[go: up one dir, main page]

WO1999032899A1 - Appareil radar pour vehicules - Google Patents

Appareil radar pour vehicules Download PDF

Info

Publication number
WO1999032899A1
WO1999032899A1 PCT/JP1997/004756 JP9704756W WO9932899A1 WO 1999032899 A1 WO1999032899 A1 WO 1999032899A1 JP 9704756 W JP9704756 W JP 9704756W WO 9932899 A1 WO9932899 A1 WO 9932899A1
Authority
WO
WIPO (PCT)
Prior art keywords
signal
vehicle
transmission
beat
radar sensor
Prior art date
Application number
PCT/JP1997/004756
Other languages
English (en)
Japanese (ja)
Inventor
Masahito Sato
Yoshihiko Konishi
Shuji Urasaki
Shinichi Sato
Tetsuo Haruyama
Original Assignee
Mitsubishi Denki Kabushiki Kaisha
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Denki Kabushiki Kaisha filed Critical Mitsubishi Denki Kabushiki Kaisha
Priority to PCT/JP1997/004756 priority Critical patent/WO1999032899A1/fr
Priority to JP52365099A priority patent/JP3421058B2/ja
Publication of WO1999032899A1 publication Critical patent/WO1999032899A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/82—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein continuous-type signals are transmitted
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9329—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles cooperating with reflectors or transponders

