JP4654803B2 - Radar device for vehicle periphery monitoring - Google Patents

Description

The present invention relates to radar equipment suitable for cars both peripheral monitoring.

Currently, development of an obstacle detection system for vehicles using a radar device, ACC (Adaptive Cruise Control), and the like is in progress as part of ITS (Intelligent Transport System).
These systems are premised on use on automobile roads, but are expected to be applied to urban driving in the future.
There are various running road environments such as intersections and T-shaped roads in urban areas, and in order to deal with these, it is necessary to detect targets in a plurality of directions such as not only in front of the vehicle but also on the side of the vehicle. Therefore, it is required that the directivity of the radar apparatus can be changed as appropriate.

Japanese Laid-Open Patent Publication No. 2001-116830 proposes a method of individually providing antennas having different detection distances for each detection direction as a radar apparatus that detects a plurality of directions simultaneously.
However, in the radar apparatus of the above technology, since a plurality of antennas must be individually installed, the radar apparatus becomes large and the detection area is fixedly set. There is a problem that it is not effective for traveling in urban areas with different detection areas.
As a countermeasure against this, there is a description in the above-mentioned publication that one antenna may be shared and mechanically rotated, but because of the mechanical operation, durability and reliability are lowered, and maintainability is deteriorated.
JP 2001-116830 A

In addition to the above, there is also a method using a phased array antenna that scans a beam with extremely high directivity in an arbitrary direction without moving the antenna itself by combining an array antenna and a phase shifter. It is necessary to increase the number of antenna arrays, and accordingly, the number of phase shifters attached to each antenna is increased. In addition, there is a problem in that the cost increases because phase control with a fine and wide change width is required.
Further, when the number of antenna arrays is increased, there is a problem that the size of the antenna increases and the power feeding circuit becomes complicated.

Accordingly, the present invention is the view of the conventional problems, and an object thereof is to provide a vehicle periphery monitoring radar equipment which enables changing the directivity in no simple structure increasing the size.

Therefore, the present invention is applied to a vehicle, and in a vehicle periphery monitoring radar device that transmits a transmission signal, receives a reflection from a target, and measures a distance to the target based on the reception signal and the transmission signal . alongside the antenna element on a side surface of the vehicle constitutes the array antenna unit, set a path fixed path difference of more than one wavelength of the transmission frequency to the length up to the power distribution point between adjacent antenna elements transmitted signals from the antenna elements , and includes a transmission frequency control means for controlling a transmission frequency, a switch circuit provided in a path connecting said antenna elements and the power distribution point, and switch control means for controlling the switch circuit, and changes the transmission frequency and it can vary the sensing direction by, and the allowed through the transmission signal in the switch circuit, to increase or decrease the number of antenna elements is excited by blocking The detection width can be changed, travel information collection means for collecting travel environment information and travel speed of the vehicle, travel speed determination means for determining whether the travel speed of the vehicle is a predetermined value or more, and the travel speed When the determination means determines that the traveling speed is less than the predetermined value, the side surface determines whether or not there is a possibility that another vehicle may enter from the side surface direction of the vehicle based on the traveling environment information. When the direction vehicle entry determination means and the travel speed determination means determine that the travel speed is greater than or equal to the predetermined value, or when the side direction vehicle entry means determines that the situation is not the situation, the detection direction is determined. A first selection means for selecting a combination of a detection area with a small vehicle detection direction and a detection area with a small detection width; and a detection area with a large detection width; A combination of a detection area with the detection direction set to the side of the vehicle and a detection width set to small, and a detection area with the detection direction set to the vehicle traveling direction and a detection width set to large when the direction vehicle entry means determines that the situation is present And when the combination is selected by the first selection unit or the second selection unit, the transmission is performed so that the detection areas constituting the selected combination are alternately changed. And a detection area control means for controlling the frequency control means and the switch control means.

  According to the present invention, a phase difference is caused by the difference in path length between the antenna elements, the detection direction is determined by this phase difference, and the phase difference changes depending on the frequency of the transmission signal. By changing it, the detection direction seen from the vehicle can be changed arbitrarily. Since it is only by a simple circuit configuration and control, it can be realized at low cost without increasing the size of the apparatus.

