Information processing device, information processing method, and radar device

Abstract

An information processing device according to one aspect of the present technology comprises a calculation unit and a detection unit. The calculation unit calculates the phase of a beat signal generated on the basis of a transmission chirp signal transmitted toward an object by a transmission antenna and a reflection chirp signal obtained by the transmission chirp signal received by a reception antenna being reflected by the object. The detection unit detects the presence or absence of an unnecessary signal on the basis of the phase of the beat signal. This makes it possible to accurately detect interference signals.

Description

Information processing device, information processing method, and radar device

[0001] The present technology relates to an information processing device, an information processing method, and a radar device that can be applied to detecting interference in a radar.

[0002] Patent Document 1 describes an FMCW (Frequency Modulated Continuous Wave) radar device that transmits a frequency-modulated transmission signal whose frequency changes linearly over time, receives a received signal reflected by an object, and measures the distance to the object from the frequency of a beat signal obtained by multiplying the received signal by a frequency-modulated local signal. This FMCW radar device detects the envelope of the beat signal over a predetermined period, sorts the amplitude of the envelope, and sets a threshold for detecting interference based on the average amplitude. This allows for more appropriate setting of the threshold for detecting interference, thereby enabling interference detection and suppression (see, for example, paragraphs

[0034] to

[0045] and Figures 1 to 3 of the specification of Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2022-108639

[0004] There is a demand for an information processing device, an information processing method, and a radar device that can realize accurate detection of such interference signals.

[0005] In view of the above circumstances, an object of the present technology is to provide an information processing device, an information processing method, and a radar device that are capable of accurately detecting an interference signal.

[0006] To achieve the above object, an information processing device according to an embodiment of the present technology includes a calculation unit and a detection unit. The calculation unit calculates the phase of a beat signal generated based on a transmitted chirp signal transmitted by a transmitting antenna toward an object and a reflected chirp signal received by a receiving antenna as a result of the transmitted chirp signal being reflected by the object. The detection unit detects the presence or absence of an unwanted signal based on the phase of the beat signal.

[0007] In this information processing device, the phase of a beat signal generated based on a transmitted chirp signal transmitted by a transmitting antenna toward an object and a reflected chirp signal received by a receiving antenna when the transmitted chirp signal is reflected by the object is calculated, and the presence or absence of an unwanted signal is detected based on the phase of the beat signal, thereby enabling accurate detection of interference signals.

[0008] The detection unit may detect the presence or absence of the unwanted signal based on a phase difference that is a difference between a phase of the beat signal at a first time and a phase of the beat signal at a second time that is different from the first time.

[0009] The detection section may detect the presence or absence of the unwanted signal based on the phase difference and the amplitude of the beat signal.

[0010] The unwanted signals may include interference signals transmitted from a transmitting antenna other than the transmitting antenna.

[0011] The detector may detect the presence or absence of the interference signal based on a product value obtained by multiplying the phase difference by the amplitude.

[0012] The detection unit may detect the presence or absence of the interference signal based on the absolute value of the product.

[0013] The detection unit may detect the presence or absence of the interference signal by calculating a moving average of the absolute value of the product value.

[0014] The detector may detect the presence or absence of the interference signal when the absolute value of the product exceeds a predetermined threshold.

[0015] The detecting of the presence or absence of the interference signal may include detecting an interference occurrence time, which is a time during which the interference signal occurs. In this case, the interference occurrence time may be a period during which the absolute value of the product exceeds a predetermined threshold.

[0016] The detector may detect the presence or absence of the interference signal by generating an envelope of the absolute value of the product value.

[0017] The predetermined threshold may be calculated as an average value of the absolute values ​​of the products.

[0018] The beat signal may be obtained from a real signal and an imaginary signal.

[0019] The beat signal may be obtained from the real signal and a signal obtained by subjecting the real signal to a Hilbert transform.

[0020] An information processing method according to one aspect of the present technology is an information processing method executed by a computer system, the information processing method including: calculating a phase of a beat signal generated based on a transmitted chirp signal transmitted by a transmitting antenna toward an object and a reflected chirp signal received by a receiving antenna as a result of the transmitted chirp signal being reflected by the object; and detecting the presence or absence of an unwanted signal based on the phase of the beat signal.

[0021] According to one aspect of the present technology, there is provided a radar device including a transmitting antenna, a receiving antenna, and an information processing device. The transmitting antenna transmits a transmission chirp signal toward an object. The receiving antenna receives a reflected chirp signal resulting from the transmission chirp signal being reflected by the object. The information processing device includes a calculation unit that calculates a phase of a beat signal generated based on the transmission chirp signal and the reflected chirp signal, and a detection unit that detects the presence or absence of an unwanted signal based on the phase of the beat signal.

[0022] 1. A block diagram showing an example of the configuration of a radar device. A diagram showing an example of a beat signal including unwanted waves. A diagram showing an example of the phase of a beat signal including unwanted waves. A diagram showing an example of how to calculate a phase difference. A diagram showing a calculated phase difference of a beat signal. A diagram showing the amplitude of a calculated beat signal. A diagram showing a product value obtained by multiplying the phase difference and the amplitude. A diagram showing an example of the amplitude of a beat signal and a gate. A diagram showing a product value obtained by multiplying the phase difference and the amplitude and a gate. A diagram showing a graph in which the absolute value is taken for the product value obtained by multiplying the phase difference and the amplitude. A diagram in which a moving average is taken for the absolute value of the product value. A diagram in which thresholds are plotted on a graph in which a moving average is taken for the absolute value of the product value. A diagram showing a gate. A diagram in which an envelope is generated for the absolute value of the product value. A flowchart showing the detection of an interference signal. A block diagram showing an example of the configuration of a vehicle control system. A diagram showing an example of a sensing area of ​​an external recognition sensor of the vehicle control system of FIG. 1.

[0023] Hereinafter, embodiments of the present technology will be described with reference to the drawings.

[0024] First Embodiment [Configuration of Radar Device] FIG. 1 is a block diagram showing an example configuration of a radar device 100 according to a first embodiment of the present technology.

[0025] 1, the radar device 100 is mounted on a moving object 1 and includes an antenna 200 and an information processing device 300. For example, the moving object 1 may be a car or an airplane operated by a user, or may be a drone that can automatically move to a destination based on a predetermined program or radar detection results.

[0026] The antenna 200 includes a transmitting antenna 201 , a receiving antenna 202 , a chirp signal generating unit 203 , and a beat signal generating unit 204 .

[0027] The transmitting antenna 201 emits a chirp signal generated by a chirp signal generating unit 203 (described later) toward an object. Hereinafter, the chirp signal transmitted toward the object will be referred to as a transmitted chirp signal. The receiving antenna 202 receives a reflected chirp signal, which is the transmitted chirp signal reflected by the object.

[0028] There are no limitations on the number and arrangement of the transmitting antennas 201 and the receiving antennas 202. For example, the transmitting antennas 201 and the receiving antennas 202 may be arranged in different numbers for horizontal MIMO (Multi-Input Multi-Output) or vertical MIMO.