Definitions

  • the present invention relates to an on-vehicle radar device for the purpose of preventing collision or monitoring forward.
  • Fig. 1 is a document (Konno and Koshikawa, "Milliwave radar sensor with simplified communication function", IEICE Electronics Society Conference, C1-2-7, P.107, September 1997, September 1997. 2) is a circuit block diagram showing the configuration of a radar sensor in the conventional on-vehicle radar device shown in FIG. 2), and FIG. 2 is a waveform diagram showing a mode switching signal in this on-vehicle radar device.
  • 1 is a radar sensor
  • 2 is a VCO (voltage controlled oscillator)
  • 3 is a transmitting antenna connected to the VC02
  • 5 is a receiving antenna
  • 6 is a directional coupler
  • 7 is the receiving antenna 5
  • the mixers connected to the directional coupler 6 and 8 and 9 are the BPF (no-pass filter) and LPF (mouth-pass filter) connected to the mixer 7, respectively.
  • a video amplifier connected to the LPF 9, 11 is a video amplifier connected to the BPF 8
  • 12 and 13 are a mode selection circuit and an ASK modulator connected to VC 02.
  • the radar sensor 1 operates in two modes, radar mode and communication mode, according to the mode switching signal shown in Fig. 2. Although not shown in the figure in the communication mode, the rear part of the vehicle ahead running ahead of the vehicle equipped with the radar sensor 1 It communicates with the communication device mounted on the device.
  • the carrier of VC02 becomes a transmission signal FM-modulated by the triangular waveform of the radar mode output from the mode selection circuit 12, and is transmitted to the transmission antenna 3 and the mixer 17 via the directional coupler 6.
  • the transmission signal radiated from the transmission antenna 3 reaches the preceding vehicle, and its reflected wave is received by the reception antenna 5.
  • the reflected wave is affected by the Doppler shift according to the relative speed between the own vehicle and the preceding vehicle on the frequency axis, and the distance between the own vehicle and the preceding vehicle based on the transmission signal on the time axis. Received as a signal delayed by the corresponding delay time.
  • the received signal is mixed with the transmission frequency by the mixer 7, and a beat signal corresponding to the up and down of the triangular waveform is output.
  • this beat signal differs depending on the system, it generally has a frequency component of 100 kHz or less. Therefore, only this beat signal can be extracted as a radar mode signal by the LPF 9.
  • the mode switching signal has a constant voltage waveform as shown in Fig. 2.
  • the carrier of V C02 is subjected to ASK modulation by the ASK modulator 13 in accordance with the modulation signal (data over time).
  • the ASK-modulated carrier is transmitted to transmission antenna 3 and mixer 7 via directional coupler 6 as a transmission signal having data information.
  • the transmission signal radiated from the transmission antenna 3 is not shown in the figure, but is received by the reception antenna of the communication device mounted on the vehicle ahead and the envelope is detected.
  • the communication device When transmitting data information to the radar sensor 1 from the communication device, the communication device transmits the data as a PSK modulated signal using a 45 OKHz subcarrier from the transmission antenna.
  • a signal obtained by adding Doppler shift to this modulated signal is received by the receiving antenna 5 and then mixed by the mixer 7 with the transmitted signal to obtain a modulated signal component of the 45 OKHz subcarrier and a Doppler frequency component.
  • the modulated signal component of the 45 OKHz subcarrier is extracted by the BPF 8 as a communication mode signal.
  • the radar sensor 1 can obtain the radar mode signal and the communication mode signal by switching the observation time according to each mode of the mode switching signal, and the communication device mounted on the vehicle ahead has the radar sensor only in the communication mode. Communicates with the server 1.
  • the server 1 while operating as an FM-CW radar that performs the radar function only with the vehicle equipped with the radar sensor 1, it is used by both the vehicle equipped with the radar sensor 1 and the vehicle ahead equipped with the communication device by time division. It acts as a vehicle-mounted radar device with a communication function that allows two-way communication.
  • the frequency components of the reflected wave from the vehicle ahead and the reflected wave from other stationary objects are the Doppler frequency. Except for the component, it has the same transmission frequency (carrier frequency) component.
  • the instantaneous radar mode signal (beat signal) finally obtained by the radar sensor does not make it possible to distinguish between the target of the vehicle ahead and other stationary objects, and the speed and distance on the time axis It is necessary to distinguish from separation and changes in angle information (beam scan angle or handle angle).
  • the polarization of the transmitting / receiving antenna of the radar sensor must be obliquely reduced to avoid direct wave interference from the oncoming vehicle to the host vehicle.
  • the antenna must have linear or circular polarization, and depending on the antenna system (for example, a traveling wave-fed slot antenna), this improvement in polarization isolation hinders an improvement in antenna efficiency. . For this reason, there is also a problem that it is necessary to reduce (or increase) the S / N of the receiver in order to reduce the risk of the maximum detection distance or to prevent it.
