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公开(公告)号：US12099139B2
公开(公告)日：2024-09-24
申请号：US17454637
申请日：2021-11-12
Applicant: DENSO CORPORATION
Inventor： Katsuhiko Kondo , Takuya Takayama
IPC: G01S7/40 , G01S13/931
CPC classification number: G01S7/40 , G01S13/931
Abstract: An axial misalignment estimation apparatus estimates an axial misalignment angle of a radar apparatus mounted in a moving body. The estimation apparatus repeatedly acquires, for each reflection point detected by the radar apparatus, reflection point information including at least a relative speed and an orientation angle. The estimation apparatus acquires a speed of the moving body and extracts a stationary reflection point estimated to be a stationary object from the reflection points based on the speed of the moving body. The estimation apparatus selects, for each divided region, the stationary reflection point included in the divided region such that a predetermined condition is met. The divided region is a detection region of the radar apparatus that is divided into a plurality of parts in at least either of a horizontal direction and a vertical direction. The estimation apparatus determines the axial misalignment angle using the stationary reflection point selected.
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公开(公告)号：US11119190B2
公开(公告)日：2021-09-14
申请号：US16335820
申请日：2017-09-25
Applicant: DENSO CORPORATION
Inventor： Mitsutoshi Morinaga , Takuya Takayama , Chiharu Yamano
IPC: G01S7/40 , G01S13/931
Abstract: 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.
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公开(公告)号：US12235099B2
公开(公告)日：2025-02-25
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.
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公开(公告)号：US12228681B2
公开(公告)日：2025-02-18
申请号：US17932587
申请日：2022-09-15
Applicant: DENSO CORPORATION
Inventor： Katsuhiko Kondo , Takuya Takayama
IPC: G01S7/40 , G01S7/41 , G01S13/93 , G01S13/931
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.
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公开(公告)号：US11802952B2
公开(公告)日：2023-10-31
申请号：US17110335
申请日：2020-12-03
Applicant: SOKEN, INC. , DENSO CORPORATION
Inventor： Katsuhiko Kondo , Takuya Takayama
IPC: G01S13/42 , G01S13/60 , G01S13/72 , G01S13/931
CPC classification number: G01S13/42 , G01S13/60 , G01S13/72 , G01S13/931
Abstract: The position detecting apparatus repeatedly acquires, from a radar apparatus, object information including at least an object distance as a distance between the radar apparatus and a reflecting object and a relative speed between the radar apparatus and a reflecting object. The position detecting apparatus calculates a speed ratio as a ratio between the relative speed and the travelling speed. The position detecting apparatus calculates, based on the speed ratio, a projection distance between a projected position of the reflecting object projected onto a projection plane and a position of the radar apparatus on the projection plane, the projection plane having a predetermined angle with respect to a center axis indicating a direction along which the radar waves are transmitted by the radar apparatus and including the radar apparatus. The position detection apparatus calculates the position of the reflecting object based on the calculated projection distance.
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Patent Agency Ranking
公开(公告)号：US10473774B2
公开(公告)日：2019-11-12
申请号：US15501785
申请日：2015-08-07
Applicant: DENSO CORPORATION
Inventor： Takuya Takayama , Koji Shimizu
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.
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公开(公告)号：US12123939B2
公开(公告)日：2024-10-22
申请号：US17659154
申请日：2022-04-13
Applicant: DENSO CORPORATION
Inventor： Yusuke Akamine , Takuya Takayama
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.
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公开(公告)号：US12078712B2
公开(公告)日：2024-09-03
申请号：US17092634
申请日：2020-11-09
Applicant: DENSO CORPORATION
Inventor： Takuya Takayama
IPC: G01S13/28 , G01S7/288 , G01S7/40 , G01S13/931
CPC classification number: G01S13/282 , G01S7/288 , G01S7/4056 , G01S13/931 , G01S7/2883 , G01S2013/9327
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.
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公开(公告)号：US11448723B2
公开(公告)日：2022-09-20
申请号：US16936392
申请日：2020-07-22
Applicant: DENSO CORPORATION
Inventor： Takayuki Kitamura , Takuya Takayama , Kazuhiro Aoki
Abstract: A transmission antenna unit includes transmission antennas arranged in a row along a predetermined array direction at a predetermined first interval. A reception antenna unit includes reception antennas arranged in a row along the array direction at a second interval set to differ from the first interval. The transmission antennas and the reception antennas form a virtual array in which virtual reception antennas are arranged in a row along the array direction. The first interval is equal to a multiplication value of a minimum interval being a minimum value of an arrangement interval of the virtual reception antennas and a first multiple being an integer of 2 or greater. The second interval is equal to a multiplication value of the minimum interval and a second multiple being an integer of 2 or greater and set to differ from the first multiple. The first and second multiples are coprime.
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公开(公告)号：US12222439B2
公开(公告)日：2025-02-11
申请号：US17653437
申请日：2022-03-03
Applicant: DENSO CORPORATION
Inventor： Katsuhiko Kondo , Takuya Takayama
IPC: G01S7/40 , G01S7/35 , G01S13/931
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.
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