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    • 专利摘要:
    An in-vehide radar apparatus includes a transmitting/receiving unit (13), an extracting unit (SI 10), a skewness calculating unit (5240, S350), a determining unit (S240, S350), and a first recognizing unit (S260, S370). The transmitting/receiving unit transmits a transmitted wave of a pulse-waveform obliquely downward from a vehicle to detect an object, receives a signal including a reflected wave of the transmitted wave, and generates a received signal. The extracting unit extracts a received pulse-waveform from the received signal. The skewness calculating unit calculates a skewness of the received pulse-waveform. The determining unit determines whether or not the skewness calculated at the skewness calculating unit is smaller than or equal to a predetermined threshold. The first recognizing unit recognizes the received pulse-waveform is reflected by the object when the determining unit determines that the skewness is smaller than or equal to the predetermined determining threshold.
    公开号:SE1551077A1
    申请号:SE1551077
    申请日:2015-08-19
    公开日:2016-02-20
    发明作者:Yasuhiro Suzuki
    申请人:Denso Corp；
    IPC主号:
    专利说明:

    IN-VEHICLE RAÜAR APPARATUSCRGSS REFERENCE TQ RELÄTEÜ APPLICATÉGN This aaaiicatian is hasea an and ciairna the benefit at ariarity fran-i:ia iaaaneae Patent Aaaiieatian Na. Eieetâaaae filen an August ie, Rate,the aieciasare at which is incaraaratea in its entirety herein hy reference.
    TECHNICAL FIELD ta The present aieciasare reiates ta an in~vehicie raaar aaaaratus thataeteeta a structure (hereinafter reterrea ta aa a “eaiia ahjectfi an a raaasurface.
    EACKG RÜÃJND An in-vehiaie raaar aaaaratus tranernita a tranernittea waveihtïiuciing a areaeterminea auiae-tvavetarna wave ta saniaie receivedaignais inciuaing a retiectea wave which has been reteivea in aareaeternwinea tirne frarn a transniissian tirne instant at the transniittea aa wave. Aaaitianaiiy, the in-vehicie raaar aaaaratae aeteata a reaeatiantirne instant at the reiieatea wave aasea an the earnaiea vaiuee. _______________________________________________________________________ -Meteaxretçti.aietatieettietttie-ea.;the.inffxr:aífiittia..teaatt:aparetnefeatt,...............,,..,......__.....,..,.......... an abject that i has refieatea the transinittea wave is ahtaineai hyrneasuring e time aitterence trarri the tranemieeian tirhe instant a the aa tranarnittea wave ta the rateatian tirne instant at” the refieatea wave,i.e., av meaeurina a rauna~tria tirne at the traneniittea wave.
    Aetaraing ta the ahave tina at the in-vehicie raaar aaaaratuees, itie iniaartant ta aarrectiy retaanize whether ar nat a refiectea paint ia ana raaa surface ar an aarne aaject ather than the raaa surface. aa In aantrast, accaraina ta a araaaaaa tethnaiagy, a aeani entitteafrarn an in-vehicie raaar aaaaratus ia aiviaeti inta twa aearns, Le., anuaaer bearn and a iawer hearts, auch that the upaer anti iawer hearnaaartiaiiy averiaa with each ather. Then, the in-vehieie raciar aaaaratusaeterrninee whether ar nat an ahject ie a vehieie an the hasis af ata difference in intensity between the uaaer ana iawer hearns refiettea e frern the ebjeet, (refer te Patent deeernent i which Es šeeeneee PetentNe. 47291337).
    In deteii, the in-vehiele reder eeeeretee determinee thet theebjeet ie e vehieie ee ieng es the difference En the refieeted intensitybetvveen the beerns is within e eredetern-iined renge. Fertherrnere, ie the in-vehíeie reder eeberetes determinee thet the ebject is e eeiidebjeet en the reed serfeee if e veiee ebteined by sebtreeting therefieeted intensity et' the tieeer beern frem thet et the iewer beern ieeeeei te er mere then e threeheid. 15 SUMMARY E-ieweven En the En-rvehieie reder eeeeretee beeed en the ebevedescribed tenventienei teehneiegy, eeiie ebjeets en the reed surfaceere eeeemed te be reed-eerfece refieetere, such ee e eetfe eye, thet the ze vehicie een eeee ever er surmeent. Thes, the En-vehieie redereeeeretee hes eeffered trern e erebiern et net being ebie te deteet enebjeet thet ie e eeiid eejeet, eeeh ee e tire thet hes feilen en e reed,which Es diffieeit fer the vehicle te eeee ever er etirntieunt.
