrated in FIG. 11, the radar apparatus 500E divides an area centered on its own moving body into areas # 1 to # 8.

  Subsequently, the radar apparatus 500E detects an area where the moving body F is located based on the optical signal transmitted from the moving body F. In the example shown in FIG. 11, the radar apparatus 500E detects that the moving object F is located in the area # 7.

  Subsequently, the radar apparatus 500E calculates the planned route of the moving object F based on the planned route information superimposed on the optical signal transmitted from the moving object F. Subsequently, the radar apparatus 500E detects an area in which the mobile body travels based on the traveling direction information acquired by the electronic compass 310. In the example illustrated in FIG. 11, the radar apparatus 500E detects area # 1 as an area where the mobile body travels.

  Subsequently, the radar apparatus 500E calculates a traveling direction angle θ1 of the own moving body and a planned course angle θ2 of another moving body. Specifically, the radar apparatus 500E calculates a traveling direction angle θ1 with respect to a predetermined reference direction and a planned course angle θ2 with respect to the predetermined reference direction. In the example illustrated in FIG. 11, the radar apparatus 500E calculates 0 [deg] as the traveling direction angle θ1 of the own moving body because the predetermined reference direction is the traveling direction of the own moving body. Further, the radar apparatus 500E calculates 30 [deg] as the planned course angle θ2 of the other moving body.

  Subsequently, the radar apparatus 500E may cause the moving body E to collide with the moving body F based on the course direction of the moving body E, the area where the moving body F is located, and the planned path of the moving body F. Determine whether or not. In the example illustrated in FIG. 11, the radar apparatus 500E determines that there is a possibility of collision when the moving object E and the moving object F travel straight ahead. The radar apparatus 500E controls display of the positional relationship between the moving bodies E and F and the result of the collision determination process on a predetermined display unit.

  As described above, the radar apparatus 500 according to the fifth embodiment calculates the area where the other moving body is located and the planned route, and determines whether or not there is a possibility that the other moving body and the own moving body collide with each other. . Thereby, the radar apparatus 500 according to the fifth embodiment can make a user who uses the mobile body recognize that the mobile body may collide with another mobile body. As a result, the user can perform an operation for avoiding a collision with another moving body in advance, so that an accident can be prevented.

  Next, the configuration of the radar apparatus 500 according to the fifth embodiment will be described. FIG. 12 is a diagram illustrating the configuration of the radar apparatus 500 according to the fifth embodiment. As illustrated in FIG. 12, the radar apparatus 500 newly includes a storage unit 510 as compared with the radar apparatus 300 illustrated in FIG. 9. The radar apparatus 500 includes a control unit 580 instead of the control unit 380 illustrated in FIG.

  Storage unit 510 stores an area through which another mobile object is to pass. FIG. 13 is a diagram illustrating an example of the storage unit 510. As illustrated in FIG. 13, the storage unit 510 includes items such as a position of another moving body, a traveling angle of another moving body, and a scheduled passage area. “Other mobile object position” indicates an area number where another mobile object is located. In addition, the memory | storage part 510 shown in FIG. 13 memorize | stores the reference code | symbol (# 1- # 8) attached | subjected to area # 1- # 8 shown in FIG. 11 as an area number. “Another moving body traveling angle” indicates a planned course angle θ2 of another moving body. “Scheduled passage area” indicates an area number of an area through which another moving body is scheduled to pass.

  Similar to the control unit 380 shown in FIG. 9, the control unit 580 calculates the relative azimuth, relative orientation, size, shape, traveling direction information, and scheduled route information of other moving objects. Furthermore, the control unit 580 performs a collision determination process. Such a collision determination process will be described later.

  Next, the configuration of the control unit 580 shown in FIG. 12 will be described. FIG. 14 is a diagram showing the configuration of the control unit 580 shown in FIG. As illustrated in FIG. 14, the control unit 580 newly includes a collision determination unit 584 as compared with the control unit 180 illustrated in FIG. 4.

