公开(公告)号：US20060132353A1

公开(公告)日：2006-06-22

申请号：US10717468

申请日：2003-11-21

申请人： Kazuma Natsume ,  Hiroaki Kumon ,  Kenta Hoki

发明人： Kazuma Natsume ,  Hiroaki Kumon ,  Kenta Hoki

IPC分类号： G01S13/44

CPC分类号： G01S13/4463 ,  G01S13/723 ,  G01S13/867

摘要： An apparatus for detecting a direction of a target is provided. The apparatus transmits and receives radio waves through a plurality of transmission/reception channels causing a phase difference in signals to be received through the transmission/reception channels and calculates the direction based on the phase difference. The apparatus comprises a direction calculating device, range determining device, and direction correcting device. The direction calculating device calculates the direction of the target based on the phase difference in the received signals on the assumption that the phase difference is within a range of −π to +π [rad]. The range determining device determines that the target exists in any of azimuthal angle ranges each corresponding to ranges defined by (2m−1)π to (2m+1)π [rad] (m is an integer). The direction correcting device corrects the direction according to a range-determined result.

摘要翻译： 提供了一种用于检测目标方向的装置。 该装置通过多个发送/接收信道发送和接收无线电波，导致通过发送/接收信道接收信号的相位差，并基于相位差计算方向。 该装置包括方向计算装置，范围确定装置和方向校正装置。 方向计算装置假设相位差在-pi至+ pi [rad]的范围内，基于接收信号中的相位差来计算目标的方向。 范围确定装置确定目标存在于每个对应于由（2m-1）pi至（2m + 1）pi [rad]（m是整数）定义的范围的方位角范围内的任何一个。 方向校正装置根据范围确定的结果校正方向。

公开(公告)号：US07088286B2

公开(公告)日：2006-08-08

申请号：US10717468

申请日：2003-11-21

申请人： Kazuma Natsume ,  Hiroaki Kumon ,  Kenta Hoki

发明人： Kazuma Natsume ,  Hiroaki Kumon ,  Kenta Hoki

IPC分类号： G01S13/44

CPC分类号： G01S13/4463 ,  G01S13/723 ,  G01S13/867

摘要： An apparatus for detecting a direction of a target is provided. The apparatus transmits and receives radio waves through a plurality of transmission/reception channels causing a phase difference in signals to be received through the transmission/reception channels and calculates the direction based on the phase difference. The apparatus comprises a direction calculating device, range determining device, and direction correcting device. The direction calculating device calculates the direction of the target based on the phase difference in the received signals on the assumption that the phase difference is within a range of −π to +π [rad]. The range determining device determines that the target exists in any of azimuthal angle ranges each corresponding to ranges defined by (2m−1) π to (2m+1) π [rad] (m is an integer). The direction correcting device corrects the direction according to a range-determined result.

摘要翻译： 提供了一种用于检测目标方向的装置。 该装置通过多个发送/接收信道发送和接收无线电波，导致通过发送/接收信道接收信号的相位差，并基于相位差计算方向。 该装置包括方向计算装置，范围确定装置和方向校正装置。 方向计算装置假设相位差在-pi至+ pi [rad]的范围内，基于接收信号中的相位差来计算目标的方向。 范围确定装置确定目标存在于每个对应于由（2m-1）pi至（2m + 1）pi [rad]（m是整数）定义的范围的方位角范围内的任何一个。 方向校正装置根据范围确定的结果校正方向。

公开(公告)号：US06337656B1

公开(公告)日：2002-01-08

申请号：US09583534

申请日：2000-06-01

申请人： Kazuma Natsume ,  Hiroshi Hazumi ,  Hiroaki Kumon

发明人： Kazuma Natsume ,  Hiroshi Hazumi ,  Hiroaki Kumon

IPC分类号： G01S1300

CPC分类号： G01S13/48 ,  G01S13/44 ,  G01S13/87

摘要： A radar apparatus is provided which is capable of discriminating between azimuth angles of two or more targets moving side by side close to each other. The radar apparatus provides antenna beams which partially overlap with each other to define a plurality of monopulse areas and processes input signals produced in each of the monopulse areas to obtain angular direction data. The radar apparatus determines a time-sequential variation in angular direction data in each of the monopulse areas and determines the angular direction data whose variation is within a preselected allowable range as being effective in determining the angular direction of each target correctly.

