Radar device and angular deviation detection method

Abstract

To provide a radar device capable of maintaining detection performance of an object even when angle deviation occurs.SOLUTION: A portable radar device 10 includes a radar 11, a deviation detection unit 12 for detecting an angle deviation which is at least one of an elevation angle deviation, an azimuth angle deviation, and a roll angle deviation of the radar 11, and an output unit 13 for outputting predetermined information on the angle deviation when the angle deviation is detected.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a radar device or the like for detecting an object. [Background technology]

[0002] Patent Document 1 discloses a technology for detecting objects at long distances by imparting directionality to a radar. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-158778 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, there are cases where a radar device is attached to a person or the like for use. In such a detachable radar device, angular deviations such as deviations in the elevation angle, azimuth angle, or roll angle of the radar are likely to occur. As shown in the technology disclosed in Patent Document 1, when a radar is made directional, the object detection range becomes narrow, and if an angular deviation occurs in a radar with a narrow object detection range, the object may not be detected.

[0005] Therefore, the present disclosure provides a radar device or the like that can maintain object detection performance even when an angle misalignment occurs. [Means for solving the problem]

[0006] The radar device according to the present disclosure is a portable radar device that includes a radar, a deviation detection unit that detects an angle deviation, which is at least one deviation from the elevation angle, azimuth angle, and roll angle of the radar, and an output unit that outputs predetermined information regarding the angle deviation when the angle deviation is detected.

[0007] The angular deviation detection method according to the present disclosure is an angular deviation detection method executed by a portable radar device, and includes the steps of detecting an angular deviation, which is at least one deviation from an elevation angle, an azimuth angle, and a roll angle of a radar included in the radar device, and outputting predetermined information regarding the angular deviation when the angular deviation is detected.

[0008] These comprehensive or specific aspects may be realized as a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, or may be realized as any combination of a system, a method, an integrated circuit, a computer program, and a recording medium. [Effects of the Invention]

[0009] According to the radar device and the like of the present disclosure, even if an angle deviation occurs, the object detection performance can be maintained. [Brief explanation of the drawings]

[0010] [Figure 1] 1A and 1B are diagrams illustrating an application example of a radar device according to an embodiment. [Figure 2] 1 is a block diagram showing an example of a configuration of a radar device according to an embodiment; [Figure 3] FIG. 10 is a diagram for explaining deviation in elevation angle of a radar. [Figure 4] FIG. 10 is a diagram for explaining deviation in radar azimuth angle. [Figure 5A] FIG. 10 is a diagram for explaining an example of a method for calculating an azimuth angle deviation. [Figure 5B] FIG. 10 is a diagram for explaining an example of a method for calculating an azimuth angle deviation. [Figure 6] 10 is a flowchart illustrating an example of a method for calculating a deviation in a roll angle. [Figure 7] FIG. 10 is a diagram illustrating an example of data from an acceleration sensor. [Figure 8]10 is a graph showing the relationship between the rotation angle and the evaluation value. [Figure 9] 10 is a flowchart illustrating an example of an angle misalignment detection method according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, more detailed description than necessary may be omitted. For example, detailed description of well-known matters or redundant description of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art.

[0012] The inventors have provided the accompanying drawings and the following description to enable those skilled in the art to fully understand the present disclosure, and do not intend for them to limit the subject matter described in the claims.

[0013] (Embodiment) Hereinafter, a radar device according to an embodiment will be described with reference to FIGS.

[0014] FIG. 1 is a diagram showing an application example of a radar device 10 according to an embodiment.

[0015] The radar device 10 is a portable device that is attached to a person or the like and carried by the person when the person moves. Note that, hereinafter, a person carrying the radar device 10 will also be referred to as a user. The radar device 10 is a device that detects objects, such as a car, bicycle, or other person, approaching the user. As shown in FIG. 1 , the radar device 10 is, for example, a device (neck device) that is attached to the user's neck. For example, the radar device 10 detects objects approaching the user from behind. Note that the radar device 10 is not limited to a neck device, but may also be a device mounted on a backpack, shoulder bag, or the like. Furthermore, the radar device 10 does not necessarily have to be attached to the user; it may be attached to a bicycle or electric kick scooter that the user rides to detect objects approaching the user. Note that the radar device 10 is not a device that is mounted on a vehicle.