Embodiments of the present invention will be described below.
FIG. 1 is a block diagram showing a configuration of an embodiment in which the present invention is applied to a pulse-type radar apparatus using an electromagnetic wave that is widely used for in-vehicle use.
The radar apparatus 1 includes an array antenna unit 2 including an electromagnetic wave radiation unit 18 composed of a plurality of antenna elements and a switch circuit 17, a voltage-controlled oscillator 11, a coupler 12, a switch unit 13, a circulator 14, a mixer circuit 15, and a power amplifier 16. Signal processing comprising a radio frequency (RF) circuit unit 3, a transmission pulse control unit 21, a distance measurement unit 22, a transmission frequency control unit 23, an array number control unit 24, a target recognition logic unit 25, and a detection area setting unit 26. Part 4.

The array antenna unit 2 radiates a pulse-shaped transmission signal transmitted from the circulator 14 of the high-frequency circuit unit 3 to the front space, receives a reflection signal from the target, and outputs this as a reception signal to the circulator 14.
Further, the switch circuit 17 is opened and closed by the control signal output from the array number control unit 24 of the signal processing unit 4 to increase or decrease the number of arrays to be excited.

In the high frequency circuit unit 3, the oscillator 11 oscillates at a frequency based on the control signal from the transmission frequency control unit 23 of the signal processing unit 4, and the coupler 12 divides the oscillation output of the oscillator 11 into two parts at a predetermined power ratio and circulators 14 and the mixer circuit 15.
A switch unit 13 is provided between the coupler 12 and the circulator 14, and in synchronization with the transmission timing signal from the transmission pulse control unit 21 of the signal processing unit 4, the oscillation output is divided into pulses and used as a transmission signal. The frequency of the oscillation signal becomes the frequency of the transmission signal, that is, the transmission frequency.

The circulator 14 outputs a transmission signal to the array antenna unit 2 in the forward direction. The circulator 14 also transmits a reception signal from the array antenna unit 2 to the forward mixer circuit 15.
The mixer circuit 15 mixes the reception signal and the oscillation output and converts the frequency into a reception IF (intermediate frequency) signal.
The received IF signal is amplified by the power amplifier 16 and output to the distance measuring unit 22 of the signal processing unit 4.

In the signal processing unit 4, the distance measurement unit 22 detects the reception signal (reflection signal) in the reception IF signal, measures the time difference from transmission to reception, and calculates the distance to the target.
The detection area setting unit 26 selects a necessary detection area based on vehicle information, for example, navigation system information or traveling environment information of the vehicle such as a front image obtained by an in-vehicle camera, and a corresponding detection direction and detection width. Set.
The transmission frequency control unit 23 determines a transmission frequency corresponding to the detection direction set by the detection area setting unit 26 and outputs a control signal indicating the transmission frequency (oscillation frequency) to the oscillator 11 of the high frequency circuit unit 3. To do.

The array number control unit 24 determines the number of antenna element arrays corresponding to the detection width set by the detection area setting unit 26 and controls on / off of the switch circuit 17 of the array antenna unit 2.
The transmission frequency corresponding to the detection direction and the number of arrays corresponding to the detection width will be described later.
The target recognition logic unit 25 recognizes the target based on the distance information output from the distance measurement unit 22 and the detection area information output from the detection area setting unit 26, and outputs the target information to the vehicle side CPU. .

Next, a basic operation of distance measurement executed in the radar apparatus 1 will be described.
FIG. 2 shows a time chart of the distance measurement operation by the pulse method.
(A) shows the transmission timing signal output from the transmission pulse control unit 21 of the signal processing unit 4.
(B) shows a transmission signal formed into a pulse shape by switching the oscillation output of the oscillator 11 of the high-frequency circuit unit 3 on and off based on the transmission timing signal of (a).
(C) shows the received signal in which the transmission signal of (b) radiated from the array antenna unit 2 is reflected by the target and captured again as an echo by the array antenna unit 2.
(D) shows a reception IF signal obtained by mixing the oscillation output of the oscillator 11 and the reception signal of (c) by the mixer circuit 15.

