JP2013083540A - On-vehicle radar device and control method of on-vehicle radar device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately detect an object regardless of environmental change.SOLUTION: An on-vehicle radar device 10 which detects an object around a vehicle, comprises: detection means (a calculation control unit 10a, a transmission unit 10b, an amplifier unit 10c, a transmission antenna 10d, a reception antenna 10e, an amplifier 10f, and a reception unit 10g) which transmits signals to the periphery of the vehicle, and detects an object around the vehicle on the basis of reflection signals reflected by the object; acquisition means (a broad area communication unit 10h) which acquires peripheral information indicating a situation around the vehicle via a communication network; and control means (the calculation control unit 10a) which controls the detection means to prevent degradation of detection accuracy of the detection means on the basis of the peripheral information acquired by the acquisition means.

Description

  The present invention relates to an on-vehicle radar device and a control method for the on-vehicle radar device.

  In recent years, an on-vehicle radar device has been proposed for detecting an object existing around a host vehicle by using a radar, preventing a collision with another vehicle based on the detected information, and reducing damage at the time of the collision. (Patent Document 1).

JP 09-288177 A

  By the way, in the technique described in Patent Document 1, when a water film is formed on the surface of the radar or icing occurs, the passage loss of radio waves increases, so that the target cannot be accurately detected. is there. Further, when there is a traffic jam, radio waves transmitted from adjacent vehicles cause interference, and similarly, there is a problem that the target cannot be accurately detected.

  Accordingly, an object of the present invention is to provide an in-vehicle radar device and a control method for the in-vehicle radar device that can accurately detect an object regardless of environmental changes.

In order to solve the above-described problem, the present invention provides an in-vehicle radar device that detects an object around a vehicle, transmits a signal around the vehicle, and based on a reflected signal reflected by the object, Detection means for detecting an object, acquisition means for acquiring peripheral information indicating a situation around the vehicle via a communication network, and detection accuracy of the detection means based on the peripheral information acquired by the acquisition means And a control means for controlling the detection means so as to suppress a decrease in the above.
According to such a configuration, it is possible to accurately detect an object regardless of environmental changes.

According to another invention, in addition to the above-described invention, the acquisition unit acquires traffic jam information around the vehicle as the peripheral information, and the control unit determines that traffic jam has occurred around the vehicle based on the traffic jam information. In this case, the average power of signals transmitted to the surroundings is reduced, and interference with signals transmitted by other vehicles is suppressed, thereby suppressing a decrease in detection accuracy of the detection means.
According to such a configuration, a reduction in detection accuracy can be suppressed by reducing interference with signals transmitted from other vehicles.

According to another invention, in addition to the above-mentioned invention, the acquisition unit acquires weather information around the vehicle as the peripheral information, and the control unit generates a weather situation in which detection accuracy decreases due to the weather information. In the case where it is determined that the signal is detected, a decrease in detection accuracy is suppressed by increasing an integration time for the reflected signal.
According to such a configuration, in a weather situation in which the detection accuracy decreases, the integration time can be increased and a decrease in detection accuracy can be suppressed by the averaging process.

According to another invention, in addition to the above-described invention, when the control means determines that precipitation has occurred around the vehicle based on the weather information, it determines that a weather situation in which detection accuracy decreases is occurring. In addition, a decrease in detection accuracy is suppressed by increasing an integration time for the reflected signal.
According to such a configuration, when a passage loss occurs due to precipitation, it is possible to increase the integration time and suppress a decrease in detection accuracy by the averaging process.

According to another aspect of the invention, in addition to the above-described invention, the acquisition unit acquires traffic jam information or weather information around the vehicle as the peripheral information, and the control unit generates traffic jam around the vehicle due to the traffic jam information. If it is determined that there is a weather condition in which the detection accuracy decreases due to the weather information, information indicating that the reliability of the information detected by the detection means is low is output. It is characterized by doing.
According to such a configuration, the host device that uses information from the in-vehicle radar device refers to information indicating that the reliability is low, and makes various determinations after knowing in advance that the detection accuracy is low. It can be carried out.

