Radar device

• US 9,470,784 B2
• Filed: 11/30/2012
• Issued: 10/18/2016
• Est. Priority Date: 12/02/2011
• Status: Active Grant

• Current Assignee: Panasonic Automotive Systems Company of America (Panasonic Holdings Corporation)
• Original Assignee: Panasonic Corporation (Panasonic Holdings Corporation)
• Inventors: Kishigami, Takaaki, Mukai, Hirohito
• Primary Examiner(s): Sotomayor, John B
• Application Number:
  US14/360,285
• Publication Number:
  US 20140327567A1
• Time in Patent Office: 1,418 Days
• Field of Search: 342146-147, 342/123, 342/133, 342/139, 342/145, 342/189, 342/195
• US Class Current: 1/1
• CPC Class Codes: G01S 13/02 Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
• CPC Class Codes: G01S 13/06 Systems determining position data of a target
• CPC Class Codes: G01S 13/22 using irregular pulse repetition frequency G01S13/12 takes precedence
• CPC Class Codes: G01S 13/284 using coded pulses
• CPC Class Codes: G01S 13/91 for traffic control G01S13/93 takes precedence
• CPC Class Codes: G01S 7/2886 using I/Q processing
• CPC Class Codes: G08G 1/056 with provision for distinguishing direction of travel

Abstract

Each antenna system processor performs coherent integration on a prescribed number of correlation values between a reception signal and a transmission code. A correlation matrix generator generates a correlation matrix on the basis of coherent integration values. A distance estimator estimates a distance to a target. A direction vector storage is stored with direction vectors each of which includes an azimuth component with respect to a target and an elevation angle component of a line connecting a transmission antenna and the target in which a prescribed direction is used as a reference. An incoming direction estimator estimates a signal incoming direction from the target using the correlation matrix and the direction vectors in which the elevation angle component range is restricted on the basis of the distance to the target.

Claims

1. A radar device installed at a position having a prescribed height from the ground, comprising:

a radar transmitter that converts a transmission code into a radio-frequency radar transmission signal and transmits the radar transmission signal from a transmission antenna which is inclined so as to extend in a prescribed direction which is defined by a line connecting the position having the prescribed height and the ground; and

a radar receiver that estimates a signal incoming direction from a target using incoming direction vectors, having fixed azimuth components and variable elevation angle components, of the target calculated on the basis of outputs of plural antenna system processors which receive a reflection wave signal produced by reflection of the radar transmission signal by the target.

2. The radar device according to claim 1, wherein the direction vectors depend on an azimuth direction and an elevation angle direction and include deviation information indicating amplitude and phase deviations to occur between the plural antenna system processors.

3. The radar device according to claim 1, wherein each of the plural antenna system processors comprises:

a correlation calculator that calculates a correlation value between a reception signal and the transmission code; and

a coherent integrator that performs coherent integration using a prescribed coherent integration number.

4. The radar device according to claim 3, wherein each of the plural antenna system processors further comprises:

a reception antenna that receives the reflection wave signal;

a RF receiver that converts the received reception signal into a baseband signal; and

an A/D converter that converts the baseband-converted reception signal into digital data.

5. The radar device according to claim 1, wherein the distance estimator calculates an addition-of-squares value of coherent integration outputs of the plural respective antenna system processors, and estimates a distance to the target on the basis of an addition-of-squares value that is larger than an environment noise level of the radar device by a prescribed value or more.

6. The radar device according to claim 1, wherein the reception antenna of each of the plural antenna system processors is inclined so as to extend in a prescribed direction which is defined by a line connecting the position having the prescribed height and the ground;

and

wherein the incoming direction estimator calculates an elevation angle component of a line connecting the transmission antenna and the target in such a manner that the prescribed direction is used as a reference on the basis of the distance to the target, the prescribed height, and the inclination angle of the transmission antenna and the plural reception antennas.

7. The radar device according to claim 6, wherein the incoming direction estimator calculates evaluation function values for evaluation of a signal incoming direction using the calculated elevation angle component as an elevation angle component of the direction vectors.

8. The radar device according to claim 1, wherein the reception antenna of each of the plural antenna system processors is inclined so as to extend in a prescribed direction which is defined by a line connecting the position having the prescribed height and the ground;

and

wherein the incoming direction estimator calculates a range from an elevation angle component of a line connecting the transmission antenna and a top of the target to an elevation angle component of a line connecting the transmission antenna and a bottom of the target in such a manner that the prescribed direction is used as a reference on the basis of the distance to the target, the prescribed height, a height of the target, and the inclination angle of the transmission antenna and the plural reception antennas.

9. The radar device according to claim 8, wherein the incoming direction estimator calculates evaluation function values for evaluation of a signal incoming direction using the calculated elevation angle component range as an elevation angle component range of the direction vectors.

10. The radar device according to claim 7, wherein the incoming direction estimator calculates a maximum value of the evaluation function values, and judges that an azimuth component of a direction vector that provides the maximum value of the evaluation function values is a signal incoming direction.

11. The radar device according to claim 1, wherein the radar receiver further comprises:

a mode controller that outputs a switching signal for switching to one of a measurement mode for estimating a distance to and a signal incoming direction from the target and a calibration mode for updating the direction vectors;

a direction vector calculator that calculates direction vectors corresponding to respective known positions for calibration in the calibration mode; and

a switch that switches an output destination of the coherent integration outputs of the plural respective antenna system processors to the correlation matrix generator or the direction vector calculator according to the switching signal; and

wherein the direction vector calculator updates current direction vectors corresponding to the respective known positions to the calculated direction vectors.

12. The radar device according to claim 7, wherein the radar transmitter varies directivity of the radar transmission signal using plural transmission antennas;

and

wherein the incoming direction estimator calculates a maximum value of the evaluation function values on the basis of a prescribed azimuth component range or elevation angle component range of the direction vectors, and judges that an azimuth component of a direction vector that provides the maximum value of the evaluation function values is a signal incoming direction.

13. The radar device according to claim 1, wherein the receiver comprising:

a correlation matrix generator that generates a correlation matrix including phase difference information that results from an arrangement of reception antennas on the basis of outputs of the plural respective antenna system processors;

a distance estimator that estimates a distance to the target on the basis of the outputs of the plural respective antenna system processors; and

an incoming direction estimator that estimates a signal incoming direction from the target using the incoming direction vectors calculated on the basis of an output of the distance estimator and an output of the correlation matrix generator.

14. The radar device according to claim 9, wherein the incoming direction estimator calculates a maximum value of the evaluation function values, and judges that an azimuth component of a direction vector that provides the maximum value of the evaluation function values is a signal incoming direction.

15. The radar device according to claim 9, wherein the radar transmitter varies directivity of the radar transmission signal using plural transmission antennas;

and

wherein the incoming direction estimator calculates a maximum value of the evaluation function values on the basis of a prescribed azimuth component range or elevation angle component range of the direction vectors, and judges that an azimuth component of a direction vector that provides the maximum value of the evaluation function values is a signal incoming direction.