阅读说明：本技术 车辆雷达装置及其控制方法 (Vehicle radar apparatus and control method thereof ) 是由 金世允 于 2020-05-07 设计创作，主要内容包括：公开了一种车辆雷达装置和控制该车辆雷达装置的方法。车辆雷达装置包括：发送阵列天线,其辐射用于前向检测的雷达信号；接收阵列天线,其在N个接收信道上操作,以接收由所述发送阵列天线辐射,从目标反射并返回的雷达信号；方位角估计单元,其使用所述N个接收信道中的每个非偏移接收信道来估计目标的方位角；以及仰角估计单元,其估计所述目标在所述N个接收信道中的所述每个非偏移接收信道相对于其偏移接收信道的方位角倾斜的对角线方向上的仰角。(A vehicle radar apparatus and a method of controlling the same are disclosed. A vehicle radar apparatus includes: a transmission array antenna that radiates a radar signal for forward detection; a receive array antenna operating on N receive channels to receive radar signals radiated by the transmit array antenna, reflected from a target, and returned; an azimuth estimation unit that estimates an azimuth of a target using each of the N reception channels that is not an offset reception channel; and an elevation estimation unit that estimates an elevation of the target in a diagonal direction in which the each of the N reception channels is tilted with respect to an azimuth of its offset reception channel.)

1. A vehicle radar apparatus, comprising:

a transmission array antenna that radiates a radar signal for forward detection;

a receive array antenna operating on N receive channels to receive radar signals radiated by the transmit array antenna, reflected from a target, and returned;

an azimuth estimation unit that estimates an azimuth of the target using each of the N reception channels that is not offset; and

an elevation estimation unit that estimates an elevation of the target in a diagonal direction in which the each of the N receive channels is tilted with respect to an azimuth of its offset receive channel.

2. The vehicle radar apparatus according to claim 1, wherein the elevation angle estimation unit includes:

an angle calculation module for calculating an angle of azimuthal tilt of said each non-offset receive channel relative to said offset receive channel;

a spacing calculation module for calculating a spacing between said receive channels in said diagonal direction of said each non-offset receive channel being tilted with respect to an azimuth of said offset receive channel;

a position calculation module for calculating a position value on each axis along a diagonal direction in which each of the non-offset reception channels is tilted with respect to an azimuth angle of the offset reception channel using a phase difference between the offset reception channel and each of the non-offset reception channels; and

an elevation calculation module for calculating an elevation corresponding to the position value using a straight line drawn from the position value on each axis in a direction perpendicular to the corresponding axis, and determining a final elevation using each calculated elevation.

3. The vehicle radar apparatus according to claim 2, wherein the angle calculation module calculates the inclination angle using a separation distance in a vertical direction and a distance in a horizontal direction between the each non-offset reception channel and the offset reception channel.

4. The vehicle radar apparatus according to claim 2, wherein the position calculation module calculates the position value on the each axis using the inclination angle calculated by the angle calculation module, a spacing between the reception channels in the diagonal direction calculated by the spacing calculation module, and the phase difference between the offset reception channel and the each non-offset reception channel.

5. The vehicle radar apparatus of claim 2, wherein the elevation calculation module:

calculating an elevation angle at each coordinate by substituting the tilt angle, the spacing between the reception channels in the diagonal direction, and the position value on each axis into a linear equation whose image is a straight line drawn from the position value on each axis in a direction perpendicular to the corresponding axis, and

the final elevation angle is determined by taking the average of the calculated elevation angles.

6. The vehicle radar apparatus of claim 5, wherein the elevation calculation module calculates the average of the elevation by assigning a weighting factor that increases as the non-offset receive channel is closer to the offset receive channel.

7. The vehicle radar apparatus according to claim 1, further comprising:

a signal generating unit that generates a frequency signal to be supplied to the transmission array antenna.

8. A method of controlling a vehicle radar apparatus, the method comprising:

radiating a radar signal for forward detection by a transmitting array antenna;

receiving, by a receive array antenna operating on N receive channels, radar signals radiated by the transmit array antenna, reflected from a target, and returned;

estimating an azimuth of the target using each non-offset receive channel of the N receive channels; and

estimating an elevation angle of the target in a diagonal direction of the each non-offset receive channel of the N receive channels tilted with respect to an azimuth angle of its offset receive channel.

