JPH06231398A - Fm-cw radar system using picture information - Google Patents

Abstract

PURPOSE:To improve the reliability of both the signal analytic result of an FM-CW radar and other system used therefor. CONSTITUTION:In an FM-CW radar system, an alarming dispaly system which calculates data of a distance and a speed at every repetition period of frequency modulation, fixes plural pieces of continuous calculation data as distance and speed data when they are within a prescribed range and outputs them and displays an alarm in relation with a preceding vehicle is furthermore provided with a distance and speed calculation part 6 for making a tracking running system controlling the acceleration/deceleration of a drivers own vehicle use the output and a picture processing part 9 which processing of a picture obtained from an on-vehicle camera, recognizes a positional relation both between a preceding vehicle and road shapes and between the preceding vehicle and the driver's own vehicle, changes calculation data fixing distance and speed data based on the piece of picture data and corrects the algorithm of an alarm system the tracking running system.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an FM-CW (Frequency Modulation-Continuous Wave) radar, and more particularly to the present invention relates to a signal analysis result of an FM-CW radar and improvement of reliability of other systems using the signal analysis result.

[0002]

2. Description of the Related Art Conventionally, as a technique in the field of utilizing image information, there is a laser radar system utilizing radar information using a laser and image information for matching an image.
This system scans a laser beam to obtain a two-dimensional image and matches it with image data.

[0003]

However, in the conventional laser system, there is a problem that the laser is vulnerable to fog and rain, and therefore the reliability is low. On the other hand, FM-CW radar,
For example, FM-C using millimeter waves that are commonly used
W millimeter-wave radar is strong against the environment such as fog and rain, but from the point of view of being mounted on a vehicle, it cannot scan like a laser and cannot obtain an image that can be matched with an image. The problem is that it requires a different idea. Furthermore, since the FM-CW millimeter-wave radar uses frequency modulation that raises and lowers the frequency at a constant cycle, it is necessary to recognize a front obstacle (vehicle) in a short time. In order to prevent this, it is judged that the same signal has been obtained continuously to some extent, and the distance and speed are measured only after recognizing the obstacle. Therefore, there is a problem in that recognition of a front obstacle (vehicle) may be delayed, which may be dangerous. However, although this FM-CW millimeter-wave radar has the above-mentioned problems, in addition to the effect that it is strong against fog and rain as described above, it is the only one if the laser radar does not scan like the FM-CW millimeter-wave radar. However, the FM-CW radar has an excellent effect of being able to recognize a plurality of targets in a one-dimensional image without scanning. Therefore, it is necessary to establish another problem that can be matched with the image, which is a problem, to improve the certainty of the data obtained by the FM-CW radar, and to shorten the determination time of the obstacle.

Therefore, the present invention has been made in view of the above problems and is capable of matching an image with an FM-C utilizing image information.
An object is to provide a W millimeter wave radar system.

[0005]

In order to solve the above problems, the present invention processes an FM-CM millimeter-wave radar signal to convert distance and speed data of a vehicle ahead into image information from a vehicle-mounted camera. Based on this, the distance-velocity calculation unit and the image processing unit are provided in the FM-CW millimeter-wave radar system that uses image information for ensuring.

The distance / velocity calculation unit calculates the distance / speed data for each repetition cycle of frequency modulation, and when a plurality of continuous calculated data is within a certain range, the distance / speed data is confirmed and output as the distance / speed data. The output is used by an alarm display system that displays an alarm in relation to the preceding vehicle and a follow-up traveling system that controls acceleration or deceleration of the own vehicle.

The image processing unit processes an image obtained from the vehicle-mounted camera to recognize a front vehicle and a road shape and a positional relationship between the front vehicle and the own vehicle, and based on the image information, the distance is calculated. The number of calculated data for determining the speed data is changed to correct the algorithms of the alarm system and the following traveling system.