[0029] The chirp signal generator 203 generates a transmission chirp signal. Note that the method for generating the transmission chirp signal is not limited, and for example, an FMCW signal whose frequency changes in response to a control voltage whose voltage changes linearly with a predetermined period, such as a triangular wave or a sawtooth wave, may be generated, and the FMCW signal may be amplified and output from the transmitting antenna 201 as the transmission chirp signal.

[0030] The beat signal generator 204 generates a beat signal based on the transmitted chirp signal transmitted by the transmitting antenna 201 toward the object and the reflected chirp signal received by the receiving antenna 202. The beat signal, also called an IF (Intermediate Frequency) signal, is a signal obtained by mixing the transmitted chirp signal and the reflected chirp signal and has a frequency component that is the difference between the frequencies of the transmitted chirp signal and the reflected chirp signal. In this embodiment, the generated beat signal is supplied to the information processing device 300.

[0031] The method for generating the beat signal is not limited, and an amplifier that amplifies the reflected chirp signal may be used. Furthermore, unnecessary frequency components may be removed from the generated beat signal using a low-pass filter or the like.

[0032] The information processing device 300 includes an acquisition unit 301 , a phase calculation unit 302 , a phase difference calculation unit 303 , an amplitude calculation unit 304 , and a detection unit 305 .

[0033] The acquiring unit 301 acquires the beat signal output from the beat signal generating unit 204. An example of the beat signal in this embodiment will be shown with reference to FIG. 2. FIG. 2 is a diagram showing an example of the beat signal. In FIG. 2, the vertical axis represents voltage [mV], and the horizontal axis represents idx (index, time).

[0034] 2, in this embodiment, the beat signal is obtained from a real signal (solid line 210) and an imaginary signal (dotted line 211) transmitted from a transmitting antenna 201. Note that the section in which the beat signal changes drastically, from just before 200 to just before 300 where idx is in Fig. 2, is a section that includes an unwanted signal.

[0035] The phase calculation unit 302 calculates the phase of the beat signal. Fig. 3 is a diagram showing an example of the phase of a beat signal including an unwanted signal. In Fig. 3, the vertical axis represents the phase difference [deg], and the horizontal axis represents the index (idx) of the beat signal. As shown in Fig. 3, the phase calculation unit 302 calculates the phase of the beat signal from the values ​​of the real signal and imaginary signal of the beat signal.

[0036] The phase difference calculation unit 303 calculates the phase difference of the beat signals. In this embodiment, the phase difference calculation unit 303 calculates the phase difference of the beat signals by calculating the difference in the phase of the beat signals at a predetermined time. Here, an example of how to calculate the phase difference in this embodiment will be shown with reference to FIG. 4 .

[0037] Fig. 4 is a diagram showing an example of how to calculate the phase difference. Fig. 5 is a diagram showing the calculated phase difference of the beat signal. In Fig. 5, the vertical axis represents the phase difference [deg], and the horizontal axis represents the index (idx) of the beat signal.

[0038] As shown in Fig. 4A, a phase difference is calculated based on the phases of AD values ​​at multiple sampling points of a beat signal sampled at predetermined time intervals. For example, the phase difference is calculated as the difference between the phase of sampling point N and the phase of sampling point (N-1). If the phase difference exceeds ±180 degrees, a wraparound process (see 310) is performed. That is, if the phase difference is greater than 180 degrees, 360 degrees is subtracted, and if the phase difference is less than -180 degrees, 360 degrees is added.

[0039] More specifically, as shown in FIG. 4B, the phase difference is the difference between the phases (EP column). For example, the value of the first phase difference (idx=0) is 0. For example, the second phase difference (idx=1) is the second phase (EP3) minus the first phase (EP2).

[0040] In this way, the phase difference calculation unit 303 repeats the calculation to obtain a phase difference, which is the difference between the phase of the beat signal at the first time and the phase of the beat signal at the second time different from the first time, and calculates the phase difference of the beat signal as shown in FIG. 5 .

[0041] The amplitude calculation unit 304 calculates the amplitude of the beat signal. For example, the amplitude calculation unit 304 may calculate the amplitude of the beat signal from the root-sum-square value of the beat signal that has been AD converted into a digital value by an AD converter (not shown).

[0042] 6 is a diagram showing the calculated amplitude of the beat signal. In FIG. 6, the vertical axis represents voltage [mV] and the horizontal axis represents index (idx). As shown in FIG. 6, the amplitude calculation unit 304 calculates the amplitude of the beat signal from the values ​​of the real signal and imaginary signal of the beat signal.

[0043] The detector 305 detects the presence or absence of unwanted signals based on the phase of the beat signal. Unwanted signals include interference signals (e.g., parallel interference or multipath interference) transmitted from radar devices (other mobile devices) different from the radar device 100 (mobile device 1), or various signals whose phase difference increases due to causes other than interference, such as thermal noise. In other words, unwanted signals are signals that interfere with accurate radar detection (cause ghosts).

[0044] In this embodiment, the detector 305 detects the presence or absence of an unwanted signal based on the phase difference of the beat signal calculated by the phase difference calculator 303 and the amplitude of the beat signal calculated by the amplitude calculator 304. Specifically, the detector 305 detects an interference signal by calculating the product value obtained by multiplying the phase difference by the amplitude. Hereinafter, the product value obtained by multiplying the phase difference by the amplitude may be referred to simply as the product value.

[0045] 5 alone may result in false detection. For example, there may be cases where the amplitude is small and the frequency of FMCW is large because the signal is from a long distance, or where the phase difference of noise is large. Therefore, in this embodiment, the phase difference and the amplitude are multiplied to exclude signals with small amplitudes and large phase differences, as described above.

[0046] 7 is a diagram showing the product value obtained by multiplying the phase difference by the amplitude. As shown in FIG. 7, by removing noise and the like from the unnecessary signal other than the interference signal, it is possible to generate a gate 311 indicating the occurrence of interference. That is, the detection unit 305 can correctly detect the interference occurrence time (the horizontal width of the gate 311), which is the time during which interference occurs from the beat signal. In other words, detecting the presence or absence of an interference signal can be rephrased as detecting the interference occurrence time.

[0047] The gate indicates whether or not interference has occurred by setting the value of the gate to 1 if it exceeds a predetermined threshold and 0 if it does not exceed the predetermined threshold. In Fig. 7, only one gate having a width (interference occurrence time) is generated, but this is not limited to this, and multiple gates may be generated, or a gate with a very short interference occurrence time may be generated.

[0048] As described above, in the information processing device 300 according to the first embodiment, the phase of a beat signal generated based on a transmission chirp signal transmitted by the transmitting antenna 201 toward an object and a reflected chirp signal resulting from the transmission chirp signal being received by the receiving antenna 202 and reflected by the object is calculated, and the presence or absence of an unwanted signal is detected based on the phase of the beat signal. This allows accurate detection of interference signals, particularly interference signals with small amplitudes and interference signals with large amplitudes.

