JP2019070567A - Moving object recognizing radar device - Google Patents

Abstract

To provide a moving object recognizing radar device with which it is possible to more accurately recognize the size of a moving object.SOLUTION: Provided is a moving object recognizing radar device for clustering detection points D1, D2 obtained by processing a radio wave that is reflected from a moving object after being transmitted and recognizing the moving object. The moving object recognizing radar device clusters a plurality of radar transmitters/receivers 2, 3 for transmitting/receiving a radio wave from different directions for each of detection points D1, D2 of the respective radar transmitters/receivers 2, 3 to generate a plurality of clusters C1, C2 and generates a cluster C3 of the moving object on the basis of the plurality of clusters C1, C2.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a mobile object recognition radar device that recognizes a mobile object such as a vehicle by a radar.

  When the target is irradiated with radar and radio waves and the received signal is signal-processed, the target is extracted as a detection point, and the information on the detection point includes the distance, velocity, and direction relative to the radar transceiver. Be In particular, in the case of a millimeter wave radar, the resolution of distance, velocity and azimuth is high, and a plurality of detection points can be obtained from one target. For this reason, there is known a technique for performing clustering (aggregation processing) that recognizes a plurality of detection points as one target (for example, see Patent Document 1). This clustering is to group areas of detection point groups determined to be detection points from the same target as one cluster based on the distance, speed and orientation of each detection point. For example, when a plurality of detection points D as shown in FIG. 9 are obtained, a cluster C is generated with the plurality of specific detection points D as detection points D from the same target, and this cluster C is Recognize the size and shape of the mark.

JP, 2017-122646, A

  By the way, when detecting a large vehicle such as a truck, a flat surface such as the side of the vehicle often has weak radar reflections and no detection point can be obtained, and the detection point group tends to be biased forward or backward of the vehicle There is. For example, as shown in FIG. 10A, when the detection point D is biased to the front and the rear of the vehicle, two small clusters C may be generated by clustering and may be recognized as two small cars. Further, depending on the relative positional relationship with the radar transmitter-receiver, as shown in FIG. 10B, the detection point D may be biased to the rear of the vehicle. In this case, one small cluster C is generated by clustering. May be recognized as a single small car. And if such a misrecognition arises, a correct investigation will not be performed in traffic volume investigation etc. Here, the two-dot chain line in the drawing indicates the outline of the large vehicle.

  Therefore, an object of the present invention is to provide a mobile object recognition radar device capable of more accurately recognizing the size of a mobile object.

  In order to achieve the above object, the invention according to claim 1 is a mobile that recognizes detection points by clustering detection points obtained by transmitting radio waves and performing signal processing on radio waves reflected from the mobile. In the recognition radar device, clustering is performed based on a plurality of radar transceivers that transmit and receive the radio waves from different directions, and detection points obtained by performing signal processing on the radio waves received by each of the radar transceivers. And processing means for generating a cluster.

  The invention according to claim 2 is the mobile object recognition radar device according to claim 1, wherein the processing means generates a plurality of clusters by clustering for each detection point of each of the radar transceivers. Generating a cluster of the mobile based on the cluster of.

  The invention as set forth in claim 3 is the mobile object recognition radar device according to claim 1, wherein the processing means performs clustering on all detection points of all the radar transmitters / receivers so as to obtain a cluster of the mobile object. It is characterized by generating.

  According to the first aspect of the present invention, more detection points can be obtained because radio waves are transmitted and received from different directions by a plurality of radar transceivers. Then, since clustering is performed based on more detection points to generate a cluster of a mobile, it is possible to generate a cluster more suited to the size of the mobile. That is, it becomes possible to more accurately recognize the size and shape of the moving body.

  According to the second aspect of the invention, a plurality of clusters are generated by clustering for each detection point of each of the radar transceivers. That is, clusters for each of a plurality of radar transceivers are generated for the same moving body. Then, in order to generate a cluster (final cluster) of the mobile based on the plurality of clusters, the error (non-detection) of the cluster for each radar transceiver is interpolated to obtain a final cluster that is adapted according to the size of the mobile. It is possible to generate. That is, it becomes possible to more accurately recognize the size and shape of the moving body.

  According to the third aspect of the invention, clustering is performed on all detection points of all radar transceivers. That is, since many detection points obtained by a plurality of radar transceivers are collectively clustered, it is possible to generate a cluster that is more suitable for the size of the moving object. That is, it becomes possible to more accurately recognize the size and shape of the moving body.