9. The method of claim 8, wherein the estimation of the elevation angle comprises:

calculating an angle of azimuthal tilt of said each non-offset receive channel relative to said offset receive channel;

calculating a spacing between said receive channels in said diagonal direction of said each non-offset receive channel being tilted with respect to an azimuth of said offset receive channel;

using the phase difference between the offset receive channel and each of the non-offset receive channels to calculate a position value on each axis along a diagonal direction of the each non-offset receive channel tilted with respect to an azimuth of the offset receive channel;

calculating an elevation angle corresponding to the position value using a straight line drawn from the position value on each axis in a direction perpendicular to the respective axis, and determining a final elevation angle using each calculated elevation angle.

10. The method of claim 9, wherein the calculation of the angle uses a separation distance in a vertical direction and a distance in a horizontal direction between the each non-offset receive channel and the offset receive channel to calculate the tilt angle.

11. The method of claim 9, wherein the calculation of the position value on each axis along the diagonal direction uses the calculated tilt angle, the calculated spacing between the receive channels in the diagonal direction, and a phase difference between the offset receive channel and the each non-offset receive channel to calculate the position value on the each axis.

12. The method of claim 9, wherein the determination of the final elevation angle comprises:

calculating an elevation angle at each coordinate by substituting the tilt angle, the spacing between the reception channels in the diagonal direction, and the position value on each axis into a linear equation whose image is a straight line drawn from the position value on each axis in a direction perpendicular to the corresponding axis, and

the final elevation angle is determined by taking the average of the calculated elevation angles.

Technical Field

Embodiments of the present disclosure relate to a vehicle radar apparatus and a method of controlling the same, and more particularly, to a vehicle radar apparatus and a method of controlling the same, which estimate an elevation angle of a target in a diagonal direction in which each non-offset reception channel of N reception channels in which a reception array antenna operates is tilted with respect to an azimuth of an offset reception channel thereof.

Background

A radar is a device that radiates an electromagnetic wave toward an object, receives the electromagnetic wave reflected from the object, and detects the distance to the object and the direction, speed, height, and the like of the object. On the other hand, in order to achieve safety for the driver, a vehicle radar apparatus has been developed. In general, a vehicle radar apparatus is manufactured in such a manner that a structure in which a substrate-type antenna is used in a Monolithic Microwave Integrated Circuit (MMIC) structure is employed to employ the substrate-type antenna. Specifically, a transmitting MMIC, a receiving MMIC, and a signal generating MMIC may be included in the vehicle radar apparatus. The operation principle of the vehicle radar apparatus is that the signal generating MMIC generates a signal having a frequency of about 77GHz, the transmitting MMIC transmits the generated signal in a range for detecting an object, and the receiving MMIC receives the transmitted signal.

However, the vehicle radar apparatus according to the related art operates on a separate channel and includes a receiver in order to calculate an elevation angle, and thus, an azimuth angle and an elevation angle are calculated separately, resulting in a disadvantage that the size of the vehicle radar apparatus increases.

Accordingly, there is a need for developing a technology of a vehicle radar apparatus capable of calculating an elevation angle and an azimuth angle without a separate channel and a separate receiver for calculating the elevation angle.

The related art of the present disclosure is disclosed in korean patent No. 10-0278142.

Disclosure of Invention

Various embodiments relate to a vehicle radar apparatus capable of calculating an elevation angle and an azimuth angle without a separate channel and receiver for calculating the elevation angle, and a method of controlling the vehicle radar apparatus.

The problems to be solved by the present disclosure are not limited to the above-described problems, and other problems not described above will be clearly understood from the following description by those of ordinary skill in the art.

In one embodiment, a vehicle radar apparatus includes: a transmission array antenna that radiates a radar signal for forward detection; a receive array antenna operating on N receive channels to receive radar signals radiated by the transmit array antenna, reflected from a target, and returned; an azimuth estimation unit that estimates an azimuth of the target using each of the N reception channels that is not offset; and an elevation estimation unit that estimates an elevation of the target in a diagonal direction in which the each of the N reception channels is tilted with respect to an azimuth of its offset reception channel.

