KR20200056976A - Radar for Vehicle And Control Method Therefor - Google Patents

Abstract

The present invention, in a vehicle radar (vehicle radar), a transmission channel, a first transmission signal and a first transmission signal including a short-range transmission antenna for transmitting a non-directional first transmission signal and a long-range transmission antenna for transmitting a directional second transmission signal 2 Adjust the frequency of use between the long-distance transmit antenna and the long-distance transmit antenna based on a curvature of a road and a receive channel that includes at least two or more receive antennas for receiving at least one of signals transmitted by an obstacle. And, based on the received signal to obtain a detection result for the obstacle, based on the detection result comprising a control unit for adjusting at least one waveform of the first transmission signal and the second transmission signal (waveform) Provided is a vehicle radar and a control method thereof.

Description

Radar for vehicle and control method therefor

The present invention relates to a vehicle radar and a control method thereof, and more particularly, to a vehicle radar and a control method thereof that adaptively adjust the frequency of use of a long-range antenna and a short-range antenna according to a vehicle situation.

A radar means a device that detects a distance, direction, speed, altitude, etc. from an object by emitting electromagnetic waves to the object and then receiving electromagnetic waves reflected from the object.

Meanwhile, a vehicle radar has been developed for the purpose of promoting driver safety, and such a vehicle radar is generally manufactured with a structure of a MMIC (Monolithic Microwave Integrated Circuit) using a substrate type antenna.

Specifically, the MMIC for transmission, the MMIC for reception, and the MMIC for signal generation may be included in the vehicle radar, among which the MMIC for signal generation generates a frequency signal of about 77 GHz, and the MMIC for transmission generates a range for object detection. And operates using the principle that the MMIC for reception receives the transmitted signal.

In addition, recently, there is a trend of integrating MMIC for transmission, MMIC for reception, and MMIC for signal generation into one MMIC. In the future, analog to digital converter (ADC) and digital converted digital signals are converted into digital signals. It is expected that the utilization of ROC (Radar On Chip) integrated into a single MMIC will increase to a processor that processes signals and calculates information about objects.

1 and 2 are views used to compare and compare the difference between a short-range beam pattern and a long-range beam pattern, and detection results accordingly.

Assuming that the energy sum of each of the short-range beam pattern and the long-range beam pattern shown in FIG. 1 is the same, as shown in FIG. 2, the short-range beam pattern has a wider field of view (FOV) than the long-range beam pattern. On the other hand, it can be seen that the long-range beam pattern has a longer maximum detection distance than the short-range beam pattern.

2. Description of the Related Art In general, a plurality of radars for a vehicle having two transmission channels and four reception channels are manufactured. In order to improve the object detection performance for both long and short distances, a method of increasing the number of transmission channels and reception channels may be considered, but the aforementioned MMIC has a very limited size, so increasing the number of transmission channels and reception channels is There are limits.

Therefore, attempts have been made to derive optimal object detection performance using a limited hardware configuration.

The present invention has been devised to solve the above-mentioned problems, and according to embodiments of the present invention, a vehicle radar and a control method thereof for adaptively adjusting the frequency of use of a long-range antenna and a short-range antenna according to a vehicle situation It aims to provide.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

According to an aspect of the invention, a vehicle radar (vehicle radar), a transmission channel including a short-range transmission antenna for transmitting a first transmission signal of an omni-directional and a long-range transmission antenna for transmitting a second transmission signal of a directivity; A reception channel including at least two reception antennas for receiving at least one of the first transmission signal and the second transmission signal reflected by an obstacle; And adjusting the frequency of use between the long-distance transmission antenna and the short-range transmission antenna based on a road curvature, obtaining a detection result for the obstacle based on the received signal, and based on the detection result. A vehicle radar is provided, comprising a control unit for adjusting at least one waveform of the first transmission signal and the second transmission signal.

According to another aspect of the present invention, when the vehicle speed is below a threshold speed, the frequency of use between the short-range transmission antenna and the long-range transmission antenna is adjusted to N ₁ : 1, wherein N ₁ is a real number greater than 1 Vehicle radar.

