Turning angle detection device and detection method

Abstract

A turning angle detection device is provided that can estimate the turning speed of a radar device itself based on radar data. [Solution] The turning angle detection device 1 has a radar unit 3 that outputs radar data, a signal processing unit 4 that performs frequency analysis of the radar data to generate a frequency spectrum and generates combined data of the receiving intensity I of the frequency spectrum by analyzing the distance R, azimuth angle φ, and relative velocity V, a receiving intensity integration unit 5 that integrates the receiving intensity I for each value of the relative velocity V, a moving speed estimation unit 6 that identifies the value Vm of the relative velocity V corresponding to the maximum value of the receiving intensity integrated value Is for each divided area, and a turning angle output unit 7 that calculates and outputs the turning angle θ of the device itself based on the moving speed value Vc of the device itself, the value V1 of the relative velocity V of the device itself with respect to the object, and the azimuth angle φ of the object with respect to the direction of travel of the device itself.

Description

[Technical Field]

[0001] The present invention relates to a device and method for detecting a turning angle, and more particularly to a technology for estimating the turning angle of a radar device itself based on radar data obtained by processing reflected waves that are returned after radio waves transmitted from a radar are reflected off the surface of an object. [Background technology]

[0002] A known moving speed detection device has a mechanism for detecting a target and estimating the relative speed of the target. The moving speed detection device performs frequency analysis of radar data that emits a transmitted wave and receives a reflected wave that is reflected by an object and returns. Using the generated frequency spectrum, the received strength is integrated for each value of relative speed to calculate an integrated value of received strength for each value of relative speed. The relative speed value corresponding to the maximum value of the integrated value of received strength is identified, and the value is corrected using the installation height of the radar and the propagation distance from the radar to surrounding stationary objects before outputting the moving speed of the device itself (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-023615 Summary of the Invention [Problem to be solved by the invention]

[0004] Meanwhile, in a monitoring device that uses a radar device to monitor the traveling direction of a moving body and detect whether there is an abnormal object or the like in the traveling direction of the moving body, there is a demand for a technology that limits the range of monitoring by the radar device by estimating the turning angle of the moving body. The reason for this is that if the monitoring range is wide, the amount of data processing by the device increases, which increases costs and there is a risk of an increase in false detections. Therefore, if the turning angle of the moving body can be determined, it will be possible to limit the monitoring range.

[0005] The inventors have also found that it is possible to estimate the turning angle of the moving body (radar device) by using the value of the moving speed of the radar device output by the moving speed detection device described in Patent Document 1.

[0006] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a turning angle detection device and method that are capable of estimating the turning angle of a radar device itself based on radar data. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems, the turning angle detection device of the present invention is characterized by having: a radar unit that emits a transmission wave, receives a reflected wave that is the transmission wave reflected by an object and returns, and outputs radar data; a signal processing unit that performs frequency analysis of the radar data to generate a frequency spectrum, and calculates the distance to the object, the azimuth angle of the object with respect to the traveling direction of the device, and the relative speed of the device with respect to the object, to generate combined data of the distance, the azimuth angle, the relative speed, and the reception strength in the frequency spectrum; a reception strength integration unit that integrates the reception strength for each value of the relative speed to calculate an integrated reception strength value for each value of the relative speed; a movement speed acquisition unit that identifies the value of the relative speed that corresponds to the maximum value of the integrated reception strength value and acquires it as the movement speed of the device; and a turning angle output unit that calculates and outputs the turning angle of the device based on the value of the traveling speed of the device, the relative speed of the device with respect to the object, and the azimuth angle of the object with respect to the traveling direction of the device.

[0008] The turning angle detection device of the present invention may calculate the relative angle of the device's direction of travel with respect to the object based on the value of the device's movement speed and the device's relative speed with respect to the object, calculate the difference between the object's azimuth angle and the calculated relative angle, and output the value as the device's turning angle.