The distance to the target is measured by measuring a delay time Δt from when the transmission signal (b) is emitted until the reception IF signal (d) is obtained.
That is, since the propagation speed of the electromagnetic wave C = 3 × 10 8 m / second, the electromagnetic wave has advanced by C × Δt during the required round-trip time Δt from when the transmission signal is emitted until it is reflected and returned. .
Since the distance D to the target is one way, it can be calculated from the following equation (1).
D = C × Δt / 2 (1)
The transmission time of the transmission signal is obtained from the transmission timing signal input from the transmission pulse control unit 21 to the distance measurement unit 22.

Next, the transmission frequency corresponding to the detection direction and the number of arrays corresponding to the detection width will be described.
First, in the array antenna unit 2, the electromagnetic wave radiation unit 18 has an eight-element configuration in which antenna elements 18a to 18h are arranged one-dimensionally at equal intervals, as shown in FIG. FIG. 4 is an image view seen from the front.
As shown in FIG. 3, the first fixed paths 31a to 31a having path lengths d between the antenna elements 18a and 18b, between the antenna elements 18c and 18d, between the antenna elements 18e and 18f, and between the antenna elements 18g and 18h, respectively. It is connected at 31d.
Further, the antenna elements 18b and 18d and the antenna elements 18f and 18h are coupled by second fixed paths 32a and 32b having a path length of 2d, respectively.
Further, the antenna elements 18d and 18h are coupled by a third fixed path 33 having a path length of 4d, and a feed line for a transmission signal from the circulator 14 is connected to the antenna element 18h.
As a result, the fixed path lengths of the antenna elements 18a to 18h are 4d + 2d + d = 7d, 4d + 2d = 6d, 4d + d = 5d, 4d, 2d + d = 3d, 2d, d, 0 from the power distribution point P, respectively. There is a fixed path difference of length d between the antenna elements.

Since the phase of the traveling wave flowing through the fixed path is delayed as it travels, assuming that the phase shift caused by the fixed path length d is Δθ, the phase of the antenna element above the lower side in FIG. 3 is delayed by Δθ.
This phase difference varies depending on the transmission frequency.
As an example, when the center frequency of the transmission frequency band and 26 GHz, the wavelength λ = C / f = 3 × 10 8/26 × 10 9 = 11.54mm , and the wavelength of the center frequency of the antenna element spacing lambda 1/2 The fixed path difference d is about 26 mm, which is at least twice the wavelength λ of the center frequency.
In this case, when the transmission frequency is set to 24 GHz, the phase difference between the two adjacent antenna elements caused by the fixed path difference d = 26 mm is 811 ° in the calculation. The phase difference is 91 °.
Similarly, when the transmission frequency is 23 GHz, the phase difference is 29 °, and when the transmission frequency is 29 GHz, the phase difference is 154 °.

When the antenna element interval is a, the transmission frequency is f, and the fixed path difference is d, the detection direction θt can be calculated using the following equation (2).
a × cos (π / 4−θt) × f / C = 2π × d × f / C−2nπ (2)
However, C is the speed of light (3 × 10 ⁸ m / sec), and n is the maximum integer whose right side is not negative.
The right side of Equation (2) corresponds to the phase difference Δθ between two adjacent antenna elements that are actually observed.

Therefore, when the transmission frequency is 23 GHz (phase difference Δθ = 29 °), the detection direction θt is 10 °, and when the transmission frequency is 24 GHz (phase difference Δθ = 91 °), the detection direction θt is 30 ° and the transmission frequency. Is 29 GHz (phase difference Δθ = 154 °), the detection direction θt is 52 °.
In this way, the detection direction θt can be changed according to the transmission frequency f, and the change width of the detection direction θt can also be changed by adjusting the fixed path difference d, which is 26 mm this time.
As described above, the detection direction θt, that is, the detection direction viewed from the vehicle can be controlled to an arbitrary direction by providing a fixed path difference of one wavelength or more of the transmission signal between two adjacent antenna elements and changing the transmission frequency.