[0049] Conventionally, the amplitude of a beat signal (IF signal), which is a signal immediately after radar AD, is monitored, and a time period in which the amplitude exceeds a threshold is detected as a time period in which interference occurs. However, when detecting an interference signal based solely on amplitude, it is not possible to detect an interference signal with a small amplitude. For example, as shown in Figure 8, the signal amplitude in the section in which interference occurs (rectangle 315) is approximately the same as that in the section in which interference does not occur (area other than rectangle 315), so a gate indicating the occurrence of interference cannot be generated based solely on amplitude (see dotted line 316 in Figure 8).

[0050] In this technology, an interference signal is detected based on the phase difference of the beat signal. Furthermore, by multiplying the phase difference of the beat signal by the amplitude, it is possible to accurately detect interference signals, even if the interference has a large amplitude or a small amplitude. In other words, as shown in FIG. 9 , a gate 320 representing the time when the interference occurs can be accurately generated.

[0051] Second Embodiment A radar device according to a second embodiment of the present technology will be described. In the following description, descriptions of parts having the same configuration and operation as those in the radar device 100 described in the above embodiment will be omitted or simplified.

[0052] Fig. 10 is a graph showing the case where the absolute value of the product value obtained by multiplying the phase difference by the amplitude is taken. Fig. 11 is a graph showing the case where a moving average is performed on the absolute value of the product value. In Figs. 10 and 11, the vertical axis shows the absolute value [deg] of the product value, and the horizontal axis shows the index (idx). Fig. 12 is a graph showing threshold values ​​when a moving average is performed on the absolute value of the product value.

[0053] In the above embodiment, the gate is generated based on the product value of the phase difference and the amplitude. In the second embodiment, the detection unit 305 takes the absolute value of the product value of the phase difference and the amplitude (see FIG. 10 ).

[0054] In the second embodiment, the detection unit 305 performs a moving average on the absolute value of the product value, thereby smoothing the absolute value of the product value (see FIG. 11).

[0055] The detection unit 305 also sets a threshold value for generating a gate (dotted line 325 in FIG. 12 ). For example, the detection unit 305 sets the average value of the absolute values ​​of the product values ​​as the threshold value. Note that the method for setting the threshold value is not limited to this. For example, a threshold value that can be determined as an interference signal may be set by learning characteristics of interference signals detected so far, such as the amplitude, phase difference, product value, and absolute value of the product value.

[0056] If the absolute value of the moving averaged product value exceeds the threshold value set by the detection unit 305, a gate 330 as shown in Fig. 13 is generated. That is, the time period in which the absolute value of the product value is greater than the predetermined threshold value is detected as the interference occurrence time.

[0057] Third Embodiment A radar device according to a third embodiment of the present technology will be described.

[0058] In the third embodiment, the detector 305 generates an envelope of the phase difference values ​​of the beat signals. For example, in Fig. 14, an envelope 335 of the absolute values ​​of the product values ​​(see Fig. 10) is generated.

[0059] The detector 305 detects an interference signal based on the phase of the generated envelope 335 as shown in Fig. 14. That is, if the phase of the envelope exceeds a predetermined threshold, a gate is generated to detect the time when interference occurs.

[0060] The parameters used to generate the envelope are not limited, and the envelope may be generated for the phase difference (see FIG. 5) or the product of the phase difference and amplitude (see FIG. 7).

[0061] As shown in the second and third embodiments, a gate may be generated by generating an absolute value, a moving average, or an envelope for the product of the phase difference and the amplitude, thereby enabling more accurate detection of interference signals.

[0062] Here, a flowchart for detecting an interference signal by the information processing device 300 will be shown with reference to Fig. 15. The flowchart shown in Fig. 15 shows the processing of the information processing device in the first embodiment.

[0063] FIG. 15 is a flowchart illustrating the detection of an interference signal.

[0064] As shown in FIG. 15, the acquisition unit 301 acquires a beat signal (step 101).

[0065] The phase calculation unit 302 calculates the phase of the acquired beat signal (step 102), the phase difference calculation unit 303 calculates the phase difference of the beat signal (step 103), and the amplitude calculation unit 304 calculates the amplitude of the beat signal (step 104).

[0066] The order of steps 102 and 104 is not limited, and they may be performed in the reverse order to that shown in FIG. 15, or may be performed simultaneously.

[0067] The detection unit 305 calculates the product value obtained by multiplying the phase difference and the amplitude (step 105). Note that in step 105, as shown in the second and third embodiments, the absolute value of the product value may be taken, a moving average may be calculated, or an envelope may be generated.

[0068] The detector 305 then determines whether the calculated product exceeds a predetermined threshold (step 106). If the product exceeds the predetermined threshold (YES in step 106), a gate is generated in the section where the product exceeds the predetermined threshold (step 107). That is, in step 107, an interference signal (interference occurrence time) is detected.

[0069] Other Embodiments The present technology is not limited to the above-described embodiments, and various other embodiments can be realized.

[0070] In the above embodiment, the beat signal is obtained using a real signal and an imaginary signal. However, the present invention is not limited to this, and the radar device may output only a real signal to the information processing device 300. In this case, the obtained real signal may be subjected to a Hilbert transform, and the beat signal may be obtained using the real signal and the Hilbert transformed signal.

[0071] Here, an example of a moving body is shown in which the radar device 100 is mounted on a vehicle 1 (vehicle control system 11). That is, the antenna 200 in this embodiment corresponds to the external recognition sensor 25 in the vehicle control system described below, and although not shown, the information processing device 300 may be built into the external recognition sensor 25.

[0072] FIG. 16 is a block diagram showing an example configuration of a vehicle control system 11, which is a non-limiting example of a mobility device control system to which the present technology is applied.

[0073] The vehicle control system 11 is provided in the vehicle 1 and performs processing related to automated driving of the vehicle 1. This automated driving includes levels 1 to 5 of automated driving, as well as remote driving and / or remote assistance of the vehicle 1 by a remote driver. The level of automated driving may refer to the Society of Automotive Engineers (SAE) J3016™ APL2021 Levels of Driving Automation, where SAE Level 0 denotes the lowest level of automated driving and SAE Level 5 denotes the highest level of automated driving. For example, SAE Level 1 automated driving may be composed of driver assistance functions that provide steering or braking / acceleration support to the driver, and SAE Level 5 automated driving may be composed of automated driving functions that can drive the vehicle under all conditions.

[0074] The vehicle control system 11 includes a vehicle control ECU (Electronic Control Unit) 21, a communication unit 22, a map information storage unit 23, a location information acquisition unit 24, an external recognition sensor 25, an in-vehicle sensor 26, a vehicle sensor 27, a memory unit 28, a driving automation control unit 29, a DMS (Driver Monitoring System) 30, an HMI (Human Machine Interface) 31, and a vehicle control unit 32.

