Radar apparatus

• US 10,001,560 B2
• Filed: 04/21/2015
• Issued: 06/19/2018
• Est. Priority Date: 04/25/2014
• Status: Active Grant

• Current Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Original Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Inventors: Ishimori, Hiroyuki
• Primary Examiner(s): Windrich, Marcus E
• Application Number:
  US14/692,046
• Publication Number:
  US 20150309171A1
• Time in Patent Office: 1,155 Days
• Field of Search: 342 70- 72
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: G01S 13/345 using triangular modulation
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 7/41 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G01S 7/415 Identification of targets based on measurements of movement associated with the target

Abstract

A radar apparatus includes a signal processor configured to: derive the target data set of the target, in a predetermined time cycle, based on a reception signal acquired by receiving a reflection wave from the target; detect, based on the target data set, a side wall along a current lane in which the host vehicle is traveling; determine whether or not there is a continuity between a previous target data set and a latest target data set, and in a case where there is no continuity between the previous target data set and the latest target data set, perform “extrapolation;” determine based on a frequency of the “extrapolation” whether or not the target associated with the target data set is an upper object overhead of the vehicle and with which the vehicle cannot collide.

Claims

1. A radar apparatus that acquires a target data set of a target near a host vehicle, the radar apparatus comprising:

a signal processor configured to;

derive the target data set of the target, in a predetermined time cycle, based on a reception signal acquired by receiving a reflection wave from an environment including the target;

detect presence of a wall along a current lane in which the host vehicle is traveling;

determine whether or not there is a temporal continuity between a previous target data set and a latest target data set, in a case where there is the latest target data set that has a continuity with the previous target data set, use the latest target data set, and in a case where there is no latest target data set that has the temporal continuity with the previous target data set, use a prediction target data set derived based on the previous target data set as the latest target data set; and

determine, based on a frequency of use of the prediction target data set, whether or not the target associated with the target data set is an upper object overhead of the vehicle and with which the vehicle cannot collide, wherein

even if there is the latest target data set that has the continuity with the previous target data set, in a case where (i) the target is associated with the previous target data set is a stationary object in the current lane and (ii) the target associated with the latest target data set is within a predetermined threshold distance of the wall, the signal processor uses the prediction target data set instead of the latest target data set.

2. The radar apparatus according to claim 1, wherein the signal processor is further configured to:

determine that, in a case where (a) the target associated with the target data set is the stationary object that has newly appeared and (b) there is another vehicle detected within a predetermined distance in front of the target, the target is the upper object.

3. The radar apparatus according to claim 1, wherein the signal processor is further configured to:

in a case where;

(1) the target associated with the target data set is the stationary object;

(2) a time to collision of the host vehicle with the target is equal to or less than a threshold; and

(3) there is another vehicle between the target and the host vehicle, change a condition that is used to determine whether or not the target associated with the target data set is the upper object so as to increase a probability that the target is determined as the upper object.

4. The radar apparatus according to claim 1, wherein the signal processor is further configured to:

output the target data set to a vehicle control apparatus that controls the host vehicle, wherein

in a case where the target associated with the target data set is determined as the upper object, the signal processor does not output the target data set to the vehicle control apparatus.

5. A radar apparatus that acquires a target data set of a target near a host vehicle, the radar apparatus comprising:

a signal processor configured to;

derive the target data set of the target, in a predetermined time cycle, based on a reception signal acquired by receiving a reflection wave from an environment including the target;

determine whether or not there is a temporal continuity between a previous target data set and a latest target data set, in a case where there is the latest target data set that has a continuity with the previous target data set, use the latest target data set, and in a case where there is no latest target data set that has the temporal continuity with the previous target data set, use a prediction target data set derived based on the previous target data set as the latest target data set;

determine, based on a frequency of use of the prediction target data set, whether or not the target associated with the target data set is an upper object overhead of the vehicle and with which the vehicle cannot collide, and

in a case where;

(1) the target associated with the target data set is a stationary object;

(2) a time to collision of the host vehicle with the target is equal to or less than a threshold; and

(3) there is another vehicle detected between the target and the host vehicle, change a condition that is used to determine whether or not the target associated with target data set is the upper object, so as to increase a probability that the target is determined as the upper object.