[0016] FIG. 2 is a block diagram showing an example of the configuration of the radar device 10 according to the embodiment.

[0017] The radar device 10 includes a radar 11, a deviation detection unit 12, an output unit 13, and an angle adjustment mechanism 14. The radar device 10 is a computer including a processor (microprocessor), a memory, a communication interface, etc. The memory is a read-only memory (ROM) and a random access memory (RAM), etc., and can store programs executed by the processor. The deviation detection unit 12 and the output unit 13 are realized by a processor that executes programs stored in the memory, etc. The deviation detection unit 12 may include an acceleration sensor, a gyro sensor, a direction sensor, or a global positioning system (GPS). The output unit 13 includes a communication interface such as a communication circuit and an antenna.

[0018] The radar 11 is a device that measures the presence, distance, or direction of an object by emitting radio waves and measuring the reflected waves. For example, the radar 11 is a millimeter-wave radar. Millimeter-wave radar is widely used to detect distant objects. In order to detect distant objects, the radio waves emitted from the radar 11 have directionality. However, the directionality of the radio waves emitted from the radar 11 narrows the detection range of the elevation angle (pitch angle) and azimuth angle (yaw angle). If an angular deviation occurs in the radar 11, such as a deviation in the elevation angle, azimuth angle, or roll angle, the object may not be detected. Here, deviations in the elevation angle and azimuth angle of the radar 11 will be described using FIGS. 3 and 4.

[0019] Fig. 3 is a diagram for explaining deviations in the elevation angle of the radar 11. Fig. 3 shows a side (horizontal) view of a user to whom a radar device 10 is attached, as well as a bicycle and a car approaching the user.

[0020] Fig. 4 is a diagram for explaining deviations in the azimuth angle of the radar 11. Fig. 4 shows a view from above (vertically above) of a user to whom a radar device 10 is attached, as well as a bicycle and a car approaching the user.

[0021] As shown in the upper part of Figure 3, it can be seen that the elevation angle detection range is narrowed due to the directionality of the radio waves emitted from the radar 11. As shown in the lower part of Figure 3, if a deviation in the elevation angle of the radar 11 occurs, the detection range of the radar device 10 shifts upward from near the ground, and objects such as bicycles and automobiles that are near the ground are no longer included in the detection range. For this reason, if a deviation in the elevation angle of the radar 11 occurs, there is a risk that it will not be possible to detect objects.

[0022] As shown in the upper part of Figure 4, it can be seen that the azimuth angle detection range is narrowed due to the directionality of the radio waves emitted from the radar 11. As shown in the lower part of Figure 4, if the azimuth angle of the radar 11 is shifted, the detection range of the radar device 10 will shift and objects such as bicycles and automobiles behind the user will no longer be included in the detection range. For this reason, if the azimuth angle of the radar 11 is shifted, there is a risk that it will not be possible to detect objects.

[0023] Also, although not shown, if the detection range of the radar device 10 has a planar extent, when a deviation in the roll angle of the radar 11 occurs, the planar extent of the detection range may tilt, making it impossible to detect objects.

[0024] Therefore, the radar device 10 is provided with a deviation detection unit 12.

[0025] The deviation detection unit 12 detects an angle deviation, which is at least one deviation of the elevation angle, azimuth angle, and roll angle of the radar 11.

[0026] For example, the deviation detection unit 12 may have an acceleration sensor, a direction sensor, or a GPS, and detect the angular deviation based on the detection results of the acceleration sensor, the direction sensor, or the GPS.