[0075] Two or more (or in some cases, all) of the vehicle control ECU 21, communication unit 22, map information storage unit 23, position information acquisition unit 24, external recognition sensor 25, in-vehicle sensor 26, vehicle sensor 27, memory unit 28, driving automation control unit 29, DMS 30, HMI 31, and vehicle control unit 32 are communicatively connected to each other via a communication network 41. The communication network 41 is configured, for example, by an in-vehicle communication network or bus conforming to a digital bidirectional communication standard such as a Controller Area Network (CAN), a Local Interconnect Network (LIN), a Local Area Network (LAN), FlexRay (registered trademark), or Ethernet (registered trademark). In some embodiments, the communication network 41 may include two or more types of communication networks, and different types of communication networks may be used depending on the type of data being transmitted. For example, a CAN may be used for data related to vehicle control, and an Ethernet may be used for large-volume data. In some embodiments, two or more (or in some cases, all) units of the vehicle control system 11 may be directly connected using wireless communication (e.g., communication at a relatively short distance) without using the communication network 41. In some embodiments, the wireless communication may use a short-range wireless communication technology. Non-limiting examples of short-range wireless communication technologies include near field communication (NFC) and Bluetooth (registered trademark). In some embodiments, two or more (or in some cases, all) units of the vehicle control system 11 may be connected using the communication network 41 and a wireless communication technology (e.g., a short-range wireless communication technology).

[0076] Hereinafter, in an embodiment in which two or more units of the vehicle control system 11 communicate with each other via the communication network 41, the description of the communication network 41 will be omitted. For example, in an embodiment in which the vehicle control ECU 21 and the communication unit 22 communicate with each other via the communication network 41, it will simply be described that the vehicle control ECU 21 and the communication unit 22 communicate with each other.

[0077] The vehicle control ECU 21 is configured by various processors such as a CPU (Central Processing Unit), an MPU (Micro Processing Unit), etc. The vehicle control ECU 21 controls the entire or part of the functions of the vehicle control system 11.

[0078] The communication unit 22 communicates with various devices inside the vehicle 1 (hereinafter referred to as in-vehicle devices), various devices outside the vehicle 1 (hereinafter referred to as out-vehicle devices), other vehicles, base stations, etc., and transmits and receives various types of data. In some embodiments, the communication unit 22 may communicate using multiple communication technologies.

[0079] A non-limiting example of communication between the communication unit 22 and an external device will now be briefly described. In some embodiments, the communication unit 22 may communicate with a server (hereinafter referred to as an external server) or the like on an external network via a base station or an access point using wireless communication technology. Non-limiting examples of wireless communication technology include 5G (5th Generation Mobile Communication System), LTE (Long Term Evolution), DSRC (Dedicated Short Range Communications), etc. The external network with which the communication unit 22 can communicate is, for example, the Internet, a cloud network, or a network specific to an operator. The communication technology used by the communication unit 22 to communicate with the external network is not particularly limited as long as it is a wireless communication technology that enables digital two-way communication at a communication speed equal to or higher than a predetermined distance.

[0080] In some embodiments, the communication unit 22 may use P2P (Peer to Peer) technology to communicate with a terminal located near the vehicle. The terminal located near the vehicle may be, for example, a terminal attached to a mobile object moving at a relatively slow speed, such as a pedestrian or a bicycle, a terminal installed at a fixed location in a store, and / or an MTC (Machine Type Communication) terminal. In some embodiments, the communication unit 22 may perform V2X (Vehicle to Everything) communication. V2X communication generally refers to communication between the vehicle and another entity. Non-limiting examples of V2X communication include vehicle-to-vehicle communication with another vehicle, vehicle-to-infrastructure communication with a roadside unit, vehicle-to-home communication, and vehicle-to-pedestrian communication with a terminal carried or worn by a pedestrian.

[0081] In some embodiments, the communication unit 22 may receive a program for updating software that controls the operation of the vehicle control system 11 from outside the vehicle 1 (e.g., over the air). In some embodiments, the communication unit 22 may receive map information, traffic information, information about the surroundings of the vehicle 1, etc. from outside the vehicle 1. In some embodiments, the communication unit 22 may transmit information about the vehicle 1 or information about the surroundings of the vehicle 1, etc. to an external device or an external network. Non-limiting examples of information about the vehicle 1 that the communication unit 22 transmits to an external device or an external network include data indicating the status of the vehicle 1, recognition results by the recognition unit 73, etc. In some embodiments, the communication unit 22 may communicate with a vehicle emergency notification system. Non-limiting examples of a vehicle emergency notification system include eCall, etc.

[0082] In some embodiments, the communication unit 22 may receive electromagnetic waves transmitted by a road traffic information communication system. In some embodiments, the electromagnetic waves may be transmitted using a radio beacon, an optical beacon, FM multiplex broadcasting, or the like.

[0083] Non-limiting examples of communication with in-vehicle devices that can be performed by the communication unit 22 will now be briefly described. In some embodiments, the communication unit 22 may communicate with the in-vehicle devices using wireless communication. For example, in some embodiments, the communication unit 22 may communicate with the in-vehicle devices using wireless communication technology that enables bidirectional digital communication at a predetermined communication speed or higher. Non-limiting examples of wireless communication technology include wireless LAN, Bluetooth, NFC, and WUSB (Wireless USB). Alternatively, the communication unit 22 may communicate with the in-vehicle devices using wired communication (in addition to or as an alternative to wireless communication). For example, in some embodiments, the communication unit 22 may communicate with the in-vehicle devices using wired communication via a cable connected to a connection terminal (not shown). In some embodiments, the communication unit 22 may communicate with the in-vehicle devices using wired communication technology that enables bidirectional digital communication at a predetermined communication speed or higher. Non-limiting examples of wired communication technologies include Universal Serial Bus (USB), High-Definition Multimedia Interface (HDMI)®, and Mobile High-definition Link (MHL).

[0084] Here, the in-vehicle devices refer to, for example, devices inside the vehicle 1 that are not connected to the communication network 41. The in-vehicle devices are divided into devices that constitute the vehicle control system 11 and devices that do not constitute the vehicle control system 11. Non-limiting examples of in-vehicle devices that do not constitute the vehicle control system 11 include mobile devices and wearable devices carried by users of the vehicle 1 (for example, the driver or passengers), and information devices that are temporarily installed inside the vehicle 1. These devices can, for example, be moved outside the vehicle 1 and become external devices.

[0085] The map information storage unit 23 stores maps acquired from an external device or an external network and / or maps created by the vehicle 1. For example, the map information storage unit 23 may store a three-dimensional high-precision map, a global map that has lower precision than a high-precision map and covers a wide area, or the like.

[0086] The high-precision map may be, for example, a dynamic map, a point cloud map, a vector map, etc. The dynamic map may be, for example, a map consisting of four layers of dynamic information, quasi-dynamic information, quasi-static information, and static information, and may be provided to the vehicle 1 from an external server or the like. The point cloud map may be a map composed of a point cloud (point cloud data). The vector map may be, for example, a map adapted for automated driving by associating traffic information such as the positions of lanes and traffic lights with the point cloud map.

