Radar apparatus

• US 9,977,126 B2
• Filed: 04/21/2015
• Issued: 05/22/2018
• Est. Priority Date: 04/25/2014
• Status: Active Grant

• Current Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Original Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Inventors: Mori, Shota, Ishimori, Hiroyuki
• Primary Examiner(s): Gregory, Bernarr E
• Application Number:
  US14/692,144
• Publication Number:
  US 20150309172A1
• Time in Patent Office: 1,127 Days
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2420/52 Radar, Lidar
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: G01S 13/345 using triangular modulation
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• 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 is configured to derive information of a target in a vicinity of a host vehicle. The radar apparatus comprising a signal processor configured to: determine whether or not the target is a standstill object having an absolute speed less than a predetermined speed, determine whether or not the target determined as the standstill object is an upper object overhead of the host vehicle and with which the host vehicle cannot collide, and determine whether or not an environment for deriving target information is an adverse environment based on a frequency of determining existence of the upper object that also is the standstill object.

Claims

1. A radar apparatus configured to derive information of a target in a vicinity of a host vehicle, the radar apparatus comprising:

a transmitting antenna that transmits a transmission wave having a frequency that increases and decreases at a predetermined cycle;

a receiving antenna that receives a reflection wave caused by the transmission wave being reflected by the target;

a target information deriving unit that derives the information of the target by a pairing of a peak signal in an UP period obtained from the reflection wave with a peak signal in a DOWN period obtained from the reflection wave; and

a signal processor configured to;

determine whether or not the target is a standstill object having an absolute speed less than a predetermined speed,

determine whether or not the target determined as the standstill object is an upper object overhead of the host vehicle and with which the host vehicle cannot collide, and

determine, based on a frequency of determining existence of the upper object that also is the standstill object, whether an environment for deriving target information is an adverse environment in which erroneous pairing may occur, or is a non-adverse environment.

2. The radar apparatus according to claim 1, wherein

in a case where a particular object is determined to be (1) the standstill object closest to the apparatus and (2) the upper object, the signal processor determines the particular object to be suitable for use in determining whether or not the environment for deriving the target information is the adverse environment.

3. The radar apparatus according to claim 1, wherein

the signal processor includes a counter configured to vary a value by a predetermined amount when the upper object is determined to exist within a predetermined distance, and determines that the environment for deriving the target information is the adverse environment when the value of the counter reaches a predetermined value.

4. The radar apparatus according to claim 3, wherein

in a case where the upper object is not determined to exist within the predetermined distance, the signal processor sets the value of the counter to an initial value.

5. The radar apparatus according to claim 4, wherein

the signal processor sets the value of the counter to the predetermined value when the upper object is determined to exist within the predetermined distance after the value of the counter has been set to the initial value from the predetermined value.

6. The radar apparatus according to claim 4, wherein

the signal processor is further configured to determine, based on (i) a number of the peak signals indicative of the standstill object in a predetermined area and (ii) a number of pair data indicative of the standstill object in one of a left area and a right area of the host vehicle, whether the environment for deriving the target information is the adverse environment, in a case where the host vehicle travels the predetermined distance or less after the value of the counter has been set to the initial value, the left area and the right area being portions of the predetermined area.

7. A vehicle control system comprising:

a radar apparatus configured to derive information of a target in a vicinity of a host vehicle, the radar apparatus deriving the information of the target by a pairing of a peak signal in an UP period obtained from a reflection wave received by an antenna of the radar apparatus with a peak signal in a DOWN period obtained from the reflection wave, the radar apparatus including a signal processor configured to;

(a) determine whether or not the target is a standstill object having an absolute speed less than a predetermined speed,

(b) determine whether or not the target determined as the standstill object is an upper object overhead of the host vehicle and with which the host vehicle cannot collide, and

(c) determine, based on a frequency of determining existence of the upper object that also is the standstill object, whether an environment for deriving target information is an adverse environment in which erroneous pairing may occur, or is a non-adverse environment; and

a control apparatus configured to control the host vehicle based on target information on a periphery of the vehicle derived by the radar apparatus, the control apparatus using a first control method when the environment is determined to be the non-adverse environment, and the control apparatus using a second control method having a lower degree of control than the first control method when the environment is determined to be the adverse environment.

8. The vehicle control system according to claim 7, wherein

the signal processor is further configured to determine that the environment for deriving the target information is the adverse environment in a case where (i) a number of the peak signals indicative of the standstill object in a predetermined area is equal to or greater than a first predetermined value, and (ii) a number of pair data indicative of the standstill object in a left area or a right area is equal to or greater than a second predetermined value, the first predetermined value being smaller than a third predetermined value that serves as a threshold for determining whether the environment for deriving the target information is the adverse environment based on (a) the number of the peak signals indicative of the standstill object in the predetermined area and (b) the number of the pair data indicative of the standstill object in the predetermined area.

9. A method of deriving information of a target in a vicinity of a host vehicle with a radar apparatus having (i) a transmitting antenna that transmits a transmission wave having a frequency that increases and decreases at a predetermined cycle, (ii) a receiving antenna that receives a reflection wave caused by the transmission wave being reflected by the target, and (iii) a target information deriving unit that derives the information of the target by a pairing of a peak signal in an UP period obtained from the reflection wave with a peak signal in a DOWN period obtained from the reflection wave, the method comprising:

determining, with a signal processor of the radar apparatus, whether or not the target is a standstill object having an absolute speed less than a predetermined speed;

determining, with the signal processor, whether or not the target determined as the standstill object is an upper object overhead of the host vehicle and with which the host vehicle cannot collide, and

determining, with the signal processor, based on a frequency of determining existence of the upper object that also is the standstill object, whether an environment for deriving target information is an adverse environment in which erroneous pairing may occur, or is a non-adverse environment.

10. The method according to claim 9, wherein

in a case where a particular object is determined to be (1) the standstill object closest to the host vehicle and (2) the upper object, determining, with the signal processor, the particular object to be suitable for use in determining whether or not the environment for deriving the target information is the adverse environment.

11. The method according to claim 9, wherein

the step of determining whether the environment is the adverse environment includes varying a value of a counter by a predetermined amount when the upper object is determined to exist within a predetermined distance, and determining that the environment for deriving the target information is the adverse environment when the value of the counter reaches a predetermined value.

12. The method according to claim 11, wherein

in a case where the upper object is not determined to exist within the predetermined distance, the value of the counter is set to an initial value.

13. The method according to claim 12, wherein

the value of the counter is set to the predetermined value when the upper object is determined to exist within the predetermined distance after the value of the counter has been set to the initial value from the predetermined value.