  • the present invention has been made in order to solve the above-described problems, and to obtain an on-vehicle radar device in which a false image does not occur due to leakage of a DC component, and to prevent interference by a direct wave from an oncoming vehicle.
  • the purpose is to obtain an in-vehicle radar device that can be avoided regardless of the wave isolation.
  • An on-vehicle radar device includes a radar sensor mounted on an own vehicle and, after receiving a transmission signal transmitted from the radar sensor, offsets a frequency of the received signal within a band receivable by the radar sensor. And a repeater having a transmitting means for transmitting the signal as a relay wave.
  • a vehicle-mounted radar device that can avoid detection of a false image depending on leakage of a DC component in a radar sensor. Only However, even when the radar sensors of the own vehicle and the oncoming vehicle have the same polarization, the radar sensor of the own vehicle detects the beat signal of the relay wave whose frequency has been offset by the repeater. Therefore, it is possible to avoid the interference of a direct wave from an oncoming vehicle that is not offset, and to obtain a vehicle-mounted radar device that does not need to restrict the polarization of the transmitting and receiving antennas.
  • the on-vehicle radar device further comprises a beat sensor extracting means for obtaining only a beat signal for the relay wave in the radar sensor, a two-beat signal for obtaining two types of beat signals for the reflected wave from the preceding vehicle and the relay wave. It is characterized by signal extraction means. This makes it possible to extract the beat signal for the reflected wave even when the forward car is out of order and the repeater is not operating, and in addition to vehicles without a repeater other than the preceding car, autopigs, bicycles, In addition, it is possible to obtain an on-vehicle radar device capable of detecting a beat signal for various stationary objects (guard rails and falling objects) ⁇
  • the on-vehicle radar device of the present invention uses a subcarrier for a transmission signal obtained by FM-modulating the transmission frequency with a triangular waveform or a transmission signal composed of a modulation signal with the above triangular waveform and an unmodulated signal with a constant voltage waveform.
  • a waveform adding means for adding a modulation waveform obtained by modulating with a modulation signal (data information such as an ID code), and a signal at a preceding stage for modulating a reception signal with a modulation signal using the above subcarrier.
  • a radar sensor having beat signal extraction means for obtaining a beat signal for a relay wave after mixing is provided. With this configuration, it is possible to identify whether the extracted beat signal is for a transmission signal transmitted from a radar sensor of another vehicle (for example, a vehicle traveling in an adjacent lane) or for the transmission signal of the own vehicle.
  • a vehicle-mounted radar device can be obtained.
  • the on-vehicle radar device provides a radar output device having a Having two types of beat signal extraction means to obtain two types of beat signals for reflected waves and relay waves from vehicles ahead after mixing with the signal at the previous stage where the power is modulated with a modulation signal using a subcarrier It is characterized by the following. With this configuration, even when multiple vehicles equipped with the same radar sensor travel, even if the repeater breaks down, the vehicle does not operate, the vehicle does not have the repeater, and various stationary objects (guard rails).
  • the present invention provides an on-vehicle radar device capable of extracting a beat signal for a transmission signal transmitted from a radar sensor of the own vehicle from among beat signals for reflected waves of the vehicle and a falling object.
  • a relay mounted on the rear part of the vehicle in front of the vehicle, demodulating means for demodulating the first data information from the received signal, and forming a portion of the received signal modulated by the first data information into an unmodulated signal. And a modulating means for modulating a part of the non-modulated signal by second decoding information using a subcarrier.
  • FIG. 1 is a circuit block diagram showing a configuration of a radar sensor showing an example of a conventional radar device
  • FIG. 2 is a waveform diagram of a mode switching signal in the radar device
  • FIG. 3 is an embodiment of the present invention.
  • FIG. 4 is a circuit block diagram showing a configuration of an on-vehicle radar device according to Embodiment 1
  • FIG. 4 is a waveform diagram of a transmission signal according to Embodiment 1 of the present invention
  • FIG. 5 is an on-vehicle vehicle showing Embodiment 2 of the present invention.
  • FIG. 6 is a circuit block diagram of a radar sensor constituting a radar apparatus for use in a vehicle
  • FIG. 6 is a circuit block diagram of a radar sensor constituting a radar apparatus for use in a vehicle
  • FIG. 6 is a waveform diagram of a transmission signal in a vehicle-mounted radar apparatus according to Embodiment 3 of the present invention
  • FIG. FIG. 8 is a circuit block diagram of a radar sensor constituting the on-vehicle radar device according to the third embodiment of the present invention.
  • FIG. 8 is a diagram showing a radar sensor constituting the on-vehicle radar device according to the fourth embodiment of the present invention.
  • FIG. 9 is a circuit block diagram
  • FIG. 9 is a waveform diagram of a transmission signal in the on-vehicle radar device according to the fifth embodiment of the present invention
  • FIG. 10 is a block diagram of the on-vehicle radar device according to the fifth embodiment of the present invention.