[0008]

According to the millimeter wave radar system using the image information of the present invention, specifically, the preceding vehicle appears, the road is a downhill, the road is a curve, and other road lanes are in front of the own vehicle. Based on the image information that the FM-C has entered, the number of calculation data for determining the distance and speed data is changed to a small number, and thus the FM-C having a fast response and high reliability.
It becomes possible to obtain the output (distance, speed) of the W millimeter wave radar.

In addition, there is no preceding vehicle, there is a steep uphill ahead, there is a card rail in front of at least a curve of the road, there is a partition of the road branch, and the preceding vehicle is in the adjacent lane, Based on the image information that the preceding vehicle is not in the own lane, the alarm display output of the alarm display system is prohibited and the brake activation by the follow-up traveling system is prohibited to prevent malfunction of the warning display system and the follow-up traveling system. You can prevent it. Further, based on the information of the FM-CW millimeter-wave radar that the preceding vehicle approaches, and the image information of the lighting state of the brake lamp of the preceding vehicle, the warning display of the warning display system is performed and the brake of the following traveling system is performed. By increasing the amount and changing the timing earlier, it becomes possible to realize a highly safe alarm display system and follow-up traveling system. Based on the image information that there is no preceding vehicle, the road is a downhill, and the road is a curve, the follow-up running system with high safety is realized by changing the acceleration timing of the follow-up running system late. become able to. By changing the timing from the judgment that there is no preceding vehicle based on the information of the FM-CW millimeter-wave radar to the acceleration of the following traveling system based on the image information that the preceding vehicle has moved to another lane, the response is made earlier. It is possible to realize a highly flexible follow-up traveling system.
By increasing the brake amount of the follow-up traveling system and changing the timing thereof early based on the image information of rainfall and snowfall, it is possible to realize a highly safe alarm display system and follow-up traveling system.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing an FM-CW millimeter-wave radar system using image information according to an embodiment of the present invention.
A millimeter-wave radar system using image information shown in the figure is mounted on a vehicle, a radar 1 that emits a radio wave toward an object (vehicle) and receives a reflected wave, and an FM-CW signal connected to the radar 1. , A mixer 2 connected to the radar 1 and the transmitter 2 for mixing a received signal and a transmitted signal to form a beat signal, and an analog beat signal connected to the mixer 3 for converting a digital signal into a digital signal. An A / D converter 4 (Analog to Digital Converter) for conversion, and a fast Fourier transform unit 5 (Fast Fourier Transform) connected to the A / D converter 4 for frequency analysis of a beat signal by high-speed Fourier transform to obtain peak frequency data. Transformation), the distance / speed calculation unit 6 for obtaining the distance and speed to the object from the peak frequency data, and the distance / speed data from the distance / speed calculation unit 6 are displayed, or based on this data, A data use unit 7 that controls an alarm display system in relation to a vehicle in front and a follow-up traveling system (automatic braking system, automatic acceleration / deceleration system) that accelerates and decelerates the vehicle,
A camera 8 for observing a road condition in which the object exists,
The image signal received by the camera 8 is processed, and the processed image is used for the distance / speed calculation control of the distance / speed calculation unit 6 and the correction control of the algorithm of an alarm display system and a follow-up traveling system described later. An image processing unit 9 for providing information is provided. In addition, the alarm display system,
The follow-up traveling system (automatic braking system, automatic acceleration / deceleration system) is well known and its detailed description is omitted.

FIG. 2 is a diagram for explaining the frequency-time relationship of the FM-CW radar when the reflected signal from the moving object is received. This figure (a) is a figure which shows the frequency of a transmission / reception signal, a solid line shows a transmission signal, a dotted line shows a reception signal, a transmission signal is center frequency f0, a period 1 / fm, and (DELTA).
The frequency is repeatedly modulated in a triangular shape having a frequency shift width of f. Since the distance to the moving object and the frequency are displaced due to the Doppler effect between the transmitted and received signals, the distance and the speed to the moving object can be obtained by measuring this displacement. This figure (b) is a figure which shows the beat signal of a transmission signal and a reception signal. As shown in the figure, the mixer 5 obtains the beat signals by the rising and falling of the triangular wave, respectively.
The beat signal thus obtained is digitized by the A / D converter 4, frequency-analyzed by the high-speed Fourier transform unit 5, and the distance / speed calculator 6 calculates the distance and speed.