[0009] The turning angle detection device of the present invention may be configured to output a statistical value of each calculated value based on the value of the movement speed of the device, the relative speed of the device with respect to the multiple objects, and the azimuth angles of the multiple objects with respect to the direction of travel of the device as the turning angle of the device.

[0010] The turning angle detection device of the present invention may be configured to output a statistical value of each calculated value based on the value of the movement speed of the device, the relative speed of the device with respect to the object, and the azimuth angle of the object with respect to the direction of travel of the device at multiple times as the turning angle of the device.

[0011] In the turning angle detection device according to the present invention, the movement speed acquisition unit may acquire the value of the movement speed of the device itself from an external device.

[0012] In the turning angle detection device according to the present invention, the movement speed acquisition section may calculate and output a value of the movement speed of the device itself.

[0013] A method for detecting a turning angle according to the present invention is characterized by comprising the steps of: performing frequency analysis of radar data output from a radar device that emits a transmission wave and receives a reflected wave that is returned after the transmission wave is reflected by an object, generating a frequency spectrum; calculating the distance to the object, the azimuth angle of the object with respect to the traveling direction of the device, and the relative speed of the device with respect to the object, and generating combined data of the distance, the azimuth angle, the relative speed, and the reception strength in the frequency spectrum; integrating the reception strength for each value of the relative speed to calculate an integrated reception strength value for each value of the relative speed; identifying the value of the relative speed that corresponds to the maximum value of the integrated reception strength value and outputting it as the moving speed of the device; and calculating and outputting a turning angle of the device based on the value of the moving speed of the device, the relative speed of the device with respect to the object, and the azimuth angle of the object with respect to the traveling direction of the device. [Effects of the Invention]

[0014] According to the turning angle detection device and method of the present invention, the turning angle of the radar device itself can be estimated based on radar data, so by installing a radar device, it becomes possible to know the turning angle of various equipment, devices, mobile objects (vehicles), facilities, etc. from only the received data of one system of the receiving antenna. Therefore, it is possible to estimate the turning angle of a mobile object without using a device that detects inertial motion, such as an inertial measurement unit.

[0015] The turning angle detection device according to the present invention calculates the relative angle of the traveling direction of the device relative to the object, calculates the difference between the azimuth angle of the object and the calculated relative angle, and outputs this value as the turning angle of the device, thereby making it possible to accurately estimate the turning angle of the moving object.

[0016] The turning angle detection device according to the present invention outputs a turning angle based on the relative speed of the vehicle with respect to multiple objects and the azimuth angles of the multiple objects with respect to the direction of travel of the vehicle, thereby enabling more accurate estimation of the turning angle of the moving object.

[0017] The turning angle detection device according to the present invention outputs a turning angle based on the relative speed of the device with respect to an object and the azimuth angle of the object with respect to the direction of travel of the device at multiple times, thereby enabling more accurate estimation of the turning angle of a moving object.

[0018] The turning angle detection device according to the present invention may be configured to acquire the value of the moving speed of the device itself from an external device, or may be configured to calculate and output the value of the moving speed of the device itself. Therefore, the turning angle detection device according to the present invention can be realized in a variety of configurations. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a functional block diagram showing a schematic configuration of a turning angle detection device according to an embodiment of the present invention; [Figure 2]2 is a flowchart showing the processing procedure in the turning angle detection device of FIG. 1 and the processing procedure of the turning angle detection method according to the embodiment of the present invention. [Figure 3] 2 is a diagram showing an outline of a turning angle estimation performed by the turning angle detection device 1 of FIG. 1. FIG. [Figure 4] 2 is a diagram showing a monitoring range of the turning angle detection device 1 of FIG. DETAILED DESCRIPTION OF THE INVENTION

[0020] The present invention will be described below based on the illustrated embodiments. The following description and drawings are examples for explaining the present invention, and appropriate omissions and simplifications have been made for clarity of explanation. The present invention can be implemented in various other forms. Unless otherwise specified, each component may be singular or plural. In the following description, the same components are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed descriptions thereof will not be repeated.