  • FIG. 2 is a circuit block diagram of a relay device that performs the operation. BEST MODE FOR CARRYING OUT THE INVENTION
  • FIG. 3 is a configuration diagram of an on-vehicle radar device according to Embodiment 1 of the present invention
  • FIG. 4 is a waveform diagram showing a transmission signal in Embodiment 1 of the present invention.
  • 21 a is a radar sensor mounted on the own vehicle
  • 22 is an FM modulator in the radar sensor 21 a
  • 23 a is a VCO whose voltage is controlled by the FM modulator
  • 24a is a transmitting antenna
  • 25a is a receiving antenna
  • 26 is a directional coupler connected between the VC023a and the transmitting antenna 24a
  • 27a and 27b are mixers
  • Reference numeral 28a denotes a BPF connected to the output side of the mixer 27a
  • 29a denotes a local oscillator connected to the mixer 27b.
  • the transmission means is provided by the FM modulator 22, VC 0 2 3 a, and the directional coupler 26, and is received by the directional coupler 26, the mixer 27 a, and the BPF 28 a Means are also constituted by a mixer 27 b and a local oscillator 29 a, respectively.
  • 30a is a repeater mounted on the rear of the vehicle ahead of the vehicle. It has a receiving antenna 25b, a local oscillator 29b, a mixer 27c, and a transmitting antenna 24b.
  • 3 1 is a reflected wave transmitted from the transmitting antenna 24 a and reflected by the vehicle ahead, 32 is transmitted from the transmitting antenna 24 a and passes through the repeater 30 a to the receiving antenna 25 a It is an incoming relay wave.
  • 33a and 34a are the modulated signal and the unmodulated signal output from the VC023a, respectively, and 35a is the modulated signal 33a and the unmodulated signal 34a respectively. Is a transmission signal.
  • the modulation waveform formed by the FM modulator 22 includes a triangular waveform, a triangular waveform, and a constant voltage waveform.
  • the VC023a controls the voltage by the latter triangle waveform and the constant voltage waveform.
  • the output from VCO 23a is a transmission signal 35a composed of a modulated signal 33a and an unmodulated signal 34a.
  • the modulation signal 33a is an FM modulation signal whose center frequency is f0 and whose frequency changes (up and down) within the band of the radar sensor 2la.
  • the frequency of the transmission signal 35a is typically represented using f0.
  • This transmission signal 35a is supplied to the transmission antenna 24a and the mixer 27a via the directional coupler 26.
  • the transmitted signal 35a radiated from the transmitting antenna 24a is received by the reflected wave 31 reflected by the vehicle traveling ahead and by the receiving antenna 25b of the repeater 30a.
  • the output (frequency foff) of the local oscillator 29 b is mixed by the mixer 27 c and split into two relay waves 32 transmitted from the transmission antenna 24 b, which are both reception antennas of the own vehicle. Received at 25a.
  • the driver according to the relative speed is used.
  • the frequency of the reflected wave 31 is f 0 + fd
  • the frequency of the relay wave 32 is f 0 + fd + foff because of the influence of the shifter shift.
  • fd is the Doppler frequency due to the Doppler shift, and in the case of an on-vehicle radar device, the frequency component is approximately 100 kHz or less.
  • the reflected wave 31 and the relay wave 32 received by the receiving antenna 25a are mixed by the transmission signal 35a (frequency component f0) and the mixer 27a, and the frequency component fd for the reflected wave 31 and relayed. Two groups of beat signals of frequency component fd + foff for wave 32 are obtained.
  • the relay wave 32 2 whose frequency is offset among the two groups of beat signals Only the beat signal of frequency component fd + foff can be extracted from BPF 28a. Further, the beat signal is mixed with the signal of the local oscillator 29a having the same frequency foff as that of the local oscillator 29b of the repeater 30a by the mixer 27b, thereby forming the relay wave 32. The corresponding Doppler frequency component fd can be extracted.
  • the frequency component of the two beat signals (up and down) corresponding to the difference between the modulated signal portions of the triangular waveform and the Doppler frequency component corresponding to the difference between the unmodulated signal portion of the constant voltage waveform are Since it is extracted, the output of the mixer 27 b becomes the frequency components of the above two types of beat signals and the Doppler frequency component (however, the Doppler frequency component can be calculated from the above two types of bit signals).
  • the distance and relative speed between the front vehicle equipped with the repeater 30a and the own vehicle can be known from these frequency components, and the vehicle mounted to prevent or avoid collision between the own vehicle and the front vehicle.
  • the beat signal is only the beat signal for the reflected wave 31 of the vehicle ahead, and due to the leakage of the DC component in the radar sensor 2 la, it always becomes an object with a speed of 0 or a combination of this DC component and the beat signal. More false images are detected.
  • the on-vehicle radar device of the first embodiment since the DC component due to the leakage is removed by the BPF 28a, the problem of the false image caused by the leakage of the DC component is solved. it can.
  • the finally obtained beat signal is for the relay wave 32 that has passed through the repeater 30a mounted on the vehicle ahead, the bee signal from a stationary object other than the vehicle ahead (for example, a guard rail or a signboard) is obtained. Signal can be removed, and the effect of being able to reliably detect the preceding vehicle even when traveling on a curve is obtained.