According to another aspect of the invention, the control unit, when the speed of the vehicle exceeds a threshold speed, based on the curvature of the road, characterized in that for adjusting the frequency of use between the short-range transmission antenna and the long-range transmission antenna Provide a vehicle radar.

According to another aspect of the invention, the control unit, when the speed of the vehicle exceeds the threshold speed and the curvature of the road is less than the threshold curvature (threshold curvature), the frequency of use between the short-range transmission antenna and the long-range transmission antenna It is adjusted to N ₂ : 1, the N ₂ provides a radar for a vehicle, characterized in that it is a real number greater than 1.

According to another aspect of the invention, the control unit, when the speed of the vehicle exceeds the threshold speed and the curvature of the road exceeds the threshold curvature, the frequency of use between the short-range transmission antenna and the long-distance transmission antenna 1 but adjusted to ₃ N, wherein N ₃ is provided a vehicle radar, characterized in that the real number greater than one.

According to another aspect of the present invention, in a control method of a vehicle radar including a short-range transmission antenna transmitting a first transmission signal of an omni-directional transmission and a long-range transmission antenna transmitting a second transmission signal of a directivity, Adjusting a frequency of use between the long-distance transmission antenna and the short-range transmission antenna based on the inside and outside of the vehicle; Obtaining a detection result for the obstacle based on a received signal at least one of the first and second transmission signals reflected by the obstacle; And adjusting the waveform of at least one of the first transmission signal and the second transmission signal based on the detection result.

When explaining the effects of the vehicle radar and its control method according to the present invention are as follows.

According to at least one of the embodiments of the present invention, there is an advantage that the frequency of use of the far-field antenna and the near-field antenna can be adjusted adaptively according to the situation of the vehicle. Accordingly, it is possible to secure object detection performance of a certain level or more at a long distance and a short distance by using limited hardware resources.

In addition, according to at least one of the embodiments of the present invention, there is no need to provide both a long-range radar and a short-range radar, and a field of view (FOV) characteristic and a maximum sensing distance required for a vehicle using one radar Since the characteristics can be satisfied at the same time, it can contribute to reduction in the number of parts and cost reduction.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 and 2 are diagrams referenced to compare differences between a short-range beam pattern and a long-range beam pattern, and detection results accordingly.
3 is a block diagram of a vehicle radar according to an embodiment of the present invention.
4 is a flowchart illustrating a method of controlling a vehicle radar according to an embodiment of the present invention.
5 is an exemplary diagram of a signal waveform generated by a vehicle radar according to an embodiment of the present invention.
6 is an exemplary view when a vehicle radar according to an embodiment sets a frequency of using a short-range transmission antenna and a long-range transmission antenna as 1: 1.

Hereinafter, exemplary embodiments disclosed herein will be described in detail with reference to the accompanying drawings, but the same or similar elements will be given the same reference numbers regardless of the reference numerals, and redundant descriptions thereof will be omitted. The suffixes "modules" and "parts" for components used in the following description are given or mixed only considering the ease of writing the specification, and do not have meanings or roles distinguished from each other in themselves. In addition, in the description of the embodiments disclosed herein, when it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed herein, detailed descriptions thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed herein, and the technical spirit disclosed in the specification is not limited by the accompanying drawings, and all modifications included in the spirit and technical scope of the present invention , It should be understood to include equivalents or substitutes.

Terms including ordinal numbers such as first and second may be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from other components.

When an element is said to be "connected" or "connected" to another component, it is understood that other components may be directly connected to or connected to the other component, but there may be other components in between. It should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that no other component exists in the middle.

Singular expressions include plural expressions unless the context clearly indicates otherwise.

In this application, terms such as "comprises" or "have" are intended to indicate the presence of features, numbers, steps, actions, components, parts or combinations thereof described in the specification, but one or more other features. It should be understood that the existence or addition possibilities of fields or numbers, steps, operations, components, parts or combinations thereof are not excluded in advance.