[0021] (Embodiment) <1. Configuration and Operation of Turning Angle Detection Device 1> Fig. 1 is a functional block diagram showing a schematic configuration of a turning angle detection device according to an embodiment of the present invention. Fig. 2 is a flowchart showing the processing procedure in the turning angle detection device 1 and the processing procedure of the turning angle detection method according to the embodiment of the present invention.

[0022] 1, turning angle detection device 1 is a mechanism for estimating the moving speed of the device itself based on radar data acquired by radar, and mainly includes a control unit 2, a radar unit 3, a signal processing unit 4, a reception intensity integrating unit 5, a moving speed estimating unit (moving speed acquiring unit) 6, and a turning angle estimating unit (turning angle output unit) 7. Turning angle detection device 1 is mounted on a moving object such as a train or an automobile, for example, just as an example, and is used to estimate the turning angle of turning angle detection device 1 itself.

[0023] The control unit 2 is a mechanism for controlling each part of the turning angle detection device 1, and is configured as a mechanism including a central processing unit 21 (CPU: Central Processing Unit) that performs calculations related to the detection of moving speed, a ROM 22 (ROM: Read Only Memory) that is a readable storage device, and a RAM 23 (RAM: Random Access Memory) that is a readable / writable storage device.

[0024] The control unit 2 uses the RAM 23 as a working area as needed, by having the central processing unit 21 execute a program for controlling the operation of the turning angle detection device 1, which is stored in the ROM 22, and controls the start, content, and end of processing of each part of the turning angle detection device 1 in accordance with the program.

[0025] The turning angle detection device 1 according to this embodiment includes a radar unit 3 that emits a transmission wave, receives a reflected wave that is returned after the transmission wave is reflected by an object, and outputs radar data; a signal processing unit 4 that performs frequency analysis of the radar data to generate a frequency spectrum, and calculates the distance R to the object, the azimuth angle φ of the object with respect to the traveling direction of the device, and the relative speed V of the device with respect to the object to generate combined data of the distance R, the relative speed V, and the reception strength I in the frequency spectrum; a reception strength integration unit 5 that integrates the reception strength I for each value of the relative speed V to calculate an integrated reception strength value Is for each value of the relative speed V; a movement speed estimation unit 6 that identifies a value V1 of the relative speed V that corresponds to the maximum value Ismax of the reception strength integrated value Is and outputs this as the movement speed of the device; and a turning angle estimation unit 7 that calculates and outputs a turning angle θ of the device based on the moving speed value Vc of the device, the value V1 of the relative speed V of the device with respect to the object, and the azimuth angle φ of the object with respect to the traveling direction of the device (see FIG. 1 ).

[0026] Furthermore, the method for detecting the moving speed according to this embodiment includes the steps of: performing frequency analysis of radar data output from a radar unit 3 (radar device) that emits a transmission wave and receives a reflected wave that is returned after the transmission wave is reflected by an object; generating a frequency spectrum; calculating the distance R to the object, the azimuth angle φ of the object with respect to the traveling direction of the device; and the relative speed V of the device with respect to the object to generate combined data of the distance R, the relative speed V, and the reception strength I in the frequency spectrum (steps S1 to S4); integrating the reception strength I for each value of the relative speed V to calculate an integrated reception strength value Is for each value of the relative speed V (step S5); identifying the value V1 of the relative speed V corresponding to the maximum value Ismax of the integrated reception strength value Is and outputting it as the moving speed of the device (step S6); and calculating and outputting the turning angle θ of the device based on the value Vc of the moving speed of the device, the value V1 of the relative speed V of the device with respect to the object, and the azimuth angle φ of the object with respect to the traveling direction of the device (step S7) (see FIG. 2).