FIG. 1 is a schematic configuration block diagram showing a mobile unit recognition radar device according to Embodiment 1 of the present invention. It is a top view which shows the arrangement position of the radar transmitter-receiver of the moving body recognition radar apparatus of FIG. 1, (a) shows the state which provided two radar transmitter-receivers in the back of a vehicle traveling direction, (b) shows The first radar transceiver is provided at the rear of the vehicle traveling direction, and the second radar transceiver is provided at the front of the vehicle traveling direction. It is a figure which shows the 1st example of the clustering result by the mobile recognition radar apparatus of FIG. 1, (a) shows the cluster based on the detection point of a 1st radar transmitter-receiver, (b) shows the 2nd The cluster based on the detection point of a radar transmitter-receiver is shown, (c) shows the cluster by superposition clustering. It is a figure which shows the 2nd example of the clustering result by the mobile recognition radar apparatus of FIG. 1, (a) shows the cluster based on the detection point of a 1st radar transmitter-receiver, (b) shows the 2nd 7 shows a cluster based on detection points of a radar transceiver. It is a figure which shows the 3rd example of the clustering result by the mobile recognition radar apparatus of FIG. 1, (a) shows the cluster based on the detection point of a 1st radar transmitter-receiver, (b) shows the 2nd 7 shows a cluster based on detection points of a radar transceiver. It is a flowchart which shows the processing flow of the moving body recognition radar apparatus of FIG. It is a flowchart which shows the processing flow of the mobile body recognition radar apparatus concerning Embodiment 2 of this invention. It is a figure which shows the clustering result by the mobile body recognition radar apparatus concerning Embodiment 2 of this invention. It is a figure which shows the cluster by the conventional clustering. It is a figure which shows the conventional clustering result with respect to a large vehicle, (a) shows the case where two small clusters are produced | generated, (b) shows the case where one small cluster is produced | generated.

  Hereinafter, the present invention will be described based on the illustrated embodiments.

Embodiment 1
1 to 6 show an embodiment of the present invention, and FIG. 1 is a schematic configuration block diagram showing a mobile object recognition radar device 1 according to this embodiment. The mobile object recognition radar device 1 transmits and radiates radio waves, performs signal processing on radio waves reflected from the mobile body to acquire detection points, clusters the detection points, and detects the position, size, shape, etc. of the mobile body. , And mainly includes radar transceivers 2 and 3 and a signal processing device (processing means) 4.

  Here, in this embodiment, a mobile body is a vehicle traveling on a road or public road W, and the case of recognizing the size and vehicle type of the vehicle in traffic volume survey and the like will be mainly described below. Further, radio waves emitted from the radar transceivers 2 and 3 are millimeter waves, and resolution of distance, speed and direction is high, and a plurality of detection points can be obtained from one target.

  The radar transceivers 2 and 3 are radar devices that transmit and receive radio waves from different directions, respectively convert the received radio waves into digital signals and transmit the digital signals to the signal processing device 4 as reception signals. In this embodiment, two radar transceivers 2 and 3 are provided. The radar transmitters / receivers 2 and 3 are arranged at positions where more detection points can be obtained according to the size of the road W, the track and the like. For example, as shown in FIG. 2 (a), the first radar transmitter / receiver 2 is disposed at one side of the road behind the traveling direction of the vehicle, and the second radar transceiver 3 is Place it on the side of the opposite road. Further, as shown in FIG. 2 (b), the first radar transmitter / receiver 2 is disposed at the side of the road behind the traveling direction of the vehicle, and the second radar transceiver 3 is disposed at the side of the road ahead of the traveling direction of the vehicle. You may

  The signal processing device 4 performs signal processing on the reception signals from the radar transmitters / receivers 2 and 3 to extract detection points of each vehicle, and perform clustering based on the detection points to determine the size of the vehicle. This is an apparatus for counting passing vehicles, and the description of the same configuration and processing as the conventional one will be omitted. The signal processing device 4 has a characteristic process of clustering to generate a cluster of a vehicle based on detection points obtained by performing signal processing on radio waves received by the radar transceivers 2 and 3. In this embodiment, a plurality of clusters are generated by clustering for each detection point of each of the radar transceivers 2 and 3, and a cluster of vehicles (final cluster) is generated based on the plurality of clusters.

  Specifically, as shown in FIG. 6, first, the signal received by the first radar transceiver 2 is subjected to signal processing to extract the first detection point D1, and similarly, the second radar transceiver 3 is The received signal is subjected to signal processing to extract a second detection point D2 (step S2). Here, the information on the detection point includes the distance, the velocity, and the direction relative to the radar transceivers 2 and 3.

  Next, clustering is performed on the first detection point group D1 to generate a first cluster C1 (step S3). That is, based on the distance, speed, and direction of each detection point D1, an area of the detection point D1 group determined as the detection point D1 from the same vehicle (an area where the detection point D1 is accumulated) is extracted as a first cluster C1. ,Form. Similarly, clustering is performed on the second detection point group D2 to generate a second cluster C2. Since a plurality of clusters C1 and C2 are generated if there are multiple targets and vehicles, a first cluster determined as a cluster of the same vehicle from among the generated clusters C1 and C2 based on the position etc. Extract C1 and the second cluster C2.