[0027] For example, the deviation detection unit 12 can detect the angle deviation by using an acceleration sensor to detect the acceleration occurring in the radar device 10. Specifically, the deviation detection unit 12 detects the deviation in the elevation angle and the deviation in the roll angle using the acceleration sensor.

[0028] For example, the deviation detection unit 12 can detect the angular deviation by using a direction sensor to detect the direction in which the radar device 10 is facing. Specifically, the deviation detection unit 12 detects the deviation in the azimuth angle using the direction sensor.

[0029] Note that acceleration sensors are susceptible to disturbances such as accelerations other than gravitational acceleration. Furthermore, orientation sensors are susceptible to disturbances such as magnetic field disturbances, the approach of a magnetized object, or direct current from a train or the like. Therefore, the deviation detection unit 12 may include a gyro sensor and may correct (i.e., improve the accuracy of) the acceleration sensor or orientation sensor based on the detection results of the gyro sensor. Specifically, the deviation detection unit 12 compares the amount of change in angle (i.e., angular velocity) detected by the acceleration sensor or orientation sensor with the angular velocity detected by the gyro sensor, and determines that a disturbance has occurred if there is a difference. Then, while a disturbance is occurring, the deviation detection unit 12 calculates the angle by integrating the angular velocity detected by the gyro sensor.

[0030] For example, the deviation detection unit 12 may detect the angle deviation based on the optical axis direction of the radar 11 and the traveling direction of the radar device 10 (for example, the traveling direction of the user to whom the radar device 10 is attached). For example, a direction sensor is attached to the radar 11 so that the azimuth angle axis of the direction sensor coincides with the optical axis direction of the radar 11, and the deviation of the azimuth angle is detected based on the azimuth angle axis of the direction sensor and the traveling direction of the user to whom the radar device 10 is attached. This will be described using Figures 5A and 5B.

[0031] 5A and 5B are diagrams illustrating an example of a method for calculating the deviation of the azimuth angle. Each of the diagrams shows a user equipped with the radar device 10, and a bicycle and a car approaching the user, viewed from above (vertically above).

[0032] For example, the user's traveling direction can be calculated from the GPS detection results (i.e., changes in the position of the radar device 10) over a certain period of time. As shown in FIG. 5A, when the user's traveling direction indicated by a and the azimuth axis of the azimuth sensor indicated by b coincide, it can be detected that there is no azimuth angle misalignment. On the other hand, as shown in FIG. 5B, when the user's traveling direction indicated by a and the azimuth axis of the azimuth sensor indicated by b do not coincide, it can be detected that there is an azimuth angle misalignment. In addition, the acute angle formed between the user's traveling direction and the azimuth axis of the azimuth sensor can be calculated as the amount of azimuth angle misalignment.

[0033] In this way, when an angle deviation (for example, an azimuth angle deviation) occurs, the optical axis direction of the radar 11 and the traveling direction of the radar device 10 are not parallel, so by determining whether they are parallel or not, the angle deviation (for example, an azimuth angle deviation) can be detected.

[0034] Further, the deviation of the roll angle may be detected by the method described with reference to FIGS.

[0035] FIG. 6 is a flowchart showing an example of a method for calculating the deviation of the roll angle.

[0036] First, the deviation detection unit 12 sets the rotation angle R to −90° (step S11).

[0037] Next, the deviation detection unit 12 rotates the data set of accelerations X and Y from the acceleration sensor by R degrees (step S12). Fig. 7 is a diagram showing an example of the data set of accelerations X and Y from the acceleration sensor.

