公开(公告)号：US20240192302A1

公开(公告)日：2024-06-13

申请号：US18584871

申请日：2024-02-22

Applicant: DENSO CORPORATION

Inventor： Yasuhiro KURONO ,  Takuya TAKAYAMA ,  Yutaka HASEGAWA

IPC: G01S3/48 ,  G01S7/40 ,  G01S13/931 ,  H04B7/0413

CPC classification number: G01S3/48 ,  G01S7/403 ,  H04B7/0413 ,  G01S13/931

Abstract: A radar system of one aspect of the present disclosure includes a plurality of transmitting antennas, a plurality of receiving antennas, an azimuth estimation unit, a restoration unit (S30), an error calculation unit, and a false azimuth determination unit. The azimuth estimation unit estimates an azimuth of a target based on a first received signal received by a virtual array. The restoration unit calculates a second received signal from an estimated power of the first received signal which corresponds to a signal restored from the first received signal, assuming that the transmitting azimuth is the same as an arrival azimuth. The false azimuth determination unit determines that the estimated azimuth is a false azimuth when the errors between the first received signal and the second received signal are larger than a determination threshold.

公开(公告)号：US20230176186A1

公开(公告)日：2023-06-08

申请号：US18163778

申请日：2023-02-02

Applicant: DENSO CORPORATION

Inventor： Katsuhiko KONDO ,  Takuya TAKAYAMA

IPC: G01S7/40 ,  G01S13/931 ,  G01S13/72

CPC classification number: G01S7/4021 ,  G01S13/72 ,  G01S13/931

Abstract: An axial misalignment estimation apparatus calculates a first estimated speed ratio that is an estimated speed ratio calculated using an orientation angle that is corrected based on an axial misalignment angle estimated in measurement cycles up to a previous measurement cycle, and calculates at least one second estimated speed ratio that is the first estimated speed ratio presuming aliasing is present at the orientation angle. The axial misalignment estimation apparatus determines, for each stationary reflection point, whether aliasing is present at the orientation angle of the stationary reflection point based on the first estimated speed ratio and the at least one second estimated speed ratio, and corrects the orientation angle of the stationary reflection point in which aliasing is determined to be present, and estimates the axial misalignment angle based on the corrected orientation angle for the stationary reflection point of which the orientation angle is corrected.

公开(公告)号：US20220228862A1

公开(公告)日：2022-07-21

申请号：US17658389

申请日：2022-04-07

Applicant: DENSO CORPORATION

Inventor： Katsuhiko KONDO ,  Takuya TAKAYAMA

IPC: G01B15/02 ,  G01B11/06 ,  G01S13/931

Abstract: This axial deviation estimating device estimates an axial deviation angle of a radar device mounted on a mobile body, and includes an acquiring unit, an extracting unit, a device-system coordinates unit, and an estimating unit. The estimating unit estimates an axial deviation angle using a relational expression. The relational expression is an expression that holds between at least one unknown parameter, which includes an axial deviation angle of a coordinate axis of the radar device about a target axis which is at least one of a horizontal axis and a traveling direction axis constituting the coordinate axes of the mobile body, and at least one element included in the device-system coordinates of a road surface reflection point.

公开(公告)号：US20210055401A1

公开(公告)日：2021-02-25

申请号：US17092634

申请日：2020-11-09

Applicant: DENSO CORPORATION

Inventor： Takuya TAKAYAMA

IPC: G01S13/28 ,  G01S13/931 ,  G01S7/40 ,  G01S7/288

Abstract: A radar apparatus is provided with a data calculation unit, a first threshold calculation unit, a second threshold calculation unit, a detection threshold calculation unit and a peak detecting unit. The data calculation unit performs a frequency analysis of the reception signal to produce complex data. The first threshold calculating unit adds a predetermined addition value to a power value of the average data where the complex data is averaged to calculate a first threshold. The second threshold calculation unit calculates a second threshold based on a noise power. The detection threshold calculation unit calculates, for each frequency bin, a larger value of the first threshold and the second threshold to be the detection threshold.

公开(公告)号：US20170227632A1

公开(公告)日：2017-08-10

申请号：US15501785

申请日：2015-08-07

Applicant: DENSO CORPORATION

Inventor： Takuya TAKAYAMA ,  Koji SHIMIZU

IPC: G01S13/34 ,  G01S13/95 ,  G01W1/14 ,  G01S13/58

CPC classification number: G01S13/34 ,  G01S7/354 ,  G01S7/40 ,  G01S7/412 ,  G01S13/345 ,  G01S13/584 ,  G01S13/931 ,  G01S13/95 ,  G01S2007/4039 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/9357 ,  G01S2013/9375 ,  G01W1/14

Abstract: A radar device includes a transmission part that transmits a radar wave which has been frequency-modulated such that one measurement cycle has a rising section in which a frequency increases and a falling section in which a frequency decreases, a reception part that derives respective beat signals of the rising section and the falling section, and a signal processor that performs a precipitation determining process on the basis of an analysis of the beat signals. In the precipitation determining process, in the absence of objects other than precipitation objects from a transmission range of the radar wave, it is determined whether a spectral similarity of the frequency spectra of the rising and falling section with precipitation reference spectra is not less than a threshold, and if the spectral similarity is not less than the threshold as a result of the determination, it is determined that precipitation is present.