[0087] The point cloud map and the vector map may be provided, for example, from an external server or the like, or may be created in the vehicle 1 based on sensing results from the camera 51, radar 52, LiDAR 53, etc. as a map for matching with a local map described later, and stored in the map information storage unit 23. Furthermore, when a high-precision map is provided from an external server or the like, map data of, for example, an area of ​​several hundred square meters regarding the planned route along which the vehicle 1 will travel may be acquired from the external server or the like in order to reduce communication capacity.

[0088] The position information acquisition unit 24 acquires position information of the vehicle 1. The acquired position information may be supplied to the driving automation control unit 29. In some embodiments, the position information acquisition unit 24 may receive GNSS (Global Navigation Satellite System) signals from GNSS satellites. In some embodiments, the position information acquisition unit 24 may receive signals from beacons or the like.

[0089] The external recognition sensor 25 includes various sensors used to recognize the situation outside the vehicle 1, and supplies sensor data from one or more (or in some cases, all) sensors to one or more (or in some cases, all) units of the vehicle control system 11. The type and number of sensors included in the external recognition sensor 25 are arbitrary.

[0090] In some embodiments, the external recognition sensor 25 may include a camera 51, a radar 52, a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) 53, and an ultrasonic sensor 54. Without being limited to this, the external recognition sensor 25 may be configured to include one or more types of sensors selected from the camera 51, the radar 52, the LiDAR 53, and the ultrasonic sensor 54. The number of cameras 51, radars 52, LiDARs 53, and ultrasonic sensors 54 is not particularly limited as long as they are numbers that can be realistically installed on the vehicle 1. Furthermore, the types of sensors included in the external recognition sensor 25 are not limited to this example, and the external recognition sensor 25 may include other types of sensors. Examples of sensing areas of the sensors included in the external recognition sensor 25 will be described later.

[0091] The camera 51 may use any suitable imaging method. In some embodiments, the camera 51 may use an imaging method capable of distance measurement. Non-limiting examples of cameras using imaging methods capable of distance measurement include a time-of-flight (ToF) camera, a stereo camera, a monocular camera, and an infrared camera. However, the camera 51 may simply acquire an image without distance measurement.

[0092] In some embodiments, the external recognition sensor 25 may include an environmental sensor for detecting characteristics of the environment around the vehicle 1. Non-limiting examples of environmental characteristics that may be detected include weather, climate, brightness, etc. In some embodiments, the environmental sensor may include various sensors such as a rain sensor, a fog sensor, a sunlight sensor, a snow sensor, and an illuminance sensor.

[0093] In some embodiments, the external recognition sensor 25 may include a microphone used to detect sounds around the vehicle 1 and the location of sound sources.

[0094] The interior sensor 26 includes various sensors for detecting information about the interior of the vehicle 1, and supplies sensor data from one or more (or in some cases, all) sensors to one or more (or in some cases, all) units of the vehicle control system 11. The types and number of the various sensors included in the interior sensor 26 are not particularly limited as long as they are of the types and number that can be realistically installed in the vehicle 1.

[0095] In some embodiments, the interior sensor 26 may include one or more sensors selected from the group consisting of a camera, radar, a seating sensor, a microphone, and a biometric sensor. In some embodiments, the camera included in the interior sensor 26 may use an imaging method capable of measuring distances. Non-limiting examples of cameras using imaging methods capable of measuring distances include a Time of Flight (ToF) camera, a stereo camera, a monocular camera, and an infrared camera. The camera included in the interior sensor 26 may also be a camera simply used to acquire captured images, regardless of distance measurement. The biometric sensor included in the interior sensor 26 may be provided, for example, on a seat or a steering wheel, and may detect various types of biometric information of the user.

[0096] The vehicle sensor 27 includes various sensors for detecting the state of the vehicle 1, and supplies sensor data from one or more (or in some cases, all) sensors to one or more (or in some cases, all) units of the vehicle control system 11. The types and number of the various sensors included in the vehicle sensor 27 are not particularly limited as long as they are of the types and number that can be realistically installed on the vehicle 1.

[0097] In some embodiments, the vehicle sensor 27 may include a speed sensor, an acceleration sensor, an angular velocity sensor (gyro sensor), and / or an inertial measurement unit (IMU) that integrates these. In some embodiments, the vehicle sensor 27 may include a steering angle sensor that detects the steering angle of the steering wheel, a yaw rate sensor, an accelerator sensor that detects the amount of accelerator pedal operation (e.g., pedal force, pedal stroke), and / or a brake sensor that detects the amount of brake pedal operation (e.g., pedal force, pedal stroke). In some embodiments, the vehicle sensor 27 may include a rotation sensor that detects the number of rotations of the engine or motor, an air pressure sensor that detects tire air pressure, a slip ratio sensor that detects tire slip ratio, and / or a wheel speed sensor that detects the rotation speed of the wheels. In some embodiments, the vehicle sensor 27 may include a battery sensor that detects the remaining battery level and temperature, and / or an impact sensor that can detect external impacts.

[0098] The storage unit 28 includes at least one of a non-volatile storage medium and a volatile storage medium, and stores data and programs. Non-limiting examples of storage media include magnetic storage devices such as electrically erasable programmable read-only memory (EEPROM), random access memory (RAM), and / or hard disk drives (HDDs), semiconductor storage devices, optical storage devices, and magneto-optical storage devices. The storage unit 28 stores various programs and data used by one or more (or in some cases, all) units of the vehicle control system 11. In some embodiments, the storage unit 28 may include an event data recorder (EDR) or a data storage system for automated driving (DSSAD), and may store information about the vehicle 1 before and after an event such as an accident, as well as information acquired by the in-vehicle sensors 26.

[0099] The driving automation control unit 29 controls the driving automation function of the vehicle 1. In some embodiments, the driving automation control unit 29 may include an analysis unit 61, an action planning unit 62, and an operation control unit 63.

[0100] The analysis unit 61 performs an analysis process of the vehicle 1 and / or the surrounding situation. The analysis unit 61 includes a self-position estimation unit 71, a sensor fusion unit 72, and a recognition unit 73.

[0101] In some embodiments, the self-position estimation unit 71 may estimate the self-position of the vehicle 1 based on sensor data from the external recognition sensor 25 and a high-precision map stored in the map information storage unit 23. For example, the self-position estimation unit 71 may generate a local map based on the sensor data from the external recognition sensor 25 and estimate the self-position of the vehicle 1 by matching the local map with the high-precision map. The position of the vehicle 1 may be based on, for example, the center of the rear wheel pair axle.

