公开(公告)号：US07151482B2

公开(公告)日：2006-12-19

申请号：US10765846

申请日：2004-01-29

申请人： Kazuma Natsume ,  Hiroshi Hazumi

发明人： Kazuma Natsume ,  Hiroshi Hazumi

IPC分类号： G01S13/06 ,  G01S7/40 ,  H01Q21/06 ,  G01S13/93 ,  H01Q1/32

CPC分类号： G01S13/343 ,  H01Q3/24

摘要： A radar device (2) includes plural transmission antennas and plural reception antennas. The reception antennas constitute a reception-side antenna portion (20) and are arranged at an interval of d. The transmission antennas constitute a transmission-side antenna portion (18) and are arranged at an interval of d′=d×(n−1). The path length at which the electric wave is reflected from a target is identical between channels A9 and B1, and seventeen kinds of channels (A1 to A8, A9 or B1, B2 to B9) which are different in path length by every fixed distance are achieved. The data of the channels (A1 to A9 and B1 to B9) using different transmission antennas are respectively collected in different measuring cycles, and an error based on the time difference between the measuring cycles is corrected on the basis of a correction value calculated from the data of the channels A9, B1.

摘要翻译： 雷达装置（2）包括多个发送天线和多个接收天线。 接收天线构成接收侧天线部（20），并以d间隔配置。 发送天线构成发送侧天线部（18），并且以d'= dx（n-1）的间隔配置。 电波从目标反射的路径长度在通道A 9和B 1之间相同，17种通道（A 1至A 8，A 9或B 1，B 2至B 9）不同 实现了每个固定距离的路径长度。 使用不同的发送天线的信道（A 1〜A 9和B 1〜B 9）的数据分别以不同的测量周期收集，并且基于校正周期之间的时间差的误差被校正 根据通道A 9，B 1的数据计算出的值。

公开(公告)号：US07271761B2

公开(公告)日：2007-09-18

申请号：US10690843

申请日：2003-10-23

申请人： Kazuma Natsume ,  Hiroshi Hazumi

发明人： Kazuma Natsume ,  Hiroshi Hazumi

IPC分类号： G01S13/34 ,  G01S13/93

CPC分类号： G01S13/34 ,  G01S13/343 ,  G01S13/931 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9346

摘要： In a system, a frequency-modulating unit is configured to frequency-modulate a radar wave signal within a predetermined frequency modulation range from bottom to top so that a frequency of the frequency-modulated radar wave changes in time. The rate of frequency change of the radar wave signal in time is set to F0/Tf. The F0 represents a center frequency in the frequency modulation range. The Tf represents the predetermined constant time. A mixing unit is configured to mix the transmitted frequency-modulated radar wave signal and the reflection signal to obtain a beat signal. The beat signal is based on a frequency difference between a frequency of the transmitted radar wave signal and that of the reflection signal. A sweeping unit is configured to sweep the beat signal within the frequency modulation range from one of the bottom and the top to the other thereof to obtain a frequency component of the beat signal. An obtaining unit is configured to obtain the prediction distance based on a relationship between the frequency component of the beat signal and the prediction distance.

摘要翻译： 在一个系统中，频率调制单元被配置为在从下到上的预定频率调制范围内对雷达波信号进行频率调制，使得调频雷达波的频率随时间而变化。 雷达波信号在时间上的频率变化率设定为F0 / Tf。 F0表示频率调制范围内的中心频率。 Tf表示预定的恒定时间。 混合单元被配置为混合发射的调频雷达波信号和反射信号以获得拍频信号。 拍频信号基于发射的雷达波信号的频率与反射信号的频率之间的频率差。 扫描单元被配置为在频率调制范围内扫描从底部和顶部之一到另一个的频率信号，以获得拍频信号的频率分量。 获取单元被配置为基于拍子信号的频率分量与预测距离之间的关系来获得预测距离。