According to another invention, in addition to the above invention, when the control means determines that traffic congestion has occurred around the vehicle based on the traffic congestion information, the detection accuracy is increased by increasing the integration time for the reflected signal. It is characterized by suppressing a decrease in the above.
According to such a configuration, it is possible to suppress a decrease in detection accuracy by increasing the integration time and excluding signals transmitted from other vehicles as noise by the averaging process.

In another invention, in addition to the above-described invention, when the control means determines that a weather situation is occurring in which the detection accuracy is reduced due to the weather information, the average power of a signal transmitted to the surroundings is calculated. By increasing, the reduction in detection accuracy of the detection means is suppressed.
According to such a configuration, even if there is a passage loss, a decrease in detection accuracy can be suppressed by increasing the average power.

According to another aspect of the present invention, there is provided a method for controlling an on-vehicle radar device that detects an object around a vehicle, and transmits a signal to the surroundings of the vehicle. A detection step for detecting, an acquisition step for acquiring peripheral information indicating a situation around the vehicle via a communication network, and a reduction in detection accuracy of the detection step based on the peripheral information acquired in the acquisition step. And a control step for controlling the detection step so as to suppress it.
According to such a method, it is possible to accurately detect an object regardless of changes in the environment.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the control method of the vehicle-mounted radar apparatus and vehicle-mounted radar apparatus which can detect a target correctly irrespective of the change of an environment.

It is a figure which shows the structural example of embodiment of this invention. It is a flowchart for demonstrating operation | movement of embodiment shown in FIG. It is a figure for demonstrating the state of the electromagnetic wave transmitted from embodiment shown in FIG. It is a flowchart for demonstrating operation | movement of embodiment shown in FIG.

  Next, an embodiment of the present invention will be described.

(A) Description of Configuration of Embodiment FIG. 1 is a diagram illustrating a configuration example of an embodiment of the present invention. As shown in this figure, the on-vehicle radar device 10 according to the present embodiment includes an arithmetic control unit 10a, a transmission unit 10b, an amplification unit 10c, a transmission antenna 10d, a reception antenna 10e, an amplification unit 10f, a reception unit 10g, and a wide area. The communication unit 10h is a main component.

  Here, the calculation control unit 10a controls the transmission unit 10b to output a transmission signal, inputs a reception signal output from the reception unit 10g, and performs an arithmetic process on the reception signal, so that Detect the position, speed, etc. of an object. In addition, the arithmetic control unit 10a accesses the server 40 via the wide area communication unit 10h, acquires traffic jam information and weather information, and performs control so that the detection accuracy of the object does not decrease based on these information. .

  The transmission unit 10b generates and outputs, for example, a UWB (Ultra Wide Band) signal that is an ultra-wideband radio using a few GHz band according to the control of the arithmetic control unit 10a. The amplifying unit 10c amplifies the UWB signal output from the transmitting unit 10b with a predetermined gain and outputs the amplified UWB signal. The transmitting antenna 10d transmits the UWB signal supplied from the amplifying unit 10c as a radio wave to the space where the object exists (space around the vehicle).

  The receiving antenna 10e captures the reflected signal transmitted from the transmitting antenna 10d and reflected by the object, converts it into an electrical signal, and outputs it. The amplifying unit 10f amplifies the electrical signal supplied from the receiving antenna 10e with a predetermined gain and outputs the amplified signal. The receiving unit 10g converts the received signal supplied from the amplifying unit 10f into a digital signal and supplies the digital signal to the arithmetic control unit 10a.

  The wide area communication unit 10h exchanges information with the base station 20 by, for example, radio waves. Here, the base station 20 is arranged for each communication area having a predetermined area, exchanges information with the wide area communication unit 10h via radio waves, and transmits information with the server 40 via the network 30. Give and receive.

  For example, the network 30 packetizes and transmits information between the server 40 and the base station 20. The server 40 is connected to the network 30 and exchanges information with the base station 20. Note that the server 40 has peripheral information such as traffic jam information 40a and weather information 40b, and when the vehicle-mounted radar device 10 is accessed via the base station 20, the vehicle-mounted radar device 10 is mounted. The traffic information 40a and the weather information 40b around the area where the vehicle is traveling are acquired and transmitted.

