公开(公告)号：US20160124076A1

公开(公告)日：2016-05-05

申请号：US14895460

申请日：2014-06-03

Applicant: DENSO CORPORATION

Inventor： Hiroto NAKATANI ,  Koji SHIMIZU ,  Chiharu YAMANO

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

CPC classification number: G01S7/4026 ,  G01S13/34 ,  G01S13/931 ,  G01S2007/4034 ,  G01S2013/9375

Abstract: 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.

Abstract translation: 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：US20230082823A1

公开(公告)日：2023-03-16

申请号：US18055170

申请日：2022-11-14

Applicant: DENSO CORPORATION

Inventor： Koichi SATO ,  Hiroyuki HOTTA ,  Hiroto NAKATANI ,  Yuuji KATOU

IPC: G01S7/40 ,  G01S13/931 ,  G01S13/58

Abstract: An axis-misalignment estimation device estimates an axis-misalignment angle of a radar device mounted to a moving object. The axis-misalignment estimation device estimates the axis-misalignment angle using a plurality of different axis-misalignment angle estimation methods based on detection results of the radar device. The axis-misalignment estimation device determines whether a predefined employment condition is met, based on a plurality of axis-misalignment angle estimates estimated using respective ones of the plurality of axis-misalignment angle estimation methods. In response to determining that the employment condition is met, the axis-misalignment estimation device employs at least one of the plurality of axis-misalignment angle estimates.

公开(公告)号：US20230073814A1

公开(公告)日：2023-03-09

申请号：US18054456

申请日：2022-11-10

Applicant: DENSO CORPORATION

Inventor： Hiroyuki HOTTA ,  Koichi SATO ,  Hiroto NAKATANI ,  Yuuji KATOU

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

Abstract: An axial displacement angle estimation device repeatedly calculates an axial displacement angle based on the detection result of the radar apparatus. The axial displacement angle estimation device extracts the axial displacement angle included in a predetermined extraction angle range among a plurality of axial displacement angles, and calculate an average value of the extracted plurality of axial displacement angles to be an axial displacement angle average value. The axial displacement angle estimation device determines, based on the axial displacement angle average value, whether a predetermined allowable condition is met. The axial displacement angle estimation device utilizes, when determined that the predetermined allowable condition is met, the axial displacement angle average value as an estimation result of the axial displacement angle.

公开(公告)号：US20230074625A1

公开(公告)日：2023-03-09

申请号：US18054847

申请日：2022-11-11

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Hiroyuki HOTTA ,  Koichi SATO ,  Hiroto NAKATANI ,  Yuuji KATOU ,  Ichiro AIZAWA ,  Naoki SUGIMOTO ,  Takahiro KOHARA

IPC: G01S13/58 ,  G01S13/931

Abstract: An axial displacement estimation device estimates an axial displacement angle of a radar apparatus mounted on a mobile body. The axial displacement estimation device uses a plurality of detection values acquired by mutually different plurality of modulation methods to estimate an axial displacement angle for each of the plurality of modulation methods. The axial displacement estimation device determines whether a predetermined allowable condition is met based on a plurality of axial displacement angle estimation results estimated using a plurality of detection values corresponding to respective plurality of modulation methods. The axial displacement estimation device utilizes at least one of a plurality of axial displacement angle estimation results when determined that the predetermined allowable condition is met.

公开(公告)号：US20230061836A1

公开(公告)日：2023-03-02

申请号：US18054454

申请日：2022-11-10

Applicant: DENSO CORPORATION

Inventor： Hiroyuki HOTTA ,  Koichi SATO ,  Hiroto NAKATANI ,  Yuuji KATOU

IPC: G01S13/68

Abstract: An axial displacement angle estimation device repeatedly calculates an axial displacement angle based on the detection result of the radar apparatus. The axial displacement angle estimation device extracts the axial displacement angle included in a predetermined extraction angle range among a plurality of axial displacement angles, and calculate an average value and a median value of the extracted plurality of axial displacement angles to be an axial displacement angle average value and an axial displacement median value. The axial displacement angle estimation device determines, based on the axial displacement angle average value and the axial displacement angle median value, whether a predetermined allowable condition is met. The axial displacement angle estimation device utilizes, when determined that the predetermined allowable condition is met, the axial displacement angle average value as an estimation result of the axial displacement angle.