  The collision determination unit 584 determines whether or not the own mobile body may collide with another mobile body. Specifically, first, the collision determination unit 584 divides an area centered on the own moving body into areas equal to the number of transmission / reception units 150a to 150h installed in the own moving body. And the area corresponding to each transmission / reception part 150a-150h is set.

  In the example illustrated in FIG. 11, the radar apparatus 500 includes eight transmission / reception units 150a to 150h, so the collision determination unit 584 divides an area centered on the own mobile body into eight areas. Then, the collision determination unit 584 sets an area corresponding to each of the transmission / reception units 150a to 150h. Specifically, the collision determination unit 584 sets area # 1 in the transmission / reception unit 150a, sets area # 8 in the transmission / reception unit 150b, sets area # 2 in the transmission / reception unit 150c, and sets area # 2 in the transmission / reception unit 150d. 5 is set, area # 6 is set in the transmission / reception unit 150e, area # 4 is set in the transmission / reception unit 150f, area # 7 is set in the transmission / reception unit 150g, and area # 3 is set in the transmission / reception unit 150h. .

  Subsequently, the collision determination unit 584 monitors whether or not a signal is input from the specifying units 182-1 to 182-8, and based on the monitoring result, moves to another area corresponding to the transmission / reception units 150a to 150h. Detect whether the body is located. For example, when the signal is input from the specifying unit 182-1, the collision determination unit 584 detects that another moving body is located in the area # 1 corresponding to the transmission / reception unit 150a. This means that the output of the signal from the specifying unit 182-1 means that the control unit 580 has received the signal # 1 from the correlator 370a, and further that the correlator 370a outputs the signal # 1. This is because it means that the transmission / reception unit 150a has received an optical signal.

  Subsequently, the collision determination unit 584 calculates the planned route of the other moving body detected in the foregoing based on the planned route information input to the specifying units 182-1 to 182-8. Subsequently, the collision determination unit 584 calculates the traveling direction of the mobile body based on the traveling direction information acquired by the electronic compass 310. Subsequently, the collision determination unit 584 detects an area in which the mobile body travels based on the calculated travel direction of the mobile body.

  Subsequently, the collision determination unit 584 calculates the traveling direction angle θ1 of the moving body with respect to a predetermined reference direction, and calculates the planned course angle θ2 of another moving body with respect to the predetermined reference direction. Subsequently, the collision determination unit 584 calculates a difference Δθ (= θ2−θ1) between the planned course angle θ2 of the other moving body and the traveling direction angle θ1 of the own moving body. In the example illustrated in FIG. 11, the collision determination unit 584 calculates θ2 “30” −θ1 “0” = 30 [deg] as Δθ.

  Subsequently, the collision determination unit 584 estimates an area through which another moving body is to pass based on various information stored in the storage unit 510. Specifically, the collision determination unit 584 indicates from the storage unit 510 that the area where the other moving body is located matches the “other moving body position”, and the expected course angle θ2 of the other moving body is “other”. The “planned passing area” that is within the range of the “moving body traveling angle” is acquired.

  For example, as in the example illustrated in FIG. 11, it is assumed that an area where another moving body is located is area # 7, and the planned course angle θ2 of the other moving body is 30 [deg]. It is assumed that the storage unit 510 is in the state shown in FIG. In such a case, the collision determination unit 584 acquires the scheduled passage area “7 → 8 → 1” from the storage unit 510. This is because the “other mobile object traveling angle” in the first row is “341 + Δθ to 20 + Δθ” among the eight records whose “other mobile object position” is “7” in the storage unit 510 shown in FIG. This is because the planned course angle θ2 = 30 [deg] is within the range of the other moving body traveling angle.

  Subsequently, the collision determination unit 584 determines whether or not the area in which the mobile body travels is included in the scheduled passage area acquired in the above. And when the area where a self-moving body progresses is included in the scheduled passage area, the collision determination unit 584 determines that the self-moving body may collide with another moving body. On the other hand, when the area in which the mobile body travels is not included in the scheduled passage area, the collision determination unit 584 determines that there is no possibility of the mobile body colliding with another mobile body. In the case of the example shown in FIG. 11, the area # 1 where the mobile body advances is included in the scheduled passage area “7 → 8 → 1”, so the collision determination unit 584 causes the mobile body to collide with another mobile body It is determined that there is a risk of it.