    A seiid ebject, seen es e feiien tEre en e reed ie net e ee hEgh-refieetien ebjeet iiite e eete eye, end the intensity ef the Eewerbeern refieeted frem the ebject wiii net be cehsiderehêy Eerger then the___________________________________________________ _ietetïieite:ettheeepeii_heem_._rtetireeted__frenetheztehïeet Pertieeieriy, ee shewn En Fie. 12A, if the height ef the seiid ebjeetie diffieeit fer the vehieie te eeee ever er eurrneunt end Eew eneegh te beed enveieeed by e beern, ene ef the tinfe beerne eeeid deteet edietenee-meesering eeint en the reed eerfeee, end the ether beerneeeid deteet e dEetenee-rheeeering eeint en the eeiid ebject. Thesedieteneeerieeeering eeihte ere deteeted with e difference in e hešghtdirectien.i-iewever, the reietienshie between sensers et the Ernvehitiereder eeeeretes end the reed eurfeee, veriee deeending en eitehing efthe vehieie end the reed grede. Therefere, if there ere twedietenee-meeeering eeints different En neight, Et ie diffieeit ter thein-vehieie reder eeeeretee te eerreetiy deteet the dieteneeeneeeeringee eeinte thet ere either en the reed eerfeee er en the eeiid ebjeet. b:'än s As shewn in Fin. 125, fer instenee, the ih-vehicie reeereeeeretus in the eenventienei teehneiegy niey he eeie te identify beththe reed surfeee end the seiid ebjeet by enheneing e reseiutien ef theenfiitted beern in e iengitudinei direetien, i-ieviiever, in this cese, iteeuid induee eenieiexity endjer test increese in the eeeeretus.. :ie ffiereeveij, even if the reseiutien ef the enfiitted beern in e iengitudineidirection ef the eeeeretus is enhanced, e sinuiier ehenernenen eeeurs ine distent piece which is shewn in Fig. 12A.The present díseiesure hes been needs in eensideretien ef theeheve described erebierns ef the tehventienei teehneiegy, end eirns te1.5 erevide e techneiegy fer eregressing e detectien eeeurecy ef e seiidehjeet en the reed surfeee.An in-vehieie reder eeeeretus ineiudes e trensniittingfreeeivingunit (13), en extreeting unit (51 itu), e skewness eeieuietine unit (åzee,_ S356), e deterniihing unit (3246, âššii), end e first reeegnizing unitse (5269, Sšïe).The trensniitting/reeeiving unit trensmits e trensrnitted wave efe euise-weveferrn ebiieueiy dewnwerd frern e vehieie te detett enehjett, reeeives e signei inrziuding e refiected weve ef the trensrnittedifiieve, endgeneretee e received signei.25 'The extreeting unit extreets e received euise-weveferm frem thereceived signei. The skewness ceicuieting unit ceieuietes e skewness ef The deterrnining unit eeterniines whether er net the sitewnesseeieuieted et the skewhese eeieuieting unit is srneiier then er eeuei te e ee eredeterhiined thresheid, The first reeegnizing unit reeegnizes the receivedeuise-weveferm is refiected by the eejeet when the deterniinine unitdeterrninee thet the sitewness is snieiier then er eeuei te theeredeterrnined deterniining thresheid. se iviereevei; if the trensneitted weve trensntiitted frem thetrensneitting/reeeiving unit is refieeted frern the reed surface, thesitewness ef e weueferrn ef the refieeted weve tevverd e tinie direetieninereeses due te e refieetihg surfeee thet extends ewey frem thetrensmitting/reteivine unit. ïn eentrest, if the trensrnitted weve»te 'refiects et the seiid ehjett, the sitenfness ef the weveferin ef the 1G 353 4G refieeted Weve is seeeressed since mest et the weve retiects et theeeject, Le., the weve refieets ereund the identical eesitien ei the eejeet.
    Thus, eecerdine te the present disciestire, the in-vehicie redereeeeretes is eeie te determine whether er net there is e seiid object,even it en ehstecie is iew eneeeh te he enveieeed ev e eeen-i frem theeeeeretus eesed en eniy intermetien eeeeired trern the eeern.Censeeuentiy, the in~vehieie reder eeeeretus is ehie te irriereve thedetetitien ectidreey ef the seiid ehjeet en the reed surtece witheutseedividing e heeni reseiutien in e iengitedinei direetien. Additieneiiy,the in~vehieie reder eeeeretds is ehie td detect the seiid ehject in edistent piece.
    Signs within eerehtheses described in the scene et the eetentcieirns indieete es en exehieiery eseeet e eerreseendehee reietien withspecific rrieens described in the enrieedirnents which wiii he describedieter, end ere net intended te iirnit the tethneiegitrei seeee et the presentdiseiesere.