[0102] In some embodiments, the local map may be a three-dimensional high-precision map, an occupancy grid map, or the like created using a technique such as SLAM (Simultaneous Localization and Mapping). The three-dimensional high-precision map may be, for example, the point cloud map described above. The occupancy grid map may be a map obtained by dividing a three-dimensional or two-dimensional space around the vehicle 1 into grids of a predetermined size and indicating the occupancy status of objects on a grid-by-grid basis. The occupancy status of an object may be indicated, for example, by the presence or absence of an object or a probability of its presence. In some embodiments, the local map may also be used, for example, in the detection process and / or recognition process of the situation outside the vehicle 1 by the recognition unit 73.

[0103] In some embodiments, the self-position estimation unit 71 may estimate the self-position of the vehicle 1 based on the position information acquired by the position information acquisition unit 24 and / or sensor data from the vehicle sensor 27 .

[0104] The sensor fusion unit 72 performs sensor fusion processing to obtain information by combining multiple different types of sensor data (for example, image data supplied from the camera 51 and sensor data supplied from the radar 52). Methods for combining different types of sensor data include, but are not limited to, compounding, integration, fusion, and association.

[0105] The recognition unit 73 executes a detection process for detecting the situation outside the vehicle 1 and / or a recognition process for recognizing the situation outside the vehicle 1 .

[0106] For example, the recognition unit 73 may perform detection processing and / or recognition processing of the situation outside the vehicle 1 based on information from the external recognition sensor 25, information from the self-position estimation unit 71, information from the sensor fusion unit 72, etc.

[0107] Specifically, for example, the recognition unit 73 may perform a detection process and / or a recognition process of objects around the vehicle 1. The object detection process may be, for example, a process of detecting the presence or absence, size, shape, position, movement, etc. of an object. The object recognition process may be, for example, a process of recognizing attributes such as the type of object, or a process of identifying a specific object. The detection process and the recognition process are not necessarily clearly separated, and there may be at least a partial overlap.

[0108] In some embodiments, the recognition unit 73 may detect objects around the vehicle 1 by performing clustering to classify a point cloud based on sensor data from the radar 52 and / or the LiDAR 53, etc. into clusters of points. This makes it possible to detect the presence, size, shape, and position of objects around the vehicle 1.

[0109] In some embodiments, the recognition unit 73 may detect the movement of objects around the vehicle 1 by tracking the movement of clusters of point clouds classified by clustering. This makes it possible to detect the speed and / or traveling direction (movement vector) of objects around the vehicle 1.

[0110] In some embodiments, the recognition unit 73 may detect and / or recognize vehicles (including bicycles), people, obstacles, structures, roads, traffic lights, traffic signs, road markings, etc. based on image data supplied from the camera 51. In some embodiments, the recognition unit 73 may recognize the type of object around the vehicle 1 by performing recognition processing such as semantic segmentation.

[0111] In some embodiments, the recognition unit 73 may perform a recognition process of traffic rules around the vehicle 1 based on the map stored in the map information storage unit 23, the result of estimation of the self-position by the self-position estimation unit 71, and / or the result of recognition of objects around the vehicle 1 by the recognition unit 73. Through this process, the recognition unit 73 may recognize the position and / or state of traffic lights, the contents of traffic signs and / or road markings, the contents of traffic regulations, and / or lanes that can be traveled, etc.

[0112] In some embodiments, the recognition unit 73 may perform recognition processing of the environment around the vehicle 1. In some embodiments, the recognition unit 73 may recognize weather characteristics (temperature, humidity, brightness) and / or road surface conditions, etc.

[0113] The behavior planning unit 62 creates a behavior plan for the vehicle 1. For example, the behavior planning unit 62 may create a behavior plan by performing route planning and route tracking.

[0114] In some embodiments, path planning may include global path planning and local path planning. Global path planning may include a process of planning a rough route from a start to a goal. Local path planning, also referred to as trajectory planning, may include generating a trajectory that allows the vehicle 1 to proceed safely and smoothly along a planned route in the vicinity of the vehicle 1, taking into account the motion characteristics of the vehicle 1, the presence of any obstacles, and the like.

[0115] In some embodiments, the path following may be a planning of an operation for safely and accurately traveling along a route planned by the route planner within a planned time. The behavior planning unit 62 may, for example, calculate a target speed and / or a target angular velocity of the vehicle 1 based on the result of the path following process.

[0116] The operation control unit 63 controls the operation of the vehicle 1 in order to realize the action plan created by the action planning unit 62 .

[0117] For example, in some embodiments, the operation control unit 63 may control the steering control unit 81, the brake control unit 82, and / or the drive control unit 83 included in the vehicle control unit 32 (described later) to perform lateral vehicle motion control and / or longitudinal vehicle motion control so that the vehicle 1 travels along the trajectory calculated by the trajectory plan. For example, the operation control unit 63 may perform control (e.g., lateral vehicle motion control, longitudinal vehicle motion control) for one or more driver assistance functions and / or driving automation. Non-limiting examples of driver assistance functions include collision avoidance or impact mitigation, following distance control (e.g., control to maintain a specific distance from a vehicle traveling in front of the vehicle 1), vehicle speed control (e.g., control to maintain a specific speed), vehicle collision warning, and lane departure warning. Non-limiting examples of driving automation include driving without operation by a driver or a remote driver.

[0118] In some embodiments, the DMS 30 may perform a driver authentication process and / or a driver state recognition process based on sensor data from the in-vehicle sensors 26 and / or input data input to the HMI 31 (described later), etc. Non-limiting examples of the driver state that may be recognized include physical condition, alertness, concentration, fatigue, gaze direction, level of intoxication, driving operation, posture, etc.

[0119] In some embodiments, the DMS 30 may perform authentication processing of a user other than the driver (e.g., a passenger) and / or recognition processing of the state of the user. In some embodiments, the DMS 30 may perform recognition processing of the interior situation of the vehicle 1 based on sensor data from the interior sensors 26. Non-limiting examples of characteristics of the interior situation of the vehicle 1 that can be recognized include temperature, humidity, brightness, odor, etc.

[0120] The HMI 31 receives various data, instructions, etc. as input, and presents the various data to the user.

[0121] The input of data to the HMI 31 will be briefly described. The HMI 31 includes an input device through which a person inputs data, instructions, etc. The HMI 31 generates an input signal based on the data, instructions, etc. input via the input device and supplies the signal to one or more (or in some cases, all) units of the vehicle control system 11. In some embodiments, the HMI 31 may include a touch panel, buttons, switches, and / or levers as input devices. Without being limited thereto, the HMI 31 may also include an input device that allows information to be input by a method other than manual operation, such as voice or gestures. In some embodiments, the HMI 31 may include an input device such as a remote control device using infrared and / or radio waves, or an externally connected device that can operate the vehicle control system 11. Non-limiting examples of externally connected devices include a mobile device (e.g., a smartphone) and a wearable device (e.g., a smart watch).