(B) Description of Operation Principle of Embodiment Next, the operation principle of this embodiment will be described. In the present embodiment, the in-vehicle radar device 10 acquires traffic jam information and weather information from the server 40, and controls based on these information so that the detection accuracy of the in-vehicle radar device 10 does not decrease. Specifically, when there is a traffic jam, there are many other vehicles around the host vehicle, and each vehicle transmits a radar signal (for example, a UWB signal). As a result, the detection accuracy decreases. Therefore, in the present embodiment, when traffic jams occur around the host vehicle, the average power of the radar signal (for example, the pulse transmission frequency) is reduced, thereby suppressing the occurrence of signal interference and detecting it. Prevents the accuracy from decreasing. Further, when a traffic jam occurs, the integration time for the received signal is increased to suppress a reduction in detection accuracy by averaging the received signal and suppressing a noise component.

  In addition, if there is a weather situation where the detection accuracy decreases around the host vehicle, the detection accuracy decreases due to a relatively increased noise. The integration time for the signal is increased, and the signal is averaged to suppress the noise component, thereby suppressing a decrease in detection accuracy. Note that the weather condition where the detection accuracy decreases is, for example, when precipitation (for example, rainfall, snowfall, rainfall) occurs, in which case a water film is formed on the radar surface, Since ice is generated, the passing loss of the radar signal is increased, so that the S / N ratio is deteriorated and the detection accuracy is lowered. In addition, when precipitation occurs, the amount of moisture in the space increases, and thus the radar signal passage loss increases. Similarly, the S / N ratio deteriorates and the detection accuracy decreases. For this reason, in this embodiment, when precipitation has occurred around the host vehicle from the weather information, the integration time for the received signal is increased to average the signal and suppress the noise component, thereby improving the detection accuracy. Suppresses the decline. Further, in the present embodiment, when precipitation occurs around the host vehicle from the weather information, the detection accuracy is improved by increasing the power of the radar signal to be transmitted to compensate for the attenuation of the signal due to rain attenuation. Prevents the decline.

  Further, in the present embodiment, information indicating that the detection accuracy is lowered when the congestion is serious or the precipitation is very large and the decrease in the detection accuracy cannot be sufficiently suppressed even by the above-described processing. , Output according to the detection information. This makes it possible to prevent the occurrence of false detections and misjudgments, for example, by referring to such information when it is unavoidable that the detection accuracy decreases due to severe traffic jams or heavy rainfall. it can.

  As described above, in this embodiment, referring to traffic information and weather information, which are surrounding information indicating the situation around the host vehicle, the integration time of the reception signal is increased, or the power of the transmission signal is increased or decreased. It is possible to prevent the detection accuracy from deteriorating. Further, when traffic congestion is serious or precipitation is very high, it is possible to prevent erroneous detection or determination by outputting information indicating that the detection accuracy is reduced.

(C) Description of Detailed Operation of Embodiment Next, the operation of this embodiment will be described. FIG. 2 is a flowchart for explaining the operation in a traffic jam. When the processing of this flowchart is started, the following steps are executed.

  In step S10, the arithmetic control unit 10a requests the wide area communication unit 10h to acquire traffic jam information. As a result, for example, the wide area communication unit 10h obtains information related to the current position of the host vehicle from a GPS (Global Positioning System) control unit (not shown), and requests to send traffic congestion information around the host vehicle to the server 40. . The server 40 acquires traffic congestion information 40a around the host vehicle in response to a request from the in-vehicle radar device 10 and transmits it to the wide area communication unit 10h via the network 30 and the base station 20. As a result, the arithmetic control unit 10a acquires the traffic jam information 40a around the host vehicle from the wide area communication unit 10h. Here, the traffic jam information 40a is information indicating a traffic jam situation around the host vehicle. Note that the traffic jam is defined as, for example, that the traveling speed of the lane in which the host vehicle is traveling is reduced, or the traveling speed is not decreased, but around the host vehicle is above a certain level. It can be defined as a state where a number of vehicles are traveling. For example, the traffic information 40a is acquired by the server 40 from VICS (Vehicle Information and Communication System) information, or is included in the position information transmitted from the wide-area communication unit 10h installed in each vehicle. Based on the density of the vehicle for each position, the server 40 may generate traffic jam information.