In one embodiment, the elevation estimation unit comprises: an angle calculation module for calculating an angle of azimuthal tilt of said each non-offset receive channel relative to said offset receive channel; a spacing calculation module for calculating a spacing between said receive channels in said diagonal direction of said each non-offset receive channel being tilted with respect to an azimuth of said offset receive channel; a position calculation module for calculating a position value on each axis along a diagonal direction in which each of the non-offset reception channels is tilted with respect to an azimuth angle of the offset reception channel using a phase difference between the offset reception channel and each of the non-offset reception channels; and an elevation angle calculation module for calculating an elevation angle corresponding to the position value using a straight line drawn from the position value on each axis in a direction perpendicular to the corresponding axis, and determining a final elevation angle using each calculated elevation angle.

In one embodiment, the angle calculation module may calculate the tilt angle using a separation distance in a vertical direction and a distance in a horizontal direction between each of the non-offset reception channels and the offset reception channel.

In one embodiment, the position calculation module may calculate the position value on the each axis using the tilt angle calculated by the angle calculation module, the spacing between the reception channels in the diagonal direction calculated by the spacing calculation module, and the phase difference between the offset reception channel and the each non-offset reception channel.

In one embodiment, the elevation angle calculation module may calculate an elevation angle at each coordinate by substituting the tilt angle, the spacing between the reception channels in the diagonal direction, and the position value on each axis into a linear equation, wherein an image of the linear equation is a straight line drawn from the position value on each axis in a direction perpendicular to the respective axis, and determine a final elevation angle by obtaining an average of the calculated elevation angles.

In one embodiment, the elevation calculation module may calculate the average of the elevation by assigning a weighting factor that increases as the non-offset receive channel gets closer to the offset receive channel.

In one embodiment, the apparatus may further include a signal generating unit that generates a frequency signal to be supplied to the transmitting array antenna.

In one embodiment, a method of controlling a radar apparatus of a vehicle, the method includes: radiating a radar signal for forward detection by a transmitting array antenna; receiving, by a receive array antenna operating on N receive channels, radar signals radiated by the transmit array antenna, reflected from a target, and returned; estimating an azimuth of the target using each non-offset receive channel of the N receive channels; and estimating an elevation angle of said target in a diagonal direction of said each non-offset receive channel of said N receive channels tilted with respect to an azimuth angle of its offset receive channel.

In one embodiment, the estimation of the elevation angle may comprise: calculating an angle of azimuthal tilt of said each non-offset receive channel relative to said offset receive channel; calculating a spacing between said receive channels in said diagonal direction of said each non-offset receive channel being tilted with respect to an azimuth of said offset receive channel; using the phase difference between the offset receive channel and each of the non-offset receive channels to calculate a position value on each axis along a diagonal direction of the each non-offset channel tilted with respect to an azimuth of the offset receive channel; calculating an elevation angle corresponding to the position value using a straight line drawn from the position value on each axis in a direction perpendicular to the respective axis, and determining a final elevation angle using each calculated elevation angle.

In one embodiment, the calculation of the angle may calculate the tilt angle using a separation distance in a vertical direction and a distance in a horizontal direction between the each non-offset reception channel and the offset reception channel.

In one embodiment, the calculation of the position value on each axis in the diagonal direction may calculate the position value on each axis using the calculated tilt angle, the calculated spacing between the receive channels in the diagonal direction, and the phase difference between the offset receive channel and each of the non-offset receive channels.

In one embodiment, the final elevation angle may be determined by calculating an elevation angle at each coordinate by substituting the tilt angle, the spacing between the reception channels in the diagonal direction, and the position value on each axis into a linear equation, wherein an image of the linear equation is a straight line drawn from the position value on each axis in a direction perpendicular to the respective axis, and determining the final elevation angle by obtaining an average of the calculated elevation angles.

According to the present disclosure, the elevation angle of the target is estimated in a diagonal direction in which each non-offset reception channel of the N reception channels of the reception array antenna operation is tilted with respect to the azimuth angle of its offset reception channel. Accordingly, the elevation angle and the azimuth angle can be calculated without a separate channel and receiver for calculating the elevation angle, and the azimuth angle and the elevation angle can be estimated accordingly without increasing the size of the vehicle radar apparatus.

In addition, according to the present disclosure, by estimating the elevation angle based on an equation, the degree of freedom of design of the antenna array structure may be increased and the calculation time may be reduced.

Effects of the present disclosure are not limited to those described above, and various effects apparent to those of ordinary skill in the art from the following description fall within the scope of the present disclosure.