摘要翻译： 提供了能够区分彼此靠近并排移动的两个以上的目标的方位角的雷达装置。 该雷达装置提供天线波束，其彼此部分重叠以限定多个单脉冲区域并处理在每个单脉冲区域中产生的输入信号以获得角度方向数据。 雷达装置确定每个单脉冲区域中的角度方向数据的时间顺序变化，并确定其变化在预选容许范围内的角度方向数据有效地确定每个目标的角度方向。

公开(公告)号：US20080088481A1

公开(公告)日：2008-04-17

申请号：US11906979

申请日：2007-10-04

申请人： Hiroaki Kumon ,  Kenji Kobayashi

发明人： Hiroaki Kumon ,  Kenji Kobayashi

IPC分类号： G08G1/017

CPC分类号： B60Q1/1423 ,  B60Q2300/41 ,  B60Q2300/42

摘要： The vehicle detecting apparatus includes an image sensor mounted on a host vehicle so as to be able to take an image ahead of the host vehicle, a light source area extracting function of extracting, from image data outputted from the image sensor, an area having luminance higher than a predetermined value as a light source area, a vehicle detecting function of detecting existence of at least one of an oncoming vehicle and a preceding vehicle by recognizing which of a headlight of the oncoming vehicle, a taillight of the preceding vehicle, and a roadside reflector causes the light source area in the image data. The vehicle detecting function is configured to lower a probability that the vehicle detecting function recognizes that the light source area is caused by the roadside reflector when the headlight of the host vehicle is in a low-beam position.

摘要翻译： 车辆检测装置包括安装在主车辆上的图像传感器，以能够拍摄主车辆的图像;光源区域提取功能，从图像传感器输出的图像数据中提取具有亮度的区域 高于作为光源区域的预定值的车辆检测功能，通过识别迎面而来的车辆的前灯，前方车辆的尾灯和前方车辆的尾灯中的哪一个来检测迎面而来的车辆和前方车辆中的至少一个的存在的车辆检测功能 路边反射器导致图像数据中的光源区域。 车辆检测功能被配置为当主车辆的前灯处于远光位置时，降低车辆检测功能识别出由路侧反射器引起的光源区域的概率。

公开(公告)号：US06903678B2

公开(公告)日：2005-06-07

申请号：US10764551

申请日：2004-01-27

申请人： Hiroaki Kumon ,  Yukimasa Tamatsu

发明人： Hiroaki Kumon ,  Yukimasa Tamatsu

IPC分类号： B60R21/00 ,  G01S13/34 ,  G01S13/48 ,  G01S13/93 ,  G08G1/16 ,  G01S13/95

CPC分类号： G01S13/48 ,  G01S13/345 ,  G01S13/5244 ,  G01S13/931 ,  G01S2013/9375

摘要： A vehicle radar system extracts peak frequencies fbu and fbd of respective beat signals B1 to B9 representing the frequency difference between a transmission signal fs and a plurality of received signals fr1 to fr9. The phase difference of respective beat signals B1 to B9 at the peak frequencies fbu and fbd is converted into a frequency signal. In the case of reflection from a close range road surface or raindrops, the phase difference of each beat signal is irregular. The peak frequency intensity of a converted frequency signal is small. This system compares the peak frequency intensity of the converted frequency signal with predetermined criterion intensity. Then, the system identifies an objective with a close range road surface or raindrops when the peak frequency intensity of the converted frequency signal is not larger than the predetermined criterion intensity.