    ERIEF DESCRIPTEÖN GF THE DRAWINGS Üther een-sets ef the present diseiesere wiii hecerne eeeerent irernthe feiiewing deserietieh et enieedinrients with reference te theeeeerneenying drewines in which: ____...vi______________ifi_§.f___i diseiesere;Pie. le is e side view et e vehieie shewine en insteiietien exerneie et the reder eeeeretus; Fie. 2 is e sehernetie dieerern shevving en exenieie ei erees ef etransmission weve ernitted frern the in~vehieie reder eeeeretes; Pie. 3 is e tiinetienei hieek dieerern sheviiing e cehfiguretien et ereder cehtrei unit; Pig. e is e fiewehert shewine e erecedere ei e ereeeretervereeess thet the reder eentrei unit eerterms; Fig. 5 is e fiewehert shewine e ereeeddre et en intermetiengeneretihg ereeess that the reder centre! unit eerternis in e firstemhediment; 5 Fig, a is a wava farm snart axaniaiifying a auisa farm af aracaivaa signai;Fig. "Än ana 'ïa ara sanarnatia aiagrarns snawing a raiatiansnipaatwaan a baani ana a saiia aajact;Fig. 8 is a sananiatic diagram snawing a skaw af tna racaiving 10 signai; Fig. an. is a schamatia aiagrani snawing a nfiatnaa af inaraasingtna racaivaa signai at a stantiarri aaani wicitn; g Fig. aa is a scnamatia aiagrani snawing a nsatnaa af inaraasingtna racaivaa signai ana tna gasa wnara tna aaarn wiath is wiaanaa; 15 Fig. âiï is a sananiatíc diagram snawing a rriatnaa af increasingtna racaivati signa! ana tna casa wnara a ragiant paint af tna aaani isiawarad; Fig. ia is a fiawchart snawing a aracaaura af an infarntatianganarating gran-ass that tna radar aantrai unit aarfarnis in a saaana sa arnnaainriant; Fig. 11 is a acnamatir: diagram siiawing sattings af a tiirasnaiataaia; ana * Fig. 12A and 123 ara a scnanwatic aiagrarns snawing araaiams aftha canvantianai tacnnaiagias, QETAILEB QEÉCRIPEGN OF EMBODIMENTSi-iarainaftar rafarring ta tha accansaanying arawings, variaasarnaaainiants af an in~vaniaia rasar (raaia tiataatian ana ranging)aa aaaaratus accaraing ta tha arasant ciisciasara aiiii naiv aa axaiainaa inaataii. in sann an-iaaainiants, tna in-vanicia rasar agaaratus isaractiaaa as a aart af a ariving saaaart systern.in tha faliawing arnaaaintiants, a tarrn iisiizawnass” is an inciaxšnašaating a iavai af asymrnatry af aistriaatian in a wavafarrn, ana asa tarm “gasa avar ar sarmaanti* rnaans it is aaia far a vanicia ta ariva anan aastacia tnat is an tna rasa surfaaa.
    (First Ernaaairnant)Rafarring ta Figs. 1A ana :ia »- Figs. an, 95 and 9G, a driving fia suaaart systam i af a first anibaairnant wiii aa axaiainaa, s As shown in Fig. 1A, the driving support system 1, which ismounted in e vehicle, is provided with en in-vehicie reder apparatus 10and s vehicie controiier 30. The irvvehicie reder epperetus 10 isconfigured to detect en object 50 such es vehicies other then thevehicie in which the system 1 is mounted, or obstacies to the vehicle in 10 which the system 1 is nioorited (eg. pedestrians or faiien objects on theroed outside the vehicie). The vehicle controiier 30 is coniigored tocontroi operations of various kinds such es improvements for engineperformance, fuei economy, and drivabiiity based on informationdetected by the in-vehicie reder epperatus 10. to The driving support system 1 is instaiied in a vehicie 100. Thein-vehicie reder epperetus 10 is insteiied in the vehicie 100, esdescribed es foiiows. Precticeiiy, es shown in Fig. 10, the in-vehicieradar apparatus 10 is insteiied in the vicinity of the front bomper of thevehicie 100. The in-vehicie reder epperetus 10 emits e Esser seem es so e transmission weve in e treveiing direction of the vehicie 100 (whichwiii he eiso referred to as frontwerd).As shown in Fig. 1A, the irnvehicie rader apperetus 10 isprovided with e reder controiier 11, e scen driver 12, end en opticei unit13. The reder controiier 11 inciudes e weii-iznown microcomputei' 20se and en AD converter 21 which wiii be described ister (refer to Fig. 3).The microcornputer 20 includes e CPU (Centrei Processing Unit) 1 , s___________________________________________________ srrienïiorymle.,_e.__i+iiii_iifi___genesisQriiyfnnifienïiotfyi}.,_,,_e__iiiseiti____(Rendoiïn....Access.________...,,,____..______._..___._.,,________.__.._Memory), e fiesh memory, end others.According to e program stored in the memory 18 such es the so ROM, the CPU 17 performs various processes required for caicuieting edistance, which wiii be described ister.
    The scan driver 12 is provided es e known device which inciudes, for instance, en actueton e motor, end/or other necessary components.
    The scen driver 12 is ebie to erbitrariiy eim the opticai unit 13 in se horizontal end verticei directions in response to reception of eninstruction issued from the microcornputer 2.0 in the reder controiier 11.
    The opticei unit 13 is provided with e iightnemitting unit 14 and e iight-receiving unit 15. The iight-emitting unit 14 emits ieser seemshaving e predetermined puise-waveform wave based on a commend to from the microcornputer 20. The iight-receiving unit 15 V receives 1G m;än 3G 4G wevee refieetee hv the ehject 5G thet ie etiteiee the system 1, ene therefleetee weves return te the eeeerettie in the vehicie the.
    The ieser heerne frem the iight-eniitting unit 14 ere ineieetee hyerrews with eeiie iiriee shewn in Pig. th. The refieetee weve refiecteefrem the ehject 5G ie irieitetee hv en errew vvith hreiten iine shewn inFïg. 1A.
    Preeticeiiv, the iight~receiving unit 15 receives the retiecteewaves, Le., retieetee ieser iight, end geheretes reteiving eieneie, ivhichere eneieg signeis hevihg weveternris heeee en the retietteti ieeer Eight.