Drawings

Fig. 1 is a flowchart for schematically describing a vehicle radar apparatus according to an embodiment of the present disclosure.

Fig. 2 is a block diagram for describing the elevation angle estimation unit shown in fig. 1.

Fig. 3 is a diagram for describing a receive channel on which a receive array antenna operates according to an embodiment of the present disclosure.

Fig. 4 is a schematic diagram for describing a method of calculating a tilt angle and a spacing between reception channels according to an embodiment of the present disclosure.

Fig. 5 is a diagram for describing a coordinate system of a reception channel according to an embodiment of the present disclosure.

Fig. 6 is a diagram for describing a phase difference between an offset reception channel and a non-offset adjacent reception channel according to an embodiment of the present disclosure.

Fig. 7 is a diagram for describing a linear equation for calculating an elevation angle from a position value according to an embodiment of the present disclosure.

Fig. 8 is a flowchart for describing a method of controlling a vehicle radar apparatus according to an embodiment of the present disclosure.

Fig. 9 is a flowchart for describing a method of estimating an elevation angle by the vehicular radar apparatus according to the embodiment of the present disclosure.

Detailed Description

Some example embodiments may be illustrated in the figures as functional blocks, units and/or modules, as is conventional in the relevant art. Those of ordinary skill in the art will appreciate that the blocks, units and/or modules are physically implemented by electronic (or optical) circuits, such as logic circuits, discrete components, processors, hardwired circuits, memory elements, wires, and so forth. When the blocks, units, and/or modules are implemented by a processor or similar hardware, they may be programmed and controlled using software (e.g., code) to perform the various functions discussed herein. Alternatively, each block, unit and/or module may be implemented by dedicated hardware, or as a combination of dedicated hardware for performing some functions and a processor (e.g., one or more programmed processors and associated circuitry) for performing other functions. Each block, unit and/or module of some example embodiments may be physically separated into two or more interactive and discrete blocks, units and/or modules without departing from the scope of the present inventive concept. Furthermore, the blocks, units and/or modules of some example embodiments may be physically combined into more complex blocks, units and/or modules without departing from the scope of the inventive concept.

Hereinafter, a vehicle radar apparatus and a method of controlling the same will be described below by way of various examples of embodiments with reference to the accompanying drawings.

The thickness of lines, the sizes of constituent elements, and the like are shown in the drawings in an exaggerated manner for the sake of clarity and convenience in the present description.

In addition, terms to be used hereinafter are defined by considering functions of terms used according to the present disclosure, and may be changed according to the intention of a user or a manager or according to the general practice in the art. Therefore, the definitions of these terms should be set forth in light of the details of the general disclosure of this specification.

Additionally, for example, implementations described in this specification can occur as a method, a process, an apparatus, a software program, a data stream, or a signal. Although an implementation of a feature may have been described in the context of only a single form (e.g., only a method form), an implementation of a feature described may also be in a different form (e.g., an apparatus or program). The apparatus may be implemented in suitable hardware, software, firmware, etc. The method may be implemented, for example, in an apparatus such as a computer, microprocessor, or processor generally referred to as a processing device (such as an integrated circuit or programmable logic device). The apparatus also includes computers, cellular telephones, and communication devices that facilitate the communication of information between end users, such as mobile information terminals, Personal Digital Assistants (PDAs), and other devices.

Fig. 1 is a flowchart for schematically describing a vehicle radar apparatus according to an embodiment of the present disclosure. Fig. 2 is a block diagram for describing the elevation angle estimation unit shown in fig. 1. Fig. 3 is a diagram for describing a receive channel on which a receive array antenna operates according to an embodiment of the present disclosure. Fig. 4 is a schematic diagram for describing a method of calculating a tilt angle and a spacing between reception channels according to an embodiment of the present disclosure. Fig. 5 is a diagram for describing a coordinate system of a reception channel according to an embodiment of the present disclosure. Fig. 6 is a diagram for describing a phase difference between an offset reception channel and a non-offset adjacent reception channel according to an embodiment of the present disclosure. Fig. 7 is a diagram for describing a linear equation for calculating an elevation angle from a position value according to an embodiment of the present disclosure.