摘要翻译： 车辆雷达系统提取表示发送信号fs和多个接收信号fr 1〜fr 9之间的频率差的各个节拍信号B 1〜B 9的峰值频率fbu，fbd。 在峰值频率fbu和fbd处的各个节拍信号B 1至B 9的相位差被转换成频率信号。 在近距离路面或雨滴的反射的情况下，每个拍子信号的相位差是不规则的。 转换频率信号的峰值频率强度很小。 该系统将转换的频率信号的峰值频率强度与预定的标准强度进行比较。 然后，当转换的频率信号的峰值频率强度不大于预定的标准强度时，系统识别具有近距离路面或雨滴的目标。

公开(公告)号：US06888494B2

公开(公告)日：2005-05-03

申请号：US10367842

申请日：2003-02-19

申请人： Yukimasa Tamatsu ,  Hiroaki Kumon

发明人： Yukimasa Tamatsu ,  Hiroaki Kumon

IPC分类号： B60R21/00 ,  G01S13/34 ,  G01S13/58 ,  G01S13/93 ,  G08B21/00 ,  G08G1/16

CPC分类号： G01S13/584 ,  G01S13/345 ,  G01S13/931 ,  G01S2013/9375

摘要： An inventive frequency modulated continuous wave (FMCW) radar system realizes both a quick detection of a higher relative speed provisional target and a sure detection of a smaller relative speed provisional target. The number of detection cycles used for a paring validity check, used to see if a detected target or a pair of frequencies is an actual target or a pair for an actual target, is set in response to the relative velocity enabling the target information for a target of higher relative velocity to be output more quickly.

摘要翻译： 本发明的频率调制连续波（FMCW）雷达系统实现了较高相对速度临时目标的快速检测和较小相对速度临时目标的可靠检测。 响应于相对速度来设置用于查验有效性检查的检测周期的数量，用于查看检测到的目标或一对频率是否是实际目标的实际目标或对， 更高相对速度的目标可以更快地输出。

公开(公告)号：US06812883B2

公开(公告)日：2004-11-02

申请号：US10747221

申请日：2003-12-30

申请人： Hiroaki Kumon ,  Yukimasa Tamatsu

发明人： Hiroaki Kumon ,  Yukimasa Tamatsu

IPC分类号： G01S1393

CPC分类号： G01S7/412 ,  G01S13/34 ,  G01S13/72 ,  G01S13/931 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9375

摘要： A radar system mounted in a reference vehicle can detect a distance and orientation of a preceding vehicle to thereby compute a relative position of a width center of the preceding vehicle. A curving radius of the reference vehicle is then detected for computing a relative rotation angle between a direction from the reference vehicle and a longitudinal direction of the preceding vehicle. Relationship between a relative rotation angle and a lateral bias of the relative position of the width center is previously prepared in a map. The computed relative rotation angle is applied on the map, so that the corresponding lateral bias is obtained to correct the computed relative position of the width center of the preceding vehicle. Thus, the width center of the preceding vehicle moving in an adjacent lane can be accurately estimated.

摘要翻译： 安装在参考车辆中的雷达系统可以检测前方车辆的距离和方位，从而计算前方车辆的宽度中心的相对位置。 然后检测参考车辆的弯曲半径，用于计算从参考车辆的方向和前方车辆的纵向方向之间的相对旋转角度。 预先在地图中准备宽度中心的相对位置的相对旋转角度和横向偏置之间的关系。 将计算出的相对旋转角度施加在地图上，从而获得相应的横向偏移以校正计算出的前一车辆的宽度中心的相对位置。 因此，可以准确地估计在相邻车道中移动的前一车辆的宽度中心。

公开(公告)号：US06198426B1

公开(公告)日：2001-03-06

申请号：US09390680

申请日：1999-09-07

申请人： Yukimasa Tamatsu ,  Hiroaki Kumon

发明人： Yukimasa Tamatsu ,  Hiroaki Kumon

IPC分类号： G01S1393

CPC分类号： G01S13/931 ,  G01S2013/9339 ,  G01S2013/9353 ,  G01S2013/9375 ,  G08G1/165 ,  G08G1/167

摘要： The present position of a previously recognized stationary object group (SOp) is estimated based on past position data and the movement of the traveling vehicle during a past time (&Dgr;T). A clearance (Mwr, Mwl) between a traveling vehicle (Mx) and an adjacent stationary object group (Mxr, Mxl) is obtained based on the estimated position data. A clearance (Twr, Twl) between a preceding vehicle (Tx) and an adjacent stationary object group (Txr, Txl) is obtained based on the estimated position data and the position data of the preceding vehicle. A same lane judgement is performed to judge whether the traveling vehicle (VM) and the preceding vehicle (VT) are traveling on a same traffic lane based on at least one of the detected clearances (Mwr, Mwl, Twr, Twl).