  Thereby, for the same vehicle, for example, as shown in FIG. 3A, the first detection point D1 group is clustered to generate and extract two small vehicle-sized first clusters C1. As shown in 3 (b), the second detection point D2 group is clustered to generate and extract one small vehicle-sized second cluster C2. Here, although only the detection points D1 and D2 in the clusters C1 and C2 are illustrated, there may actually be cases where many other detection points D1 and D2 can be obtained (a plurality of targets and vehicles are present). A plurality of clusters C1 and C2 are generated therefrom, and a first cluster C1 and a second cluster C2 of the same vehicle are extracted.

  Subsequently, clusters C1 and C2 for such an identical vehicle are superimposed and clustered to generate a final cluster C3 of the vehicle (step S4). That is, the clusters C1 and C2 are superimposed (superimposed on the common coordinates) to generate the final cluster C3. Specifically, the final cluster C3 is determined and generated according to the combination of clusters C1 and C2 as follows.

  First, when at least one of the clusters C1 and C2 is the size of a large vehicle, for example, as shown in FIG. 4, the first cluster C1 is a large vehicle-sized cluster and the second cluster C2 is one. In the case of a small vehicle size cluster, the final cluster C3 is taken as a large vehicle size first cluster C1. That is, when a large vehicle is specified by the clusters C1 and C2 of one of the radar transceivers 2 and 3, the final cluster C3 is also specified as a large vehicle.

  Second, when two small vehicle size clusters C1 and C2 are generated by one detection point D1 and D2, and one small vehicle size cluster C1 and C2 is generated by the other detection points D1 and D2, The final cluster C3 is a large vehicle size cluster. For example, as shown in FIG. 3 (a), two first clusters C1 of small vehicle size are generated at the first detection point D1, and as shown in FIG. 3 (b), the second detection point D2 is generated. When one second cluster C2 of small vehicle size is generated, as shown in FIG. 3 (c), the large cluster is such that final cluster C3 includes (concatenates) two first clusters C1. Cluster of

  That is, when two first clusters C1 of small vehicle size are generated, the first detection point D1 is due to the reflection from two small vehicles, or the first detection point D1 is one large system. It is presumed to be due to the reflection from the vehicle. On the other hand, if the target vehicle is two small vehicles, two second clusters C2 of small vehicle size should be generated (one or more clusters should be necessarily generated for one vehicle) However, only one small vehicle-sized second cluster C2 is generated. Therefore, it is determined that the two first clusters C1 are generated because the first detection point D1 is due to the reflection from one large vehicle. As a result, the final cluster C3 is a large vehicle-sized cluster that encompasses and encloses the two first clusters C1. Here, the two-dot chain line in the drawing indicates the outline of the large vehicle.

  Third, as shown in FIG. 5, when two small vehicle size clusters C1 and C2 are generated respectively by both detection points D1 and D2, a final cluster is generated by the interval L1 and L2 of the two clusters C1 and C2 Determine and generate C3. That is, when clusters C1 and C2 of two small-sized vehicles are produced, detection points D1 and D2 are reflections from two small-sized vehicles, or detection points D1 and D2 are one large-sized vehicle It is estimated that the reflection of Therefore, it is determined whether two small vehicles or one large vehicle based on the interval L1 between the first clusters C1 and C1 and the interval L2 between the second clusters C2 and C2.

  Specifically, when at least one of the intervals L1 and L2 is less than the predetermined distance, it is determined that the vehicle is a large vehicle, and in other cases, it is determined that the vehicle is two small vehicles. Here, the predetermined distance is a minimum distance assumed as an inter-vehicle distance in normal traveling, and may be set according to the traveling speed. That is, if at least one of the distances L1 and L2 is smaller than the assumed minimum inter-vehicle distance, it is assumed that two small vehicles can not travel at such inter-vehicle distance, and one large vehicle judge.

  According to the mobile object recognition radar device 1 having such a configuration, as shown in FIG. 6, first, radio waves are emitted from the radar transceivers 2 and 3 and the radio waves reflected from the vehicle are signal processed as reception signals. It is transmitted to the device 4 (step S1). Next, in the signal processing device 4, as described above, the first detection point D1 and the second detection point D2 are extracted (step S2), and the first detection point D1 group and the second detection are further generated. A first cluster C1 and a second cluster C2 are generated for the point D2 group (step S3).

  Subsequently, clusters C1 and C2 are superimposed and clustered to generate a final cluster C3 of the vehicle (step S4). That is, the position, size, shape, etc. of the vehicle are recognized and identified. Then, based on the information of the latest final cluster C3 and the information of the past final cluster C3, tracking (specification of a movement trajectory, etc.) for the final cluster C3 is performed (step S5). Subsequently, the determination result of the vehicle type (the large vehicle or the small vehicle) by the final cluster C3 and the detection count of the vehicle are output (step S6).