  In step S11, the calculation control unit 10a refers to the traffic jam information 40a acquired in step S10, determines whether or not there is a traffic jam around the host vehicle, and determines that the traffic jam occurs ( In step S11: Yes, the process proceeds to step S12. In other cases (step S11: No), the process proceeds to step S16. In addition, as a specific method for determining whether or not there is a traffic jam, for example, when there are 10 or more vehicles in an area with a radius of 10 m centering on the host vehicle, the traffic jam has occurred. Can be determined. Of course, other areas and numbers may be used as the determination criteria. In addition, the determination criterion may be changed according to the type of road that is running. For example, since the inter-vehicle distance differs between a general road and a highway when there is no traffic jam, in the case of a general road, it is determined whether there are 10 or more vehicles in an area with a radius of 10 m. In the case of a road, the determination may be made based on whether there are five or more vehicles in an area with a radius of 10 m. Of course, other criteria may be used.

  In step S12, the arithmetic control unit 10a reduces the frequency of UWB signal pulses transmitted from the transmission antenna 10d. FIG. 3 is a diagram showing pulses of the UWB signal transmitted from the transmitting antenna 10d. Here, FIG. 3A shows a pulse transmitted in a normal state. As shown in this figure, in a normal state (when no traffic jam occurs), a pulse with an amplitude A1 is transmitted with a period T1. On the other hand, when the frequency is reduced by the process of step S12, for example, as shown in FIG. 3B, a pulse with an amplitude A1 is transmitted in a cycle T2 (> T1). In the example of FIG. 3B, transmission is performed at a frequency half that of the normal state, but of course, the frequency may be reduced to other frequencies.

  In step S13, the arithmetic control unit 10a increases the integration time for the received signal. More specifically, the arithmetic control unit 10a increases the integration time for the pulse of the received UWB signal. As a result, the number of pulses integrated increases, so even if the radio waves from other vehicles increase due to traffic congestion, the radio waves from other vehicles that have a low correlation with the received signal of the host vehicle. Can be reduced as a noise component by averaging, and its influence can be suppressed.

  In step S14, the arithmetic control unit 10a determines whether or not the traffic jam is serious. When it is determined that the traffic congestion is serious (step S14: Yes), the process proceeds to step S15, and otherwise (step S14: No). Then, the process proceeds to step S18. In step S14, it is determined whether or not the traffic congestion is more serious than in step S11. Specifically, referring to the traffic jam information acquired in step S10, if there are 20 or more vehicles in an area with a radius of 10 m centered on the subject vehicle, it is determined that the traffic jam is serious, and the flow goes to step S15. Otherwise, go to step S18. Of course, it may be an area other than this or the number.

  In step S15, the arithmetic control unit 10a outputs information indicating that the detection reliability is low because the traffic jam is serious. That is, when the traffic jam is serious, even if the processing of step S12 and step S13 is executed, there is a possibility that sufficient detection accuracy cannot be ensured. In such a case, the arithmetic control unit 10a In addition to information indicating the detection result, information indicating that the reliability of the detection result is low is output. In consideration of the low reliability of the detection result, the higher-level device that has received such information, for example, makes a determination based on a plurality of detection results, or other information source (for example, an object) The low reliability can be compensated for by performing control by taking into account the information from the camera that monitors the camera.

  In step S16, the arithmetic control unit 10a returns the pulse frequency of the UWB signal transmitted from the transmission antenna 10d to normal because there is no traffic jam around the host vehicle. Specifically, the state shown in FIG. 3B is restored to the state shown in FIG.

  In step S17, the arithmetic control unit 10a returns the integration time for the received signal to normal. More specifically, the arithmetic control unit 10a restores the integration time for the received UWB signal pulse to a normal time.

  In step S18, the arithmetic control unit 10a is able to ensure the detection accuracy by the processing of step S13 and step S14 because the arithmetic control unit 10a can ensure the detection accuracy by the processing of step S13 and step S14. Output high information.