3 is a block diagram of a vehicle radar 300 according to an embodiment of the present invention.

Referring to FIG. 3, the vehicle radar 300 according to an embodiment of the present invention includes a transmission channel 310, a reception channel 320, a signal generator 330 and a control unit 340.

The transmit channel 310 includes two or more transmit antennas. Specifically, the transmission channel 310 includes at least one short-range transmission antenna 311 and at least one long-range transmission antenna 312. Meanwhile, in the present invention, the short-range and the long-distance are relative concepts for distinguishing the sensing characteristics of each antenna, and may not be determined according to whether or not one of the reference values is large or small.

The short-range transmission antenna 311 transmits a first transmission signal, and in this case, the first transmission signal may form a beam pattern (refer to the left figure of FIG. 1) that is relatively wide. For example, the first transmission signal may form an omni-directional beam pattern.

The long-distance transmission antenna 312 transmits a second transmission signal, in which case the second transmission signal forms a beam pattern (see the right figure of FIG. 1) that satisfies a relatively narrow field of view (FOV). Can be. For example, the second transmission signal may form a directional beam pattern.

Accordingly, the short-range transmission antenna 311 can be utilized for object detection for a relatively wider field of view (FOV), compared to the long-range transmission antenna 312, and the long-range transmission antenna 312 is a short-range transmission antenna ( 311), it can be used for object detection for a relatively longer distance.

The receive channel 320 includes at least two receive antennas 321 to 324. The reception antennas 321 to 324 receive a reception signal from which the transmission signal transmitted from the transmission channel 310 is reflected and returned by an object around the vehicle 30.

Specifically, the receiving antennas 321 to 324 include a first transmission signal transmitted by the short-range transmission antenna 311 and a second transmission signal transmitted by the remote transmission antenna 312 and the first reception signal reflected by the object. At least one of the second received signals reflected by the object may be received.

The signal generator 330 generates a frequency signal to be provided to the transmission channel 310. For example, the signal generator 330 may generate an FMCW (Frequency Modulation Continuous Wave) type ultra-high frequency signal. Also, the signal generator 330 may provide a reference signal corresponding to the frequency signal to the reception channel 320.

Accordingly, the transmission channel 310 may transmit at least one of the first transmission signal and the second transmission signal corresponding to the frequency signal provided from the signal generator 330 to the outside of the vehicle 30. On the other hand, in Figure 3, the vehicle radar 300 is shown as being connected from the outside of the vehicle 30, but this is only for understanding, and the vehicle radar 300 should be understood as being mounted on the vehicle 30 will be.

Also, the reception channel 320 may convert the reception signal received by the reception antennas 321 to 324 based on the reference signal provided from the signal generator 330. For example, the reception channel 320 may calculate a frequency difference between a received signal and a reference signal using a mixer provided therein, and down-convert the received signal based on the calculated frequency difference. have.

The control unit 340 controls the overall operation of the transmission channel 310, the transmission channel 310, and the signal generator 330. The control unit 340 includes an analog to digital converter (ADC) 341 and a processor 342. At this time, the ADC 341 and the processor 342 may each include one or more.

The ADC 341 converts the received signal in the analog form, which is converted based on the reference signal, after being received by the receiving channel 320 into a digital signal.

The processor 342 analyzes a digital signal provided from the ADC 341 to obtain a detection result for the object. Here, the detection result for the object may include the presence or absence of the object, and the position, speed, size, direction, number of objects, etc., if the object exists, but is not limited thereto.

Meanwhile, the control unit 340 may be provided with a sensing signal output by at least one sensor provided in the vehicle 30. For example, the control unit 340 may grasp the speed of the vehicle 30 based on the sensing signal of the speed sensor 31 provided in the vehicle 30, and the yaw rate sensor provided in the vehicle 30 , Based on the sensing signal of 32, it is possible to determine the curvature (road curvature) or radius of curvature (radius of curvature) of the road on which the vehicle 30 is driving.