Referring to fig. 1, a vehicle radar apparatus 100 according to an embodiment of the present disclosure may include a transmission array antenna 110, a reception array antenna 120, a signal generation unit 130, an azimuth estimation unit 140, an elevation estimation unit 150, and a control unit 160.

The transmit array antenna 110 may be used to radiate radar signals for forward detection. The transmission array antenna 110 is configured with a plurality of channels, and each of the plurality of channels is configured with a plurality of radiation elements.

The receive array antenna 120 may operate on a receive channel to receive radar signals radiated by the transmit array antenna 110, reflected from a target, and returned. Like the transmit array antenna 110, the receive array antenna 120 may also be configured to operate on various receive channels.

The signal generating unit 130 may generate a frequency signal to be supplied to the transmission array antenna 110 under the control of the control unit 160. For example, the signal generation unit 130 may generate an ultra high frequency in the form of a frequency modulation continuous wave (FWCW). In addition, the signal generation unit 130 may provide the reference signal corresponding to the frequency signal to the reception array antenna 120.

The azimuth estimation unit 140 may estimate an azimuth of the target using a non-offset reception channel among the N reception channels on which the reception array antenna 120 operates. Here, the offset is a separation distance given in the vertical direction for estimating the elevation angle component, and the controller 160 may set a range of the offset to a range suitable for the purpose of recognizing the elevation angle. Thus, offset may mean that the separation distance is given in the vertical direction, and non-offset may mean that the separation distance is not given in the vertical direction.

The vehicle radar apparatus 100 requires not only an azimuth but also a function of identifying a target having an elevation angle, and requires estimation of the azimuth angle and the elevation angle from a limited size and the number of reception channels. The receiving array antenna 120 may be used in the vehicle radar apparatus 100 in order to detect a target in the azimuth direction. In order to estimate the elevation angle, one or more of the N reception channels on which the reception array antenna 120 operates may be arranged by being shifted at a fixed pitch in the vertical direction. The vehicular radar apparatus 100 can estimate the azimuth using the non-offset reception channel in the reception array antenna 120. Based on the relationship with the antenna using the estimated azimuth offset, the vehicle radar apparatus 100 can estimate the elevation angle.

With respect to the reception channels on which the reception array antenna 120 operates, referring to fig. 3, the reception array antenna 120 may operate on a first reception channel 122a, a second reception channel 122b, a third reception channel 122c, and a fourth reception channel 122 d. The first, second, and fourth receive channels 122a, 122b, and 122d may be non-offset receive channels, and the third receive channel 122c may be an offset receive channel. Here, for convenience of description, the number of reception channels on which the reception array antenna 120 operates is limited to 4, and the number of offset reception channels is limited to 1. However, the number of reception channels may be N, and the number of offset reception channels may be 2 or more.

The azimuth estimation unit 140 may estimate the azimuth of the target using (N-1) non-offset reception channels other than the offset reception channel among the N reception channels. For example, as shown in fig. 3, a case where the receiving array antenna 120 is configured to operate on four receiving channels is described. In this case, the azimuth estimation unit 140 may estimate the azimuth using two reception channels (e.g., the first reception channel 122a and the second reception channel 122b) among three non-offset reception channels of the first reception channel 122a, the second reception channel 122b, and the fourth reception channel 122d, except for the offset third reception channel 122 c. At this time, the first and second reception channels 122a and 122b may be two channels spaced apart from each other only in a vertical or horizontal direction.

The phase difference between the radar signals received on the first and second receive channels 122a and 122b may be calculated according to equation 1.

Equation 1

Wherein the content of the first and second substances,representing the phase of a radar signal reflected from a target and received on first receive channel 122a,representing the phase of the radar signal reflected from the target and received on the second receive channel 122b,denotes a phase difference, λ denotes a wavelength of the received radar signal, d denotes a distance between the first receiving channel 122a and the second receiving channel 122b, and θ denotes an azimuth angle.

Equation 1 can be transformed into equation 2 below to obtain an expression for sin θ.

Equation 2

Equation 2 may be transformed into equation 3 below to obtain an expression for θ. θ is the azimuth of the target which can be estimated according to equation 3.