    En ether weres, the sten driver 12 eniy neeee te he se cenfigtireethet e eirettieh et ieser emission frem the iight-ernitting tinit 14 een hechengee se ee te eeineiee with e elirectieh treih which the refiectee iighteen he received hv the iight-reeeiving unit 15. Fer instenee, the sceneriver 3.2 ihey he eentiguree te erive e rnirrer thet refiects the ieserheerns ene the retieetee heerne in erhitrery eirettiens iheteeti efeheretirig the eetitei unit 13.
    In the eeeve eeecrihee eese, the in-vehicie retier eeperetus 1Gniev seen vvith e ieser heern in the herizentei eireetien hv hevihg theseen eriver 12 retetee the niirrer ineitieing e eiureiitv ef* reiieetingeunteces, ene rriey eise sten with e ieeer eeern in the vertieei eireetiehhv setting the engie et eeeh refieeting surface et e eifferent erigie.Ftirtherrnere, the in-vehicie reder eeeerettis 1G mev eeeet e _-,.nïä_etiïi_ee_ieih.teetetieete.e...ifiïiit;teif_.heeine..e.eiizeie-tefiettiei;__eiitfeee..te_.______________-,_____-._____._______________.____ erhitrery eireetiene.
    As eescrieee eeeve, the in-vehitie reeer eeeeretee :te iscenfiguree te intermittentiy eniit the Eeser heerne thet ereeieetrenfiegnetie weves wniie scanning e ereeeternriiriee eree in etreveiiing eirectien ef the vehieie, Le., irentwere, in the ereeenternheeintent. In this eenfigtiretieri, the iri-vehicie reeer eeeeretue 1Geetecte ehjiette existing frentwere et' the vehitie es eeteeteci eeihte hvreceiving the respective refiettee weves, i.e., the refiectee ieeer heenieee e ieeer reeer.
    Aeeitieneiiv, the in-vehicie reder' eeeeretes 1G, when rnevingreerwerd endfer sieeweys, mev he ehsered te eniit the ieser heenie insuch eirettiens te receive the refiettee weves.
    In the present ernhetiiment, es tieecrihee eheve, the UI 4G microcornouter 2G in the radar controiier 11 of the 'in-vehicle radaraooaratus 1G utiiizes the scan driver 12 to scan the oredeterrnined areawith the iaser bearns that are emitted from the opticai unit 13.Azimuths in which the in-vehicie radar aooaratus 10 is oriented aredivided into e matrix for each of areas to which the iaser is smittad, andthe areas are humbered so as to be identified by the microcomouter 2G.
    For instance, as shown in Fig. 2, the microcomouter 20Segmenta the horizontal direction in order from ieft to right, andaiiocates the segments, in this order, with "azimuth numbers." Qn theother hand, the miorocomouter 20 segments the verticai direction inorder from too to bottom, and aiiocates the Segmenta, in this order,with "iayer numbers." As shown in Fig. 2, the in~vehicie radar aooaratus li) incrementsthe azirnuth number by 1. from the too ieft corner (iayer number 1,azirnuth number 1) of the matrix whiie scanning with the iaser beam.In this case, the in-vehicie radar anna ratus 10 intermittentiy emits iaserbearn toward the too right corner (iayer number i, azimuth number hi)at eciuai intervais, i.e., equai angies, whiie varying the range of laserbeam emission horisontaiiy rightward (refer to a soiid iine drawn iniayer number fi. in Fig. 2); When the iaser bearn arrives at. the too right corner; thein-vehicie radar apparatus 1G increments the iayer number by :i from 10 changes the laser bearn emission range to a iower area (iayernumber 2, asimuth number 1.) by a oredetermined angle reiative to thetop ieft corner of the matrix (refer to a broken iine drawfn between theiayer number 1 and the iayer number 2 in Figè). From this area, thein-vehioie radar aoparatus 10 emits iaser beam again, whiie varying therange, i.e., ezimuth number; of iaser bearn emission horizontaiiyrightward.
    As described above, the in-vehicie radar apparatur; 1.0inorements the iayer number by i. when the range of emitting Esserbearn hes reached the right end, Le., at the azimuth number hi. Then,the in-vehicie radar aooaratus 1G ite-starts the iaser beam emissionfrom the area of azimuth number 1. By reoeatihg this action, theinn/ehicie radar aooaratus 1G divides the traveiing-direction side area bnEin of the vehicie into a piureiity of two-dirnensionai areas, and obtainsobject information resuitino from the detection of a distance to enobject existing in each of the areas divided. In this manner, vvhen theiaser bearh has been emitted to an area of the bottom right corner(iayer number it, azimuth number N), the in-vehicie radar apoaratus 10terminates a scan for one cycie, Le., one scan.
    The microcomputer 2G of the in-vehicie radar apoaratus 1Ginciudes functions of' the CPU 17 the deteiis of which Wiii be describedhereinafter. The microcomputer 2.0 performs e distance caicuiatingprocess for detecting a distance from the imvehicie radar apparatus 10to an object, i.e., a detected point, based on e time instant of detectingthe refiected iaser iight, Le., a time period to detect the refiected faserEight efter emitting the ieser beam. Whiie performing the distancecaicuiatirig process, the microcomputer :to detects a direction of theobject based on the azirnuth of the erriitted iaser beam.