[0038] Next, the deviation detection unit 12 calculates an evaluation value (SCORE) from the group of acceleration data after rotation (step S13). An example of a method for calculating the SCORE will be shown below. (σ of Y) / (σ of X) {(Maximum Y value) - (Minimum Y value)} / {(Maximum X value) - (Minimum X value)} {(75th percentile of Y) - (25th percentile of Y)} / {(75th percentile of X) - (25th percentile of X)} σ of Y σ of X (Maximum Y value) - (Minimum Y value) (Maximum X value) - (Minimum X value) (75th percentile of Y) - (25th percentile of Y) (75th percentile of X) - (25th percentile of X)

[0039] Next, the misalignment detection unit 12 adds N° to the rotation angle R (step S14), and determines whether the rotation angle R is equal to or less than +90° (step S15). N is not particularly limited. If the misalignment detection unit 12 determines that the rotation angle R is equal to or less than +90° (Yes in step S15), it performs the process from step S12 again. That is, the misalignment detection unit 12 repeats the process from step S12 to step S15 until the rotation angle R becomes greater than +90°, and calculates the SCORE while increasing the rotation angle R in increments of N°.

[0040] If the deviation detection unit 12 determines that the rotation angle R is greater than +90° (No in step S15), it calculates the rotation angle R at which the SCORE is maximum (or minimum) as the deviation amount of the roll angle (step S16). For example, whether the rotation angle R at which the SCORE is maximum or the rotation angle R at which the SCORE is minimum is calculated as the deviation amount of the roll angle depends on the type of SCORE. For example, if the SCORE is calculated by (σ of Y) / (σ of X), the rotation angle R at which the SCORE is maximum is calculated as the deviation amount of the roll angle. For example, if the SCORE is calculated by σ of X, the rotation angle R at which the SCORE is minimum is calculated as the deviation amount of the roll angle.

[0041] FIG. 8 is a graph showing the relationship between the rotation angle and the evaluation value (SCORE).

[0042] As shown in FIG. 8, when the rotation angle R at which the SCORE is maximized is approximately −16°, the amount of deviation in the roll angle can be calculated as −16°.

[0043] The methods for detecting deviations in elevation angle, azimuth angle, and roll angle are not limited to the above. For example, deviations in elevation angle or azimuth angle may be detected from the user's traveling direction and the traveling direction of an approaching object detected by the radar 11. Furthermore, by using the GPS detection results and map information, the road on which the radar device 10 is currently located as detected by the GPS can be determined, and deviations in azimuth angle may be detected from the deviation between the direction of the road and the azimuth axis of the azimuth sensor. For example, if the direction of the road and the azimuth axis of the azimuth sensor coincide, it can be detected that there is no deviation in azimuth angle. On the other hand, if the direction of the road and the azimuth axis of the azimuth sensor do not coincide, it can be detected that there is a deviation in azimuth angle. Furthermore, the acute angle formed by the direction of the road and the azimuth axis of the azimuth sensor can be calculated as the deviation in azimuth angle.

[0044] When the radar device 10 is attached to the user, the deviation detection unit 12 may perform the following process.

[0045] For example, the deviation detection unit 12 may have an acceleration sensor, extract the forward / backward and lateral sway of the user based on the detection results of the acceleration sensor, and detect the angular deviation based on the forward / backward and lateral sway of the user. The sway of a pedestrian can be decomposed into forward / backward (the direction of travel) and lateral (the horizontal direction perpendicular to the direction of travel), and the deviation in the azimuth angle can be calculated by utilizing the fact that the forward / backward sway is larger than the lateral sway. Specifically, as described in FIG. 6 , the acceleration vector is rotated within a horizontal plane, and the rotation angle at which the ratio (change in forward / backward acceleration) / (change in lateral acceleration) is maximized can be calculated as the deviation in the azimuth angle. When a deviation in the azimuth angle occurs, the forward / backward and lateral sway of the user extracted based on the detection results of the acceleration sensor will show a trend corresponding to the deviation in the azimuth angle, and the deviation in the azimuth angle can be detected from these trends.

[0046] Furthermore, the misalignment detection unit 12 may have an acceleration sensor, and may determine whether the user is walking based on the detection result of the acceleration sensor, and may detect angle misalignment if it is determined that the user is walking. This allows angle misalignment to be detected only when the user is walking. Therefore, since angle misalignment is not detected when the user is bent over and out of position, it is possible to prevent erroneous detection of angle misalignment when the user is out of position.