In addition, the control unit 340 adjusts the frequency of use of the short-range transmission antenna 311 and the long-range transmission antenna 312 based on at least one of the speed of the vehicle 30, curvature of the road, and object detection results, or At least one waveform of the first transmission signal and the second transmission signal may be adjusted. This will be described later in FIGS. 4 to 6.

Meanwhile, the short-distance transmit antenna 311 and the long-distance transmit antenna 312 each included in FIG. 3 and the receive antennas 321 to 324 including four are exemplary, and the number of each antenna is illustrated in FIG. 3. It is not limited to the number.

Hereinafter, for convenience of description, it is assumed that the transmission channel 310 includes one short-range transmission antenna 311 and one long-range transmission antenna 312.

4 is a flowchart illustrating a control method of a vehicle radar 300 according to an embodiment of the present invention. Before the start of control according to an embodiment of the present invention, it is assumed that the frequency of use between the short-range transmission antenna 311 and the long-range transmission antenna 312 is set to 1: 1. Here, the frequency of use may mean a ratio between the number of times that the short-range transmission antenna 311 transmits the first transmission signal and the number of times that the remote transmission antenna 312 transmits the second transmission signal per predetermined time period. .

Referring to FIG. 4, the controller 340 determines whether the speed of the vehicle 30 is equal to or less than a preset threshold speed (S410). The speed of the vehicle 30 may be provided by the electronic control unit (ECU) provided in the vehicle 30 based on the sensing signal of the speed sensor 31 and then provided to the control unit 340. Alternatively, the control unit 340 may directly calculate the speed of the vehicle 30 based on the sensing signal of the speed sensor 31.

If it is determined in step S410 that the speed of the vehicle 30 is equal to or less than a preset threshold speed, the control unit 340 may increase the frequency of use of the short-range transmission antenna 311 by a first value (S420). Here, the first value is a positive real number. Accordingly, the frequency of use between the long-distance transmission antenna 312 and the short-range transmission antenna 311 may be adjusted to 1: N ₁ . For example, when the short-range transmission antenna 311 transmits the first transmission signal N ₁ times, the long-distance transmission antenna 312 transmits the second transmission signal once. On the other hand, if the total number of times that a transmission signal is transmitted for a predetermined period of time must be the same, increasing the frequency of use of the short-range transmission antenna 311 together with reducing the frequency of use of the long-range transmission antenna 312 It should be understood to be inclusive.

On the other hand, if it is determined in step S410 that the speed of the vehicle 30 exceeds a preset threshold speed, the controller 340 may determine whether the curvature of the road on which the vehicle 30 is driving is below a threshold curvature (S430). At this time, the curvature of the road is calculated by the ECU of the vehicle 30 based on the sensing signal of the yaw rate sensor 32 and then provided to the control unit 340, or the control unit 340 directly controls the yaw rate sensor 32 ), The speed of the vehicle 30 may be calculated based on the sensing signal.

If it is determined in step S430 that the curvature of the road is less than or equal to the critical curvature, the controller 340 may increase the frequency of use of the short-range transmission antenna 311 by a second value (S440). Here, the second value is a positive real number. Accordingly, the frequency of use between the short-range transmission antenna 311 and the long-range transmission antenna 312 may be adjusted to N ₂ : 1. For example, when the short-range transmission antenna 311 transmits the first transmission signal 2N ₂ times, the remote transmission antenna 312 transmits the second transmission signal twice.

On the other hand, if it is determined in step S430 that the curvature of the road exceeds the threshold curvature, the control unit 340 may increase the frequency of use of the remote transmission antenna 312 by a third value (S450). Here, the third value is a positive real number. Accordingly, the frequency of use between the long-distance transmission antenna 312 and the short-range transmission antenna 311 may be adjusted to N ₃ : 1. For example, when the short-range transmission antenna 311 transmits the first transmission signal 3 times, the long-distance transmission antenna 312 transmits the second transmission signal 3N ₃ times. On the other hand, when the total number of times a transmission signal is transmitted for a predetermined period of time must be the same, increasing the frequency of use of the far-end transmission antenna 312 includes, together with reducing the frequency of use of the short-range transmission antenna 311. It should be understood that it can be done.