Next, in the array antenna unit 2, the switch circuit 17 includes a switch 17a provided in the third fixed path 33 and a switch 17b provided in the second fixed path 32b. The number of antenna elements excited by the electromagnetic wave radiation unit 18 can be changed.
In FIG. 3, when both the switches 17a and 17b are turned on (passed state), the transmission signal transmitted from the circulator 14 of the high-frequency circuit unit 3 passes through each path, and all the antenna elements 18a to 18h are excited.
When the switch 17a is turned off (blocked state), the transmission signal is not transmitted to the antenna elements 18a to 18d, and only the antenna elements 18e to 18h are excited.
Further, when the switch 17b is also turned off, no transmission signal is transmitted to the antenna elements 18e to 18f, and only the antenna elements 18g and 18h are excited.

When the effective area of the antenna is Ae and the wavelength is λ, the gain G of the antenna is expressed by the following formula (3). When the length of the cross section of the antenna opening surface is Le, the detection width θ is empirically It is represented by Formula (4).
G = 4π × Ae / λ ² (3)
θ = 0.886 × λ / Le (4)
By reducing the number of antenna elements to be used, the effective area Ae of the antenna and the length Le of the antenna cross section can be reduced, the antenna gain G is reduced, and the detection width θ is increased.
As described above, the switches 17a and 17b are provided on the fixed path of the array antenna, and the detection width θ can be controlled to an arbitrary angle range by increasing or decreasing the number of excited antenna elements.
Therefore, by controlling the transmission frequency and the number of arrays (the number of antenna elements), the detection direction and the detection width, that is, the directivity can be changed.

Next, an example of the beam shape that changes depending on the combination of the transmission frequency and the number of arrays is shown.
FIG. 5 shows a first detection beam 41 when the transmission frequency is 23 GHz and the number of arrays is 8, a second detection beam when the transmission frequency is 26 GHz and the number of arrays is 4, and a transmission frequency of 29 GHz and the number of arrays is 2. A third detection beam 43 is shown.
The first detection beam 41 has a narrow detection width but high sensitivity. On the other hand, the third detection beam 43 has a low sensitivity but a wide detection width.

FIG. 6 shows the first detection beam 41A when the transmission frequency is 23 GHz, the number of arrays is 2, the second detection beam 42A when the transmission frequency is 26 GHz, the number of arrays is 4, the transmission frequency is 29 GHz, and the number of arrays is 8. 3 shows the beam shape of the detection beam 43A.
The first detection beam 41A has a low sensitivity but a wide detection width. On the other hand, the third detection beam 43 has a narrow detection width but high sensitivity.

The detection area setting unit 26 of the signal processing unit 4 sets a necessary detection area as a detection direction and a detection width based on the vehicle information of the own vehicle.
FIG. 7 is a flowchart of the detection area setting operation.
In step 101, traveling environment information and traveling information such as the speed of the own vehicle are collected.
When the traveling speed is equal to or higher than the predetermined value, the process proceeds to step 104, and when it is lower than the predetermined value, the process proceeds to step 103.
In step 103, it is determined from the traveling environment information whether or not the vehicle is likely to travel from the side direction such as an intersection or a T-junction. If there is no possibility that the vehicle will travel from the side direction, the process proceeds to step 104, and if there is a possibility, the process proceeds to step 105.

In step 104, a detection area in which the detection direction is the vehicle traveling direction and the detection width is small (corresponding to a highly sensitive depression beam in the vehicle traveling direction), and a detection area in which the detection direction is the side of the vehicle and the detection width is large. Select a combination (corresponding to a low-sensitivity wide-angle beam on the side of the vehicle).
For example, when traveling on a straight road with the array antenna unit 2 attached to the side surface of the host vehicle, as shown in FIG. 8, the array antenna unit 2 has a narrow detection width with high sensitivity in the lateral direction (vehicle traveling direction). If the 3 detection beam 43A is set, it is effective for detecting the other vehicle M1 traveling in front of the vehicle that requires a long detection distance even if the detection angle is narrow.
If the third detection beam 41A having a wide detection width is set in the forward direction (vehicle side) as the array antenna unit 2, detection of a parallel running vehicle in an adjacent lane that requires a wide detection angle even if the detection distance is short. It is effective for.
Thereafter, the process proceeds to step 106.