[0047] The radar device 10 includes an output unit 13 and an angle adjustment mechanism 14 to correct or eliminate the detected angle deviation.

[0048] When an angular misalignment is detected, the output unit 13 outputs predetermined information relating to the angular misalignment.

[0049] The angle adjustment mechanism 14 is a mechanism for adjusting at least one of the elevation angle, azimuth angle, and roll angle of the radar, and is, for example, a motor and an encoder.

[0050] For example, the predetermined information output from output unit 13 may include information indicating the amount of angular misalignment, and output unit 13 may output the predetermined information including the information indicating the amount of angular misalignment to angle adjustment mechanism 14. Because the amount of angular misalignment is output to angle adjustment mechanism 14, angle adjustment mechanism 14 can automatically correct the angular misalignment.

[0051] The radar device 10 does not necessarily have to include the angle adjustment mechanism 14.

[0052] For example, the output unit 13 may output predetermined information to a user (for example, a user to whom the radar device 10 is attached, or a user riding a bicycle or an electric kick scooter to which the radar device 10 is attached). Specifically, the output unit 13 may output the predetermined information to a mobile terminal such as a smartphone carried by the user, or a wearable device such as a smartwatch attached to the user. Since the predetermined information regarding the angle misalignment is output to the user, the user can understand the installation status of the radar device 10.

[0053] For example, the predetermined information may include information regarding the amount of angular misalignment, and a scale for correcting the angular misalignment may be provided on the radar 11. Since the information regarding the amount of angular misalignment is output to the user, the user can correct the angular misalignment while looking at the scale.

[0054] For example, the predetermined information may include information instructing the user to reattach the radar device 10. Since the user is instructed to reattach the radar device 10, the user can correct the angle misalignment by reattaching the radar device 10.

[0055] As described above, in the case of a portable radar device 10, the radar device 10 is often attached manually by the user, which makes it easy for the angle of the radar 11 to become misaligned. In the present disclosure, such angle misalignment is detected and predetermined information related to the angle misalignment is output, so that the angle misalignment can be corrected or eliminated. Therefore, even if angle misalignment occurs, the object detection performance can be maintained.

[0056] (Other embodiments) As described above, the embodiments have been described as examples of the technology disclosed in this application. However, the technology in this disclosure is not limited to these, and can be applied to embodiments in which appropriate modifications, substitutions, additions, omissions, etc. are made. Furthermore, it is also possible to combine the components described in the above embodiments to create new embodiments.

[0057] For example, the present disclosure can be realized not only as the radar device 10 but also as an angle deviation detection method including steps (processing) performed by the components that make up the radar device 10.

[0058] FIG. 9 is a flowchart showing an example of an angle misalignment detection method according to another embodiment.

[0059] The angle deviation detection method is an angle deviation detection method executed by a portable radar device 10, and as shown in FIG. 9, includes a step (step S101) of detecting an angle deviation, which is at least one deviation from the elevation angle, azimuth angle, and roll angle of the radar 11 provided in the radar device 10, and a step (step S102) of outputting predetermined information regarding the angle deviation when the angle deviation is detected.

[0060] For example, the present disclosure can be realized as a program for causing a computer (processor) to execute steps included in the angle misalignment detection method. Furthermore, the present disclosure can be realized as a non-transitory computer-readable recording medium, such as a CD-ROM, on which the program is recorded.

[0061] For example, when the present disclosure is realized as a program (software), each step is performed by running the program using hardware resources such as a computer's CPU, memory, input / output circuits, etc. In other words, each step is performed by the CPU acquiring data from memory or input / output circuits, etc., performing calculations, and outputting the calculation results to memory or input / output circuits, etc.