  Next, the procedure of the collision determination process by the collision determination unit 584 shown in FIG. 14 will be described. FIG. 15 is a flowchart showing a collision determination processing procedure by the collision determination unit 584 shown in FIG. As illustrated in FIG. 15, the collision determination unit 584 sets areas corresponding to the respective transmission / reception units 150a to 150h (step S301).

  Subsequently, the collision determination unit 584 monitors whether or not a signal is input from the specifying units 182-1 to 182-8, and whether or not another moving body is located in an area corresponding to the transmission / reception units 150a to 150h. The other moving body detection process for detecting is performed (step S302). In addition, the procedure of this other mobile body detection process is mentioned later.

  Subsequently, the collision determination unit 584 calculates the planned route of the other moving body detected in step S302 based on the planned route information input to the specifying units 182-1 to 182-8 (step S303). Subsequently, the collision determination unit 584 calculates the traveling direction of the own moving body based on the traveling direction information acquired by the electronic compass 310 (step S304). Subsequently, the collision determination unit 584 detects an area where the moving body travels (step S305).

  Subsequently, the collision determination unit 584 calculates the traveling direction angle θ1 of the own moving body and the planned course angle θ2 of other moving bodies (step S306). Subsequently, the collision determination unit 584 determines from the storage unit 510 that the area where the other moving body is located matches the “other moving body position”, and that the expected course angle θ2 of the other moving body is “other moving body”. A “passing area” that is within the range of the “advance angle” is acquired (step S307).

  Then, the collision determination unit 584 determines that there is a possibility that the own mobile body may collide with another mobile body if the acquired scheduled passage area includes an area where the own mobile body travels (Yes in Step S308) (Step S308). S309). On the other hand, the collision determination unit 584 determines that there is no possibility that the mobile body collides with another mobile body when the acquired scheduled passage area does not include an area where the mobile body travels (No in step S308) ( Step S310).

  Next, a procedure of other moving object detection processing by the collision determination unit 584 shown in FIG. 14 will be described. FIG. 16 is a flowchart showing another moving object detection processing procedure by the collision determination unit 584 shown in FIG. As shown in FIG. 16, the collision determination unit 584 first initializes a predetermined counter N to “0” (step S401).

  Subsequently, the collision determination unit 584 starts a monitoring process as to whether or not a signal is input from the specifying units 182-1 to 182-8 (step S402). Subsequently, the collision determination unit 584 adds “1” to the counter N (step S403). Then, when a signal is input from the Nth identification unit (identification unit 182-N) (Yes at Step S404), the collision determination unit 584 receives another moving object in the area #N corresponding to the Nth identification unit. Is detected (step S405).

  On the other hand, the collision determination unit 584 performs the processing procedure in steps S403 and S404 when no signal is input from the N-th specifying unit (No at Step S404), and when the counter N is “8” or less (Yes at Step S406). Repeat. Here, when the counter N is larger than “8” (No at Step S406), the collision determination unit 584 returns to the processing procedure at Step S401 and performs the other moving object detection process.

  As described above, the radar apparatus 500 according to the fifth embodiment determines whether or not the own mobile body and the other mobile body may collide based on various information related to the other mobile body. Thereby, the radar apparatus 500 can make a user recognize whether there exists a possibility that a self mobile body and another mobile body may collide. As a result, a user who uses a moving body on which the radar apparatus 500 is mounted can perform an operation for preventing an accident without determining whether or not there is a possibility of colliding with another moving body. .