In step 105, a detection area where the detection direction is the side of the vehicle and the detection width is small (corresponding to a highly sensitive depression beam on the side of the vehicle), and a detection area where the detection direction is the vehicle traveling direction and the detection width is large. Select a combination (corresponding to a low-angle wide-angle beam in the vehicle traveling direction).
For example, when the array antenna unit 2 is mounted on the side surface of the host vehicle V and the vehicle travels near an intersection, as shown in FIG. 9, the array antenna unit 2 has a narrow detection width that is sensitive in the forward direction (vehicle side). If the first detection beam 41 is set, a long detection distance is preferable even if the detection angle is narrow, which is effective for detecting the other vehicle M2 entering from the lateral direction at an intersection where there is no signal.
If the third detection beam 43 having a wide detection width is set as the array antenna unit 2 in the lateral direction, detection of a vehicle entering from an oncoming lane such as a right turn vehicle that requires a wide detection angle even if the detection distance is short. It is effective for.
Thereafter, the process proceeds to step 106.

In step 106, the detection direction and detection width information of the detection area selected in step 104 or 105 is output to the transmission frequency control unit 23 and the array number control unit 24, respectively. Thereby, the combination of the transmission frequency and the number of arrays is determined. For example, when there is no possibility that the vehicle travels from the side direction on a straight road, the first detection beam 41A and the third detection beam 43A are alternately arranged at predetermined time intervals. The distance measurement is performed while sending the data.
In the present embodiment, the transmission frequency control unit 23 and the oscillator 11 constitute transmission frequency control means in the invention, and the array number control part constitutes switch control means.

The embodiment is configured as described above. A plurality of antenna elements 18a to 18h are arranged in the array antenna unit 2, and the transmission frequency is set to the path length from each antenna element to the power distribution point P of the transmission signal between adjacent antenna elements. And a transmission frequency control unit 23 that controls the transmission frequency controls the oscillator 11 to change the transmission frequency. The difference in path length causes a phase difference between the antenna elements, and the detection direction is determined, but the phase difference changes when the transmission frequency is changed. Can be changed.
Therefore, necessary directivity can be obtained only by a simple circuit configuration and control, and it can be realized at low cost without increasing the size of the apparatus.

In addition, the switch circuit 17 is provided in the path connecting the antenna element and the power distribution point, and the number of antenna elements to be excited is increased or decreased by permitting or blocking the transmission signal through the control of the array number control unit 24. The gain and detection width are changed by changing the effective area of the antenna.
Accordingly, the detection width can be set to an arbitrary angle range by increasing / decreasing the number of antenna elements.

  Further, the detection area setting unit 26 sets the detection area according to the traveling environment of the vehicle, the transmission frequency control unit 23 changes the transmission frequency based on this, and the number of antenna elements that the array number control unit 24 is excited. Therefore, the driver can seamlessly scan according to the driving environment without operating the switching of the transmission frequency and the number of antenna elements.

As the detection area, when the array antenna unit 2 is installed on the side of the vehicle and the vehicle is traveling on a straight road, a high-sensitivity detection area with a narrow detection width is selected in front of the vehicle. In this case, directivity suitable for the driving environment can be quickly obtained by selecting a detection area with a narrow detection width and high sensitivity on the side of the vehicle.
More specifically, for example, for a detection area with a narrow detection width in the front of the vehicle and a high sensitivity, a combination of a detection direction and a detection width different from each other, such as a detection area with a low sensitivity and a wide angle on the side of the vehicle. Since a plurality of settings are made and the selection is made according to the traveling environment of the vehicle, the directivity setting process is fast. In addition, the beams corresponding to each detection area in the selected combination are switched at predetermined time intervals and alternately transmitted, so that a single device continuously scans a plurality of detection areas having different detection directions and detection widths. can do.