公开(公告)号：US20240264297A1

公开(公告)日：2024-08-08

申请号：US18584868

申请日：2024-02-22

Applicant: DENSO CORPORATION

Inventor： Yasuhiro KURONO ,  Takuya TAKAYAMA ,  Yutaka HASEGAWA ,  Masatada HOKIGUCHI

IPC: G01S13/42 ,  G01S13/86 ,  G01S13/931

CPC classification number: G01S13/42 ,  G01S13/867 ,  G01S13/931

Abstract: A radar device according to one aspect of the present disclosure includes a plurality of transmitting antennas, a plurality of receiving antennas, a first azimuth estimation unit, a second azimuth estimation unit, and a selection unit. The first azimuth estimation unit estimates a first azimuth by coherently processing first received signals received by a virtual array. The second azimuth estimation unit estimates a second azimuth by, between transmissions or receptions, coherently processing second received signals received by an antenna array. The selection unit adopts the first azimuth or the second azimuth depending on the ambient environment and/or the detected situation of the target.

公开(公告)号：US20230008853A1

公开(公告)日：2023-01-12

申请号：US17932587

申请日：2022-09-15

Applicant: DENSO CORPORATION

Inventor： Katsuhiko KONDO ,  Takuya TAKAYAMA

IPC: G01S7/40 ,  G01S13/931 ,  G01S7/41

Abstract: An axis deviation angle estimation device estimates a vertical axis deviation angle of a radar device based on roadside object information including information on a plurality of reflection points on a roadside object and road surface information including information on a plurality of reflection points on a road surface. The vertical axis deviation angle is an angle of deviation of an actual mounting direction from a reference mounting direction in a vertical direction. The actual mounting direction is an actual direction of the radar device, and the reference mounting direction is a direction of the radar device when the radar device is mounted in a reference state.

公开(公告)号：US20220236398A1

公开(公告)日：2022-07-28

申请号：US17659154

申请日：2022-04-13

Applicant: DENSO CORPORATION

Inventor： Yusuke AKAMINE ,  Takuya TAKAYAMA

IPC: G01S13/58 ,  G01S13/93 ,  G01S7/41

Abstract: An object tracking apparatus acquires detection information from a sensor mounted to a moving body, detects an object, and calculates a distance, a relative velocity, and an orientation thereof. For the initially detected object, the apparatus calculates aliased velocities of which aliasing from the relative velocity is assumed, and generates target candidates corresponding to the aliased velocities. For each target candidate, the apparatus estimates a current state of the target candidate from a past state thereof and observation information, and selects the target candidate estimated to be a true target from the target candidates for the same object. The apparatus calculates, as a reference velocity, an aliased velocity of the relative velocity that is equal to or greater than a velocity lower-limit value and is most negative or smallest in magnitude. The apparatus calculates the aliased velocities being the reference velocity aliased 0 to n times in a positive direction.

公开(公告)号：US20220229168A1

公开(公告)日：2022-07-21

申请号：US17658392

申请日：2022-04-07

Applicant: DENSO CORPORATION

Inventor： Katsuhiko KONDO ,  Akiyoshi MIZUTANI ,  Takuya TAKAYAMA

IPC: G01S13/42 ,  G01B15/08 ,  G01S13/931

Abstract: An axial misalignment estimation apparatus, mounted in a moving body, acquires reflection point information for each of reflection points detected by a radar apparatus, extracts, from the reflection points, at least a single road-surface reflection point detected by reflection on a road surface, based on the reflection point information. Based on the reflection point information, the axial misalignment estimation apparatus identifies, for each road-surface reflection point, apparatus system coordinates based on coordinate axes of the radar apparatus, and estimates an axial misalignment angle and a height of the radar apparatus using a relational expression established between at least two unknown parameters and at least two elements included in the apparatus system coordinates of the road-surface reflection point. The unknown parameters include the axial misalignment angle being a misalignment angle of a coordinate axis of the radar apparatus around a target axis, and a mounting height of the radar apparatus.

公开(公告)号：US20220187422A1

公开(公告)日：2022-06-16

申请号：US17653437

申请日：2022-03-03

Applicant: DENSO CORPORATION

Inventor： Katsuhiko KONDO ,  Takuya TAKAYAMA

IPC: G01S7/40 ,  G01S7/35

Abstract: An information acquisition section repeatedly acquires observation point information including an observation direction from a radar device. An axial misalignment acquisition section acquires an axial misalignment amount of an actual mounting direction representing the actual orientation of the radar device with respect to a reference mounting direction of the radar device. An aliasing calculation section calculates an aliasing direction of the observation direction included in the observation point information. An instantaneous determination section determines, as an actual direction, one of the observation direction and the aliasing direction that is closer to the reference mounting direction, which is estimated from the axial misalignment amount and the actual mounting direction.