摘要翻译： 基于过去位置数据和行驶车辆在过去时间（DELTAT）中的移动来估计先前识别的静止物体组（SOp）的当前位置。 基于所估计的位置数据，求出行驶车辆（Mx）与相邻静止物体组（Mxr，Mx1）之间的间隙（Mwr，Mw1）。 基于所估计的位置数据和前一车辆的位置数据，获得前一车辆（Tx）和相邻静止物体组（Txr，Tx1）之间的间隙（Twr，Tw1）。 基于检测到的间隙（Mwr，Mw1，Twr，Tw1）中的至少一个，执行相同的车道判断以判断行驶车辆（VM）和前一车辆（VT）是否在相同行车道上行驶。

公开(公告)号：US20070008182A1

公开(公告)日：2007-01-11

申请号：US11448517

申请日：2006-06-07

申请人： Takayuki Miyahara ,  Hiroaki Kumon ,  Hiroshi Murase

发明人： Takayuki Miyahara ,  Hiroaki Kumon ,  Hiroshi Murase

IPC分类号： G08G1/054

CPC分类号： G01S13/867 ,  G06K9/00805

摘要： An image processing device for a vehicle includes a radar for transmitting a radio wave outside of the vehicle and detecting an object in a first area outside of the vehicle by using a reflected wave of the transmitted radio wave; a camera for acquiring an image in a second area including the first area; and an image processing unit for processing the acquired image to detect, in the acquired image, the object detected by the radar. Visibility outside of the vehicle is detected based on result of detection of the radar and result of detection of the camera.

摘要翻译： 一种用于车辆的图像处理装置包括用于在车辆外部发送无线电波的雷达，并且通过使用发射的无线电波的反射波来检测车辆外部的第一区域中的物体; 用于在包括所述第一区域的第二区域中获取图像的相机; 以及图像处理单元，用于处理所获取的图像以在获取的图像中检测由雷达检测到的物体。 根据雷达的检测结果和摄像机的检测结果，可以检测出车外的可视性。

公开(公告)号：US06970129B2

公开(公告)日：2005-11-29

申请号：US10737749

申请日：2003-12-18

申请人： Hiroaki Kumon ,  Yukimasa Tamatsu

发明人： Hiroaki Kumon ,  Yukimasa Tamatsu

IPC分类号： B60K31/00 ,  G01S13/34 ,  G01S13/58 ,  G01S13/93 ,  G08G1/16

CPC分类号： G01S13/931 ,  G01S7/354 ,  G01S13/345 ,  G01S13/584 ,  G01S2013/9325 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353

摘要： Provided is a radar apparatus capable of continuously and stably making a detection of a target even if a reflected wave from a target already detected falls into obscurity due to the presence of low-frequency noises or reflected waves from other targets. An estimated value of information on a target to be obtained when the target is detected in the present cycle are acquired from the target detected in a previous cycle. When a peak compatible with the estimated value is detected in only one of a frequency-rising section and a frequency falling section of a radar wave, if the frequency of the non-detected peak pertains a low-frequency noise domain or if a side-by-side travel flag is set with respect to the target detected in the previous cycle, the non-detected peak is considered as buried by low-frequency noises or peaks of other targets, and a peak pair corresponding to the detected target is extrapolated.

摘要翻译： 提供一种能够连续且稳定地进行目标的检测的雷达装置，即使来自已经检测到的目标的反射波由于存在来自其他目标的低频噪声或反射波而变得不明确。 从在前一周期中检测到的目标中获取当前周期中检测到目标时要获得的目标信息的估计值。 当仅在雷达波的增频部分和频率下降部分中的一个中检测到与估计值兼容的峰值时，如果未检测到的峰值的频率属于低频噪声域， 相对于在前一周期中检测到的目标设置并行行驶标志，将未检测到的峰值视为被低频噪声或其他目标的峰值掩埋，并且外推与检测到的目标对应的峰值对。