  • FIG. 5 is a configuration diagram of a radar sensor 21b constituting an on-vehicle radar device according to Embodiment 2 of the present invention.
  • the output of the mixer 27a in the radar sensor 21a of the on-vehicle radar device in the first embodiment shown in FIG. 3 is divided into two, one of which is a BPF 28a, and the other is a BPF 28a. Is supplied to the LPF 36a.
  • the output of the BPF 28a is the same as that of the radar sensor 21a of the first embodiment.
  • the output of 29 a is supplied to the mixer 27 b.
  • the repeater (not shown) in the second embodiment is the same as repeater 3Oa shown in FIG. 3, and the transmission signal is the same as transmission signal 35a shown in FIG.
  • the two groups for the reflected wave 31 and the relay wave 32 which are the outputs of the mixer 27a, as two types of beat signal extracting means.
  • the bit signal (frequency component fd) for the reflected wave 31 is higher than that of the LPF 36a, and the bit signal for the relay wave 32 (frequency component fd + foff ) Can be extracted from the BPF 28a.
  • the beat signal extracted by the BPF 28a is mixed with the output of the local oscillator 29a (frequency component foff) by the mixer 27b. By mixing, a beat signal (frequency component fd) for the relay wave 32 can be obtained.
  • a beat signal for the reflected wave 31 can be obtained in addition to the beat signal for the relay wave 32, and even if the forward vehicle fails and the repeater 30a is not operating, the own vehicle and the preceding vehicle can be obtained.
  • the vehicle can calculate the relative speed and distance from the vehicle, and can also use vehicles other than the vehicle in front without a repeater 30a, as well as motorcycles, white wheels, and various stationary objects (gardrails and falling objects). An effect that can be detected is obtained.
  • FIG. 6 is a waveform diagram of a transmission signal in the on-vehicle radar device according to Embodiment 3 of the present invention
  • FIG. 7 is a configuration of a radar sensor 2lc in the on-vehicle radar device according to Embodiment 3 of the present invention.
  • FIG. in the third embodiment in addition to the modulated signal 33a and the non-modulated signal 34b, the transmission signal 35a of the vehicle-mounted radar device according to the first embodiment shown in FIG.
  • a modulation signal 33b obtained by modulating with data information (for example, an ID code) is provided.
  • the transmission signal 35b is transmitted from the transmission antenna 24a of the radar sensor 21c.
  • the reflected wave 31 and the relay wave 32 are received by the receiving antenna 25a.
  • the transmitting system is provided with a modulator 37a between the output of the directional coupler 26 and the input of the transmitting antenna 24a, and the modulator 37a is connected to the FM modulator 22c. Is controlled by the timing signal 39 from the transmitter, and the data information 38 using the subcarrier (frequency component fsc) is used to control the transmission signal 35a formed by the VC02 3a (see FIG. 4).
  • a part of the modulation signal 34a is modulated (for example, PSK modulation) to generate a transmission signal 35b provided with the modulation signal 33b.
  • the receiving system supplies the output of the mixer 27a to the BPF 28a, mixes the output of the BPF 28a and the output of the local oscillator 29a with the mixer 27b, and mixes the output of the mixer 27b.
  • the output is supplied to LPF 36b and BPF 28b.
  • the repeater (not shown) in the third embodiment is the same as repeater 30a shown in FIG. 3, and the output of VC023a is the same as transmission signal 35a shown in FIG.
  • the on-vehicle radar device of the third embodiment in addition to the modulated signal 33a and the unmodulated signal 34b used for radar, data information of the own vehicle (for example, ID code) is used.
  • Modulated signal with 3 3 b and Is transmitted from the transmitting antenna 24a of the radar sensor 21c, and the reflected wave 31 and the relay wave 32 are received by the receiving antenna 25a and then transmitted to the mixer 27a.
  • the mixer 27 is used.
  • the output of a is a beat signal (frequency component fsc + fd) for the reflected wave 31 containing data (frequency component fsc) using the subcarrier and a beat signal (frequency component fsc + fd + foff).
  • the beat signal for the relay 32 By passing the two groups of beat signals through the BPF 28a, only the beat signal for the relay 32 can be extracted, and the output of the local oscillator 29a is output by the mixer 27b. After mixing with the frequency component foff), the beat signal (frequency component fd) and the de-night information (frequency component fsc) for the intermediate wave 32 are applied to the filter with the LPF 36b and BPF 28b. Can be separated and extracted.
  • the beat signal detected by the radar sensor 21c corresponds to the relay wave 32 of the transmit signal 35b transmitted from the own vehicle's transmit antenna 24a or not. Code, etc.) and the transmitted data (eg, the ID code of the own vehicle).
  • the extracted beat signal is a relay wave 32 for the transmission signal 35 b transmitted from the radar sensor 21 c of another vehicle (for example, a vehicle traveling in the next lane) or the transmission of the own vehicle.
  • FIG. 8 is a configuration diagram of a radar sensor 21 d in a vehicle-mounted radar device according to Embodiment 4 of the present invention.
  • This Embodiment 4 corresponds to FIG.
  • the output of the mixer 27a in the radar sensor 21c of the on-vehicle radar device in the third embodiment shown in Fig. 3 is divided into two, and one is supplied to the BPF 28a and the other is supplied to the LPF 36a. Further, the output of the LPF 36a is supplied to the LPF 36c and the BPF 28c.