[0062] In the above embodiment, each component included in the radar device 10 may be configured with dedicated hardware or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0063] Some or all of the functions of the radar device 10 according to the above-described embodiment are typically realized as an LSI, which is an integrated circuit. These may be individually integrated into single chips, or some or all of them may be integrated into a single chip. Furthermore, the integrated circuit is not limited to an LSI, and may be realized using a dedicated circuit or a general-purpose processor. It is also possible to use an FPGA (Field Programmable Gate Array), which can be programmed after LSI manufacturing, or a reconfigurable processor, which can reconfigure the connections and settings of circuit cells within the LSI.

[0064] Furthermore, if an integrated circuit technology that can replace LSI emerges due to advances in semiconductor technology or other derivative technologies, it is natural that each component included in the radar device 10 may be integrated using that technology.

[0065] In addition, this disclosure also includes forms obtained by making various modifications to the embodiments that a person skilled in the art would think of, and forms realized by arbitrarily combining the components and functions in each embodiment within the scope of the present disclosure.

[0066] (Addendum) The above description of the embodiments discloses the following techniques.

[0067] (Technology 1) A portable radar device comprising: a radar; a deviation detection unit that detects an angle deviation, which is at least one deviation from the elevation angle, azimuth angle, and roll angle of the radar; and an output unit that outputs predetermined information regarding the angle deviation when the angle deviation is detected.

[0068] In portable radar devices, the radar device is often manually attached by the user, making it easy for the radar to become misaligned. In the present disclosure, such misalignment is detected and specific information regarding the misalignment is output, allowing the misalignment to be corrected or eliminated. Therefore, even if misalignment occurs, the object detection performance can be maintained.

[0069] (Technology 2) The radar device according to Technology 1, wherein the output unit outputs the predetermined information to a user.

[0070] According to this, predetermined information regarding the angle deviation is output to the user, so that the user can understand the installation status of the radar device.

[0071] (Technology 3) The radar device according to Technology 2, wherein the predetermined information includes information relating to the amount of deviation of the angle deviation, and the radar is provided with a scale for correcting the angle deviation.

[0072] According to this, information regarding the amount of angular misalignment is output to the user, so that the user can correct the angular misalignment while looking at the scale.

[0073] (Technology 4) The radar device according to Technology 2, wherein the predetermined information includes information indicating an instruction to reattach the radar device.

[0074] According to this, the user is instructed to reattach the radar device, and the user can correct the angle misalignment by reattaching the radar device.

[0075] (Technology 5) The radar device according to Technology 1 further includes an angle adjustment mechanism that adjusts at least one of an elevation angle, an azimuth angle, and a roll angle of the radar, wherein the predetermined information includes information indicating an amount of deviation of the angle deviation, and the output unit outputs the predetermined information to the angle adjustment mechanism.

[0076] According to this, the amount of angular misalignment is output to the angle adjustment mechanism, so that the angle misalignment can be automatically corrected by the angle adjustment mechanism.

[0077] (Technology 6) The radar device according to any one of Technologies 1 to 5, wherein the deviation detection unit has an acceleration sensor, a direction sensor, or a GPS, and detects the angular deviation based on the detection results of the acceleration sensor, the direction sensor, or the GPS.

[0078] In this way, by using an acceleration sensor, a direction sensor, or a GPS, angular deviation can be easily detected.

[0079] (Technology 7) The radar device according to Technology 6, wherein the deviation detection unit further has a gyro sensor and corrects the acceleration sensor or the direction sensor based on the detection result of the gyro sensor.

[0080] This allows for high accuracy of the acceleration sensor or the direction sensor.

[0081] (Technology 8) The radar device according to any one of Technologies 1 to 7, wherein the deviation detection unit detects the angular deviation based on the optical axis direction of the radar and the traveling direction of the radar device.

[0082] According to this, when an angular misalignment occurs, the optical axis direction of the radar and the direction of travel of the radar device will not be parallel, so by determining whether they are parallel or not, the angular misalignment can be detected.

[0083] (Technology 9) The radar device according to any one of Technologies 1 to 8, wherein the radar device is attached to a user.

[0084] In this way, the radar device may be attached to the user.