  In the fifth embodiment, the example in which the collision determination process is performed without considering the moving speed of the moving body and the moving speed of the other moving bodies has been described. The collision determination process may be performed in consideration of the above. Specifically, the radar apparatus 500 calculates a place where the mobile body moves over time based on the location where the mobile body is located, the moving speed of the mobile body, and the traveling direction of the mobile body. To do. Further, the radar apparatus 500 determines a place where the other moving body moves with time based on the place where the other moving body is located, the moving speed of the other moving body, and the planned course of the other moving body. calculate. The radar apparatus 500 then locates the mobile body and the other mobile body at the same time and at the same location based on the calculated travel path of the mobile body and the travel path of the other mobile body. Detect whether there is a possibility. When there is a possibility that the own mobile body and another mobile body are located at the same time and at the same place, the radar apparatus 500 determines that the mobile body and the other mobile body may collide with each other. .

  Moreover, in the said Examples 1-5, although the example which mainly applies the radar apparatuses 100-500 to a motor vehicle was shown, the radar apparatuses 100-500 other than a motor vehicle, an aircraft, an industrial robot, etc. Can be applied to.

  Moreover, although the transmission parts 151a-151h and the receiving parts 152a-152h were shown in the said Examples 1-5, the example installed in the same position of a moving body was shown, the transmitting parts 151a-151h and the receiving part 152a are shown. ~ 152h may not be installed at the same position.

  Each processing function performed in each device is realized in whole or in part by a CPU (Central Processing Unit) and a program that is analyzed and executed by the CPU, or hardware by wired logic. It may be realized as.

  The following supplementary notes are further disclosed with respect to the embodiments including the above examples.

(Appendix 1) A radar apparatus control method for controlling a radar apparatus mounted on a predetermined moving body,
The radar device is
A receiving step of receiving a signal including installation position information indicating a position of the transmission unit installed in the other mobile unit from a plurality of transmission units installed in the other mobile unit;
And calculating a relative direction that is a direction in which the other moving body is facing with respect to a direction in which the predetermined moving body is facing based on the signal received by the receiving step. Radar apparatus control method.

(Additional remark 2) The said calculation process further calculates the relative azimuth | direction which is an azimuth | direction from the place where the said predetermined mobile body is located to the place where the said other mobile body is located based on the signal received by the said reception process The radar apparatus control method according to appendix 1, wherein:

(Additional remark 3) The collision determination process of determining whether there exists a possibility that the said predetermined | prescribed mobile body and the said other mobile body may collide based on the relative direction and relative direction calculated by the said calculation process further The radar apparatus control method according to Supplementary Note 2, wherein the radar apparatus control method is included.

(Supplementary Note 4) Based on the installation position information included in the signal received by the reception step, further includes a specifying step of specifying the installation position of the transmission unit that has transmitted the signal,
The radar apparatus control method according to appendix 2 or 3, wherein the calculating step calculates the relative direction and the relative direction based on a position where the transmitting unit specified by the specifying step is installed. .

(Additional remark 5) The said transmission part transmits the signal which further contains the shape information which shows the magnitude | size and shape of the said other moving body,
The reception step receives a signal further including shape information from the transmission unit,
The calculation step calculates the size and shape of the other moving body based on the shape information included in the signal received by the reception step. The radar apparatus control method as described.

(Additional remark 6) The said transmission part is the progress direction information which shows the advancing direction which is the direction which the said other mobile body advances, and the planned course information which shows the planned course which is the direction where the said other mobile body will advance Send a signal containing
The receiving step receives a signal including traveling direction information and planned course information from the transmission unit,
The calculation step calculates the traveling direction and the planned route of the other moving body based on the traveling direction information and the planned route information included in the signal received by the receiving step. The radar apparatus control method according to any one of?

(Additional remark 7) The said collision determination process is based on the relative direction calculated by the said calculation process, a relative azimuth | direction, a magnitude | size, a shape, the advancing direction, and a predetermined course, and the said predetermined moving body and said others 7. The radar apparatus control method according to appendix 6, wherein it is determined whether or not there is a possibility of collision with a moving body.