[0027] The radar unit 3 has a transmitter 31 and a receiver 32 and has the function of transmitting and receiving radio waves. For example, the radar unit 3 uses a millimeter wave radar of the MIMO (Multiple-Input and Multiple-Output) type as a radar method, performs a radar scan of the FMCW (Frequency Modulated-Continuous Wave) type, and outputs the acquired radar data.

[0028] In the FMCW method, a frequency-modulated continuous wave (specifically, radio waves; equivalent to a transmission signal) is transmitted as a transmission wave, and a reflected wave (specifically, radio waves; equivalent to a reception signal) that is reflected off the surface of the object is received. The distance between the radar unit 3 and the object is calculated by analyzing the difference between the transmitted wave and the received wave (i.e., the reflected wave) (in other words, the frequency difference between the transmitted wave and the received wave). The relative speed between the radar unit 3 and the object is also calculated by measuring and analyzing the phase of the frequency of the calculated distance for each continuous wave.

[0029] FMCW radar is a continuous wave radar that modulates frequency over time, generating and transmitting (in other words, emitting or radiating) a burst wave containing multiple chirps. Each chirp contained in the burst wave is generated by sweeping the frequency over time, so that the frequency changes linearly (specifically, increases / decreases) over time. The modulation width and modulation period of the chirp frequency (i.e., the chirp repetition period) may be adjusted as appropriate.

[0030] Here, multiple chirps are transmitted at a predetermined time interval, and a series of multiple chirps configured as a single unit is called a "chirp frame." One chirp frame corresponds to one radar scan, and each chirp frame is processed independently.

[0031] The transmitter 31 of the radar unit 3 is configured as a mechanism including, for example, a voltage generator, a voltage-controlled oscillator, and a transmitting antenna. The voltage generator generates and outputs a control voltage that changes in a triangular (or sawtooth) waveform, with successive alternating periods of gradually increasing level and gradually decreasing level on the time axis. The voltage-controlled oscillator generates and outputs a transmission signal that changes in a triangular (or sawtooth) waveform, with successive alternating periods of gradually increasing frequency and gradually decreasing frequency on the time axis, in response to the control voltage. The transmitting antenna generates a transmission wave based on the transmission signal and radiates it as a transmission wave into the space surrounding a mobile object, etc., on which the turning angle detection device 1 is mounted (referred to as the "surrounding space"; it is preferable that this space includes a space along the traveling direction of the mobile object, etc.). A portion of the transmission signal is also transmitted to the receiver 32 as a local signal at a predetermined distribution ratio.

[0032] The transmitter 31 generates radio waves (also called "millimeter waves") having a frequency of, for example, 79 GHz, 76 GHz, or 60 GHz, and radiates the radio waves into the surrounding space via a transmitting antenna. In the present invention, it is preferable to use radio waves in a high frequency band.

[0033] The receiver 32 of the radar unit 3 is configured as a mechanism including, for example, a receiving antenna, a mixer, and an A / D converter. The receiver antenna receives radio waves, including radio waves emitted from the transmitter antenna of the transmitter 31 (i.e., transmitted waves) that are reflected off the surfaces of objects in the surrounding space and return (i.e., reflected waves; also called "Doppler reflected waves"), as received waves, and converts the received received waves / reflected waves into received signals and outputs them. The mixer mixes the radio waves distributed and transmitted from the transmitter 31 (transmitted signals; i.e., local signals) with the radio waves output from the receiving antenna (received signals) to generate and output a differential signal (an analog signal). The A / D converter performs sampling processing (in other words, analog-to-digital conversion processing) on ​​the differential signal output from the mixer using a predetermined sampling frequency, converts the differential signal into digital data, and outputs the digitalized differential signal.

[0034] The differential signal as radar data output from the radar unit 3 after a radar scan is a signal having a frequency component that is the difference between the frequency component of the radio wave (transmission signal; i.e., local signal) distributed and transmitted from the transmission unit 31 and the frequency component of the radio wave (reception signal) output from the receiving antenna (i.e., a signal having a beat frequency, also called a "beat signal").

[0035] Every time a radar scan is performed, radar data is output from the radar unit 3 and input to the signal processing unit 4 (step S1).

[0036] The signal processing unit 4 performs frequency analysis of the radar data output from the radar unit 3, and calculates distance information, direction information, and movement information about the object that reflected the transmitted wave using the frequency analysis results. The signal processing unit 4 includes a frequency analysis unit 41, a distance calculation unit 42, and a speed calculation unit 43.

[0037] The frequency analysis unit 41 performs frequency analysis of the differential signal (beat signal) as radar data (in other words, beat waveform data) output from the radar unit 3 (specifically, the A / D converter of the receiving unit 32) (step S2).

[0038] Specifically, the frequency analysis unit 41 performs a fast Fourier transform (FFT) on beat waveform data for a sampling time width (e.g., 100 milliseconds) per radar scan, specifically the amplitude of the differential signal (beat signal), to generate and output a frequency spectrum (beat frequency spectrum) that indicates the frequency distribution of the amplitude of the differential signal. The frequency spectrum indicates the amplitude of each frequency component included in the differential signal.

[0039] The amplitude and frequency bins (or FFT bins) in the frequency spectrum correspond to the received intensity and beat frequency of the wave reflected from the object. From the received intensity and beat frequency in the frequency spectrum, the relative distance and relative velocity of the object that reflected the transmitted wave can be calculated as distance and motion information about the object.

[0040] The distance calculation unit 42 calculates and outputs the distance R and azimuth angle φ between the radar unit 3 and the object based on the frequency spectrum output from the frequency analysis unit 41 (step S3). The distance R and azimuth angle φ are obtained for each frequency bin in the frequency spectrum as a result of the frequency analysis in the processing of step S2.

[0041] There are known methods for calculating distance and azimuth angle based on frequency spectrum, and this invention is not limited to a specific method, so detailed description will be omitted here. For example, the distance between the radar unit 3 and an object that reflects the transmitted wave can be calculated by a known method such as a method that utilizes the fact that the difference between the frequency of the transmitted wave and the frequency of the received wave increases or decreases in proportion to the distance between the radar unit 3 and the object.

[0042] The velocity calculation unit 43 calculates and outputs the relative velocity V between the radar unit 3 and the object (specifically, the instantaneous relative velocity when the transmitted wave is reflected by the surface of the object) based on the frequency spectrum output from the frequency analysis unit 41 (step S4). The relative velocity V is calculated for each frequency bin in the frequency spectrum as a result of the frequency analysis in the processing of step S2.

[0043] There are known methods for calculating the relative velocity based on the frequency spectrum, and the present invention is not limited to a specific method, so a detailed description will be omitted here. For example, the relative velocity between the radar unit 3 and an object can be calculated by a known method, such as a method that utilizes the fact that when the radar unit 3 and an object that reflects the transmitted waves are moving relative to each other, the frequency of the radio waves reflected by the surface of the object and received by the receiving antenna (i.e., the received waves) is affected by the relative velocity of the radio waves from the transmitting antenna (i.e., the transmitted waves) when reflected by the surface of the object, and shifts due to the Doppler effect in accordance with the relative velocity between the radar unit 3 and the object.

[0044] The signal processing unit 4 performs the above processing and outputs data (V, R, I) consisting of a combination of the relative speed V (unit: km / h) between the radar unit 3 and an object, the distance R (unit: m) between the radar unit 3 and the object, and the reception intensity I, which is the absolute value of the amplitude for each frequency bin, calculated for each frequency bin in the frequency spectrum as a result of the frequency analysis based on the radar data output from the radar unit 3. The data (V, R, I) output from the signal processing unit 4 is called "VR data."

[0045] In addition, when the distance R and relative velocity V are calculated for each frequency bin in the frequency spectrum, if there are multiple combinations of the same distance R value and relative velocity V value, the sum of the values ​​of reception intensity I for each combination of the same distance R value and relative velocity V value is used as the value of reception intensity I for the combination of the distance R value and relative velocity V value.

[0046] The signal processing unit 4 performs processing for each radar scan of a predetermined time period (in other words, a sampling time width). That is, each time a radar scan is performed, a set of VR data (V, R, I) related to the radar scan is generated and output.

[0047] The reception intensity integrator 5 calculates the reception intensity integrated value for each value of the relative velocity for the set of VR data (V, R, I) output from the signal processor 4 (step S5).

[0048] The reception intensity integrating unit 5 uses a set of VR data (V, R, I) to integrate the value of reception intensity I for each value of relative velocity V to calculate an integrated reception intensity value Is for each value of relative velocity V. The integrated reception intensity value Is is an integrated value of reception intensity I in the direction of distance R for each value of relative velocity V on a VR plane formed by the set of VR data (V, R, I). Note that the reception intensity integrating unit 5 may divide the value of relative velocity V by a predetermined interval and integrate the value of reception intensity I for each speed rank (in other words, speed bin) as necessary.

[0049] The moving speed estimating unit 6 uses the set of reception intensity integrated value data (V, Is) output from the reception intensity integrating unit 5 to estimate the moving speed of the turning angle detection device 1 itself (step S6).

[0050] The moving speed estimation unit 6 identifies the maximum value Ismax of the integrated reception strength value Is from the set of integrated reception strength data (V, Is), and identifies and outputs the value Vm of the relative speed V combined with the identified maximum value Ismax of the integrated reception strength value Is.

[0051] The turning angle estimation unit 7 calculates and outputs the turning angle θ of the device based on the value Vc of the device's movement speed, the value V1 of the device's relative speed V with respect to the object, and the azimuth angle φ of the object with respect to the device's traveling direction (step S7).

[0052] Note that the turning angle detection device 1 according to this embodiment has been described as having a configuration in which one radar unit 3 is used and the signal processing unit 4, reception intensity integrating unit 5, moving speed estimating unit 6, and turning angle estimating unit 7 perform processing using radar data output from the radar unit 3, but is not limited to this configuration. For example, the turning angle detection device 1 may be configured to include multiple radar units 3, and the signal processing unit 4, reception intensity integrating unit 5, moving speed estimating unit 6, and turning angle estimating unit 7 may perform processing using radar data output from different radar units 3, or may be configured by multiple devices each including a radar unit 3. In this case, for example, the signal processing unit 4 may perform processing using radar data output from one radar unit 3, and simultaneously with this processing, the moving speed estimating unit 6 may perform processing using radar data output from another radar unit 3.

[0053] Furthermore, the turning angle detection device 1 according to this embodiment has been described as having a configuration in which the travel speed estimation unit 6 estimates and outputs the travel speed of the device itself through the above calculation, but is not limited to this configuration. For example, the travel speed estimation unit 6 may be configured to acquire the travel speed of the device itself from an external device (another device).

[0054] <2. Calculating the turning angle> Fig. 3 is a diagram showing an outline of the estimation of a turning angle by the turning angle detection device 1 of Fig. 1. The estimation of a turning angle by the turning angle estimator 7 will be described below with reference to Fig. 3.

[0055] 3, a moving body (e.g., a railcar) 10 is traveling in the direction of arrow X1 at a speed of, for example, 60 km / h, and then turns and travels to the right in the direction of arrow X2. As a result, the moving body 10 moves to positions 10a, 10b, and 10c in the front right direction. The orientation of the moving body 10 at each of positions 10a, 10b, and 10c is gradually tilting to the right, as indicated by arrows Y1, Y2, and Y3.

[0056] A turning angle detection device 1 according to an embodiment of the present invention is mounted on a moving body 10. The turning angle detection device 1 detects objects A1, A2, and A3 present around the moving body 10 using a radar unit 3, and calculates a value V1 of the relative speed V of the moving body 10 (the device itself) with respect to the objects A1, A2, and A3, an azimuth angle φ of the objects with respect to the traveling direction of the moving body 10, and a value Vc of the moving speed of the moving body 10 using a signal processing unit 4. Note that in this case, the objects A1, A2, and A3 are stationary objects, such as utility poles, various facilities, buildings, and other structures present around the moving body 10, which is a railroad vehicle.

[0057] Here, the relationship between the relative velocity V1 of the moving body 10, the azimuth angle φ of the objects A1, A2, and A3 (here, object A1 is used as a representative), the movement velocity Vc of the moving body 10, and the turning angle θ calculated by the turning angle estimation unit 7 is expressed by the following equation.

number

[0058] For example, if Vc=60km / h, V1=20.5km / h, and φ=60°, the result is as follows.

number

[0059] From this equation, the value of θ is calculated to be approximately 10.9. When the turning angle estimation unit 7 detects the object A1 in this way, it calculates the turning angle θ based on the calculation result of the signal processing unit 4.

[0060] In the above example, the turning angle θ is calculated from the detection result of only one object A1, but the turning angle estimation unit 7 may, for example, calculate the turning angle θ for each of a plurality of objects, for example, objects A1, A2, and A3, and output the statistical value obtained by statistically processing these values ​​as the turning angle θ. Examples of statistical processing include calculating the mean value, median value, etc., and excluding outliers from the data distribution estimation by calculating the variance and standard deviation.

[0061] Furthermore, in the above example, the turning angle θ is calculated only from the detection result of the object A1 at one timing, but the turning angle estimation unit 7 may, for example, calculate the turning angle θ at multiple timings, for example, at predetermined time intervals, and output the statistical value obtained by statistically processing these values ​​as the turning angle θ.

[0062] FIG. 4 is a diagram showing a monitoring range of the turning angle detection device 1 of FIG.

[0063] When detecting an object by radar, as in the turning angle detection device 1 according to this embodiment, the viewing angle (angular resolution) is generally about 60° to the left and right of the orientation of the radar unit 3 (usually facing the front of the mobile unit 10), that is, about 120°. However, if the radar unit 3 always detects objects at this viewing angle, the amount of data processing by the signal processing unit 4 increases, which increases the cost of the turning angle detection device 1.

[0064] Therefore, by calculating the turning angle θ of the moving body 10 as in the turning angle detection device 1 according to this embodiment, it is possible to grasp the arrow X2 which is the turning direction of the moving body 10, and therefore it is possible to limit the monitoring range by the turning angle detection device 1 in accordance with the arrow X2 which is the turning direction, such as area Z1 shown in Fig. 4. This makes it possible to prevent an increase in the amount of data processing by the signal processing unit 4 and an increase in the cost of the turning angle detection device 1.

[0065] <3. Effects> According to the turning angle detection device 1 and turning angle detection method of the embodiment, the signal processing unit 4 calculates the relative speed V1 of the moving body 10 (the device itself), the azimuth angle φ of the object relative to the moving direction of the moving body 10, and the moving speed Vc of the moving body 10 from the radar data resulting from the detection results of the radar unit 3, and the turning angle estimation unit 7 calculates and outputs the turning angle θ of the moving body 10 using these values. Therefore, it is possible to know the turning angles of various equipment, devices, moving bodies (vehicles), facilities, etc. from only the received data of one system of the receiving antenna. This makes it possible to estimate the turning angle of the moving body without using a device that detects inertial motion, such as an inertial measurement unit.

[0066] Furthermore, since it becomes possible to grasp the turning angle of the moving object, it becomes possible to limit the range of monitoring by the turning angle detection device 1 according to the turning angle θ. Therefore, it is possible to prevent an increase in the amount of data processed by the signal processing unit 4 and an increase in the cost of the turning angle detection device 1.

[0067] In addition, by calculating the turning angle θ for each of multiple objects or at multiple times, and outputting the statistical value obtained by statistically processing these values ​​as the turning angle θ, it becomes possible to more accurately estimate the turning angle θ of the moving body.

[0068] The above describes an embodiment of the present invention, but the specific configuration is not limited to the above embodiment, and even if there are design changes within the scope of the present invention that do not deviate from the gist of the present invention, they are included in the present invention. [Explanation of symbols]

[0069] 1:Detection device 2: Control section 3: Radar section 4: Signal processing section 5: Reception strength integrator 6: Moving speed estimator 7: Turning angle estimation unit 10: Mobile 21: Central processing unit 22:ROM 23:RAM 31: Transmitter 32: Receiving unit 41: Frequency analysis section 42: Distance calculation section 43: Speed ​​calculation section I: Reception strength Is: Integrated reception strength Ismax: Maximum value R: Distance V: Relative velocity V1: Relative velocity Vc: Movement speed θ: Turning angle φ: Azimuth angle

Claims

1. a radar unit that emits a transmission wave, receives a reflected wave that is the transmission wave reflected by an object and returns, and outputs radar data; a signal processing unit that performs frequency analysis of the radar data to generate a frequency spectrum, and calculates a distance to the object, an azimuth angle of the object relative to a traveling direction of the device, and a relative speed of the device relative to the object to generate combined data of the distance, the relative speed, and the reception intensity in the frequency spectrum; a reception intensity integrating unit that integrates the reception intensity for each value of the relative velocity to calculate an integrated reception intensity value for each value of the relative velocity; a movement speed acquisition unit that identifies the value of the relative speed corresponding to the maximum value of the integrated reception strength value and acquires the value as the movement speed of the own device; a turning angle output unit that calculates and outputs a turning angle of the own device based on a value of the moving speed of the own device, a relative speed of the own device with respect to the object, and an azimuth angle of the object with respect to a traveling direction of the own device; A turning angle detection device characterized by:

2. calculating a relative angle of the traveling direction of the device with respect to the object based on the value of the moving speed of the device and the relative speed of the device with respect to the object, calculating a difference between the azimuth angle of the object and the calculated relative angle, and outputting the value as a turning angle of the device; 2. The turning angle detection device according to claim 1.

3. outputting a statistical value of the calculated values ​​based on the value of the movement speed of the own device, the relative speed of the own device with respect to the plurality of objects, and the azimuth angles of the plurality of objects with respect to the traveling direction of the own device as a turning angle of the own device; 3. The turning angle detection device according to claim 1 or 2.

4. outputting a statistical value of each calculated value based on the value of the movement speed of the own device, the relative speed of the own device with respect to the object, and the azimuth angle of the object with respect to the traveling direction of the own device at a plurality of timings as a turning angle of the own device; 3. The turning angle detection device according to claim 1 or 2.

5. the movement speed acquisition unit acquires a value of the movement speed of the device itself from an external device; 2. The turning angle detection device according to claim 1.

6. the moving speed acquisition unit calculates and outputs a value of the moving speed of the device itself; 2. The turning angle detection device according to claim 1.

7. a process of generating a frequency spectrum by performing frequency analysis of radar data output from a radar device that emits a transmission wave and receives a reflected wave of the transmission wave reflected by an object, and calculating a distance to the object, an azimuth angle of the object relative to the traveling direction of the device, and a relative speed of the device relative to the object, and generating combined data of the distance, the relative speed, and the reception intensity in the frequency spectrum; A process of integrating the reception strength for each value of the relative speed to calculate an integrated reception strength value for each value of the relative speed; a process of identifying the value of the relative speed corresponding to the maximum value of the integrated value of the reception strength and outputting the value as the moving speed of the own device; and calculating and outputting a turning angle of the own device based on a value of the moving speed of the own device, a relative speed of the own device with respect to the object, and an azimuth angle of the object with respect to a traveling direction of the own device. A method for detecting a turning angle.

Images