[0085] (Technology 10) The radar device described in Technology 9, wherein the deviation detection unit has an acceleration sensor, extracts the forward / backward and lateral shaking of the user based on the detection results of the acceleration sensor, and detects a deviation in the azimuth angle based on the forward / backward and lateral shaking of the user.

[0086] According to this, when an azimuth angle deviation occurs, the user's forward / backward and lateral shaking extracted based on the detection results of the acceleration sensor will show trends corresponding to the azimuth angle deviation, and the azimuth angle deviation can be detected from these trends.

[0087] (Technology 11) The radar device described in Technology 9 or 10, wherein the deviation detection unit has an acceleration sensor, and determines whether the user is walking or not based on the detection result of the acceleration sensor, and detects the angle deviation if it determines that the user is walking.

[0088] This allows angle misalignment to be detected only when the user is walking, and therefore prevents angle misalignment from being detected when the user is bent over and out of position.

[0089] (Technology 12) An angle deviation detection method executed by a portable radar device, comprising: a step of detecting an angle deviation, which is at least one deviation from an elevation angle, an azimuth angle, and a roll angle of a radar provided in the radar device; and a step of outputting predetermined information regarding the angle deviation when the angle deviation is detected.

[0090] This makes it possible to provide an angle misalignment detection method that can maintain object detection performance even when angle misalignment occurs. [Industrial Applicability]

[0091] The present disclosure can be applied to a radar device that is attached to a person or the like and detects an object approaching the person. [Explanation of symbols]

[0092] 10 Radar equipment 11. Radar 12 Misalignment detection unit 13 Output section 14 Angle adjustment mechanism

Claims

1. A portable radar device, Radar and a deviation detection unit that detects an angle deviation, which is at least one of an elevation angle deviation, an azimuth angle deviation, and a roll angle deviation of the radar; an output unit that outputs predetermined information regarding the angular misalignment when the angular misalignment is detected, Radar equipment.

2. The output unit outputs the predetermined information to a user. The radar device according to claim 1 .

3. the predetermined information includes information regarding the amount of angular misalignment, The radar is provided with a scale for correcting the angular deviation. The radar device according to claim 2.

4. the predetermined information includes information indicating an instruction to reattach the radar device, The radar device according to claim 2.

5. further comprising an angle adjustment mechanism for adjusting at least one of an elevation angle, an azimuth angle, and a roll angle of the radar; the predetermined information includes information indicating the amount of angular misalignment, The output unit outputs the predetermined information to the angle adjustment mechanism. The radar device according to claim 1 .

6. the deviation detection unit has an acceleration sensor, a direction sensor, or a GPS, and detects the angular deviation based on a detection result of the acceleration sensor, the direction sensor, or the GPS. The radar device according to any one of claims 1 to 5.

7. The deviation detection unit further includes a gyro sensor, and corrects the acceleration sensor or the orientation sensor based on a detection result of the gyro sensor. The radar device according to claim 6.

8. the deviation detection unit detects the angular deviation based on the optical axis direction of the radar and the traveling direction of the radar device. The radar device according to any one of claims 1 to 5.

9. The radar device is attached to a user. The radar device according to any one of claims 1 to 5.

10. the deviation detection unit has an acceleration sensor, extracts forward / backward and lateral shaking of the user based on a detection result of the acceleration sensor, and detects a deviation in the azimuth angle based on the forward / backward and lateral shaking of the user; The radar device according to claim 9.

11. the deviation detection unit has an acceleration sensor, and determines whether the user is walking based on a detection result of the acceleration sensor, and detects the angle deviation when it is determined that the user is walking. The radar device according to claim 9.

12. An angle deviation detection method performed by a portable radar device, comprising: detecting an angle deviation, which is at least one of an elevation angle deviation, an azimuth angle deviation, and a roll angle deviation, of a radar included in the radar device; and when the angular misalignment is detected, outputting predetermined information regarding the angular misalignment. Angle deviation detection method.

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