[0122] The presentation of data by the HMI 31 will be briefly described. The HMI 31 generates visual information, auditory information, and / or tactile information for the user and / or a person outside the vehicle 1. The HMI 31 may also perform output control, controlling the output, output content, output timing, and / or output method of each piece of generated information. Non-limiting examples of visual information that can be generated and output by the HMI 31 include information displayed by images or lights, such as an operation screen, a status display of the vehicle 1, a warning display, and a monitor image showing the situation around the vehicle 1. Non-limiting examples of auditory information that can be generated and output by the HMI 31 include voice guidance, warning sounds, warning messages, etc. Non-limiting examples of tactile information that can be generated and output by the HMI 31 include information imparted to the user's sense of touch by force, vibration, movement, etc.

[0123] In some embodiments, the HMI 31 may include, as an output device capable of outputting visual information, a display device that presents visual information by displaying an image itself or a projector device that presents visual information by projecting an image. In some embodiments, the display device may be, in addition to or instead of a typical display device, a device that displays visual information within the user's field of view, such as a head-up display, a see-through display, or a wearable device with an augmented reality (AR) function. In some embodiments, the HMI 31 may include, as an output device capable of outputting visual information, a display device included in a navigation device, an instrument panel, a camera monitoring system (CMS), an electronic mirror, a lamp, or the like provided in the vehicle 1.

[0124] In some embodiments, the HMI 31 may include an audio speaker, headphones, or earphones as output devices capable of outputting auditory information.

[0125] In some embodiments, the HMI 31 may include a haptic element using haptic technology as an output device capable of outputting tactile information. The haptic element may be provided on a part of the vehicle 1 that the user comes into contact with, such as the steering wheel or the seat.

[0126] The vehicle control unit 32 controls one or more (or in some cases, all) units of the vehicle 1. The vehicle control unit 32 includes a steering control unit 81, a brake control unit 82, a drive control unit 83, a body system control unit 84, a light control unit 85, and a horn control unit 86.

[0127] The steering control unit 81 detects and / or controls the state of the steering system of the vehicle 1. The steering system includes, for example, a steering mechanism including a steering wheel, an electric power steering, etc. The steering control unit 81 includes, for example, a steering ECU that controls the steering system, an actuator that drives the steering system, etc.

[0128] The brake control unit 82 detects and / or controls the state of the brake system of the vehicle 1. The brake system includes, for example, a brake mechanism including a brake pedal, an antilock brake system (ABS), a regenerative brake mechanism, etc. The brake control unit 82 includes, for example, a brake ECU that controls the brake system, an actuator that drives the brake system, etc.

[0129] The drive control unit 83 detects and / or controls the state of the drive system of the vehicle 1. The drive system includes, for example, an accelerator pedal, a drive force generating device for generating drive force such as an internal combustion engine or a drive motor, and a drive force transmission mechanism for transmitting the drive force to the wheels. The drive control unit 83 includes, for example, a drive ECU for controlling the drive system, and an actuator for driving the drive system.

[0130] The body system control unit 84 detects and / or controls the states of the body system systems of the vehicle 1. The body system systems include, for example, a keyless entry system, a smart key system, a power window device, a power seat, an air conditioning system, an airbag, a seat belt, a shift lever, etc. The body system control unit 84 includes, for example, a body system ECU that controls the body system systems, an actuator that drives the body system systems, etc.

[0131] The light control unit 85 detects and / or controls the states of various lights of the vehicle 1. Non-limiting examples of lights that can be controlled by the light control unit 85 include headlights, backlights, fog lights, turn signals, brake lights, projector lights, and bumper indicators. The light control unit 85 includes a light ECU that controls the lights, an actuator that drives the lights, and the like.

[0132] The horn control unit 86 detects and / or controls the state of the car horn of the vehicle 1. The horn control unit 86 includes, for example, a horn ECU that controls the car horn, an actuator that drives the car horn, and the like.

[0133] Fig. 17 is a diagram showing an example of a sensing area by the camera 51, the radar 52, the LiDAR 53, the ultrasonic sensor 54, etc. of the external recognition sensor 25 in Fig. 16. Fig. 17 schematically shows the vehicle 1 as viewed from above.

[0134] Sensing area 101F and sensing area 101B show examples of sensing areas of the ultrasonic sensors 54. Sensing area 101F (e.g., sensing area of ​​the multiple ultrasonic sensors 54) covers the periphery of the front end of the vehicle 1. Sensing area 101B (e.g., sensing area of ​​the multiple ultrasonic sensors 54) covers the periphery of the rear end of the vehicle 1.

[0135] The sensing results in sensing area 101F and / or sensing area 101B may be used, for example, for parking assistance for vehicle 1.

[0136] Sensing area 102F, sensing area 102B, sensing area 102L, and sensing area 102R show examples of sensing areas of a short-range or medium-range radar 52. Sensing area 102F covers a position farther in front of the vehicle 1 than sensing area 101F. Sensing area 102B covers a position farther behind the vehicle 1 than sensing area 101B. Sensing area 102L covers the surrounding area behind the left side of the vehicle 1. Sensing area 102R covers the surrounding area behind the right side of the vehicle 1.

[0137] The sensing results in the sensing area 102F may be used, for example, to detect vehicles, pedestrians, etc. present in front of the vehicle 1. The sensing results in the sensing area 102B may be used, for example, for a collision prevention function behind the vehicle 1. The sensing results in the sensing area 102L and / or the sensing area 102R may be used, for example, to detect one or more objects in blind spots on the left and / or right sides of the vehicle 1.

[0138] Sensing area 103F, sensing area 103B, sensing area 103L, and sensing area 103R show examples of sensing areas sensed by camera 51. Sensing area 103F covers a position farther in front of vehicle 1 than sensing area 102F. Sensing area 103B covers a position farther behind vehicle 1 than sensing area 102B. Sensing area 103L covers the periphery on the left side of vehicle 1. Sensing area 103R covers the periphery on the right side of vehicle 1.

[0139] The sensing results in sensing area 103F may be used, for example, for recognizing traffic lights and traffic signs, a lane departure prevention assistance system, or an automatic headlight control system. The sensing results in sensing area 103B may be used, for example, for parking assistance and / or a surround view system. The sensing results in sensing area 103L and / or sensing area 103R may be used, for example, for a surround view system.

[0140] Sensing area 104 shows an example of the sensing area of ​​LiDAR 53. Sensing area 104 covers a position farther ahead of vehicle 1 than sensing area 103F. On the other hand, sensing area 104 has a narrower range in the left-right direction of vehicle 1 than sensing area 103F.

[0141] The sensing results in the sensing area 104 may be used to detect objects such as surrounding vehicles, for example.

[0142] Sensing area 105 shows an example of the sensing area of ​​the long-range radar 52. Sensing area 105 covers a position further ahead of the vehicle 1 than sensing area 104. On the other hand, sensing area 105 has a narrower range in the left-right direction of the vehicle 1 than sensing area 104.

[0143] The sensing results in the sensing area 105 may be used for, for example, adaptive cruise control (ACC), emergency braking, collision avoidance, and the like.

