Radar apparatus and computer program

• US 8,558,733 B2
• Filed: 03/15/2011
• Issued: 10/15/2013
• 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
• Primary Examiner(s): Sotomayor, John B
• Application Number:
  US13/064,270
• Publication Number:
  US 20110221628A1
• Time in Patent Office: 945 Days
• Field of Search: 342/27, 342 70- 72
• 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 power of the received electromagnetic wave as a function of an 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 the object is an overhead object positioned higher than an optical axis of the reception 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 the object is an overhead object based on the extreme values.

3. The apparatus of claim 2, wherein the determination section counts a 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, 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, and

wherein the determination section extracts from the memory a 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 a relationship of the acquisition time number and power at the representative points, and determines whether 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 a 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 the object is an overhead object based on power at a 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 the object is an overhead object based on the difference.

11. The apparatus of claim 9,

wherein the determination section approximates a 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 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 a 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 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 the 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 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 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, 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, and

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

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

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

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

extracting plural representative points from the function; and

determining whether the object is an overhead object positioned higher than an optical axis of the reception 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 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 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 an 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 a 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 an 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 a 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 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 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 an 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 a 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 an 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 a number of times the area exceeds a specific threshold value has exceeded a predetermined number of times.

35. A non-transitory computer readable medium storing instructions executed by a processor, the instructions comprising:

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

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

extracting plural representative points from the function; and

determining whether the object is an overhead object positioned higher than an optical axis of the reception antenna based on the representative points.