(Supplementary Note 8) A plurality of transmitters installed in a predetermined mobile body, and a transmission unit that transmits a signal including installation position information indicating a position installed in the predetermined mobile body;
A receiving unit for receiving a signal transmitted by a transmitting unit installed in another mobile unit;
A calculating unit that calculates a relative direction that is a direction in which the other moving body is facing with respect to a direction in which the predetermined moving body is facing based on a signal received by the receiving unit; Radar device.

(Additional remark 9) The said calculation part further calculates the relative azimuth | direction which is an azimuth | direction from the place where the said predetermined mobile body is located to the place where the said other mobile body is located based on the signal received by the said receiving part The radar apparatus according to appendix 8, wherein:

(Additional remark 10) The collision determination part which determines whether there exists a possibility that the said predetermined | prescribed mobile body and the said other mobile body may collide based on the relative direction and relative direction which were calculated by the said calculation part further The radar apparatus according to appendix 9, which is provided.

(Additional remark 11) While specifying the receiving part which received the signal from the said other mobile body, the transmission part which transmitted the said signal based on the installation position information contained in the signal received by the specified receiving part is installed. A specific part for identifying the position
The calculation unit calculates the relative orientation and the relative direction based on the reception unit specified by the specification unit and the position where the transmission unit is installed. The radar apparatus described.

(Additional remark 12) The said transmission part transmits the signal containing the shape information which shows the magnitude | size and shape of the said predetermined moving body,
The receiving unit receives a signal including shape information from a transmitting unit installed in the other moving body,
The calculation unit calculates the size and shape of the other moving body based on shape information included in the signal received by the reception unit. The radar apparatus described.

(Additional remark 13) The said transmission part is the progress direction information which shows the advancing direction which is the direction which the said predetermined moving body advances, and the planned course information which shows the planned course which is the direction where the said predetermined moving body will advance Send a signal containing
The receiving unit receives a signal including traveling direction information and planned route information from a transmitting unit installed in the other moving body,
The calculation unit calculates a traveling direction and a planned route of the other moving body based on the traveling direction information and the planned route information included in the signal received by the receiving unit. The radar apparatus as described in any one of -12.

(Additional remark 14) The said collision determination part is based on the relative direction calculated by the said calculation part, a relative azimuth | direction, a magnitude | size, a shape, a advancing direction, and a predetermined course, and said predetermined moving body and said others 14. The radar apparatus according to appendix 13, wherein it is determined whether or not there is a possibility of collision with a moving body.

(Supplementary Note 15) The transmission unit transmits a signal including a relative direction, a relative direction, a size, a shape, a traveling direction, and a planned course calculated by the calculating unit,
The receiving unit is configured to transmit a relative direction, a relative direction, a size, a shape, a traveling direction, and a planned course of a moving body other than the other moving body from a transmitting unit installed in the other moving body. Receive a signal containing
The calculation unit calculates a relative orientation, a relative orientation, a size, a shape, a traveling direction, and a planned course of a moving body other than the other moving bodies based on a signal received by the receiving unit. The radar device according to appendix 14, wherein:

(Supplementary Note 16) A plurality of transmission units for transmitting a signal including installation position information indicating a position installed on the mobile body,
A plurality of receivers that receive signals transmitted by transmitters installed in other mobile units;
A radar apparatus comprising: a calculation unit that calculates a relative direction that is a direction in which the other moving body is facing with respect to a direction in which the moving body is facing based on a signal received by the receiving unit. Moving body.

(Supplementary Note 17) A transmission unit that is installed in a predetermined mobile body and transmits a signal including installation position information indicating a position installed in the predetermined mobile body;
A transmission / reception apparatus comprising: a reception unit that receives a signal transmitted by a transmission unit installed in another mobile body.