  • the repeater (not shown) in the fourth embodiment is a repeater 30a shown in FIG. 3, an output of VC023a is a transmission signal 35a shown in FIG.
  • the output of the transmitter 37a is the same as the transmission signal 35b shown in Fig. 6.o
  • two groups of beat signals for the reflected wave 31 and the relay wave 32 output from the mixer 27a are represented by the BPF 28a. Since the LPF 36a is used to fill the filter, the beat signal (frequency component fsc + fd) for the reflected wave 31 is lower than that of the LPF 36a, and the beat signal for the relay wave 32 (frequency component: fsc + fd + foff) can be extracted from BPF 28a.
  • the beat signal for the relay wave 32 extracted by the BPF 28a is mixed with the output of the local oscillator 29a (frequency component foff) by the mixer 27b and the LPF 36b as in the third embodiment. And the BPF 28b to fill the signal, so that the beat signal (frequency component fd) and data information
  • Frequency component fsc + fd
  • LPF 36c and BPF 28c are filtered by LPF 36c and BPF 28c to separate the beat signal (frequency component fd) and de-night information (frequency component fsc) for reflected wave 31. Can be extracted.
  • FIG. 9 is a waveform diagram of a transmission signal in the on-vehicle radar device according to Embodiment 5 of the present invention.
  • FIG. 10 shows the configuration of a repeater in the on-vehicle radar device according to Embodiment 5 of the present invention. It is a block diagram.
  • the fifth embodiment is different from the third embodiment shown in FIG. 6 in that the transmission signal 35 b of the on-vehicle radar device according to the third embodiment includes a modulation signal 3 having information on the own vehicle (such as an ID code).
  • 3b is a transmission signal 35 which is a modulated signal 33c having data information of the own vehicle (for example, an ID code) and data information of another vehicle (for example, an ID code).
  • the radar sensor according to the fifth embodiment is the same as the radar sensors 21c and 21d shown in FIGS. 7 and 8.
  • the modulated signal 33 having data information of another vehicle (dummy data) in addition to data information of the own vehicle (for example, ID code).
  • the transmission signal 35c with c is transmitted to the radar sensor 21c (Fig. 7) or 2Id (Fig. 8) of the vehicle.
  • the signal notifying the start and end of the detection of the data information storage part by the synchronization circuit 41 is sent to the demodulator 40.
  • the radar sensor 21 stored in the data information part of the vehicle is used.
  • the ID code of the vehicle equipped with c or 2 Id (own vehicle) and various communication data can be received by the vehicle ahead.
  • the signal processing unit 43 stores the ID code and various communication data in the data overnight information part 33c of the other vehicle, and adds it to the received data of the own vehicle.
  • the modulation data 44 using the subcarriers is formed by the modulation and modulation (for example, PSK modulation) by the modulator 37b
  • the output of the local oscillator 29b is output by the mixer 27c.
  • the modulator 37 b converts the modulated signal 33 c portion of the received signal into a non-modulated signal once, and then modulates the non-modulated signal portion by the modulation decoder 44. Therefore, it is possible to obtain an on-vehicle radar device capable of two-way communication between the own vehicle and the preceding vehicle. In other words, the effect of obtaining an on-vehicle radar device having both the inter-vehicle communication function for the front and rear of the own vehicle and the collision prevention function is obtained.
  • the radar sensors 21a to 2Id of the on-vehicle radar devices according to Embodiments 1 to 5 described above are of the homodyne type, but the homodyne type or the heterodyne type having other configurations are described. May be used.
  • the radar sensors 21a to 2Id and the repeaters 30a and 30b of the on-vehicle radar device according to the first to fifth embodiments have been described for simplicity. Although the amplifier and the like are removed, these may be provided. Industrial applicability
  • the on-vehicle radar device includes a radar sensor that transmits and receives an FM modulation signal and extracts a beat signal, and a relay that offsets the frequency after receiving the FM modulation signal and relays the signal. Because it consists of a relay that transmits as waves, it does not detect false images that depend on the leakage of DC components in the radar sensor, and avoids direct wave interference from oncoming vehicles regardless of polarization isolation. And a beat signal for a stationary object can be removed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un appareil radar pour véhicules comprenant un capteur radar servant à l'émission et à la réception d'un signal MF et à l'extraction d'un signal de battement, ainsi qu' un relais servant au décalage de fréquence après réception dudit signal MF et à l'émission d'une onde de relais. Cet appareil radar ne détecte pas une fausse image due à une fuite, dans le détecteur radar, d'une composante de courant continu, peut éviter une interférence due à une onde directe provenant d'un véhicule approchant, sans qu'il soit nécessaire d'avoir recours à une isolation d'ondes polarisée, et peut éliminer le signal de battement correspondant à des objets fixes.
PCT/JP1997/004756 1997-12-22 1997-12-22 Appareil radar pour vehicules WO1999032899A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP1997/004756 WO1999032899A1 (fr) 1997-12-22 1997-12-22 Appareil radar pour vehicules
JP52365099A JP3421058B2 (ja) 1997-12-22 1997-12-22 車載用レーダ装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP1997/004756 WO1999032899A1 (fr) 1997-12-22 1997-12-22 Appareil radar pour vehicules