    Furthermore, each time the laser beam is ernitted to the object,the in~vehicie radar apoaratus 10 detects e position, Le., a detectedpoint at which the coordinetes (azimuth, iayer) of the object arecorreiated to the distance from the in-vehicie radar apparatus 1G to theobject. Each time a detected resuit is obtained, the in-vehicie radarepperetus :to stores the resuit in the memory 18 such as RAM in the radar controiier 11. microcomputer that includes e CPU, a memory, and others. The vehicie controiier 30 performs various processes such as of controiiingbehavior of the vehicie, giving notifications to a driver of the vehicie, orthe iike, according to the program stored in the RQM and others. Forinstance, if the vehicie controiier 30 receives e comrnand from thein-vehicie radar apparatus 10 to perform a driving support that changesthe behavior of the vehicle or ericourages change of the behavior, thevehicie controiier 30 outputs a controi signal according to the Commandto one of a dispiay device, an audio output device, a braking device, asteering device, and others.
    More specificaiiy, the vehicie controiier 30 may be configured asa controiier for achieving ACC (Adaptive Cruise Controi), LKA (LaneKeep Assist), and PCS (Pre-Crash Safety). For instance, if the vehicie Ei 5 controiier 30 is permitted to function as a part of ACC, the vehiciecontroiier 30 may be ensured to give a command for a throttie controiand/or a brake controi to controi the vehicie Velocity and theinterflvehicie distance based on position information of the proceedingvehicie. to If the vehicie controiier 30 is permitted to function as a part ofthe, the vehicie controiier 3G may be ensured to give a Command for awarning device, a steering control, and/or the brake controi in to safeivtravei in the Hane based on position information of the iane. if thevehicle controiier 3G is permitted to function as a part of PCS, the 15 vehicie controiier 30 may be ensured to give a command for the throttiecontroi, the braite controi, a seatbeit controi, and an airbag controi,The commands are given in order to reduce and/or avoid coiiislon basedon position information of the proceeding vehicie of the vehicie,humana, and other obstacies. 20 As shown in Fig. 3, the radar controiler 11 inciudes the ADconverter 21 and a distance caicuiatlng unit 22. The AD converter 21samples the received slgnais that are generated in the iight-receivingunit 15 for each area to which the iaser beam is smittad (refer to Fig. 1.).The distance caiculating unit 22 caicuiates a distance between a se refiected point, i.e., a detected object, refiecting iaser light and thevehicle based on a received signai wave form that has been sampied by ___________________________________________________ For the received signais, which are anaiog signais generated inthe iight-receiving unit 15 (refer to Fig. 1), the Aili converter 21 so seouentiailv outputs a plurality of sampied vaiues, which are digitaisignais, at predetermined intervais during a predeterrninedmeasurement period from the transmission time instant of the laserbeam by the light-emitting unit 14 (refer to Fig. 1,).
    In addition, the measurement period may oniy have to be set so 35 as to be ionger than the time required for the iaser beam to travei backand fort-h a maximum detecting distance of the in-vehicie radarapparatus 1G.
    The distance caicuiating unit 22 is one of the functlonaicomponents of the microcornputer 20, performing the process of iio functionaiiy caicuiating distances. The distance caicuiating unit 22 1D itä)CJ! 4D stores, into the memory 18, a piuraiity of veiues sampied hv the ADconverter 21.
    Thus, based on the sampied vaiues indicating the received signaiwaveform, the distance caicoiating unit 22 outputs, to the vehiciecontroller 30, a caicuiated resoit of the distance between the object thathes refiected the iaser oeam and the vehicle, and a determined resuitexpressing whether or not the object is the road surface or a soiidobject that is difficuit for the vehicie to pass over or surmount.
    The distance caicuiating process inciudes a preparatorv processand an information generating process.
    Referring to a fiowchart shown in Fig. 4, the preparatory processperformed hv the microcomputer 2G is described. The preparatoryprocess is repeatediy performed periodicaiiy, Le., at a cycie based onthe measurement time period mentioned above, when a power sourceof the in-vehicie radar apparatus 10 is turned QN untii the power sourceis turned GFF.
    First of all, upon start of the present process, the miorocompoter29, es the CPU 117, extracts a ptiise-waveforrn indicating rises and faiiseouai to or more than a predetermined vaioes on the basis of thesampied vaiues stored in the memory 18. From the extractedpuise-wavefornn the microcomputer 2G extracts a peak vaiue P that isthe maximum vaiue of the sarnpied values and e peak time instant Tp Then, the microcomputer 2G sets e veiue as a putsa detectingthreshoid hy muitipiying the peak vaioe P extracted at S119 with acoefficient iess than 1, which is 0.6 in the present embodiment (S120).
    Based on the puise-waveform extracted at 5119, thernicrocompnter 20 caicuiates a time instant, as a rise time instant Ti, atwhich the sarnpied vaiue exceeds the puise detecting threshoid set atS126 (Sïßo). Moreover, based on the puise detecting threshoid set atSILZG, the microcornputer 20 caicuiates an instant time, as a faiiing timeinstant T2, at which the sampied vaioe is iess than the puise detectingthreshoid set at: S129, and terminates the present process (S140).