  According to the above processing, when there is a traffic jam around the vehicle, the frequency of UWB signal pulses is reduced to reduce interference with other vehicles and to integrate the received signal. By increasing the time, the influence of UWB signals transmitted from other vehicles can be reduced. Thereby, it is possible to prevent the detection accuracy of the in-vehicle radar device 10 from being lowered even during a traffic jam.

  In the above processing, when traffic congestion is serious (when a predetermined number or more of vehicles are present in an area centered on the own vehicle), the detection accuracy is also lowered by the processing in steps S12 and S13. Therefore, information indicating that the reliability is low is output together with the detection result. As a result, the host device can know the level of detection accuracy and can execute processing according to the level of detection accuracy.

  Next, an operation based on weather information will be described with reference to FIG. When the processing of this flowchart is started, the following steps are executed.

  In step S30, the arithmetic control unit 10a requests the wide area communication unit 10h to acquire weather information. As a result, for example, the wide area communication unit 10h acquires information on the current position of the host vehicle from a GPS control unit (not shown), and requests that the weather information 40b around the host vehicle be transmitted to the server 40. The server 40 acquires weather information 40b around the host vehicle in response to a request from the in-vehicle radar device 10, and transmits the weather information 40b to the wide area communication unit 10h via the network 30 and the base station 20. As a result, the arithmetic control unit 10a acquires the weather information 40b around the host vehicle from the wide area communication unit 10h. Here, the weather information is information indicating the weather around the host vehicle (sunny, cloudy, rain, snow, hail, etc.), precipitation, temperature, and temporal changes thereof. Of course, it may be only a part of these information, or may include information other than these. Note that precipitation includes not only rain, but also precipitation such as snow and hail.

  In step S31, the arithmetic control unit 10a refers to the weather information 40b acquired in step S30, determines whether or not precipitation has occurred around the host vehicle, and determines that it has occurred (step S31). : Yes), the process proceeds to step S32, and otherwise (step S31: No), the process proceeds to step S36. For example, if it is determined that there is more than a predetermined amount (for example, 10 mm / h) of precipitation at the place where the host vehicle is located, the process proceeds to step S32; otherwise, the process proceeds to step S36. Needless to say, the above-mentioned 10 mm / h is an example, and other values may be used.

  In step S32, the arithmetic control unit 10a increases the power of the pulse of the UWB signal transmitted from the transmission antenna 10d. Specifically, as shown in FIG. 3D, the amplitude is increased from A1 to A3 (> A1). In the example of FIG. 3D, the amplitude is twice as large as that in the normal state. However, other amplitudes (for example, 1.5 times) may be used.

  In step S33, the arithmetic control unit 10a increases the integration time for the received signal. More specifically, the arithmetic control unit 10a increases the integration time for the pulse of the received UWB signal. As a result, the number of integrated pulses increases, and the background noise component is reduced by averaging. Therefore, the received signal strength decreases due to landing, icing, or rain attenuation, and S / Even when the N ratio is lowered, the influence can be suppressed.

  In step S34, the arithmetic control unit 10a determines whether or not the precipitation amount is greater than the predetermined amount. If it is determined that the precipitation amount is greater than the predetermined amount (step S34: Yes), the process proceeds to step S35. In the case (step S34: No), the process proceeds to step S38. In step S34, it is determined whether or not there is more precipitation than in step S31. Specifically, referring to the weather information 40b acquired in step S30, if the precipitation exceeds 20 mm / h, it is determined that the precipitation is greater than the predetermined amount, and the process proceeds to step S35. Then, the process proceeds to step S38. Of course, numerical values other than those described above may be used.

  In step S35, the arithmetic control unit 10a outputs information indicating that the detection reliability is low because the precipitation amount is large. That is, when there is a lot of precipitation, even if the processing of step S32 and step S33 is performed, there is a possibility that the detection accuracy may not be sufficiently secured, so the arithmetic control unit 10a, together with information indicating the detection result, Information indicating that the reliability of the detection result is low is output. In the host device that has received such information, as in the case described above, it is considered that the reliability of the detection result is low, and for example, a determination is made based on the detection result of a plurality of times, or other The low reliability can be compensated by performing control by taking into account information from the camera that monitors the object that is the information source.