6. The radar apparatus according to claim 5, wherein the signal processor is further configured to:

output the target data set to a vehicle control apparatus that controls the host vehicle, wherein

in a case where the target associated with the target data set is determined as the upper object, the signal processor does not output the target data set to the vehicle control apparatus.

7. A signal processing method of acquiring a target data set of a target near a host vehicle, the signal processing method comprising the steps of:

(a) a signal processor deriving the target data set of the target, in a predetermined time cycle, based on a reception signal acquired by receiving a reflection wave from an environment including the target;

(b) the signal processor detecting presence of a wall along a current lane in which the host vehicle is traveling;

(c) the signal processor determining whether or not there is a temporal continuity between a previous target data set and a latest target data set, in a case where there is the latest target data set that has a continuity with the previous target data set, use the latest target data set, and in a case where there is no latest target data set that has the continuity with the previous target data set, use a prediction target data set derived based on the previous target data set as the latest target data set; and

(d) the signal processor determining, based on a frequency of use of the prediction target data set, whether or not the target associated with the target data set is an upper object overhead of the vehicle and with which the vehicle cannot collide, wherein

even if there is the latest target data set that has the continuity with the previous target data set, in a case where (i) the target is associated with the previous target data set is a stationary object in the current lane and (ii) the target associated with the latest target data set is within a predetermined threshold distance of the wall, the signal processor uses the prediction target data set instead of the latest target data set.

8. The signal processing method according to claim 7, further comprising the step of:

(e) in a case where (1) the target associated with the target data set is the stationary object that has newly appeared and (2) there is another vehicle detected within a predetermined distance in front of the target, the signal processor determining that the target is the upper object.

9. The signal processing method according to claim 7, further comprising the step of:

(f) in the case where;

(1) the target associated with the target data set is the stationary object;

(2) a time to collision of the host vehicle with the target is equal to or less than a threshold; and

(3) there is another vehicle between the target and the host vehicle, the signal processor changing a condition that is used by the step (d), to increase a probability that the target is determined as the upper object.

10. The signal processing method according to claim 7, further comprising the step of:

(g) the signal processor outputting the target data set to a vehicle control apparatus that controls the host vehicle, wherein

in a case where the target associated with the target data set is determined as the upper object, the step (g) does not output the target data set to the vehicle control apparatus.

11. A signal processing method of acquiring a target data set of a target near a host vehicle, the signal processing method comprising the steps of:

(a) a signal processor deriving the target data set of the target, in a predetermined time cycle, based on a reception signal acquired by receiving a reflection wave from an environment including the target;

(b) the signal processor determining whether or not there is a temporal continuity between a previous target data set and a latest target data set, in a case where there is the latest target data set that has a continuity with the previous target data set, use the latest target data set, and in a case where there is no latest target data set that has the temporal continuity with the previous target data set, use a prediction target data set derived based on the previous target data set as the latest target data set;

(c) the signal processor determining based on a frequency of use of the prediction target data set whether or not the target associated with the target data set is an upper object overhead of the vehicle and with which the vehicle cannot collide, and

(d) in the case where;

(1) the target associated with the target data set is a stationary object;

(2) a time to collision of the host vehicle with the target is equal to or less than a threshold; and

(3) there is another vehicle detected between the target and the host vehicle, the signal processor changing a condition that is used by the step (c), to increase a probability that the target is determined as the upper object.

12. The signal processing method according to claim 11, further comprising the step of:

(e) the signal processor outputting the target data set to a vehicle control apparatus that controls the host vehicle, wherein

in a case where the target associated with the target data set is determined as the upper object, the step (e) does not output the target data set to the vehicle control apparatus.