It is a figure for demonstrating the outline | summary of the target object information calculation process by the radar apparatus which concerns on Example 1. FIG. 1 is a diagram illustrating a configuration of a radar apparatus according to Embodiment 1. FIG. It is a figure which shows the structure of the correlator shown in FIG. It is a figure which shows the structure of the control part shown in FIG. It is a figure which shows an example of a relative information storage part. 3 is a flowchart illustrating a signal transmission processing procedure by the radar apparatus according to the first embodiment. 3 is a flowchart illustrating a signal reception processing procedure by the radar apparatus according to the first embodiment. FIG. 6 is a diagram illustrating a configuration of a radar apparatus according to a second embodiment. FIG. 6 is a diagram illustrating a configuration of a radar apparatus according to a third embodiment. FIG. 10 is a diagram illustrating a configuration of a radar apparatus according to a fourth embodiment. FIG. 10 is a diagram for explaining an overview of collision determination processing by a radar apparatus according to a fifth embodiment. FIG. 10 is a diagram illustrating a configuration of a radar apparatus according to a fifth embodiment. It is a figure which shows an example of a memory | storage part. It is a figure which shows the structure of the control part shown in FIG. It is a flowchart which shows the collision determination processing procedure by the collision determination part shown in FIG. It is a flowchart which shows the other mobile body detection processing procedure by the collision determination part shown in FIG.

Explanation of symbols

100 to 500 Radar apparatus 110, 120a to 120h Code generation unit 130a to 130h Multiplication unit 140a to 140h E / O
150a to 150h Transmission / reception unit 151a to 151h Transmission unit 152a to 152h Reception unit 160a to 160h O / E
170a to 170h Correlator 171-1 to 171-9 Matched filter 172 Register 173 P / S converter 180, 280, 380, 480, 580 Controller 181-1 to 181-8 S / P converter 182-1 to 182 -8 identification unit 183 calculation unit 190 display unit 220 multiplication unit 270a to 270h correlator 330, 340 multiplication unit 370a to 370h correlator 410 multiplication unit 470a to 470h correlator 510 storage unit 584 collision determination unit

Claims (8)

A radar apparatus control method for controlling a radar apparatus mounted on a predetermined moving body,
The radar device is
A receiving step of receiving a signal including installation position information indicating a position of the transmission unit installed in the other mobile unit from a plurality of transmission units installed in the other mobile unit;
And calculating a relative direction that is a direction in which the other moving body is facing with respect to a direction in which the predetermined moving body is facing based on the signal received by the receiving step. Radar apparatus control method.   The calculating step further calculates a relative azimuth that is an azimuth from a place where the predetermined moving body is located to a place where the other moving body is located, based on the signal received by the receiving step. The radar apparatus control method according to claim 1.   The method further includes a collision determination step of determining whether or not the predetermined moving body and the other moving body may collide based on the relative direction and the relative direction calculated by the calculation step. 3. The radar apparatus control method according to claim 2, wherein A plurality of transmitters installed in a predetermined mobile body and transmitting a signal including installation position information indicating a position installed in the predetermined mobile body;
A receiving unit for receiving a signal transmitted by a transmitting unit installed in another mobile unit;
A calculating unit that calculates a relative direction that is a direction in which the other moving body is facing with respect to a direction in which the predetermined moving body is facing based on a signal received by the receiving unit; Radar device.   The calculation unit further calculates a relative azimuth that is a azimuth from a place where the predetermined moving body is located to a place where the other moving body is located, based on a signal received by the receiving unit. The radar apparatus according to claim 4.   The apparatus further comprises a collision determination unit that determines whether or not the predetermined moving body and the other moving body may collide based on the relative direction and the relative direction calculated by the calculation unit. The radar device according to claim 5, characterized in that: A plurality of transmission units for transmitting a signal including installation position information indicating a position installed in the mobile body;
A plurality of receivers that receive signals transmitted by transmitters installed in other mobile units;
A radar apparatus comprising: a calculation unit that calculates a relative direction that is a direction in which the other moving body is facing with respect to a direction in which the moving body is facing based on a signal received by the receiving unit. Moving body. A transmission unit that is installed in a predetermined moving body and transmits a signal including installation position information indicating a position installed in the predetermined moving body;
A transmission / reception apparatus comprising: a reception unit that receives a signal transmitted by a transmission unit installed in another mobile body.

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