    Referring to a fiowchart shown in Pig. 5, the informationgenerating process performed hy the microcomputer 20 is described.The information generating process starts every time the preparatorv ll UI Kü-CF! process terrninates.
    When the present process is started, first of aii, themicrocomputer 20 acquires the peak time instant Tp extracted at S110,the rise time instant Ti; caicuiated at S130, and the faiiing time instantT2 caicuiated at S140, as information expressing the waveformCharacteristics (S210).
    The microcomputer 20 detects an intermediate point betweenthe rise time instant Ti and the faiiing time instant T2 as reception timeinstant Tr of the refiected iaser iight from the detected object (S220).
    Then, the microcomputer 20 caicuiates time (Tr-Ts) from atransmission time instant Ts of the iaser beam corresponding to therefiected iaser Eight to e reception time instant Tr detected at S220.The time (Tra-Ts) is caicoiated as a round trip time required for the iaserbeam emitted from the iight-emitting unit 14 to be refiected by theobject, and for the refiected iaser iight to return to the iight-receivingunit 15. The microcomputer 20 caicuiates a distance R between thedetected object and the vehicie by moitipiying a vaiue of a haif of theround trip time and the Velocity of Eight (S230).
    The microcomptiter 20 caicuiates a ratio of time (TZ-Tpi to time(To-Ti) as a skewness. The time (T2-Tp) is from the peak time instantTp to the faiiing time instant T2, and the time (To-Ti) is from the risetime instant Tl to the peak time instant Tp. Then, the microcompoter predetermined determining threshoid Ti-i (S240).
    If the skewness is iarger than the determining threshoid Tii(S240: YES), the microcomputer 20 sets a skew fiag to 1 to express therefiected point is on an object other than a soiid object, Le., a road or anobject Which the vehicie can pass over or surrnoont, and terminates thepresent process (3250). Qtherwise, if the skewness is equal to or lessthan the determining threshoid Ti-i (5240 : NS), the rnicrocomputer 20sets the si-cew fiag to 0 to express that the refiected point is on a soiidobject, Le., an object that is difficoit for the vehicie to pass over orsurrnount, and terminates the present process (S200).
    'The microcomputer 20 soppiies to the vehicie controiier 30information regarding the distance R caicuiated at S230 and therefiected point of the sitew fiag set at S240 or S250. 12 5 Pig. 6 exempiifies two different received waveforms. (ine of thewaveforms exoresses there is no object on the road surface to which abearn has been ernitted. This means that the detected object is theroad surface. The other waveforrn expresses presence of a soiid objecton the roed surface, i.e., a tire of about 20 centimeters high herein. 10 This means that the detected object is a soiid object. however, esshown in Figs. 7A end 75, the soiid object is of a size enveiooed by onebeern.
    As shown in Fig. 8, if the soiid object is present on the roadsurface, a received wavefornn and a transmitted waveforrn are simiiar in 1:» forms since most of the bearn is refiected by the soiid object, and thusthe received waveforrn is enaiogous to the transrnitted waveforrn, ornot greatiy distorted. In contrast, if there is no soiid object on the roadsurface, Le., if the detected object is the road surface, the receivedwaveform is greatiy distorted in a time direction compared with the so transrnitted waveform since the in-vehicie radar apparatus 1G receivesthe refiected wave from an area spread in a distance in which the bearnhas been emitted.As a resuit, as shown in Fig. 6, if the detected object is a soiidobject, the received waveform is airnost syrnmetricai in a forrn with the se peak time instant. A sicew vaiue (Tâ-Tpj/(Tp-»Ttj becomes ciose to 1.
    Other-wise, if the detecteci object is the road surface, the second haif of___________________________________________________ iti;e__,receiy_ed_“ereeeiïodinin___tije___time,ditectio,n__.ifeieitise_to-theriieeiiz._time--.__________________________________,.___________.instant gentiy changes in signai ievei than the first haif. The skewvaiue (Tå-Tpd/(Tp-Ti.) becomes much iarger than i.. ao As described above, according to the present embodirnent, thein-vehicie radar apparatus 10 deterrnines whether or not a soiid objectis one that is difficult to be passed over by the vehicie based on only theinformation acquired from a singie bearn if the soiid object is ofa heightthat can be enveioped by the singie bearn. se As a resuit, the in-vehicie rader eoparatus 10 is abie to improveidentification eccuracy of the soiid object on the road surface with asinripie configuration without subdividing a bearn resoiution in aiongitudinai direction. In addition, the in-vehicie radar epoaratus 1G isabie to identify whether or not en object is a soiid object even in a 4.0 distant iocation. 13 s In the present embodiment, the in-vehicie radar apparattis :to isinstaiied in the vicinity of the front burnper of the vehicie 100, i.e., at aiower ievei of the vehicie. Therefore, the in-vehicie radar apparatus :tois abie to greatiy distort the received waveforrn if the detected object isthe road surface. thereby more improving the identification accuracy of 10 a soiid object.