Radar apparatus and computer program

• US 20110221628A1
• Filed: 03/15/2011
• Published: 09/15/2011
• Est. Priority Date: 03/15/2010
• Status: Active Grant

• Current Assignee: Honda Elesys Co., Ltd. (Nidec Corporation)
• Original Assignee: Honda Elesys Co., Ltd. (Nidec Corporation)
• Inventors: Kamo, Hiroyuki, Kambe, Takeshi
• Granted Patent: US 8,558,733 B2
• Time in Patent Office: Days
• US Class Current: 342/70
• CPC Class Codes: G01S 13/343 using sawtooth modulation
• CPC Class Codes: G01S 13/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S13/46
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 7/295 Means for transforming co-ordinates or for evaluating data, e.g. using computers
• CPC Class Codes: G01S 7/412 based on a comparison between measured values and known or stored values

Abstract

According to embodiments, there is provided a radar apparatus including:

• • a transmission antenna configured to transmit an electromagnetic wave;
  • a reception antenna configured to receive an electromagnetic wave when the transmitted electromagnetic wave has been reflected by an object;
  • a reception wave acquisition section configured to acquire the received electromagnetic wave at specific intervals in time;
  • a reception power calculator configured to compute the power of the received electromagnetic wave as a function of the acquisition time number by the reception wave acquisition section;
  • a representative point extractor configured to extract plural representative points from the function; and
  • a determination section configured to determine whether or not the object is an overhead object positioned higher than the optical axis of the receiving antenna based on the representative points.

Claims

1. A radar apparatus comprising:

a transmission antenna configured to transmit an electromagnetic wave;

a reception antenna configured to receive an electromagnetic wave when the transmitted electromagnetic wave has been reflected by an object;

a reception wave acquisition section configured to acquire the received electromagnetic wave at specific intervals in time;

a reception power calculator configured to compute the power of the received electromagnetic wave as a function of the acquisition time number by the reception wave acquisition section;

a representative point extractor configured to extract plural representative points from the function; and

a determination section configured to determine whether or not the object is an overhead object positioned higher than the optical axis of the receiving antenna based on the representative points.

2. The apparatus of claim 1,

wherein the representative point extractor extracts points where the function exhibits extreme values, and

wherein the determination section determines whether or not the object is an overhead object based on the extreme values.

3. The apparatus of claim 2,

wherein the determination section counts the number of the extreme values, and determines the object to be an overhead object when the number of the extreme values exceeds a specific threshold value.

4. The apparatus of claim 3 further comprising:

a memory configured to store the number of extreme values associated with respective differences in height between the object and the optical axis of the reception antenna,

wherein the determination section extracts from the memory the height difference corresponding to the number of extreme values counted.

5. The apparatus of claim 1,

wherein the determination section computes an approximation function that approximates to a relationship of the acquisition time number and power at the representative points, and determines whether or not the object is an overhead object based on the approximation function.

6. The apparatus of claim 5,

wherein the determination section approximates the relationship of the acquisition time number and the power at the representative points with a first order function, and determines the object to be an overhead object when the first order coefficient of the first order function exceeds a specific threshold value.

7. The apparatus of claim 5,

wherein the determination section approximates the relationship of the acquisition time number and the power at the representative points with a first order function, computes a difference at a specific acquisition time number between a value of the first order function and either the power of the received electromagnetic wave or the power at the representative point, and determines the object to be an overhead object based on the difference.

8. The apparatus of claim 5,

wherein the determination section approximates the relationship of the acquisition time number and power at the representative points with a first order function, approximates the relationship of the acquisition time number and power at the representative points with a second order or higher function, computes a difference at a specific acquisition time number between a value of the first order function and a value of the second order or higher function, and determines the object to be an overhead object based on the difference.

9. The apparatus of claim 1,

wherein the determination section determines whether or not the object is an overhead object based on power at the representative point at a predetermined acquisition time number.

10. The apparatus of claim 9,

wherein the determination section computes a difference between the power at the representative point at the predetermined acquisition time number and the power at the representative point at a specific acquisition time number, and determines whether or not the object is an overhead object based on the difference.

11. The apparatus of claim 9,

wherein the determination section approximates the relationship of the acquisition time number and power at the representative points with a second order or higher function, computes the power at the representative point at the predetermined acquisition time number and the value of the second order or higher function at a specific acquisition time number, and determines whether or not the object is a overhead object based on the difference.

12. The apparatus of claim 1,

wherein the determination section computes a radar cross section of the object based on power at the representative points, computes an estimated power value of the received electromagnetic wave for a specific acquisition time number based on the radar cross section, and determines the object to be an overhead object based on the estimated power value.

13. The apparatus of claim 12,

wherein the determination section computes a difference between the estimated power value at the specific acquisition time number and power at the representative point of the acquisition time number, and determines the object to be an overhead object based on the difference.

14. The apparatus of claim 12,

wherein the determination section computes an approximation function approximating to a relationship of the acquisition time number and power at the representative points, computes a difference between the estimated power value and the value the approximation function at a specific acquisition time number, and determines the object to be an overhead object based on the difference.

