PROBLEM TO BE SOLVED: To detect an exact position of a target.SOLUTION: A radar device according to an embodiment comprises: a detection unit; an extrapolation processing unit; a prediction unit; a trajectory area derivation unit; and an area setting unit. The detection unit is configured to detect a target within a detection area forward an own vehicle, and the extrapolation processing unit is configured to conduct extrapolation processing for predicting a virtual position of the target, which has not been detected, on the basis of a past position thereof. The prediction unit is configured to predict a prediction position of the object after the extrapolation processing. The trajectory area derivation unit is configured to derive a trajectory area of the target going to collide with the own vehicle. The area setting unit is configured to, when the prediction position of the target is out of the detection area, and within the trajectory area, set a search area of a next target within the detection area. The area setting unit is configured to set the search area including a folding destination of the prediction position of the target coming out of the detection area on one detection limit side to other detection limit side. Then, the detection unit is configured to determine a the folding destination of a position of the target detected in the search area on the other detection limit side to within the detection area on the other detection limit side as a really existing position of the target.SELECTED DRAWING: Figure 1
【課題】物標の正確な位置を検知すること。【解決手段】実施形態に係るレーダ装置は、検知部、外挿部、予測部、軌跡エリア導出部と、エリア設定部とを備える。検知部は、自車両前方の検知エリア内の物標を検知する。外挿部は、検知されなくなった物標の仮想位置を過去の位置に基づき予測する外挿処理を行う。予測部は、外挿処理以後の物標の予測位置を予測する。軌跡エリア導出部は、自車両に衝突する物標の軌跡エリアを導出する。エリア設定部は、物標の予測位置が検知エリア外であり、軌跡エリア内である場合に、次回の物標の探索エリアを検知エリア内に設定する。エリア設定部は、一方の検知限界側で検知エリア外となった物標の予測位置を他方の検知限界側へ折り返した先を含む探索エリアを設定する。そして、検知部は、他方の検知限界側の探索エリア内で検知した物標の位置を一方の検知限界側の検知エリア内に折り返した先を物標の実在位置と決定する。【選択図】図1
RADAR DEVICE AND TARGET DETECTION METHOD
レーダ装置および物標検知方法
2018-06-14
Patent
Electronic Resource
Japanese
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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