åpecificaiiy, iri order to greatiy distort the received waveform, itis necessary for the in-vehicie radar apparatos 1G to spread the bean-iemission area on the road in a direction of distance if the detectedobject is the road surface. Thus, as shown in Figs. §A to 9G, the15 in-vehicie radar apparatus 10 only needs to spread the bearn or reducean emission angie of the bearn reiative to the road surface. Therefore,in the present embodiment, the in-veriicie radar apparatus to reducesthe emission angie of the bearn reiative to the road surface by mountingthe apparatus near the road surface. (âecond Enibodimerit)Referring to Figs. 10, 11, 12A and 125 a driving support system1 of a second ernbodirnent wiii be expiairied.In the second embodiment, descriptions of identical or sirriiiaras parts between the first embodirnent and the second ernbodiment, to whichiike reference characters are assigned, are omštted or simpiífied in order to___________________________________________________ Iri the above describedéfirst einbodiment, the in~vehicie radarapparatus 10 caicoiates the skewness from the peak time instant Tp,ao the rise time instant Ti, and the faiiing time instant T2, for comparisonwith the determiriing threshoid TH that is a fixed vaitie, and determineswhether or not an object is a soiid object.The second ernbodiment is different from the first embodimentin that the in-vehicie radar apparatus 1G caictiiates a puise width35 (T2~T1) as a skewness, for comparison with the determinirig threshoid'Ti-i that is va riabiy set based on a peak vaiue P, and deterrnines whether or not an object represehts a soiid object. _ Referrinn rn nflnviirhnrr ehrmin in Fin :iii hereinnfrier wiii hadescribed an information generatirig process which is performed by the eu iii-vioiiicic ioicioi cippoioLua iQ vi" Liic: atnsuiiil uiiibuiiiiiiciii. ii: plant; u Lin: 14 s information gener-sting process ofthe first embodiment (Pig. 5). StepsS320, S330, S360, and S370 in Fig. 10 are similar to those of S220,S230, S250, and 3250 in Pig. S.
    First of aii, upon start of the present process, a microcomputer20 functioning as a CPU 17 acquires the peak vaiue F* extracted at S110, 10 the rise time instant Tl caicuiated at S130, and the faiiing time instantTZ caicuiated at 5140 (5310).
    Then, the microcornputer 20 detects the intermediate pointbetween the rise time instant Ti. and the faiiing time instant T2 esreception time instant Tr of a refiected iaser Eight of a detected object. is Then, the microcomputer 20 caicuiates time (TnTs) as the roundi trip time required for a iaser beam emitted from a iight-emitting unit 14to be refiected at the oetected object and for the refiected iaser iight toarrive at iight-receiving unit 15. The time (Tr-Te) is from transmissiontime instant Ts that corresponds to the refiected iaser Eight to theto reception time instant Tr detected at S210. The rnicrocomputer 20caicuiates a vaiue of a haif of the round trip time muitipiied by theveiocity of Eight as a distance R which is between the detected object and the vehicie (S330).
    Then, the rnicrocomputer 20 sets the determining threshoid TH ss based on the peak vaiue P according to a predetermined threshoid tabiestored in the memory 18 (5340). As shown in Fig. ti., the threshoid ___________________________________________________ __tapie,__eeptesse;s___th_e__,reiatiopenis___isetiseeowtt:anpassa_,ss_i_ae___h___and____the.____________________________________________________ deterrnining threshoid 'Ti-i of the ptiise width. At this point, as for bothcases where the detected object is the road surface and the detected so object is a soiid object; the reiationship is estabiished by actuaiiymeasuring the peak vaiue P and the puise width and by appiying astatisticai method, such as use of a support vectormachine, to themeasurement result.
    As shown in Fig. 11, the determining threshoid 'Ti-i increases so 35 as to be graduaiiy approxirnated to an upper iirriit vaiue as the peakvaiue P increases.
    Then, the microcomputer 20 caicuiates s period of time, te., apuise width (Tz-Tlji from the rise time instant 'Ti to the faiiing timeinstant TB, in which the puise width represents the sitewness in the to present embodiment. Thus, the microcomputer 20 determines a whether or not the sitewness is iarger than the deterrriining threshoid'Ti-i set at 3340 (S350).
    If the skewness is iaf-ger than the determining threshoid Tri (YES:at S356), the microcomputer 20 sets a skew flag to 1, and terminatesthe present process to express that the refiected point is on an object 10 other than the soiid object (Saab). Otherwise, if the skewhess is eouaito or iess than the determining threshoid Ti-i (NG at SSSÜ), themicrocompuiter 20 sets the sitew flag to 0 to express that the refiectedpoint is on a soiid object, and termihates the present process (S370).
    According to the above second embodiment described ih detaii, 15 the second embodiment is abie to obtain an effect simiiar to that of theabove described first embodiment.
    (Other Embodiments)The present disciosure shouid hot be cohstrued as being iimited toto the embodiments described above, but may inciude variousmodifïcatiohs.According to the above described embodirnents, the opticai unit13 cohfigured to trahsrhit/receive the iaser beams. i-fiowever; theopticai unit 1.3 is not iimited to transmit/receive the ieser bearhs, but25 may transmit/receive other waves such as uitrasonic waves.The function of one component may be dispersed into a piuraiity................................................... ..iggíiïfli.gtgçptgaiçgigqtantggš...gapaštsncgtçitçirts;.cpggtgggggggggiiiiigiryc.gmggtigiqsiity...pågggsmsggigfaorfgigg...~._-_-___-_-_“___-m---n--m--~~--~~----~~-~~may be integrated into one component. At ieast some of thecomponents in each of the above described emhociiments may be30 replaced with web-known components having simiiar functions. Someof the components in each of the above described embodirhents may beomitted. Gne or more of the components in each of the abovedescribed embodimehts may be added to or repiaced by the abovedescribed other cohfigurations. It shouid be hotad that any mødesao encornpassed by the technicai ideas defined by only the wording recitedih the ciaims are the embodiments of the present disciosure.Other than the above described in-vehicie radar apparatus, thepresent disciosure may be impiemented in various rhodos, such as asystem inciudihg the ih-vehicie radar apparatus as a component, a4-0 program for having a computer functiohed as the ihwehicie radar 16 .a apaaratua, a racaraing-maašum that ataraa tha aragram, and a mathocâ af aatarmíaing aaiíd aajacta.