15. The apparatus of claim 1,

wherein the representative point extractor extracts plural representative points from the power of received electromagnetic wave in a specific range of acquisition time numbers, and

wherein the determination section determines whether or not the object is an overhead object based on the plural representative points at the specific acquisition time numbers.

16. The apparatus of claim 15,

wherein the determination section determines the object to be an overhead object when a downward pointing dip is present in a path traced by the plural representative points against acquisition time number at the specific acquisition time numbers.

17. The apparatus of claim 15,

wherein the determination section determines the object to be an overhead object when there is a local minimum value in a curve connecting together in acquisition time number sequence the plural representative points at the specific acquisition time numbers.

18. The apparatus of claim 15,

wherein the determination section approximates the power at the plural representative points against acquisition time number with a quadratic function at the specific acquisition time numbers, computes the acquisition time number exhibited by a local minimum value or smallest value of the quadratic function, and determines whether or not the object is an overhead object based on the acquisition time number exhibited at the local minimum value or the smallest value.

19. The apparatus of claim 18, further comprising:

a memory configured to store the acquisition time numbers associated with respective height differences between the object and the optical axis of the reception antenna,

wherein the determination section extracts from the memory the height difference corresponding to the acquisition time number exhibited by the local minimum value or the smallest value.

20. A computer program for causing a computer to execute processing, the processing comprising:

acquiring an electromagnetic wave received by a reception antenna at specific intervals in time;

computing the power of the received electromagnetic wave as a function of the acquisition time number;

extracting plural representative points from the function; and

determining whether or not the object is an overhead object positioned higher than the optical axis of the receiving antenna based on the representative points.

21. A radar apparatus comprising:

a transmission antenna configured to transmit an electromagnetic wave;

a reception antenna configured to receive an electromagnetic wave when the transmitted electromagnetic wave has been reflected by an object;

a separation distance detector configured to detect separation distance to the object based on the received electromagnetic wave;

a reception power calculator configured to compute the power of the received electromagnetic wave as a function of the detected separation distance;

an area calculator configured to compute area of a region in a specific separation distance segment defined by a curve representing the function as one boundary; and

a detection section configured to determine whether or not the object is a low height object based on the computed area.

22. The apparatus of claim 21,

wherein the detection section computes the area based on intensity of the reception wave only when the separation distance is within a specific range.

25. The apparatus of claim 21,

wherein the area calculator computes area of a region defined by the curve and a specific straight line as boundaries, or computes the area of a region defined by the curve and a specific curve as boundaries.

26. The apparatus of claim 21,

wherein the area calculator computes area of a region defined by the curve and a specific straight line determined according to the average value of received reception wave power as boundaries.

27. The apparatus of claim 21,

wherein the detection section determines that the object is a normal object when the sum of areas over plural segments exceeds a specific threshold value.

28. The apparatus of claim 21,

wherein the detection section determines that the object is a normal object when the area in any segment from plural segments exceeds a specific threshold value.

29. The apparatus of claim 21,

wherein the detection section determines that the object is a normal object when the number of times the area exceeds a specific threshold value has exceeded a predetermined number of times.

23. A radar apparatus comprising:

a transmission antenna configured to transmit an electromagnetic wave;

a reception antenna configured to receive an electromagnetic wave when the transmitted electromagnetic wave has been reflected by an object;

a reception power calculator configured to compute the power of the received electromagnetic wave as a function of time;

an area calculator configured to compute area of a region in a specific time segment defined by a curve representing the function as one boundary; and

a detection section configured to determine whether or not the object is a low height object based on the computed area.

24. The apparatus of claim 23,

wherein the detection section computes the area based on intensity of the reception wave only when the time is within a specific range.

30. The apparatus of claim 23,

wherein the area calculator computes area of a region defined by the curve and a specific straight line as boundaries, or computes the area of a region defined by the curve and a specific curve as boundaries.

31. The apparatus of claim 23,

wherein the area calculator computes area of a region defined by the curve and a specific straight line determined according to the average value of received reception wave power as boundaries.

32. The apparatus of claim 23,

wherein the detection section determines that the object is a normal object when the sum of areas over plural segments exceeds a specific threshold value.

33. The apparatus of claim 23,

wherein the detection section determines that the object is a normal object when the area in any segment from plural segments exceeds a specific threshold value.

34. The apparatus of claim 23,

wherein the detection section determines that the object is a normal object when the number of times the area exceeds a specific threshold value has exceeded a predetermined number of times.

35. A computer program for causing a computer to perform processing, the processing comprising:

detecting a separation distance to an object based on an electromagnetic wave received by a reception antenna;

computing the power of the received electromagnetic wave as a function of the detected separation distance;

computing area of a region in a specific separation distance segment defined by a curve representing the function as one boundary; and

determining whether or not the object is a low height object based on the computed area.

36. A computer program for causing a computer to perform processing, the processing comprising:

computing the power of a received electromagnetic wave as a function of time;

computing area of a region in a specific time segment defined by a curve representing the function as one boundary; and

determining whether or not the object is a low height object based on the computed area.