Equation 3

Elevation estimation unit 150 may estimate the elevation of the target in a diagonal direction in which each non-offset receive channel of the N receive channels is tilted with respect to the azimuth of its offset receive channel. That is, the elevation angle estimation unit 150 may estimate the elevation angle of the target using the angle at which each non-offset reception channel on which the reception array antenna 120 operates is tilted with respect to the azimuth angle of the offset reception channel, the spacing between the reception channels, and the phase difference between the offset reception channel and the non-offset reception channel.

For example, as shown in fig. 4, a case where the receiving array antenna 120 is configured to operate on four receiving channels is described. In the reception array antenna 120 configured as shown in fig. 4, the elevation angle estimation unit 150 may calculate an elevation angle component in a diagonal direction between the shifted third reception channel 122c and the non-shifted first reception channel 122a, calculate an elevation angle component in a diagonal direction between the third reception channel 122c and the second reception channel 122b, and calculate an elevation angle component in a diagonal direction between the third reception channel 122c and the fourth reception channel 122 d.

As shown in fig. 2, the elevation estimation unit 150 may include: angle calculation module 152, pitch calculation module 154, position calculation module 156, and elevation calculation module 158.

The angle calculation module 152 may calculate the angle of azimuthal tilt of each non-offset receive channel relative to the offset receive channel. That is, using equation 4 below, the angle calculation module 152 may calculate the angle of azimuthal inclination of the first reception channel 122a with respect to the third reception channel 122c (α 13), the angle of azimuthal inclination of the second reception channel 122b with respect to the third reception channel 122c (α 23), and the angle of azimuthal inclination of the fourth reception channel 122d with respect to the third reception channel 122c (α 34).

Equation 4

Where dz is the separation distance in the vertical direction between a given non-offset receive channel and an offset receive channel, d₁Is the spacing between the first receiving channel 122a and the second receiving channel 122b, d₂Is the spacing, d, between the second receiving channel 122b and the third receiving channel 122c₃Is the spacing between the fourth receive channel 122d and the third receive channel 122 c.

The spacing calculation module 154 may calculate the spacing in the diagonal direction of each non-offset receive channel that is tilted with respect to the azimuth of the offset receive channel. That is, using equation 5 below, the spacing calculation module 154 may calculate the spacing d in the diagonal direction in which the first reception channel 122a is tilted with respect to the azimuth of the third reception channel 122c₁₃A pitch d in the diagonal direction of the second reception channel 122b inclined with respect to the azimuth of the third reception channel 122c₂₃And a pitch d in the diagonal direction of the fourth receiving channel 122d inclined with respect to the azimuth of the third receiving channel 122c₃₄。

Equation 5

On the other hand, when the non-offset reception channel is tilted with respect to the azimuth of the offset reception channel, an axis (straight line) having a slope in the diagonal direction may be formed. For example, referring to fig. 5, when the azimuth angle of the first reception channel 122a with respect to the third reception channel 122c is tilted, an axis (EI) having a slope in a diagonal direction may be formed₁₃-a shaft). In addition, when the second reception channel 122b is tilted in azimuth with respect to the third reception channel 122c, an axis (EI) having a slope in a diagonal direction may be formed₂₃-a shaft). In addition, when the fourth receiving channel 122d is tilted in azimuth with respect to the third receiving channel 122c, an axis (EI) having a slope in a diagonal direction may be formed₃₄-a shaft).

From this axis (straight line), a position value having a phase difference between the offset reception channel and the non-offset reception channel can be calculated. Thus, the position calculation module 156 may use the phase difference between the offset receive channel and each non-offset receive channel to calculate the position value on the corresponding axis. At this time, the position calculation module 156 may calculate a phase difference between the offset reception channel and each of the non-offset reception channels using equation 6 below

Equation 6

Wherein the content of the first and second substances,representing the phase of a radar signal reflected from a target and received on an offset receive channel,representing the phase of a radar signal reflected from a target and received on a non-offset receive channel,denotes a phase difference, λ denotes a wavelength of the received radar signal, d 'is a spacing in a diagonal direction in which each non-offset reception channel is tilted with respect to an azimuth of the offset reception channel, the spacing is calculated by the spacing calculation module 154, θ denotes an azimuth estimated by the azimuth estimation unit 140, and θ' denotes an angle by which each non-offset reception channel is tilted with respect to the azimuth of the offset reception channel, the angle being calculated by the angle calculation module 152.

The phase difference between the offset reception channel and each of the non-offset reception channels calculated by equation 6 may be the same as that shown in fig. 6.