Publications (1)

Publication Number Publication Date
WO1999032899A1 true WO1999032899A1 (fr) 1999-07-01

Family

ID=14181716

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1997/004756 WO1999032899A1 (fr) 1997-12-22 1997-12-22 Appareil radar pour vehicules

Country Status (2)

Country Link
JP (1) JP3421058B2 (fr)
WO (1) WO1999032899A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11331065A (ja) * 1998-05-19 1999-11-30 Toyota Motor Corp 車車間通信システムにおける通信装置
JP2007189436A (ja) * 2006-01-12 2007-07-26 Toyota Motor Corp 車車間通信装置
JP2007298317A (ja) * 2006-04-28 2007-11-15 Fujitsu Ltd 周波数変調回路及びｆｍ−ｃｗレーダ装置並びに通信統合レーダ装置
JP2008058165A (ja) * 2006-08-31 2008-03-13 Hitachi Ltd 車載用レーダ装置
US7671788B2 (en) 2004-08-02 2010-03-02 Mitsubishi Electric Corporation Apparatus and method for suppression of unnecessary signals in a radar system
JP2010122226A (ja) * 2008-11-24 2010-06-03 Mitsubishi Electric R&D Centre Europe Bv 物体までの距離及び物体の速度のうちの少なくとも一方を求める方法、並びに物体までの距離及び物体の速度のうちの少なくとも一方を求める装置
JP2014006072A (ja) * 2012-06-21 2014-01-16 Nec Corp レーダ装置、目標データ取得方法及び、目標追尾システム
JP2016148616A (ja) * 2015-02-13 2016-08-18 沖電気工業株式会社 通信装置、通信システムおよび通信方法
CN108226876A (zh) * 2017-12-28 2018-06-29 北京融创远大网络科技有限公司 一种降低极化损耗的智能车载雷达装置

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000019246A (ja) * 1998-07-03 2000-01-21 Denso Corp 障害物検知システム，レーダ装置，トランスポンダ
JP4910651B2 (ja) * 2006-11-16 2012-04-04 株式会社デンソー 通信統合レーダ装置、通信統合レーダシステム
US9223017B2 (en) 2012-05-30 2015-12-29 Honeywell International Inc. Systems and methods for enhanced awareness of obstacle proximity during taxi operations
WO2014052060A1 (fr) 2012-09-27 2014-04-03 Honeywell International Inc. Systèmes et procédés permettant d'utiliser une configuration de faisceaux adaptatifs à radar pour une protection de bouts d'ailes
KR102076704B1 (ko) * 2018-04-02 2020-02-12 주식회사 에스원 주파수 오프셋 기능을 갖는 갭 필러 기반의 fmcw 레이더 감지기 및 이를 이용한 갭 필러 기반의 fmcw 레이더 감지방법