  In step S36, the arithmetic control unit 10a returns the power of the pulse of the UWB signal transmitted from the transmitting antenna 10d to normal because there is no precipitation around the host vehicle. Specifically, the state shown in FIG. 3D is restored to the state shown in FIG.

  In step S37, the arithmetic control unit 10a returns the integration time for the received signal to normal. More specifically, the arithmetic control unit 10a restores the integration time for the received UWB signal pulse to a normal time.

  In step S38, the arithmetic control unit 10a is able to ensure the detection accuracy by the processing of step S33 and step S34 because the arithmetic control unit 10a has no or no precipitation. Output high information.

  According to the above processing, when precipitation occurs around the host vehicle, the power of the UWB signal pulse is increased to reduce detection accuracy due to landing, icing, or rain attenuation. Can be suppressed. As a result, it is possible to prevent the detection accuracy of the in-vehicle radar device 10 from being lowered even during precipitation.

  Further, in the above processing, when the amount of precipitation is large, the processing of step S32 and step S33 cannot compensate for the decrease in detection accuracy, so that information indicating low reliability is output together with the detection result. I made it. As a result, the host device can know the level of detection accuracy and can execute processing according to the level of detection accuracy.

(D) Modified Embodiment The above-described embodiment is an example, and there are various modified embodiments other than this. For example, in the flowchart shown in FIG. 2, when a traffic jam has occurred, the frequency of pulses is reduced in step S12 as shown in FIG. 3B. For example, in FIG. As shown, the amplitude of the pulse may be reduced to A2 (<A1). Alternatively, the reduction of the pulse frequency and the reduction of the pulse amplitude may be executed together.

  In the flowchart shown in FIG. 2, when a traffic jam occurs, the pulse frequency is reduced and the integration time is increased at the same time, but only one of them may be executed. Alternatively, depending on the state of the traffic jam, for example, when the traffic jam is not serious (when the number of vehicles within a certain range centered on the host vehicle is less than a predetermined number), only the integration time is increased, When it becomes serious (when the number of vehicles within a certain range centered on the host vehicle is greater than or equal to a predetermined number), the frequency of pulses may be reduced. Or the reverse may be sufficient. Further, the reduction of the pulse frequency and the reduction of the pulse amplitude may be changed according to the degree of traffic jam.

  In addition, the information indicating reliability is two types, high and low, but may be three or more types according to traffic conditions, for example. For example, in the case of three types, it may be high, medium, and low.

  In the flowchart shown in FIG. 4, when precipitation occurs, the pulse amplitude is increased as shown in FIG. 3D in step S32. For example, the frequency of pulses is increased. Or the duration of each pulse may be increased.

  Further, in the flowchart shown in FIG. 2, when precipitation occurs, the increase in pulse power and the increase in integration time are executed simultaneously, but only one of them may be executed. Alternatively, depending on the state of precipitation, for example, if the precipitation is low (if the precipitation is less than the predetermined amount), only the integration time is increased, and if the precipitation increases (the amount of precipitation falls). If it is above the fixed amount), the power of the pulse may be increased. Or the reverse may be sufficient. Further, the increase amount of the pulse power may be changed according to the degree of traffic jam.

  Further, in the above embodiment, the case where the traffic jam and the rain occur at the same time is not mentioned, but when these occur at the same time, for example, only the integration time is increased, the increase of the power of the pulse and the pulse power are increased. The frequency reduction may not be performed. Alternatively, determine whether traffic congestion or precipitation is serious. For example, if the effect of precipitation is more serious, increase the power of the pulse, and if the effect of traffic congestion is more severe, the frequency of the pulse May be reduced.

  In the above embodiment, the case where the UWB signal as the pulse signal is used has been described as an example. However, other signals may be used. For example, it is possible to use a continuous wave signal. In this case, the continuous wave signal may be transmitted intermittently in the process of step S12 in FIG. In the process of step S32 in FIG. 4, the amplitude of the continuous wave may be increased as in FIG.