    Ir: tha tatagaing amaaašmanta, tha tarm “akawnaaä ia uaaci aaaa šnaax íaaíaatiag aíatartian at raaašvacš wava aaiaaa, Hawavar; in thaprasant ašaaiosuta, šnataaa af tha tarm “aitawnaaaï an äadax araducaa :ta av' aamaaríng a aaâsa width at raaaävaa auiaas with a araaatarmšnaathraahaia can ašaa ba uaaa ta show a aagraa af ašatartiaa af tharacaivaü aušaaa. 17
    权利要求:
    Claims (4)
    [1] 1. WHAT IS CLÅIMEÛ IS: Û!
    [2] 1. An in-vahicia radar aaaarataa aamarisina:tranarnittingjraaaiving rnaana (13) far trananíitting atranarnittaa wava at a haiaa-wavafarrn aaiiaaaiy aawnwara fram ala vahiaia ta aatact an aajaat, raaaivíng a aignai inciaaing a ratiaataa wavaat' tha tranantiittaa wava, ana ganarating a raaaivaa aighai;axtraating rnaaha (S119) tar axtracting a raaaivaaaaiaa-wavatarm trarn tha raaaivaa aignai;aitawnaaa aaicaiating rnaana (ââaü, S350) tar caicaiatihgla a aitawnaaa af tha raaaivaa aalaawavafarnw;aatarrrtinihg maana (ššaü, S350) far aatarrnihingwhathar ar nat tha aicawnaaa calauiataa hy tha aitawnaaa caiaaiatingrnaaha ia srhaiiar than ar aaaai a araaatarnriihaa aatarraining thraahaia;anaaa firat racaanizing maans (3256, Siâïfa) tar racagnizing thattha raaaivaa aaiaa-wavafarm is ratiactaa hy tha aajiaat whan thaaatarhtinina maans aatarrhinaa that tha aitawnaaa ia amaiiar than araaaai ta tha araaatarrninaa aatarniining thraahaia. aa ä. Tha in-vahiala radar aaaarataa acaaraihg ta aiaim i, aaihariaing:........................................................................................... ..samaa...tataaaiaiaa..haatiaaníåíâšfifnâš-ë-ai.Hša-:ffntaaaaiaiaiiatg----------------~~---------~------~~~~~~------~~----- that tha racaivaa aaiaa-wavatarm ia rafiactaa hy tha raaa whan thaaatarrnining rnaana aatarrninaa that tha aitawnaaa is iargar than tha aa araaatarniinaa aatarniinihg thraahaia.
    [3] 3. Tha in-vahiaia raaar aaaarataa aacaraing ta ciaírn i, ar 2 wharain:i tha racaivaa signai ahangaa aaaahaina an tirna,aa tha rnaans tar aitaafnaaa aaiaaiating (Sšaa) aataata a aaait vaiua, a aaahtiana instant, a riaa tiaia instant, ana a taiiina tïrna instant: tha raaaívaa aignai af tha aaiaawiravafarna aarnariaina tha aaah vaiaa, _ta tha aaai: tinria instant ia a tirna instant whara tha racaivaa 13 *Kil li) NCi: 4G signai reaches the deait vaide,the rise time instant at nfhich the received signai esdeeds a euise detecting threshdid that is set hased en the peak: vaiue, and the taiiing time instant at which the received signai eneseeiew the ddise detecting thresheid; and dhtains as the skewness, a ratie dt a time fram the desk timeinstant td the taiiing time instant te a time frem the rise time instant tdthe peak time instant. e. The in-vehicie radar aenaratds aeddrdine teeiaini Ii. nr 2, wherein: the sitewness caicaiating means (âššd) is ednfigdred teset a delse deteeting threshaid based dn a eeait vaide et the receivedsignai dt the duise-wavefdrm and ehteins a euise width that is a eeridddt time ter which the received signai esceeds the edise deteetingthreshdid; and the first determining means (SBEQ) sets an under limitvaiue ef the euise width that is set based en the aaah vaide td thedeterminihg threshdid. S. The in-vehicie radar apearatus acsdrding td any dne dt ciaims i te 4, iNhereih:the transmittingfreeeiving (13) means is instaiied dn a ....h_titnidet..a. Lt i..e.seehisziei.en.in_a..ieiaie-tçfleizisi'tiein._there.ithe..tidtnaat_...______._______.______.______________________.._....____.._................ 19
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP2014166666A|JP6413470B2|2014-08-19|2014-08-19|In-vehicle radar system|
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