[0144] In some embodiments, the sensing area of ​​each of the external recognition sensors 25 (e.g., the camera 51, the radar 52, the LiDAR 53, and the ultrasonic sensor 54) may have various configurations other than the configuration shown in Fig. 17. Specifically, in some embodiments, the ultrasonic sensor 54 may also sense the sides of the vehicle 1, and the LiDAR 53 may sense the rear of the vehicle 1. Furthermore, the installation position of each sensor is not limited to the above-mentioned examples. Furthermore, the number of each sensor may be one or more.

[0145] Of the characteristic features of each embodiment described above, at least two of the characteristic features may be combined.

[0146] It should be noted that the effects described in this disclosure are merely examples and are not limiting, and other effects may also be present. The description of multiple effects above does not necessarily mean that these effects are exhibited simultaneously. It means that at least one of the effects described above can be obtained depending on the conditions, etc., and of course, effects not described in this disclosure may also be exhibited.

[0147] It is also possible to combine at least two of the features of each embodiment described above. That is, the various features described in each embodiment may be combined in any way without distinguishing between the embodiments. Furthermore, the various effects described above are merely examples and are not intended to be limiting, and other effects may also be achieved.

[0148] Note that the present technology can also be configured as follows. (1) An information processing device comprising: a calculation unit that calculates the phase of a beat signal generated based on a transmission chirp signal transmitted by a transmitting antenna toward an object and a reflected chirp signal formed by the transmission chirp signal received by a receiving antenna and reflected by the object; and a detection unit that detects the presence or absence of an unwanted signal based on the phase of the beat signal. (2) The information processing device described in (1), in which the detection unit detects the presence or absence of the unwanted signal based on a phase difference that is a difference between the phase of the beat signal at a first time and the phase of the beat signal at a second time different from the first time. (3) The information processing device described in (2), in which the detection unit detects the presence or absence of the unwanted signal based on the phase difference and the amplitude of the beat signal. (4) The information processing device described in (3), in which the unwanted signal includes an interference signal transmitted from a transmitting antenna different from the transmitting antenna. (5) The information processing device according to (4), wherein the detection unit detects the presence or absence of the interference signal based on a product value obtained by multiplying the phase difference by the amplitude. (6) The information processing device according to (5), wherein the detection unit detects the presence or absence of the interference signal based on an absolute value of the product value. (7) The information processing device according to (6), wherein the detection unit detects the presence or absence of the interference signal by performing a moving average on the absolute value of the product value. (8) The information processing device according to (6), wherein the detection unit detects the presence or absence of the interference signal when the absolute value of the product value exceeds a predetermined threshold. (9) The information processing device according to (8), wherein the detection of the presence or absence of the interference signal includes detection of an interference occurrence time, which is a time during which the interference signal is generated, and the interference occurrence time is a section during which the absolute value of the product value exceeds a predetermined threshold. (10) The information processing device according to (6), in which the detection unit detects the presence or absence of the interference signal by generating an envelope of an absolute value of the product value.(11) The information processing device according to (8), wherein the predetermined threshold is calculated by an average value of the absolute values ​​of the product values. (12) The information processing device according to (1), wherein the beat signal is obtained from a real signal and an imaginary signal. (13) The information processing device according to (12), wherein the beat signal is obtained from the real signal and a signal obtained by performing a Hilbert transform on the real signal. (14) An information processing method executed by a computer system, wherein: a phase of a beat signal generated based on a transmitted chirp signal transmitted toward an object by a transmitting antenna and a reflected chirp signal received by a receiving antenna and reflected from the object; and detecting the presence or absence of an unwanted signal based on the phase of the beat signal. (15) A radar device comprising an information processing device having: a transmitting antenna that transmits a transmitted chirp signal toward an object; a receiving antenna that receives a reflected chirp signal that is the transmitted chirp signal reflected by the object; a calculation unit that calculates the phase of a beat signal generated based on the transmitted chirp signal and the reflected chirp signal; and a detection unit that detects the presence or absence of an unwanted signal based on the phase of the beat signal.

[0149] DESCRIPTION OF SYMBOLS 1... Mobile body, vehicle 11... Vehicle control system 25... External recognition sensor 100... Radar device 200... Antenna 300... Information processing device 302... Phase calculation unit 303... Phase difference calculation unit 305... Detection unit

Claims

1. An information processing device comprising: a calculation unit that calculates the phase of a beat signal generated based on a transmitted chirp signal transmitted by a transmitting antenna towards an object and a reflected chirp signal received by a receiving antenna as a result of the transmitted chirp signal being reflected off the object; and a detection unit that detects the presence or absence of an unwanted signal based on the phase of the beat signal.

2. An information processing device according to claim 1, wherein the detection unit detects the presence or absence of the unwanted signal based on a phase difference, which is the difference between the phase of the beat signal at a first time and the phase of the beat signal at a second time different from the first time.

3. An information processing device according to claim 2, wherein the detection section detects the presence or absence of the unwanted signal based on the phase difference and the amplitude of the beat signal.

4. An information processing device according to claim 3, wherein the unwanted signal includes an interference signal transmitted from a transmitting antenna other than the transmitting antenna.

5. An information processing device according to claim 4, wherein the detection unit detects the presence or absence of the interference signal based on a product value obtained by multiplying the phase difference by the amplitude.

6. An information processing device according to claim 5, wherein the detection unit detects the presence or absence of the interference signal based on the absolute value of the product.

7. An information processing device according to claim 6, wherein the detection unit detects the presence or absence of the interference signal by taking a moving average of the absolute value of the product.

8. An information processing device according to claim 6, wherein the detection unit detects the presence or absence of the interference signal when the absolute value of the product exceeds a predetermined threshold value.

9. An information processing device according to claim 8, wherein the detection of the presence or absence of an interference signal includes detection of an interference occurrence time, which is a time during which the interference signal occurs, and the interference occurrence time is a section during which the absolute value of the product exceeds a predetermined threshold value.

10. An information processing device according to claim 6, wherein the detection unit detects the presence or absence of the interference signal by generating an envelope of the absolute value of the product value.

11. An information processing device according to claim 8, wherein the predetermined threshold value is calculated by averaging the absolute values ​​of the product values.

12. An information processing device according to claim 1, wherein the beat signal is obtained from a real signal and an imaginary signal.

13. An information processing device according to claim 12, wherein the beat signal is obtained from the real signal and a signal obtained by subjecting the real signal to a Hilbert transform.

14. An information processing method executed by a computer system, which calculates the phase of a beat signal generated based on a transmitted chirp signal transmitted by a transmitting antenna towards an object and a reflected chirp signal received by a receiving antenna as a result of the transmitted chirp signal being reflected by the object, and detects the presence or absence of an unwanted signal based on the phase of the beat signal.

15. A radar device comprising: an information processing device having a transmitting antenna that transmits a transmitted chirp signal toward an object; a receiving antenna that receives a reflected chirp signal that is the transmitted chirp signal reflected by the object; a calculation unit that calculates the phase of a beat signal generated based on the transmitted chirp signal and the reflected chirp signal; and a detection unit that detects the presence or absence of an unwanted signal based on the phase of the beat signal.

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