The embodiment has been described above by taking the pulse-type electromagnetic wave radar as an example. However, as the radar system, a frequency-modulated (FM) or amplitude-modulated (AM) continuous wave is transmitted, and the frequency displacement of the received signal caused by the Doppler effect A CW method that calculates the distance to the reflective target by phase displacement can also be used.
Further, the medium is not limited to electromagnetic waves, and light including infrared rays or ultrasonic waves can also be used. For example, for an ultrasonic wave, an ultrasonic oscillator that can change the transmission frequency and a transducer in which piezoelectric elements are arrayed may be used.

  In the embodiment, the antenna elements are arranged in a one-dimensional array, and the directivity characteristics in one plane can be changed. However, if the antenna elements are arranged in a two-dimensional arrangement, the antenna directivity can be varied vertically and horizontally. Become.

It is a block diagram which shows the structure of embodiment of this invention. It is a time chart of the pulse-type distance measurement operation. It is a block diagram of an array antenna part. It is the image figure which looked at the array antenna part from the front. It is a figure which shows the example of a beam shape by the combination of a transmission frequency and the number of arrays. It is a figure which shows the other beam shape example. It is a flowchart of a detection area setting operation. It is a figure which shows the example of selection of the beam in the condition which is drive | working the straight road. It is a figure which shows the example of selection of the beam in the condition which approaches an intersection.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Radar apparatus 2 Array antenna part 3 High frequency circuit part 4 Signal processing part 11 Oscillator 12 Coupler 13 Switch part 14 Circulator 15 Mixer circuit 16 Power amplifier 17 Switch circuit 17a, 17b Switch 18 Electromagnetic wave radiation part 18a-18h Antenna element 21 Transmission pulse control Unit 22 distance measurement unit 23 transmission frequency control unit 24 array number control unit 25 target recognition logic unit 26 detection area setting unit 31a to 31d first fixed route 32a, 32b second fixed route 33 third fixed route 41, 41A first Detection beam 42, 42B Second detection beam 43, 43A Third detection beam V Own vehicle M1, M2 Other vehicle

Claims (1)

In a vehicle periphery monitoring radar device that is applied to a vehicle, sends a transmission signal, receives a reflection from the target, and measures a distance to the target based on the reception signal and the transmission signal.
A plurality of antenna elements are arranged on the side surface of the vehicle to form an array antenna unit, and a fixed path difference of one or more wavelengths of the transmission frequency is set as a path length from each antenna element to the power distribution point of the transmission signal between adjacent antenna elements. Provided,
A transmission frequency control means for controlling the transmission frequency, a switch circuit provided in a path connecting the antenna element and a power distribution point, and a switch control means for controlling the switch circuit ,
The detection direction can be changed by changing the transmission frequency , and the detection width can be changed by increasing or decreasing the number of antenna elements excited by allowing or blocking the transmission signal through the switch circuit,
further,
Traveling information collection means for collecting traveling environment information and traveling speed of the vehicle;
Traveling speed determination means for determining whether the traveling speed of the vehicle is equal to or greater than a predetermined value;
When the traveling speed determining means determines that the traveling speed is less than the predetermined value, whether or not there is a possibility that another vehicle may enter from the side surface direction of the vehicle based on the traveling environment information. Side direction vehicle approach determination means for determining;
When the travel speed determining means determines that the travel speed is greater than or equal to the predetermined value or when the side direction vehicle entry means determines that the situation is not the situation, the detection direction is the vehicle traveling direction and the detection width is A first selection means for selecting a combination of a detection area with a small detection area and a detection area with a detection direction set to a side of the vehicle and a large detection width;
When the side direction vehicle entry means determines that the situation is present, a detection area with a detection direction as a vehicle side, a detection width as a small detection area, a detection direction as a vehicle traveling direction, and a detection area as a detection width as large A second selection means for selecting a combination of
When the combination is selected by the first selection unit or the second selection unit, the transmission frequency control unit and the switch control unit are arranged so that detection areas constituting the selected combination are alternately changed. vehicle periphery monitoring radar equipment, characterized in that it comprises a detection area control means controlling to, the.

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