Next, the control unit 340 obtains a detection result for the object based on the received signal provided by the reception channel 320 (S460). Here, the detection result for the object may include an object's position, absolute speed, number, and relative speed with respect to the vehicle 30. On the other hand, in Figure 4, through the steps S410 to S450, after the frequency of use between the short-range transmission antenna 311 and the long-range transmission antenna 312 is set, it is shown that step S460 is performed, which is exemplary, step S460 is Steps S410 b to 50 may be performed separately or simultaneously with at least one of steps S410 to S450.

Subsequently, the control unit 340, based on the detection result for the object, among the waveform of the first transmission signal to be transmitted through the short-range transmission antenna 311 and the waveform of the second transmission signal to be transmitted through the remote transmission antenna 312 At least one can be adjusted (S470).

For example, when the object is located at a long distance, the controller 340 may lower the bandwidth of the second transmission signal than when the object is located at a short distance.

Conversely, the control unit 340 may increase the bandwidth of the first transmission signal when the object is located at a short distance than when the object is located at a long distance.

On the other hand, in step S420 of the N _1, N ₂ in step S440 and step S450 of the N ₃ it may be the same or different from each other. For example, N ₁ and N ₂ may have the same value, and N ₂ may be a value greater than N ₃ .

In addition, in FIG. 4, only one critical speed and one critical curvature have been described, but the present invention is not limited thereto, and a plurality of different threshold speeds and a plurality of different threshold curvatures are set, and the short-range transmission antenna is set. The frequency of use between 311 and the long-distance transmission antenna 312 can be further differentiated.

For example, when the speed of the vehicle 30 has a value between a first threshold speed and a second threshold speed less than the first threshold speed, the frequency of use between the short-range transmission antenna 311 and the long-range transmission antenna 312 is N ₄ : 1, and when the speed of the vehicle 30 is less than or equal to the second threshold speed, the frequency of use between the short-range transmission antenna 311 and the long-range transmission antenna 312 may be adjusted to N ₅ : 1. Here, N ₄ and N ₅ are both real numbers greater than 1, and N ₅ may be a value greater than N ₄ .

5 shows an example of a signal waveform generated by the vehicle radar 300 according to an embodiment of the present invention.

First, referring to (a) of FIG. 5, the transmission channel 310, under the control of the control unit 340, a plurality of (N _c ) chirp (chirp) signals (Chirp1 to ChirpN _c ) consisting of a waveform signal Can be created.

Specifically, the frequency of one chirp signal may increase by BW for a predetermined time t _d . For example, as illustrated, when the start frequency of the chirp is f ₀ , it may increase linearly to f ₀ + BW for a predetermined time t _d . At this time, the chirp signal (Chirp) may be generated for each predetermined period (PRI). Accordingly, it may take time of N _c PRI to transmit a total of N _c chirp signals.

Also, the ADC 341 may have a sampling rate that samples a predetermined number (N _s ) per chirp signal (Chirp).

The signal of the waveform as shown in (a) of FIG. 5 is received by the reception channel 320 after being transmitted to the outside through the short-range transmission antenna 311 or the long-range transmission antenna 312, the control unit 340 Can be converted into a digital signal by taking a convolution between the transmitted signal and the received signal, and then sampling using the ADC 341. In addition, the control unit 340 may perform a Fourier transform on the digital signal provided from the ADC 341, convert it into the frequency domain, and calculate a distance to the object based on the converted digital signal. .

In addition, when the control unit 340 transmits N _c chirp signals (Chirp1 to ChirpN _c ), after obtaining the distance to the object N _c times using the above-described method every predetermined cycle (PRI), the chirp signal The velocity of the object can be calculated by taking a Fourier transform based on the star signal direction.

However, the method of calculating the distance and speed described above is exemplary, and it should be understood that the controller 340 can calculate the distance and speed to the object using various other known methods.