  In the above embodiment, the passage attenuation due to precipitation has been mainly described as an example. For example, (1) a water film is formed on the surface of a bumper of a vehicle in which the in-vehicle radar device 10 is built due to rainfall. In the case of (2) snow falling on the surface of the bumper due to snowfall, or (3) icing on the surface of the bumper due to the temperature drop after precipitation, the same decrease in sensitivity occurs. Therefore, these may be detected based on weather information. Specifically, with regard to (1), it can be assumed that a water film is formed when there is rainfall within a predetermined time (for example, within 1 hour) when the vehicle starts to travel. May be determined as Yes in step S31 of FIG. Further, in the case of (2), it can be assumed that snow is attached when snow falls within a predetermined time (for example, within 6 hours) when the vehicle starts to travel. You may make it determine with Yes in step S31. In the case of (3), it can be determined that icing has occurred if the temperature is below the freezing point and there is rainfall or snowfall within a predetermined time. In this case, step S31 in FIG. You may make it determine with Yes.

DESCRIPTION OF SYMBOLS 10 Vehicle-mounted radar apparatus 10a Calculation control part (a part of detection means, control means)
10b Transmitter (part of detection means)
10c Amplification part (part of detection means)
10d Transmitting antenna (part of detection means)
10e Receiving antenna (part of detection means)
10f Amplifying part (part of detection means)
10g receiver (part of detection means)
10h Wide Area Communication Department (Acquisition means)
20 Base station (part of communication network)
30 network (part of communication network)
40 server 40a traffic information (peripheral information)
40b Weather information (Nearby information)

Claims (8)

In an in-vehicle radar device that detects an object around a vehicle,
Detecting means for transmitting a signal around the vehicle and detecting an object around the vehicle based on a reflected signal reflected by the object;
An acquisition means for acquiring peripheral information indicating a situation around the vehicle via a communication network;
Control means for controlling the detection means so as to suppress a decrease in detection accuracy of the detection means based on the peripheral information acquired by the acquisition means;
An on-vehicle radar device comprising: The acquisition means acquires traffic congestion information around the vehicle as the peripheral information,
When it is determined that traffic congestion has occurred around the vehicle based on the traffic congestion information, the control means reduces the average power of signals transmitted to the surroundings and suppresses interference with signals transmitted by other vehicles. The on-vehicle radar device according to claim 1, wherein a decrease in detection accuracy of the detection unit is suppressed. The acquisition means acquires weather information around the vehicle as the peripheral information,
The control means suppresses a decrease in detection accuracy by increasing an integration time for the reflected signal when it is determined that a weather situation in which the detection accuracy decreases due to the weather information is occurring. The on-vehicle radar device according to claim 1 or 2.   When it is determined that precipitation has occurred around the vehicle according to the weather information, the control means determines that a weather situation is occurring that reduces detection accuracy, and increases the integration time for the reflected signal. The in-vehicle radar device according to claim 3, wherein a decrease in detection accuracy is suppressed. The acquisition means acquires traffic congestion information or weather information around the vehicle as the peripheral information,
When the control means determines that traffic congestion has occurred around the vehicle based on the traffic congestion information, or when it is determined that a weather situation occurs in which the detection accuracy decreases due to the weather information, the detection means 5. The on-vehicle radar device according to claim 1, wherein information indicating that the reliability of information detected by the information is low is output.   3. The control unit suppresses a decrease in detection accuracy by increasing an integration time for the reflected signal when it is determined that traffic congestion has occurred around the vehicle based on the traffic congestion information. The on-vehicle radar device described in 1.   When the control means determines that a weather situation occurs in which the detection accuracy is reduced due to the weather information, the detection accuracy of the detection means is reduced by increasing the average power of the signal transmitted to the surroundings. The on-vehicle radar device according to claim 3, wherein the on-vehicle radar device is suppressed. In a control method of an on-vehicle radar device that detects an object around a vehicle,
A detection step of transmitting a signal around the vehicle and detecting an object around the vehicle based on a reflected signal reflected by the object;
An acquisition step of acquiring peripheral information indicating a situation around the vehicle via a communication network;
Based on the peripheral information acquired in the acquisition step, a control step of controlling the detection step so as to suppress a decrease in detection accuracy of the detection step;
A control method for an on-vehicle radar device, comprising:

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