When calculating the phase difference between the offset receive channel and each of the non-offset receive channels, the position calculation module 156 may calculate the position value using equation 7 below, where the phase difference and the spacing between the offset receive channel and each of the non-offset receive channels are used.

Equation 7

θ₁₃＝sin^-1(Δφ₁₃/(k×d₁₃))

θ₂₃＝sin^-1(Δφ₂₃/(k×d₂₃))

θ₃₄＝sin^-1(Δφ₃₄/(k×d₃₄))

Wherein, is₁₃Represents the phase difference, delta phi, between the first receive channel 122a and the third receive channel 122c₂₃Represents the phase difference between the second receiving channel 122b and the third receiving channel 122c, and is₃₄Representing the phase difference between the third receive channel 122c and the fourth receive channel 122 d.

On the other hand, the position value calculated by the position calculation module 156 is a position value existing on an axis in a diagonal direction in which each non-offset reception channel is tilted with respect to the azimuth of the offset reception channel. Further, the position value is a value including an azimuth angle and an elevation angle, and is only a value on a horizontal line with respect to each axis. However, in order to calculate the elevation angle, a vertical component with respect to each axis is necessary. Thus, receiving from along each non-offset receive channel relative to offsetThe position values on the respective axes in the diagonal direction in which the track azimuth is inclined are plotted as straight lines in the direction perpendicular to the axes. As a result, as shown in FIG. 5, a graph perpendicular to E can be drawn₁₃Straight line E of the axis₁₃', perpendicular to E can be drawn₂₃Straight line E of the axis₂₃', and can be drawn perpendicular to E₃₄Straight line E of the shaft₃₄'. The elevation angle can be calculated using the straight line drawn above.

The elevation calculation module 158 may calculate an elevation corresponding to the position value using a straight line drawn in a direction perpendicular to a corresponding axis from the position value on each axis along a diagonal direction in which each non-offset reception channel is tilted with respect to an azimuth of the offset reception channel, and determine a final elevation using each calculated elevation. That is, the elevation angle calculation module 158 may calculate the elevation angle at each coordinate by substituting the inclination angle, the pitch, and the position value into a linear equation, wherein an image of the linear equation is a straight line drawn from the position value on each axis in a direction perpendicular to the corresponding axis, and determine the final elevation angle by obtaining an average value of the calculated elevation angles. At this time, the elevation angle calculation module 158 may calculate the average value of the elevation angles by assigning a weighting factor that increases as the non-offset reception channel is closer to the offset reception channel.

Elevation calculation module 158 may use linear equations to fit the position values calculated by position calculation module 156 into it to calculate each elevation. At this time, the elevation calculation module 158 may calculate the elevation using equation 8 below.

Equation 8

y＝{p-xcos(α)}/sin(α)

Wherein x represents an azimuth angle (θ)_az) Where α denotes a tilt angle and p denotes θ₁₃、θ₂₃And theta₃₄And y denotes an elevation angle (theta)_el)。

Therefore, can be obtained by mixing alpha₁₃And theta₁₃Substituting α and p to calculate the elevation angle between the first receiving channel 122a and the third receiving channel 122c, respectively. Can be prepared by mixing alpha₂₃And theta₂₃Calculate second receive channels 122b and 122b by substituting alpha and p, respectivelyElevation angle between the third receiving channels 122c, and may be determined by dividing alpha₃₄And theta₃₄Substituting α and p to calculate the elevation angle between the third receiving channel 122c and the fourth receiving channel 122d, respectively.

On the other hand, a linear equation in which the position value is substituted is explained with reference to fig. 7. The linear equation for an image that is a straight line as shown in fig. 7 may be (yy1)/(xx1) ═ y2y1)/(x2x 1. When y1 is 0, x1 is a, y2 is b, and x2 is 0, which are substituted into the linear equation, it may be modified to equation 9 below.

Equation 9

y/(x-a)＝b/(-a)

-ay＝bx-ab

bx+ay＝ab

x/a+y/b＝1

a＝psecα

b＝pcosecα

x/(psecα)+y/(pcosecα)＝1

xcosα+ysinα＝p

Therefore, the linear equation for which the image is a straight line as shown in fig. 7 may be xcos α + ysin α ═ p. When the linear equation is transformed into an equation of the expression of y, it can be expressed by equation 8.