Here, the falling of the triangular wave shown in FIG.
Letting the frequencies of the beat signal at the rise be fd and fu, respectively, and letting the frequency fr of the beat signal for the fixed object and the Doppler frequency fd, fd = fr + fd fu = fr -fd fr = 4R · fm · Δf / C fd = 2V F / C Here, R is the distance to the object, V is the relative distance to the object, C is high speed, and f is the transmission frequency.

When the equation is modified, fr = (fd + fu) / 2 = 4RfmΔf / C fd = (fd-fu) / 2 = 2Vf / C, so R = (fd + fu)  C / (8fm · Δf) V = (fd −fu) · C / 4f, and the distance and speed are, for example, 1 / fm = 1/750
It is obtained every Hz ≈ 1.3 ms. As described above, the distance / velocity calculation unit 6 makes an erroneous calculation due to the influence of noise or the like during this short measurement period. Therefore, when the same distance / speed is obtained continuously for a certain period, the distance / speed is calculated. It is confirmed.

FIG. 3 is a flowchart for explaining the processing contents of the image processing unit 9, and FIG. 4 is a plan view showing an example of the positional relationship between the vehicle and the road shape analyzed by the image processing unit 9, and the own vehicle. . As shown in FIG. 3, in step 1, the image processing unit 9 captures an image from the vehicle-mounted camera 8. In step 2, the white line (lane) of the road is recognized by the existing edge extraction technique.

In step 3, the road shape, for example, a slope, a curve, or a traveling lane is recognized based on the edge information of the process of step 2 and the knowledge of the road structure regulation. Step 4
In, the front vehicle is recognized by edge extraction, pattern recognition, and optical flow. In step 5, as shown in FIG. 4, the above analysis results are placed on one plan view, the vehicle-road shape, the positional relationship between the vehicle are recognized, and the distance in the distance-speed calculation unit 6 is calculated. In order to output the image information processed by the distance / speed calculation unit 6 in order to obtain the number of times of calculation until the speed is recognized, and to make the alarm system of the use unit 7 and the correction content of the algorithm of the following traveling system, Further, the processed image information is output to the alarm system and the follow-up traveling system of the utilization unit 7 via the distance / speed calculation unit 6.

In step 6, the antenna 1, the transmitter 2, the mixer 3, the A / D converter 4, and the high-speed Fourier transform unit 5
The FM-CW millimeter-wave radar unit configured by analyzes the frequency of the beat signal. In step 7, based on the processed image information from step 5, in the distance / velocity calculation unit 6, based on the analysis result of the frequency of the beat signal,
The number of calculations until the relative distance to the preceding vehicle and the speed are recognized is controlled. The distance and speed are determined by this number of calculations.

In step 8, based on the processed image information from step 5, the alarm system of the utilization unit 7,
Corrects the algorithm (parameter) of the follow-up running system. FIG. 5 is a flowchart for determining the number of times of calculation of the distance and speed in the distance / speed calculation unit 6 based on the image information processed by the image processing unit 9. FIG. FIG. 6 is a diagram illustrating the content of image information processed by a unit 9. As mentioned above, FM
In the front obstacle recognition by the CW millimeter wave radar, the distance and speed are measured only when the same signal is continuously obtained to some extent in order to prevent erroneous recognition due to noise or the like. In the following cases, these are considered to be dangerous because they lead to a delay in recognizing a front obstacle (vehicle). Therefore, in the following cases, when the image information and the radar information are matched with each other, the number of times of continuous calculation required until the recognition is confirmed is changed.

In step 11 of FIG. 5, it is judged whether the beat frequency f indicating a new target has appeared. In step 12, the determination in step 11 is “NO”.
If so, the number of times of calculation of distance and speed is set to Cf = 0. In this case, in step 13, the distance and speed of another target are calculated.

