公开(公告)号：US20190219673A1

公开(公告)日：2019-07-18

申请号：US16335820

申请日：2017-09-25

申请人： DENSO CORPORATION

发明人： Mitsutoshi MORINAGA ,  Takuya TAKAYAMA ,  Chiharu YAMANO

IPC分类号： G01S7/40

CPC分类号： G01S7/4026 ,  G01S7/40 ,  G01S2007/403

摘要： An acquiring unit acquires, for each of reflection points detected by a radar device, reflection point information including a horizontal angle, a vertical angle, and a relative speed. A converting unit converts each of the reflection points into three-dimensional coordinates. An extracting unit extracts stationary reflection points from the reflection points. An estimating unit uses a relational expression established among unknown parameters including a traveling direction vector and a moving speed of a moving body, three-dimensional coordinates of each of the stationary reflection points, and a relative speed of the stationary reflection point, to estimate the known parameters. A calculating unit determines an axial misalignment angle from the estimated unknown parameters.

公开(公告)号：US20160124076A1

公开(公告)日：2016-05-05

申请号：US14895460

申请日：2014-06-03

申请人： DENSO CORPORATION

发明人： Hiroto NAKATANI ,  Koji SHIMIZU ,  Chiharu YAMANO

IPC分类号： G01S7/40 ,  G01S13/93 ,  G01S13/34

CPC分类号： G01S7/4026 ,  G01S13/34 ,  G01S13/931 ,  G01S2007/4034 ,  G01S2013/9375

摘要： A radar apparatus generates a spectrum distribution where frequencies in a beat signal are associated with intensities of respective frequency components. Based on a plurality of spectrum distributions generated over a predetermined number of measurement cycles prescribed in advance, the radar apparatus generates a reflection intensity distribution where frequencies are associated with road surface reflection intensities of the radar wave from a road surface at each frequency. In the reflection intensity distribution, the radar apparatus detects an intensity peak indicating a frequency that maximizes the road surface reflection intensity. Based on the detected intensity peak, the radar apparatus determines at least whether or not the radar apparatus is in an axis deviation state that is taken as a state where a reference axis of the radar apparatus has an inclination of not less than a prescribed angle in a vehicle height direction relative to a horizontal axis prescribed to a vehicle.

摘要翻译： 雷达装置产生频谱分布，其中拍频信号中的频率与相应频率分量的强度相关联。 基于在预先规定的预定数量的测量循环中生成的多个频谱分布，雷达装置产生反射强度分布，其中频率与每个频率处的来自路面的雷达波的路面反射强度相关联。 在反射强度分布中，雷达装置检测表示使路面反射强度最大化的频率的强度峰值。 基于检测到的强度峰值，雷达装置至少确定雷达装置是否处于作为雷达装置的基准轴具有不小于规定角度的倾斜度的状态的轴偏离状态 相对于车辆规定的水平轴的车辆高度方向。

公开(公告)号：US20230417895A1

公开(公告)日：2023-12-28

申请号：US18463967

申请日：2023-09-08

申请人： DENSO CORPORATION

发明人： Koichiro SUZUKI ,  Chiharu YAMANO ,  Toshiyuki MIYAZAKI ,  Norikazu IKOMA

IPC分类号： G01S13/58 ,  G01S13/66 ,  G01S7/40

CPC分类号： G01S13/58 ,  G01S13/66 ,  G01S7/40

摘要： A target object is tracked based on dimensional information of an observation space including a relative velocity of the target object with respect to a sensing device for observing a reflection wave from the target object. An estimation state is acquired by estimating a state of the target object at a specific time. A reflection source of the reflection wave that gives an observation point observed at the specific time is assumed with respect to the estimation state. A state validity of the estimation state is acquired. The estimation state is updated based on the state validity expressed including a difference between dimensional information of the reflection source projected onto the observation space in the estimation state and the observation information.

公开(公告)号：US20220236401A1

公开(公告)日：2022-07-28

申请号：US17659307

申请日：2022-04-14

申请人： DENSO CORPORATION

发明人： Mitsutoshi MORINAGA ,  Koichiro SUZUKI ,  Chiharu YAMANO ,  Norikazu IKOMA

IPC分类号： G01S13/72 ,  G01S17/58 ,  G01S13/42

摘要： A tracking apparatus which tracks a target includes a predilection unit, correction unit, and updating unit. The prediction unit predicts the state distribution of the target at a specific time. The correction unit, for at least one observation point of the target, that is observed at the specific time, uses a likelihood function to define a degree of certainty of the state distribution predicted by the prediction unit, and corrects the likelihood function depending on the number of observation points. The updating unit updates the state distribution at the specific time based on the likelihood function corrected by the correction unit.