When calculating the elevation angle between the third receiving channel 122c and another receiving channel using equation 8, the elevation angle calculation module 158 may determine the elevation angle by obtaining an average of the elevation angles between the receiving channels. At this time, the elevation calculation module 158 may calculate the average value by assigning a larger weighting factor to the reception channel having the largest inclination angle.

On the other hand, each of the signal generation unit 130, the azimuth estimation unit 140, and the elevation estimation unit 150 may be realized by a processor or the like necessary for executing a program on a computing device. In this way, each of signal generation unit 130, azimuth estimation unit 140, and elevation estimation unit 150 may be implemented as physically separate components, and may be implemented within one processor to be functionally separate.

On the other hand, although not shown, the vehicle radar apparatus 100 may further include an ADC (not shown) that converts a radar signal received from the receiving array antenna 120 into a digital signal and outputs the resultant digital signal to the azimuth angle estimation unit 140.

The control unit 160 is used to control operations of various constituent parts including the transmission array antenna 110, the reception array antenna 120, the signal generation unit 130, the azimuth estimation unit 140, and the elevation estimation unit 150 of the vehicle radar apparatus 100. The control unit 160 may comprise at least one processing device. The processing devices herein include general purpose Central Processing Units (CPUs), programmable devices suitably implemented for specific purposes (complex programmable logic devices (CPLDs) and Field Programmable Gate Arrays (FPGAs)), semiconductor on-demand computing devices (application specific integrated circuits (ASICs)), and microcontroller chips.

Fig. 8 is a flowchart for describing a method of controlling a vehicle radar apparatus according to an embodiment of the present disclosure.

Referring to fig. 8, vehicle radar apparatus 100 radiates a radar signal for forward detection through transmitting array antenna 110 (S810).

When step S810 is performed, the vehicle radar device 100 receives radar signals radiated, reflected from a target, and returned by the transmitting array antenna 110 on the N receiving channels 122 on which the receiving array antenna 120 operates (S820).

When step S820 is performed, the vehicular radar apparatus 100 estimates the azimuth of the target using (N-1) non-offset reception channels other than the offset reception channel among the N reception channels 122 (S830). The azimuth of the target can be estimated using equations 1 to 3 above.

When step S830 is performed, the vehicle radar device 100 estimates an elevation angle of the target in a diagonal direction in which each non-offset reception channel is tilted with respect to an azimuth of the offset reception channel (S840). A method of estimating the elevation angle of the target by the vehicle radar apparatus 100 is described in detail with reference to fig. 9.

Fig. 9 is a flowchart for describing a method of estimating an elevation angle by the vehicular radar apparatus according to the embodiment of the present disclosure.

Referring to fig. 9, the vehicular radar apparatus 100 calculates an angle by which each non-offset reception channel is tilted with respect to the azimuth of the offset reception channel (S910).

When step S910 is performed, the vehicular radar apparatus 100 estimates the spacing between the reception channels in the diagonal direction in which each non-offset reception channel is inclined with respect to the azimuth of the offset reception channel (S920).

When step S920 is performed, the vehicle radar apparatus 100 calculates a position value on each axis in a diagonal direction in which each non-offset reception channel is inclined with respect to an azimuth angle of the offset reception channel using a phase difference between the offset reception channel and each non-offset reception channel (S930).

When step S930 is performed, the vehicle radar device 100 calculates an elevation angle corresponding to the position value using a straight line drawn from the position value on each axis in a direction perpendicular to the corresponding axis (S940).

When step S940 is performed, the vehicle radar device 100 determines a final elevation angle by obtaining an average value of elevation angles corresponding to the respective position values (S950).

As described above, the vehicle safety device and the method of controlling the vehicle safety device according to the embodiments of the present disclosure can estimate an elevation angle of a target in a diagonal direction in which each non-offset reception channel of N reception channels in which a reception array antenna operates is tilted with respect to an azimuth of its offset reception channel, and thus calculate the elevation angle as well as the azimuth, without requiring a separate channel and receiver for calculating the elevation angle. Therefore, the azimuth and elevation can be estimated without increasing the size of the vehicle radar apparatus.

Although the preferred embodiments of the present disclosure have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the disclosure as disclosed in the accompanying claims. Therefore, the true technical scope of the present disclosure should be defined by the appended claims.