  As described above, according to the mobile-object recognition radar device 1, since the radio transmitter-receivers 2 and 3 transmit and receive radio waves from different directions, more detection points D 1 and D 2 can be obtained. Then, since clustering is performed based on more detection points D1 and D2 to generate a final cluster C3 of the vehicle, it is possible to generate a final cluster C3 more adapted to the size of the vehicle. That is, the size and shape of the vehicle can be recognized more accurately.

  Specifically, a plurality of clusters D1 and D2 are generated by clustering for each of the detection points D1 and D2 of each of the radar transceivers 2 and 3. That is, clusters C1 and C2 for each of the plurality of radar transceivers 2 and 3 are generated for the same vehicle. Then, in order to generate the final cluster C3 of the vehicle based on the plurality of clusters C1 and C2, the error (not detected) of the clusters C1 and C2 for each of the radar transceivers 2 and 3 is interpolated to obtain the size of the vehicle. It is possible to generate the adapted final cluster C3. In this way, the size and shape of the vehicle can be recognized more accurately.

Second Embodiment
7 and 8 show an embodiment of the present invention. In this embodiment, the method of generating a cluster C of a vehicle is different from that of the first embodiment, and the same configuration as that of the first embodiment is identical. The explanation is omitted by attaching the reference numerals.

  The signal processing device 4 in this embodiment performs clustering on all detection points D1 and D2 of all the radar transceivers 2 and 3 to generate a cluster C of a vehicle. That is, as shown in FIG. 8, all of the first detection point D1 by the first radar transceiver 2 and the second detection point D2 by the second radar transceiver 3 are clustered at common coordinates, An area of a group of detection points D1 and D2 determined to be detection points D1 and D2 from the same vehicle is extracted as one cluster C based on the distance, speed and direction of the detection points D1 and D2.

  Here, although only the detection points D1 and D2 in one cluster C are illustrated, there may actually be cases where many other detection points D1 and D2 can be obtained (a plurality of targets and vehicles are present). , Generate a plurality of clusters C from among them. Moreover, the dashed-two dotted line shows the outline of a large sized vehicle in the figure.

  According to the mobile object recognition radar device 1 having such a configuration, as shown in FIG. 7, first, radio waves are emitted from the radar transceivers 2 and 3 and the radio waves reflected from the vehicle are signal processed as reception signals. It is transmitted to the device 4 (step S11). Next, the first detection point D1 and the second detection point D2 are extracted in the signal processing device 4 (step S12), and all the detection points D1 and D2 are clustered at the common coordinates, and the cluster C of the vehicle is It is generated (step S13). Subsequently, as in the first embodiment, tracking to the cluster C is performed (step S14), and the determination result of the vehicle type by the cluster C (large vehicle or small vehicle) and the detection count of the vehicle are output. (Step S15).

  As described above, according to this embodiment, all detection points D1 and D2 of all the radar transceivers 2 and 3 are clustered at common coordinates. That is, since many detection points D1 and D2 obtained by the plurality of radar transceivers 2 and 3 are collectively clustered, it is possible to generate a cluster C more adapted to the size of the vehicle. That is, the size and shape of the vehicle can be recognized more accurately.

  The embodiment of the present invention has been described above, but the specific configuration is not limited to the above embodiment, and even if there is a change in design or the like within the scope of the present invention, Included in the invention. For example, although the above embodiment includes two radar transceivers 2 and 3, three or more radar transceivers may be provided. In addition, the first and second embodiments may be combined to generate and determine a cluster of a vehicle. For example, when the final cluster C3 according to the first embodiment is generated and determined, all the detection points D1 and D2 and the cluster C in the second embodiment may be considered.

1 mobile object recognition radar device 2 first radar transceiver 3 second radar transceiver 4 signal processing device (processing means)
D1 first detection point D2 second detection point C cluster C1 first cluster C2 second cluster C3 final cluster W road

Claims (3)

In a mobile-object recognition radar device that clusters detection points obtained by transmitting radio waves and performing signal processing on radio waves reflected from a mobile object, and recognizing the mobile object,
A plurality of radar transceivers that transmit and receive the radio waves from different directions;
Processing means for performing clustering on the basis of detection points obtained by performing signal processing on radio waves received by each of the radar transceivers to generate clusters of the mobile object;
A mobile object recognition radar device comprising: The processing means generates a plurality of clusters by clustering for each detection point of each of the radar transceivers, and generates a cluster of the moving object based on the plurality of clusters.
The mobile object recognition radar device according to claim 1, The processing means performs clustering on all detection points of all the radar transceivers to generate a cluster of the mobile object.
The mobile object recognition radar device according to claim 1,

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