In step 14, the step 11
If the determination is “YES”, Cf = Cf + 1. In step 15, it is determined whether the vehicle is a downhill road based on the image information shown in FIG. In step 16, if the determination in step 15 is "YES", it is determined whether Cf> 4 is satisfied. If this determination is "NO", the process proceeds to step 13.

In step 17, the above step 15
If the determination is “NO”, it is determined whether Cf> 10 holds. If the determination is “NO”, the process proceeds to step 13. In step 18, if the determination in step 16 or 17 is "YES", the object is recognized as a front object and step 1
Go to 3. The reason why the judgment criterion of the calculation frequency Cf is changed based on the information about the downhill in steps 16 and 17 is as follows. When the vehicle is about to go downhill, the front main object is in a low position and the FM-CW
It cannot be detected by millimeter wave radar. Then, when the own vehicle approaches the downhill, it is gradually reflected on the FM-CW millimeter-wave radar, and the forward vehicle is recognized when it is continuously captured to some extent. on the other hand,
The vehicle-mounted camera 8 has a sufficiently wide field of view as compared with the FM-CW millimeter-wave radar and can recognize a vehicle ahead ahead of the FM-CW millimeter-wave radar sufficiently quickly. This is because by checking the signal captured by the radar with image information, it becomes possible to obtain distance and speed information with a fast response and high reliability.

In step 19, as shown in FIG. 6 (b), the process similar to that described above can be performed when a vehicle that has been lost due to a curve on the road is caught. In step 20, when the vehicle comes in front of another vehicle as shown in FIG. 6C, the same processing as above can be performed. As described above, the output (distance, speed) of the FM-CW millimeter-wave radar with high responsiveness and high reliability is obtained by reducing the reference Cf of the number of times of calculation of distance and speed from 10 to 4 based on the image information. be able to.

Next, in the alarm system and the follow-up running system of the utilization section, as described above, an alarm is displayed regarding the inter-vehicle distance to the vehicle in front based on the data of the FM-CW millimeter wave radar, and automatic braking is applied when there is a danger. However, the correction of the algorithm of the alarm display system and the follow-up traveling system based on the image information will be described. FIG. 7 is a flowchart of a first example in which the algorithm of the alarm system and the follow-up traveling system of the use unit 7 is corrected based on the image information processed by the image processing unit 9, and FIG. 8 is the algorithm of the alarm system and the follow-up traveling system. FIG. 6 is a diagram illustrating the content of image information processed by an image processing unit 9 in order to correct the image. In step 21 of FIG. 7, the alarm system of the utilization unit 7 determines based on the image information of FIG. 8A whether there is no vehicle in front and the front is a steep uphill.

In step 22, the above step 21
If the determination is YES, the FM-CW millimeter-wave radar determines whether there is an obstacle ahead. If the determination in step 22 is "YES" in step 23, the obstacle output is prohibited in the warning display system because the obstacle is due to an uphill slope.

In step 24, brake activation is prohibited in the following traveling system. Step 21 or 2
If the determination in 2 is "NO", the alarm display is determined based on the information of the FM-CW millimeter wave radar only. Based on the correction of this algorithm, it is possible to prevent malfunction of the alarm display system and the follow-up traveling system. FIG. 9 is a warning system of the utilization unit 7 based on the image information processed by the image processing unit 9,
It is a flowchart of the 2nd example which corrects the algorithm of a following running system. In step 31 of this figure,
The alarm system of the utilization unit 7 determines whether there is an obstacle ahead and whether there is a curved road ahead or whether there is a branch partition based on the image information in FIG. 8B.

In step 32, the above step 31
If the determination is YES, the FM-CW millimeter-wave radar determines whether there is an obstacle ahead. In step 33, if the determination in step 32 is "YES", the obstacle is a guard rail for safety protection or a road partition, so the alarm output indicating that there is an obstacle ahead in the alarm display system is prohibited. .

In step 34, brake activation is prohibited in the following traveling system. Step 31 or 3
If the determination in 2 is "NO", the alarm display is determined based on the information only from the FM-CW millimeter wave radar. Based on the correction of this algorithm, it is possible to prevent malfunction of the alarm display system and the follow-up traveling system. FIG. 10 shows an alarm system of the utilization unit 7 based on the image information processed by the image processing unit 9.
It is a flowchart of the 3rd example which corrects the algorithm of a following running system. In step 41 of this figure,
The use unit 7 determines whether or not there is an obstacle ahead by the FM-CW millimeter wave radar.

In step 42, the step 41
If the determination is “YES”, the alarm system determines whether the obstacle (vehicle) is in the own lane based on the image information of FIG. 8 (c). In step 43, in step 42
If the determination is “YES”, the obstacle is in the adjacent lane, and therefore the alarm output indicating that there is a front obstacle is prohibited in the alarm display system.

In step 44, output of target information (distance, speed) from the FM-CW millimeter-wave radar is prohibited to the following traveling system in the utilization section 7. This prevents the vehicle from decelerating due to an erroneous determination that there is an obstacle (vehicle) ahead. In step 45, if the determination in step 42 is "YES", the warning system and the follow-up running system use target information (distance, speed) of the own lane
Is output and used for display and control. Based on the correction of this algorithm, it is possible to prevent malfunction of the alarm display system and the follow-up traveling system.

FIG. 11 is a flow chart of a fourth example for correcting the algorithms of the alarm system and the follow-up traveling system of the utilization section 7 based on the image information processed by the image processing section 9. In step 51 of this figure, in the following traveling system of the utilization unit 7 that brakes and decelerates when a vehicle traveling in front approaches, the result of recognition of the lighting state of the brake lamp of the vehicle traveling ahead (obstacle) is recognized based on the image information. Determine if the vehicle has braked.

In step 52, the judgment is "YE
If "S", the output judgment threshold of the alarm display system is lowered. In step 53, the braking by the FM-CW millimeter wave radar, the deceleration amount, and the timing are increased and changed earlier. Based on the correction of this algorithm, a highly safe alarm display system and follow-up running system (brake system) can be realized.

The algorithm correction of the acceleration logic in which the follow-up running system of the utilization unit 7 performs automatic acceleration / deceleration cruise control will be described below. FIG. 12 is a flowchart of a fifth example of correcting the algorithm of the following traveling system of the use unit 7 based on the image information processed by the image processing unit 9. In step 61 of this figure, the follow-up traveling system of the utilization unit 7 determines whether or not there is a target (obstacle) ahead by the FM-CW millimeter wave radar.

In step 62, the step 61
If the determination is “YES”, it is determined whether the front is a downhill of the road or a curve of the road based on the image information of FIG. 6A or 8B. If the determination in step 62 is "YES" in step 63, the tracking system delays the acceleration of the vehicle or sets the acceleration amount to a small value. In this way, when judging the downhill of the road or judging the curve of the road, FM
-When the CW millimeter-wave radar loses sight of the target (vehicle in front) (determines that there is no vehicle in front), the acceleration condition is changed to be delayed based on the image information. Thus, a highly safe follow-up traveling system can be realized based on the correction of this algorithm.

FIG. 13 is a flow chart of a sixth example for correcting the algorithm of the following traveling system of the utilization section 7 based on the image information processed by the image processing section 9. In step 71 of this figure, the follow-up traveling system of the utilization unit 7 determines whether or not there is a target (obstacle) ahead by the FM-CW millimeter wave radar. In step 72,
If the determination in step 71 is "YES", the number of times of calculation of distance and speed by the FM-CW millimeter wave radar CT = 0 is set.

In step 73, in this case, the follow-up running system permits acceleration according to the distance and speed of the vehicle ahead. In step 74, if the determination in step 71 is "NO", the number of times of calculation CT = CT + 1 is set. In step 75, it is determined whether the vehicle ahead is a lane change based on the image information of FIG.

In step 76, the above step 75
If the determination is YES, it is determined whether CT> 4 holds. If this determination is "YES", the process proceeds to step 73 and acceleration is permitted. In step 77, if the determination in step 75 is "NO", it is determined whether CT> 10 holds. If this judgment is “YES”,
Proceeding to step 73, the follow-up traveling system permits acceleration.

In step 78, the step 76
Alternatively, if the determination at 77 is "NO", the follow-up traveling system prohibits acceleration. In this way, the FM-CW millimeter-wave radar is the target (vehicle) when judging the movement of the preceding vehicle to another lane.
The condition from the judgment of no existence to the start of acceleration is changed rapidly by reducing the reference CT of the number of calculations from 10 to 4.
Thus, a highly responsive follow-up traveling system can be realized based on the correction of this algorithm.

FIG. 14 is a flow chart of a seventh example for correcting the algorithms of the alarm system and the follow-up traveling system of the utilization section 7 based on the image information processed by the image processing section 9. In step 81 of this figure, it is determined whether it is raining or snowing on the basis of image information in the following traveling system of the utilization unit 7 that performs braking and deceleration when the vehicle traveling ahead approaches.

In step 82, the judgment is "YE
If "S", the output judgment threshold of the alarm display system is lowered. In step 83, the braking by the FM-CW millimeter wave radar, the deceleration amount, and the timing are increased and changed earlier. Based on the correction of this algorithm, a highly safe alarm display system and follow-up running system (brake system) can be realized.

[0039]

As described above, according to the present invention, the distance and speed data are calculated for each repetition cycle of frequency modulation, and the distance and speed data are calculated when a plurality of continuous calculated data are within a certain range. Output from the vehicle-mounted camera by using the output for an alarm display system that displays an alarm in relation to the vehicle ahead, and for a follow-up traveling system that controls acceleration or deceleration of the own vehicle. The image is processed to recognize the positional relationship between the preceding vehicle, the road shape, and the own vehicle, and based on the image information, the number of calculation data for fixing the distance and speed data is changed, and the alarm system and the follow-up traveling are performed. Since the system algorithm is corrected, FM
-The responsiveness of the CW millimeter wave radar can be made high and the reliability can be made high, the malfunction of the alarm display system and the following traveling system can be prevented, and the responsiveness and safety can be made high.

[Brief description of drawings]

FIG. 1 is an FM diagram using image information according to an embodiment of the present invention.
FIG. 3 is a diagram showing a CW millimeter wave radar.

FIG. 2 is an FM when a reflected signal is received from a moving object.
FIG. 6 is a diagram illustrating a frequency-time relationship of a CW millimeter wave radar.

FIG. 3 is a flowchart illustrating processing contents of an image processing unit 9 in FIG.

FIG. 4 is a vehicle and road shape analyzed by the image processing unit 9,
It is a plan view showing an example of a positional relationship with the own vehicle.

FIG. 5 is a flowchart for determining the number of times of distance speed calculation in the distance speed calculation unit 6 based on the image information processed by the image processing unit 9.

FIG. 6 is a diagram illustrating the content of image information processed by the image processing unit 9 to determine the number of distance speed calculations.

FIG. 7 is a flowchart of a first example of correcting the algorithms of the alarm system and the follow-up traveling system of the utilization unit 7 based on the image information processed by the image processing unit 9.

FIG. 8 is a diagram illustrating the content of image information processed by the image processing unit 9 to correct the algorithms of the alarm system and the following traveling system.

FIG. 9 is a flowchart of a second example of correcting the algorithms of the alarm system and the follow-up traveling system of the utilization unit 7 based on the image information processed by the image processing unit 9.

FIG. 10 is a flowchart of a third example of correcting the algorithms of the alarm system and the follow-up traveling system of the utilization unit 7 based on the image information processed by the image processing unit 9.

FIG. 11 is a flowchart of a fourth example of correcting the algorithms of the alarm system and the follow-up traveling system of the utilization unit 7 based on the image information processed by the image processing unit 9.

FIG. 12 is a flowchart of a fifth example of correcting the algorithms of the alarm system and the follow-up traveling system of the utilization unit 7 based on the image information processed by the image processing unit 9.

FIG. 13 is a flowchart of a sixth example for correcting the algorithms of the alarm system and the follow-up traveling system of the utilization unit 7 based on the image information processed by the image processing unit 9.

FIG. 14 is a flowchart of a seventh example of correcting the algorithms of the alarm system and the follow-up traveling system of the utilization unit 7 based on the image information processed by the image processing unit 9.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Antenna 2 ... Transmitter 3 ... Mixer 4 ... A / D converter 5 ... High-speed Fourier transform unit 6 ... Distance / speed calculation unit 7 ... Utilization unit 8 ... Camera 9 ... Image processing unit

Claims (12)

[Claims] 1. An FM using image information for processing an FM-CW radar signal to ensure distance and speed data of a vehicle ahead based on image information from a vehicle-mounted camera.
In a CW radar system, the distance and speed data are calculated for each repetition cycle of frequency modulation, and when a plurality of continuous calculated data are within a certain range, the distance and speed data are confirmed and output, From a vehicle-mounted camera, a distance / velocity calculation unit (6) for causing the warning display system that displays a warning in relation to the vehicle in front to use the output for a follow-up traveling system that controls acceleration or deceleration of the own vehicle. The obtained image is processed to recognize the front vehicle and the road shape, the positional relationship between the front vehicle and the own vehicle, and based on this image information, the distance, the number of calculation data for determining the speed data is changed, A radar system using image information, comprising an image processing unit (9) for correcting the algorithm of the alarm system and the following traveling system. 2. The radar using image information according to claim 1, wherein the number of calculation data for determining the distance and speed data is changed to a small number based on the image information that the preceding vehicle appears and the road is a downhill. system. 3. The radar system using image information according to claim 1, wherein the number of calculation data for determining the distance and speed data is reduced based on the image information that the preceding vehicle appears and the road is a curve. . 4. The number of calculation data for determining the distance and speed data is changed to a small number based on the image information that the preceding vehicle has appeared and has come in front of the vehicle from another road lane. Radar system using the image information of. 5. The alarm display output of the alarm display system is prohibited and the brake activation by the follow-up traveling system is prohibited based on the image information that there is no preceding vehicle and there is a steep uphill ahead. A radar system using the image information described in 1. 6. The alarm display output of the alarm display system is prohibited and the follow-up is performed based on the image information that there is no vehicle in front of the vehicle and there is at least a card rail in a curve of a road and a partition of a road branch ahead. The radar system using image information according to claim 1, wherein the brake activation by the traveling system is prohibited. 7. Based on the image information that the preceding vehicle is in the adjacent lane, but there is no preceding vehicle in the own lane,
The radar system using image information according to claim 1, wherein an alarm display output of the alarm display system is prohibited and a brake activation by the following traveling system is prohibited. 8. An FM-CW in which the preceding vehicle approaches
The alarm display of the alarm display system is performed based on the information of the radar and the image information of the lighting state of the brake lamp of the preceding vehicle, and the brake amount of the following traveling system is increased and the timing thereof is changed early. A radar system that uses the described image information. 9. The radar system using image information according to claim 1, wherein the acceleration timing of the following traveling system is changed to be delayed based on the image information that there is no preceding vehicle and the road is a downhill. 10. The radar system using image information according to claim 1, wherein the acceleration timing of the following traveling system is changed to be delayed based on the image information that there is no vehicle ahead and the road is a curve. 11. The timing from the judgment that there is no preceding vehicle based on the information of the FM-CW radar to the acceleration of the following traveling system is changed earlier based on the image information that the preceding vehicle has moved to another lane. A radar system using the image information according to item 1. 12. A radar system using image information according to claim 1, wherein the amount of braking of the following traveling system is increased and the timing thereof is changed earlier based on image information of rainfall and snowfall.