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63501981A (ja) * 1985-12-12 1988-08-04 シユテイフテルセン　インスチチユ−テツト　フオル　ミクロフエ−クシユ　テクニク　ビドテクニスカ　ホグスコ−ラン　イ　ストツクホルム 距離測定方法及び距離測定装置
JPH04236388A (ja) * 1991-01-18 1992-08-25 Mazda Motor Corp 自動車のレーダシステム
JPH06313795A (ja) * 1993-04-30 1994-11-08 Isuzu Motors Ltd 車間距離測定装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63501981A (ja) * 1985-12-12 1988-08-04 シユテイフテルセン　インスチチユ−テツト　フオル　ミクロフエ−クシユ　テクニク　ビドテクニスカ　ホグスコ−ラン　イ　ストツクホルム 距離測定方法及び距離測定装置
JPH04236388A (ja) * 1991-01-18 1992-08-25 Mazda Motor Corp 自動車のレーダシステム
JPH06313795A (ja) * 1993-04-30 1994-11-08 Isuzu Motors Ltd 車間距離測定装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
KENICHI KONNO, SHOICHI KOSHIKAWA, C-2-72, "Milimetric Wave Radder Sensor with Simplified Communication Function (in Japanese)", page 107, PAPERS I FROM THE ELECTRONICS SOCIETY CONVENTION OF IEICE, 1997, (Japan) IEICE, (13-08-97). *

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11331065A (ja) * 1998-05-19 1999-11-30 Toyota Motor Corp 車車間通信システムにおける通信装置
US7671788B2 (en) 2004-08-02 2010-03-02 Mitsubishi Electric Corporation Apparatus and method for suppression of unnecessary signals in a radar system
JP2007189436A (ja) * 2006-01-12 2007-07-26 Toyota Motor Corp 車車間通信装置
JP2007298317A (ja) * 2006-04-28 2007-11-15 Fujitsu Ltd 周波数変調回路及びｆｍ−ｃｗレーダ装置並びに通信統合レーダ装置
JP2008058165A (ja) * 2006-08-31 2008-03-13 Hitachi Ltd 車載用レーダ装置
JP2010122226A (ja) * 2008-11-24 2010-06-03 Mitsubishi Electric R&D Centre Europe Bv 物体までの距離及び物体の速度のうちの少なくとも一方を求める方法、並びに物体までの距離及び物体の速度のうちの少なくとも一方を求める装置
JP2014006072A (ja) * 2012-06-21 2014-01-16 Nec Corp レーダ装置、目標データ取得方法及び、目標追尾システム
JP2016148616A (ja) * 2015-02-13 2016-08-18 沖電気工業株式会社 通信装置、通信システムおよび通信方法
CN108226876A (zh) * 2017-12-28 2018-06-29 北京融创远大网络科技有限公司 一种降低极化损耗的智能车载雷达装置

Also Published As

Publication number Publication date
JP3421058B2 (ja) 2003-06-30

Similar Documents

Publication Publication Date Title
US5444742A (en) System for bidirectional data transmission between a plurality of stationary units and a vehicle
WO1999032899A1 (fr) Appareil radar pour vehicules
TWI287514B (en) Inter-vehicle communication and warning apparatus
US6064320A (en) Automatic vehicle identification system capable of vehicle lane discrimination
JPH11353579A (ja) 道路上における車両の位置を決定するシステムおよびその方法
KR20050081992A (ko) Atc, ats 및 atp 겸용 차상장치
JP2007263915A (ja) 車載レーダ装置及び車載レーダ管制システム
US5510794A (en) Vehicular radar wayside transponder system
US5537672A (en) System for bidirectional data transmission between a beacon and a vehicle
JP4818836B2 (ja) 列車制御装置
CA2071560C (fr) Poste radar a onde continue utilisable comme emetteur pour la transmission d'informations
JPH08136646A (ja) 車載用マルチ・チャネルレーダー装置
AU2501497A (en) Selective data transmission process and device for communication systems used in traffic engineering
EP1936401A1 (fr) Methode et système radar pour la transmission d'information
JPH11331065A (ja) 車車間通信システムにおける通信装置
Konno et al. Millimeter-wave dual mode radar for headway control in IVHS
WO1991003109A1 (fr) Methode pour la transmission sans contact d'informations
EP2022697B1 (fr) Système de communication entre véhicules, particulièrement ferroviaires, et des postes fixes
JP3190572B2 (ja) 通信装置
JPH09190593A (ja) 道路状況監視装置
JP4014034B2 (ja) レーダ装置及びレーダ統合通信装置
JPH1096774A (ja) 衝突防止レーダ
JPH11110688A (ja) 交通安全用装置および交通安全用システム
JPH0915330A (ja) レーダ装置
JP2000065922A (ja) 前方監視通信システム

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): JP KR US

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE CH DE DK ES FI FR GB GR IE IT LU MC NL PT SE

121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase