Radar processing apparatus, program, radar processing method, and radar system

Abstract

To provide a radar processing device, a program, a radar processing method and a radar system, which enable detection of radio wave interference without communicating with a radio wave interference source.SOLUTION: A radar processing device according to an embodiment comprises an identification unit, a location storage unit, and a determination unit. The identification unit identifies, when abnormality occurs in a radar, a location of the abnormality. The location storage unit stores locations of radio wave interference. When the location identified by the identification unit is stored in the location storage unit as the location of radio wave interference, the determination unit determines that the cause of the abnormality is the radio wave interference.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a radar processing apparatus, a program, a radar processing method, and a radar system.

Background Art

[0002] A radar device mounted on a vehicle or the like may be subject to interference by radio waves emitted by an object such as a radar device mounted on another vehicle or a vending machine installed on the road. However, the radar device cannot detect that it is being interfered with unless it receives information on the radar device mounted on another vehicle through vehicle-to-vehicle communication or the like. Similarly, the radar device cannot detect that it is being interfered with by radio waves emitted by another object that emits radio waves unless it communicates with the object.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The problem to be solved by the embodiments of the present invention is to provide a radar processing apparatus, a program, a radar processing method, and a radar system that can detect that radio wave interference is being received without communicating with the radio wave interference source.

Means for Solving the Problems

[0005] The radar processing apparatus according to the embodiment includes a specifying unit, a position storage unit, and a determination unit. The specifying unit specifies the position where the abnormality has occurred when an abnormality occurs in the radar. The position storage unit stores the position where radio wave interference occurs. The determination unit determines that the cause of the abnormality is radio wave interference when the position specified by the specifying unit is stored as the position where radio wave interference occurs by the position storage unit.

Advantages of the Invention

[0006] According to the present invention, it is possible to detect that radio wave interference is being received without communicating with the radio wave interference source.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Modes for Carrying Out the Invention

[0008] Hereinafter, the radar system according to the embodiment will be described with reference to the drawings. Note that the scales of the respective parts in the following drawings may be appropriately changed. In addition, the following drawings used in the description of the embodiment may show the configuration with some parts omitted for the purpose of explanation. Also, in each drawing and this specification, the same reference numerals indicate the same elements. FIG. 1 is a block diagram showing an example of the main configuration of the radar system 1 according to the embodiment and the components included in the radar system 1. The radar system 1 is mounted on, for example, a vehicle or the like, and measures physical quantities such as position information, distance, and relative speed of other vehicles, road facilities, buildings, obstacles, animals, and other objects using a radar. Further, when an abnormality occurs in the radar, such as a decrease in the detection distance of the radar, the radar system 1 determines whether the cause of the abnormality is radio wave interference or a failure of the radar device 100. The radar system 1 includes, as an example, a radar device 100 and a camera 200.

[0009] The radar device 100 measures physical quantities using a radar. The radar device 100 includes, as an example, an antenna unit 110, a signal transmission / reception unit 120, and a processing device 130. The radar device 100 is an example of a radar processing device.

[0010] The antenna unit 110 includes, for example, a transmission antenna and a reception antenna. The transmission antenna radiates the transmission signal input from the signal transmission / reception unit 120 into space as an electromagnetic wave (radio wave). The reception antenna receives the reception signal and inputs it to the signal transmission / reception unit 120. The reception signal is a signal obtained by reflecting the transmission signal from an object. Note that the transmission antenna and the reception antenna may be a common antenna.

[0011] The signal transmission / reception unit 120 generates a transmission signal and inputs it to the antenna unit 110. Further, the signal transmission / reception unit 120 converts the reception signal into a format suitable for the processing device 130 and inputs it to the processing device 130. For example, the signal transmission / reception unit 120 converts the reception signal into a digital signal.

[0012] The processing device 130 is a computer that performs processes such as operations and controls necessary for the operation of the radar device 100. The processing device 130 includes, as an example, a processor 131, a ROM (read-only memory) 132, a RAM (random-access memory) 133, an auxiliary storage device 134, a control interface 135, a display device 136, and a speaker 137. And a bus 138 or the like connects these components. The processing device 130 is an example of a radar processing device.

[0013] The processor 131 corresponds to the central part of the processing device 130. The processor 131 is, for example, a CPU (central processing unit), an MPU (micro processing unit), an SoC (system on a chip), a DSP (digital signal processor), a GPU (graphics processing unit), an ASIC (application specific integrated circuit), a PLD (programmable logic device), or an FPGA (field-programmable gate array), etc. Alternatively, the processor 131 is a combination of a plurality of these. The processor 131 controls each component to realize various functions of the radar device 100 based on programs such as firmware, system software, and application software stored in the ROM 132 or the auxiliary storage device 134, etc. Also, the processor 131 executes the processes described later based on the program. Note that part or all of the program may be incorporated in the circuit of the processor 131.

[0014] The ROM 132 and the RAM 133 correspond to the main storage device of the processing device 130. The ROM 132 is a non-volatile memory used exclusively for data reading. The ROM 132 stores, for example, firmware among the above programs. Also, the ROM 132 stores data used by the processor 131 for performing various processes and the like. The RAM 133 is a memory used for data reading and writing. The RAM 133 is utilized as a work area for storing data temporarily used by the processor 131 for performing various processes. The RAM 133 is typically a volatile memory.

[0015] The auxiliary storage device 134 corresponds to the auxiliary storage device of the processing device 130. The auxiliary storage device 134 is, for example, an EEPROM (electric erasable programmable read-only memory), an HDD (hard disk drive), or a flash memory. The auxiliary storage device 134 stores, among the above programs, for example, system software and application software. Also, the auxiliary storage device 134 stores data used by the processor 131 for performing various processes, data generated by the processing in the processor 131, and various setting values.

[0016] Also, the auxiliary storage device 134 functions as a storage unit 1341. The storage unit 1341 stores an interference database. The interference database stores and manages information about an object (interference source) that causes interference and information about the position (interference position) where interference occurs. Also, the interference database may record and manage information about objects that do not cause interference and positions where interference does not occur. The interference database stores, for example, a vehicle type table T1 and a learning database as shown in FIG. 2.

[0017] FIG. 2 is a diagram showing an example of a vehicle type table T1 stored in the auxiliary storage device 134. The vehicle type table T1 is a table that stores information about various vehicle types among the interference sources. The vehicle type table T1 stores, for each vehicle type, for example, manufacturer information, vehicle type information, feature data, frequency, method, and interference source flag in association with each other. The manufacturer information is information about the manufacturer that manufactures the vehicle type. The manufacturer information includes, for example, the name of the manufacturer. The vehicle type information is information about the vehicle type. The vehicle type information includes, for example, the name of the vehicle type and various data. The feature data is information indicating the appearance features of the vehicle type for identifying the vehicle type by image recognition. The radar frequency indicates the frequency of the radar mounted on the vehicle type. The radar method indicates the method of the radar mounted on the vehicle type. The method of the radar is, for example, FMCW (frequency-modulated continuous-wave) or FCM (fast chirp modulation). Alternatively, the method of the radar may be another radar method such as a pulse method. The interference source flag is, for example, a flag indicating whether the vehicle type is an interference source. When the value of the interference source flag is "Yes", it indicates that it is an interference source. When the value of the interference source flag is "No", it indicates that it is not an interference source. The value of the interference source flag is determined by, for example, the radar frequency. For example, when the radar device 100 storing the vehicle type table T1 shown in FIG. 2 has the same radar frequency, the value of the interference source flag becomes "Yes".

[0018] The learning database stores information about interference sources and interference positions that the processing device 130 has learned through machine learning or the like. The learning database stores, for example, learning feature data and a learning interference source flag for each object. The learning feature data is information indicating the features of the appearance of an object for identifying the object by image recognition. The learning interference source flag is a flag indicating whether the object is an interference source. When the value of the learning interference source flag is "Yes", it indicates that the object is an interference source. When the value of the learning interference source flag is "No", it indicates that the object is not an interference source. The processor 131 determines the value of the learning interference source flag by, for example, machine learning or the like. Note that objects that can be interference sources are, for example, objects that emit radio waves, such as vehicles and vending machines.

[0019] From the above, the storage unit 1341 that stores the interference database is an example of a storage unit that stores objects that are radio wave interference sources. Also, the storage unit 1341 that stores the interference database is an example of a position storage unit that stores the positions where radio wave interference occurs.

[0020] Also, the processor 131 functions as, for example, a signal processing unit 1311, a processing unit 1312, a learning unit 1313, and a recognition unit 1314 based on a program stored in the ROM 132 or the auxiliary storage device 134.

[0021] The signal processing unit 1311 performs various processes on the received signal. As a result, the signal processing unit 1311 measures the physical quantities of each object that is a reflection source of the received signal.

[0022] The processing unit 1312 determines radar failures and interference. Also, the processing unit 1312 performs failure processing and interference processing. Failure processing is processing performed when the radar is malfunctioning. Interference processing is processing performed when the radar is being interfered with.

[0023] The learning unit 1313 updates the interference database by machine learning or the like.

[0024] The recognition unit 1314 performs image recognition on the image output by the camera 200. Thereby, the recognition unit 1314 specifies the vehicle type of the vehicle shown in the image and specifies objects, etc.

[0025] The control interface 135 is an interface for the processing device 130 to communicate with the camera 200, etc. The processing device 130 controls the camera 200, etc. via the control interface 135.

[0026] The display device 136 displays a screen for notifying various information to the operator of the radar device 100. The display device 136 is a display such as a liquid crystal display or an organic EL (electro-luminescence) display, for example. The speaker 137 outputs the input audio signal as sound waves.

[0027] The bus 138 includes a control bus, an address bus, a data bus, etc., and transmits signals exchanged between each part of the processing device 130.

[0028] The camera 200 is mounted on the vehicle and captures images such as still images or moving images. The camera 200 captures the surroundings of the vehicle on which the radar system 1 is mounted. Note that the camera 200 may capture only a specific direction such as the front side of the vehicle among the surroundings of the vehicle, or may capture all directions. The camera 200 outputs the captured image. The output image is input to the processing device 130 via the control interface 135. The camera 200 is an example of an imaging device.

[0029] Hereinafter, the operation of the radar system 1 according to the embodiment will be described based on FIGS. 3 and 4, etc. Note that the content of the processing in the following operation description is an example, and various processes capable of obtaining the same result can be appropriately used. FIGS. 3 and 4 are flowcharts showing an example of the processing by the processor 131 of the processing device 130. The processor 131 executes the processing of FIGS. 3 and 4 based on a program stored in the ROM 132 or the auxiliary storage device 134, for example. Processor 131 starts the processes shown in FIGS. 3 and 4, for example, when the radar device 100 is activated.

[0030] In step S11 of FIG. 3, processor 131 controls each part to start measuring the physical quantity by the radar.

[0031] In step S12, processor 131 controls camera 200 to start taking an image. Note that processor 131 stores the image output by camera 200 in auxiliary storage device 134 or the like so that the shooting time is known. By acquiring the image, processor 131 functions as an example of an image acquisition unit.

[0032] In step S13, processor 131 starts acquiring the position information of the vehicle on which radar device 100 is mounted. Then, processor 131 stores the position information in auxiliary storage device 134 or the like together with the time when the vehicle was at the position indicated by the position information. As a result, the position of the vehicle at each time is stored in auxiliary storage device 134. Note that processor 131 acquires the position information using a GNSS (global navigation satellite system) such as GPS (Global Positioning System), for example. Alternatively, processor 131 may acquire the position information from a device other than radar device 100, such as an in-vehicle device.

[0033] In step S14, processor 131 determines whether or not the detection distance of the radar has changed. The change in the detection distance of the radar is, for example, the detection distance of the radar becoming shorter (hereinafter referred to as "first change"), and the shortened detection distance returning to the original (hereinafter referred to as "second change"). If the detection distance of the radar has not changed, processor 131 determines No in step S14 and repeats the process of step S14. Then, if the detection distance of the radar has changed, processor 131 determines Yes in step S14 and proceeds to step S15.

[0034] In step S15, the processor 131 acquires images before and after the detection distance of the radar changes from the auxiliary storage device 134 or the like. Then, the processor 131 identifies candidates for the radar interference source shown in the image by image recognition or the like. Hereinafter, the candidates identified here are referred to as "initial candidates". The processor 131 stores the initial candidates in the RAM 133 or the like. For example, when the change is the first change, the processor 131 sets, as the initial candidate, an object that is not shown in the image before the change in the detection distance but is shown in the image after the change in the detection distance. Further, for example, when the change is the second change, the processor 131 sets, as the initial candidate, an object that is shown in the image before the change in the detection distance but is not shown in the image after the change in the detection distance. Therefore, by performing the process of step S15, the processor 131 functions as an example of an image recognition unit that recognizes an object that is shown in the image at the time when an abnormality occurs and is not shown in the image at the time when the abnormality does not occur. In the first change, the time after the change in the detection distance is the time when an abnormality occurs. And in the first change, the time before the change in the detection distance is the time when an abnormality does not occur. Also, in the second change, the time before the change in the detection distance is the time when an abnormality occurs. And in the second change, the time after the change in the detection distance is the time when an abnormality does not occur.

[0035] In step S16, the processor 131 determines whether there are unselected initial candidates among the initial candidates identified in step S15. Note that the unselected initial candidates are those not selected in the next step S17. Also, the processor 131 determines that there are no unselected initial candidates even when there are no initial candidates identified in step S15. If there are unselected ones among the initial candidates, the processor 131 determines Yes in step S16 and proceeds to step S17.

[0036] In step S17, the processor 131 selects one from the unselected initial candidates. Among the initial candidates selected here, the most recently selected initial candidate is hereinafter referred to as the "selected candidate".

[0037] In step S18, the processor 131 identifies, by image recognition, whether the selection candidate is any of the interference sources registered in the interference database. Alternatively, the processor 131 identifies, by image recognition, that the selection candidate is not any of the interference sources registered in the interference database. When the processor 131 identifies the vehicle type as the interference source, for example, it identifies using the feature amounts of the appearance such as the front or rear of the vehicle. Alternatively, when the processor 131 identifies the vehicle type as the interference source, it identifies the vehicle type by recognizing an emblem or logo attached to the vehicle.

[0038] In step S19, the processor 131 determines whether the interference source could be identified in step S18. If the processor 131 can identify the interference source, it determines Yes in step S19 and proceeds to step S20.

[0039] In step S20, the processor 131 acquires information about the interference source identified in step S18 from the interference database.

[0040] In step S21, the processor 131 determines whether the selection candidate is an interference source based on the information acquired in step S20. For example, the processor 131 determines that it is an interference source when the value of the interference source flag or the learned interference source flag is "Yes". If the processor 131 determines that the selection candidate is an interference source, it determines Yes in step S21 and proceeds to step S22.

[0041] In step S22, the processor 131 identifies the selection candidates as candidates that are highly likely to be interference sources among the initial candidates. The candidates identified here are hereinafter referred to as "final candidates". The processor 131 stores the final candidates in the RAM 133 or the like. The processor 131 may also store in the RAM 133 or the like, in association with the final candidates, the reliability indicating the possibility that the final candidates are interference sources. The processor 131 obtains the reliability using, for example, the information acquired in step S20. The processor 131 uses, for example, the result of image recognition such as the recognition probability of image recognition for the selection candidates. After the process of step S22, the processor 131 returns to step S16.

[0042] On the other hand, if the processor 131 has not been able to identify the interference source, it determines No in step S19 and proceeds to step S23. In step S23, the processor 131 determines whether to set the selection candidate as the final candidate. The processor 131 determines whether to set the selection candidate as the final candidate using, for example, the result of image recognition such as the recognition probability of image recognition. Also, when the selection candidate is a candidate that becomes an initial candidate in the first change and also becomes an initial candidate in the second change, the processor 131 may set the selection candidate as the final candidate. If the processor 131 determines to set the selection candidate as the final candidate, it determines Yes in step S23 and proceeds to step S22.

[0043] After the process of step S22, the processor 131 proceeds to step S24. Also, if the processor 131 determines not to set the selection candidate as the final candidate, it determines No in step S23 and proceeds to step S24. Also, if the processor 131 does not determine that the selection candidate is an interference source, it determines No in step S21 and proceeds to step S24. In step S24, the processor 131 stores information about the selection candidates in an auxiliary storage device 134 or the like as learning data for machine learning of the interference source. The information about the selection candidates includes, for example, the result of image recognition about the selection candidates. The processor 131 updates the learning database by appropriately performing machine learning using the learning data stored in the auxiliary storage device 134. By this machine learning, the processor 131 may register (store) the information about the selection candidates in the learning database. The processor 131 functions as an example of a learning unit by performing this machine learning. After the process of step S24, the processor 131 returns to step S16.

[0044] The processor 131 performs the processes of steps S16 to S24 for each initial candidate. Then, if there is no unselected initial candidate, the processor 131 determines No in step S16 and proceeds to step S25 in FIG. 4. In step S25, the processor 131 specifies the position where the detection distance of the radar has changed based on the position information stored in step S13. This position is hereinafter referred to as the "changed position". For example, when the change in the detection distance of the radar is the first change, the processor 131 sets the position immediately after the detection distance has changed as the changed position. Also, for example, when the change in the detection distance of the radar is the second change, the processor 131 sets the position immediately before the detection distance has changed as the changed position. Therefore, the processor 131 functions as an example of a position specifying unit that specifies the occurrence position where the abnormality of the radar has occurred.

[0045] In step S26, the processor 131 refers to the interference database and, if there is information about the interference position at or around the changed position, acquires the information.

[0046] In step S27, the processor 131 determines whether the change position is an interference position. For example, when the processor 131 acquires information indicating that the change position is an interference position in step S26, it determines that the change position is an interference position. If the processor 131 determines that the change position is an interference position, it determines Yes in step S27 and proceeds to step S29.

[0047] In step S28, the processor 131 stores the change position in the RAM 133 or the like as a candidate for the interference position. Hereinafter, the candidate stored here is referred to as a "position candidate". Note that the processor 131 may store a position reliability indicating the possibility that the change position is an interference position in association with the position candidate in the RAM 133 or the like.

[0048] If the processor 131 does not determine that the change position is an interference position, it determines No in step S27 and proceeds to step S29. In step S29, the processor 131 stores the change position in the auxiliary storage device 134 or the like as learning data for machine learning the interference position. The processor 131 updates the learning database by appropriately performing machine learning using the learning data stored in the auxiliary storage device 134. For example, when the position satisfies a predetermined condition, the processor 131 registers the position as an interference position in the learning database. The predetermined condition is, for example, that there is a change in the detection distance at the same position a predetermined number of times or more. The predetermined condition is that there is a change in the detection distance at the same position a predetermined number of times or more, and the ratio of the number of times the detection distance has changed to the number of times the vehicle has passed through the position is equal to or greater than a predetermined ratio. By performing the machine learning, the processor 131 functions as an example of a position learning unit.

[0049] After the processing of step S28 or step S29, the processor 131 proceeds to step S30. In step S30, the processor 131 refers to the final candidates and position candidates stored in the RAM 133, and determines whether the cause of the change in the detection distance of the radar determined in step S14 is interference, a failure, or unknown. For example, when there is at least one of the final candidate and the position candidate, the processor 131 determines that the cause is interference. For example, when the reliability or position reliability of any of the final candidate and the position candidate is equal to or higher than a first threshold value, the processor 131 determines that the cause is interference. Alternatively, the processor 131 may determine that the cause is interference by using a plurality of final candidates and position candidates and their reliabilities and position reliabilities. Further, for example, when there are no final candidates and position candidates, the processor 131 determines that the cause is a failure. For example, when the reliabilities and position reliabilities of the final candidate and the position candidate are both equal to or lower than a second threshold value, the processor 131 determines that the cause is a failure. Alternatively, the processor 131 may determine that the cause is a failure by using a plurality of final candidates and position candidates and their reliabilities and position reliabilities. Also, for example, when it is determined that it is neither a failure nor interference, the processor 131 determines that the cause is unknown.

[0050] In step S31, the processor 131 determines whether the cause of the change in the detection distance of the radar is interference. If the cause of the change in the detection distance of the radar is interference, the processor 131 determines Yes in step S31 and proceeds to step S32. As described above, the processor 131 functions as an example of a determination unit that determines that the cause of the radar abnormality is radio wave interference based on the recognition result when an object is recognized by image recognition by performing the processes of steps S16 to S23, step S30, and step S31. Further, the processor 131 functions as an example of a determination unit that determines that the cause of the radar abnormality is radio wave interference when the change position is stored as an interference position in the interference database by performing the processes of steps S25 to S31.

[0051] In step S32, the processor 131 performs interference processing to handle radar interference as necessary. For example, as interference processing, when the change in the detection distance of the radar is the first change, the processor 131 controls the signal transmission / reception unit 120 to increase the output of the transmission signal, change the frequency of the transmission signal, or change the radar mode. Alternatively, as interference processing, the processor 131 may control the signal transmission / reception unit 120 to stop the radar. Note that when the processor 131 detects a second change, it ends the interference processing. After the processing in step S32, the processor 131 returns to step S14 in FIG. 3. As described above, the processor 131 functions as an example of an operation change unit by changing the operations of the radar, such as increasing the output of the transmission signal, changing the frequency of the transmission signal, changing the radar mode, or stopping the radar.

[0052] On the other hand, if the cause of the change in the detection distance of the radar is not interference, the processor 131 determines No in step S31 and proceeds to step S33. In step S33, the processor 131 determines whether the cause of the change in the detection distance of the radar is a failure. If the cause of the change in the detection distance of the radar is a failure, the processor 131 determines Yes in step S33 and proceeds to step S34.

[0053] In step S34, the processor 131 performs failure processing to handle radar failures as necessary. For example, as part of the failure processing, the processor 131 notifies a person in the vehicle or an operator of the radar device 100 that the radar has failed. The processor 131 performs this notification, for example, by displaying an image indicating that a failure has occurred on the display device 136 or outputting a sound indicating that a failure has occurred from the speaker 137. Alternatively, the processor 131 may use other methods for notification. Also, as part of the failure processing, the processor 131 may control the signal transceiver 120 to stop the radar. After the processing in step S34, the processor 131 returns to step S14. Therefore, the processor 131 functions as an example of a notification unit by collaborating with the display device 136 or the speaker 137 to perform the processing in step S34.

[0054] On the other hand, if the cause of the change in the radar's detection distance is not a failure, that is, if it is unknown, the processor 131 determines No in step S33 and returns to step S14 in FIG. 3.

[0055] In addition to the processing shown in FIGS. 3 and 4, the processor 131 may perform processing for machine learning as described below. This processing may be performed, for example, using a test vehicle or the like before the radar system 1 is shipped, such as during the manufacture of the radar system 1. Then, for example, the radar system 1 is shipped with a learning database created by the machine learning stored therein. Alternatively, the radar system 1 installed in each vehicle after shipment may perform processing for machine learning as described below.

[0056] For example, during the running of the vehicle, the processor 131 performs image recognition on the images captured by the camera 200. This image recognition is performed regardless of the change in the detection distance of the radar. The processor 131 recognizes the objects stored in the learning database through this image recognition. Then, the processor 131 performs machine learning based on the results of the image recognition and the changes in the radar signals, etc. For example, if the processor 131 recognizes the object, it determines whether the detection distance of the radar is decreasing. And the processor 131 learns, for example, that if the detection distance of the radar is decreasing, the possibility that the object is an interference source increases. On the contrary, the processor 131 learns, for example, that if the detection distance of the radar is normal, the possibility that the object is an interference source decreases. And the processor 131 sets the value of the interference flag to "Yes" when the possibility is above a predetermined possibility, and sets the value of the interference flag to "No" when it is less than the predetermined possibility.

[0057] Also, for example, the processor 131 performs machine learning based on the change in the position of the vehicle and the change in the radar signal, etc. For example, during the running of the vehicle, when passing through the position stored in the interference database, the processor 131 determines whether the detection distance of the radar is decreasing. And the processor 131 learns, for example, that if the detection distance of the radar is decreasing, the possibility that the position is an interference position increases. On the contrary, the processor 131 learns, for example, that if the detection distance of the radar is normal, the possibility that the position is an interference position decreases. And the processor 131 sets the value of the interference flag to "Yes" when the possibility is above a predetermined possibility, and sets the value of the interference flag to "No" when it is less than the predetermined possibility.

[0058] According to the radar system 1 of the embodiment, the processing device 130 recognizes, by image recognition, an object that appears in an image when the detection distance of the radar is short and does not appear in an image when the detection distance is normal. Then, when there is such an object, the processing device 130 determines that the cause of the radar's detection distance is radio wave interference. In this way, the processing device 130 of the embodiment can determine that the cause of the decrease in the radar's detection distance is radio wave interference by using the image captured by the camera 200. Also, the processing device 130 of the embodiment can detect that it is being interfered with by radio waves without communicating with the radio wave interference source.

[0059] Also, according to the radar system 1 of the embodiment, when the processing device 130 fails to recognize, by image recognition, an object that appears in an image when the detection distance of the radar is short and does not appear in an image when the detection distance is normal, the processing device 130 determines that the cause of the radar's detection distance is a device failure. In this way, the processing device 130 of the embodiment can determine that the cause of the decrease in the radar's detection distance is a device failure by using the image captured by the camera 200.

[0060] Also, according to the radar system 1 of the embodiment, when the object recognized by the processing device 130 by image recognition is stored as an interference source in the interference database, the processing device 130 determines that the cause of the radar's detection distance is radio wave interference. In this way, the processing device 130 of the embodiment can improve the accuracy of determining the cause of the decrease in the radar's detection distance by using the interference database.

[0061] Also, according to the radar system 1 of the embodiment, when the vehicle type recognized by the processing device 130 by image recognition is stored as an interference source in the interference database, the processing device 130 determines that the cause of the decrease in the radar's detection distance is radio wave interference. In this way, the processing device 130 of the embodiment can improve the accuracy of determining the cause of the decrease in the radar's detection distance when the in-vehicle radar of another vehicle is the interference source by using the interference database stored for the vehicle type.

[0062] Also, according to the radar system 1 of the embodiment, the processing device 130 registers information about the interference source in the learning database by means of machine learning or the like. Thereby, the processing device 130 of the embodiment can improve the accuracy of determining the cause of the decrease in the detection distance of the radar.

[0063] Also, according to the radar system 1 of the embodiment, the interference database stores information about objects that are not interference sources. Thereby, the processing device 130 of the embodiment can improve the accuracy of determining the cause of the decrease in the detection distance of the radar.

[0064] Also, according to the radar system 1 of the embodiment, the processing device 130 refers to the interference database to determine that the change position where the detection distance of the radar has changed is the interference position where radio wave interference occurs. In this way, the processing device 130 of the embodiment can determine that the cause of the decrease in the detection distance of the radar is due to radio wave interference when the vehicle passes through the interference position. Also, the processing device 130 of the embodiment can determine that the cause of the decrease in the detection distance of the radar is due to radio wave interference by using the position information. Also, the processing device 130 of the embodiment can detect that it is receiving radio wave interference without communicating with the radio wave interference source.

[0065] Also, according to the radar system 1 of the embodiment, the processing device 130 registers information about the interference position in the learning database by means of machine learning or the like. Thereby, the processing device 130 of the embodiment can improve the accuracy of determining the cause of the decrease in the detection distance of the radar.

[0066] Also, according to the radar system 1 of the embodiment, the processing device 130 determines, with reference to the interference database, that the change position where the detection distance of the radar has changed is not the interference position where radio wave interference occurs. Then, when the change position is not the interference position, the processing device 130 of the embodiment determines that the cause of the decrease in the detection distance of the radar is due to a device failure. In this way, the processing device 130 of the embodiment can use the position information to determine that the cause of the decrease in the detection distance of the radar is not due to radio wave interference.

[0067] Also, according to the radar system 1 of the embodiment, when the processing device 130 determines that the cause of the decrease in the detection distance of the radar is due to radio wave interference, the processing device 130 changes the operation of the radar. In this way, the processing device 130 of the embodiment can suppress the influence of the decrease in the detection distance even when receiving radio wave interference, prevent receiving radio wave interference, or stop the radar only while receiving radio wave interference.

[0068] Also, according to the radar system 1 of the embodiment, when the processing device 130 determines that the cause of the decrease in the detection distance of the radar is due to a device failure, the processing device 130 notifies the occurrence of the failure. Thereby, the user of the radar device 100 or the like can know that a failure has occurred.

[0069] The above embodiments can be modified as follows. In the above embodiment, the radar device 100 determines whether the cause of the radar abnormality, when the detection distance decreases, is radio wave interference or a device failure. However, the radar device 100 may similarly determine whether the cause is radio wave interference or a device failure for other radar abnormalities such as the disappearance of a target.

[0070] The interference database may include only one of the vehicle type table T1 and the learning database. In cases where the interference database does not include the learning database, etc., the processor 131 may not perform machine learning. Further, the interference database may also store, in a table similar to the vehicle type table T1, information about types of objects other than vehicle types, including information indicating whether the type is an interference source and data indicating the appearance characteristics of the type, associated with the type. Also, the interference database may store, in a table similar to the vehicle type table T1, information about the interference position as well. Also, in the above embodiment, the content of the vehicle type table T1 is predetermined and does not change. However, the processor 131 may change the content of the vehicle type table T1 by machine learning.

[0071] Part or all of the processing performed by the processing device may be performed by a device external to the radar device. The external device is, for example, an in-vehicle computer such as an ECU (electronic control unit). As an example, the external device performs processing other than the processing performed by the signal processing unit 1311. The external device is an example of a radar processing device.

[0072] In the above embodiment, part or all of the processing realized by the processor 131 by a program may be realized by the hardware configuration of a circuit.

[0073] The program and the interference database for realizing the processing of the embodiment are transferred, for example, in a state stored in a device. However, the device may be transferred in a state where the program and the interference database are not stored. Then, the program and the interference database may be transferred separately and written into the device. The transfer of the program at this time can be realized, for example, by recording on a removable storage medium or by downloading via a network such as the Internet or a LAN (local area network). Also, the processor 131 may update the interference database based on data recorded on a removable storage medium or downloaded data.

[0074] As described above, embodiments of the present invention have been described, but these are shown as examples and do not limit the scope of the present invention. The embodiments of the present invention can be implemented in various ways without departing from the gist of the present invention.

Explanation of Reference Numerals

[0075] 1 Radar system 100 Radar device 110 Antenna unit 120 Signal transmission / reception unit 130 Processing device 131 Processor 132 ROM 133 RAM 134 Auxiliary storage device 135 Control interface 136 Display device 137 Speaker 138 Bus 200 Camera 1311 Signal processing unit 1312 Processing unit 1313 Learning unit 1314 Recognition unit 1341 Storage unit

Claims

1. When an abnormality occurs in a radar mounted on a vehicle, a specifying unit that specifies the vehicle position where the abnormality has occurred, a position storage unit that stores positions where radio wave interference occurs, and a determination unit that determines that the cause of the abnormality is radio wave interference when the vehicle position specified by the specifying unit is stored as a position where radio wave interference occurs by the position storage unit. A radar processing device.

2. The radar processing device according to claim 1, further comprising a position learning unit that stores the vehicle position specified by the specifying unit in the position storage unit as a position where radio wave interference occurs.

3. The radar processing device according to claim 1 or claim 2, wherein the determination unit determines that the cause of the abnormality is a device failure when the vehicle position specified by the specifying unit is not stored as a position where radio wave interference occurs by the position storage unit.

4. The radar processing device according to any one of claims 1 to 3, further comprising an operation changing unit that changes the operation of the radar when the determination unit determines that the cause of the abnormality is radio wave interference.

5. The radar processing device according to any one of claims 1 to 4, further comprising a notification unit that notifies that a device failure has occurred when the determination unit determines that the cause of the abnormality is a device failure.

6. A program for causing a processor included in a radar processing device to function as a specifying unit that specifies the vehicle position where an abnormality has occurred when an abnormality occurs in a radar mounted on a vehicle, a position storage unit that stores positions where radio wave interference occurs, and a determination unit that determines that the cause of the abnormality is radio wave interference when the vehicle position specified by the specifying unit is stored as a position where radio wave interference occurs by the position storage unit.

7. When an abnormality occurs in a radar mounted on a vehicle, the vehicle position where the abnormality has occurred is specified, the positions where radio wave interference occurs are stored, and a radar processing method for determining that the cause of the abnormality is radio wave interference when the specified vehicle position is stored as a position where radio wave interference occurs.

8. including a radar device and a radar processing device, the radar device measures a physical quantity of an object by a radar mounted on a vehicle, the radar processing device is A specifying unit that specifies the vehicle position where the abnormality has occurred when an abnormality occurs in the radar; A position storage unit that stores the position where radio wave interference occurs; A radar system comprising: a determination unit that determines that the cause of the abnormality is radio wave interference when the vehicle position specified by the specifying unit is stored as a position where radio wave interference occurs by the position storage unit.

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