5B and 5C show an example of a detection range associated with the signal waveform shown in FIG. 5A and an equation for defining the detection range. In (c) of FIG. 5, c is the speed of light, R is the unit sensing distance, R _max is the maximum sensing distance, V is the unit sensing speed, and V _max means the maximum sensing speed. In addition, R _min means the minimum sensing distance, and V _min means the minimum sensing speed. Hereinafter, for convenience, it is assumed that both values are 0.

According to (b) and (c) of FIG. 5, it can be confirmed that R and R _max are inversely proportional to the bandwidth of the chirp signal and proportional to the sampling number N _s per chirp signal. For example, when it is necessary to accurately calculate the distance of the object, the control unit 340 may increase the bandwidth, and when it is necessary to calculate the distance to the remote object, the control unit 340 may decrease the bandwidth. .

In addition, it can be seen that V and V _max are inversely proportional to the start frequency (f ₀ ) and period (PRI) of the chirp signal. In addition, it can be seen that V is proportional to the total number of chirp signals (N _c ). For example, when it is necessary to accurately calculate the speed of the object, the controller 340 may increase the total number N _c of the chirp signals to decrease the unit detection speed V.

On the other hand, in order to increase the maximum detection distance (R _max ) for an object, a method of increasing the sampling number (Ns) performed by the ADC 341 per chirp signal (Chirp) can be considered, but a high sampling number (Ns) is implemented. In order to do so, a very high-speed ADC 341 is required, and thus there are cost limitations.

Therefore, in the present invention, by adjusting the bandwidth (BW) or the total number of chirp signals (N _c ) according to the situation of the vehicle 30 (eg, the speed of the vehicle 30, curvature of the road), an expensive ADC ( 341) and propose a method for securing optimal object detection performance without using.

Referring to (c) of FIG. 5, assuming that the object is currently detected at a long distance, the control unit 340 may reduce the bandwidth of the chirp signal, and accordingly R _max may increase. That is, the control unit 340 may generate a signal having a waveform optimized for the detection of an object located at a long distance, and as a result, further improved detection results may be obtained.

On the other hand, assuming that the object is currently detected at a short distance, the control unit 340 may increase the bandwidth of the chirp signal, and accordingly R may decrease. That is, the control unit 340 may generate a signal having an optimized waveform to more accurately detect an object located at a long distance, and as a result, further improved detection results may be obtained.

For example, assuming that the object is stationary, the slower the speed of the vehicle 30, the lower the relative speed with the object, so gradually decreasing the unit detection speed is advantageous for the detection of an object with a lower relative speed. . To this end, the control unit 340 may decrease the unit detection speed by increasing the total number N _c of the chirp signals.

For another example, assuming that the object is stationary, as the speed of the vehicle 30 increases, the relative speed with the object also increases, so that increasing the maximum detection speed V _max gradually increases the relative speed. It is advantageous for the detection of objects. To this end, the control unit 340 may increase the maximum detection speed V _max by reducing the total number N _c of the chirp signals.

6 shows an example of a case in which a vehicle radar 300 according to an embodiment sets the frequency of use of the short-range transmission antenna 311 and the long-range transmission antenna 312 to 1: 1.

Referring to FIG. 6, since the frequency of use of the short-range transmission antenna 311 and the long-range transmission antenna 312 is 1: 1, for example, as shown, the short-range transmission antenna 311 and the long-range transmission antenna 312 alternately once. Going active, the first transmission signal and the second transmission signal may be alternately transmitted to the outside. Of course, as illustrated, after the first transmission signal is continuously transmitted k times, the second transmission signal is continuously transmitted k times, it should be understood that the usage frequency may be 1: 1 will be.

At this time, the first transmission signal transmitted from the short-range transmission antenna 311 has a waveform corresponding to the first bandwidth and the number of first chips, and the second transmission signal transmitted from the remote transmission antenna 312 has a second bandwidth and It may have a waveform corresponding to the number of second chirps. At this time, the first bandwidth may be set to a value greater than the second bandwidth, and the number of first chirps may be set to a value greater than the number of second chirps. Accordingly, the first transmission signal is optimized for object detection that is slower than the second transmission signal, and the second transmission signal is optimized for object detection that is faster than the first transmission signal.

The usage frequency of 1: 1 as shown in FIG. 6 may be useful when the objects are evenly distributed over long distances and short distances, but if the objects are concentrated at either long distances or short distances, they are shown in FIGS. 1 and 2. As described above, due to the difference between the long-distance beam pattern and the short-range beam pattern, the two detection regions may not be optimized for detection of objects located in regions that do not overlap with each other.

In this case, by increasing or decreasing the frequency of use of at least one of the short-distance transmission antenna 311 and the long-distance transmission antenna 312 using the above-described method with reference to FIGS. 4 and 5, as shown in FIG. Even with limited hardware, object detection performance of a certain level or more can be secured adaptively to the situation of the vehicle 30 (eg, speed, curvature of the road).

The embodiment of the present invention described above is not implemented only through an apparatus and a method, and may be implemented through a program that realizes a function corresponding to the configuration of the embodiment of the present invention or a recording medium in which the program is recorded. The implementation can be easily implemented by those skilled in the art to which the present invention pertains from the description of the above-described embodiments.

In addition, the present invention described above, because the person skilled in the art to which the present invention pertains, various substitutions, modifications, and changes are possible within the scope of the technical spirit of the present invention. The present invention is not limited to the accompanying drawings, and all or part of each of the embodiments may be selectively combined to be configured so that various modifications can be made.

300: car radar
310: transmission channel
320: receiving channel
330: signal generator
340: control unit

Claims (7)

In the vehicle radar (vehicle radar),
A transmission channel including a short-range transmission antenna transmitting a non-directional first transmission signal and a long-distance transmission antenna transmitting a directional second transmission signal;
A reception channel including at least two reception antennas for receiving at least one of the first transmission signal and the second transmission signal reflected by an obstacle; And
Based on the curvature of the road, the frequency of use between the long-distance transmit antenna and the short-distance transmit antenna is adjusted, the detection result for the obstacle is obtained based on the received signal, and the detection result is based on the detected result. Control unit for adjusting at least one waveform of the first transmission signal and the second transmission signal
Vehicle radar, characterized in that it comprises a. According to claim 1,
The control unit,
If the vehicle speed is below the critical speed,
The use frequency between the short-range transmission antenna and the long-range transmission antenna is adjusted to N ₁ : 1, wherein N ₁ is a radar for a vehicle, characterized in that it is a real number greater than 1. According to claim 1,
The control unit,
If the vehicle speed exceeds the critical speed,
Vehicle radar, characterized in that for adjusting the frequency of use between the short-distance transmit antenna and the long-distance transmit antenna based on the curvature of the road. According to claim 3,
The control unit,
When the speed of the vehicle exceeds the threshold speed and the curvature of the road is less than or equal to a threshold curvature,
The radar for a vehicle is characterized in that the frequency of use between the short-range transmission antenna and the long-range transmission antenna is adjusted to N ₂ : 1, but the N ₂ is a real number greater than 1. According to claim 3,
The control unit,
When the speed of the vehicle exceeds the threshold speed and the curvature of the road exceeds the threshold curvature,
The radar for a vehicle is characterized in that the frequency of use between the short-range transmission antenna and the long-range transmission antenna is adjusted to 1: N ₃ , but the N ₃ is a real number greater than 1. In the control method of a vehicle radar (vehicle radar) comprising a short-range transmission antenna for transmitting the first transmission signal of the omnidirectional and a long-range transmission antenna for transmitting the second transmission signal of the directional,
Adjusting a frequency of use between the long-distance transmission antenna and the short-range transmission antenna based on the inside and outside of the vehicle;
Obtaining a detection result for the obstacle based on a received signal at least one of the first and second transmission signals reflected by the obstacle; And
Adjusting a waveform of at least one of the first transmission signal and the second transmission signal based on the detection result
Vehicle radar control method comprising a. The method of claim 6,
The inside and outside of the situation, the control method of a vehicle radar, characterized in that at least one of the curvature of the vehicle speed or road.

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