公开(公告)号：US06339395B1

公开(公告)日：2002-01-15

申请号：US09538499

申请日：2000-03-30

申请人： Hiroshi Hazumi ,  Kazuma Natsume

发明人： Hiroshi Hazumi ,  Kazuma Natsume

IPC分类号： G01S1334

CPC分类号： G01S13/345 ,  G01S7/288 ,  G01S13/32 ,  G01S13/348 ,  G01S2007/2883 ,  G01S2013/9321

摘要： A radar apparatus is provided which is designed to form digital beams using beat signals each of which is produced by one of a plurality of receivers and analyze the frequency of the beat signals in units of the beams for obtaining data such as the distance to, relative speed, and azimuth of a target. The apparatus performs the complex Fourier Transform twice on beat signals in time series and space series along the array of receiving antennas to derive results of the frequency analysis in units of the beams, thereby resulting in simplified structure and decrease in operation load of the apparatus.

摘要翻译： 提供一种雷达装置，其被设计为使用每个由多个接收机之一产生的拍频信号形成数字波束，并以波束为单位分析拍频信号的频率，以获得诸如距离 速度和方位角。 该装置沿着接收天线阵列以时间序列和空间序列的拍子信号两次执行复数傅立叶变换，以得出以波束为单位的频率分析结果，从而导致装置的简化结构和操作负载的降低。

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：US09110152B2

公开(公告)日：2015-08-18

申请号：US13289077

申请日：2011-11-04

申请人： Takamasa Ando ,  Kazuma Natsume

发明人： Takamasa Ando ,  Kazuma Natsume

IPC分类号： G01S7/40 ,  G01S7/35 ,  G01S13/34 ,  G01S13/93

CPC分类号： G01S7/4056 ,  G01S7/352 ,  G01S13/345 ,  G01S13/931

摘要： A peak detecting threshold determining method is provided which determines a peak detecting threshold which is used by an FMCW radar in detecting a peak frequency component which appears as representing a target object in a frequency spectrum. A CW radar wave is transmitted to produce a CW noise spectrum. An offset is added to frequency components in a high-frequency region of the CW noise spectrum to define a first distribution as a value of the peak detecting threshold. This enables the value of the peak detecting threshold in the high-frequency region to be determined with high precision by reflecting a receiver noise containing a leakage noise.

摘要翻译： 提供了一种峰值检测阈值确定方法，其确定由FMCW雷达在检测表现为频谱中的目标对象的峰值频率分量时使用的峰值检测阈值。 传输CW雷达波以产生CW噪声谱。 将偏移量加到CW噪声频谱的高频区域中的频率分量中，以将第一分布定义为峰值检测阈值的值。 这使得通过反映包含泄漏噪声的接收机噪声，可以高精度地确定高频区域中的峰值检测阈值。

公开(公告)号：US20120105300A1

公开(公告)日：2012-05-03

申请号：US13200228

申请日：2011-09-21

申请人： Takamasa Ando ,  Kazuma Natsume

发明人： Takamasa Ando ,  Kazuma Natsume

IPC分类号： H01Q1/42

CPC分类号： G01S7/032 ,  G01S7/038 ,  G01S2007/027 ,  H01Q1/42 ,  H01Q1/525

摘要： A radome covers an antenna substrate of a millimeter-band radar apparatus, with a partition wall formed integrally in the radome separating the internal space of the radome into a first internal space, located in correspondence with a transmitting antenna section, and a second internal space, located in correspondence with a receiving antenna section. Increased isolation between transmission and reception is achieved thereby, by reducing the amount of transmitted radar waves which directly reach the receiving antenna section.

摘要翻译： 天线罩覆盖毫米波段雷达装置的天线基板，其中一个分隔壁整体形成在天线罩中，将天线罩的内部空间分隔成与发射天线部分对应的第一内部空间，以及第二内部空间 位于与接收天线部分对应的位置。 从而通过减少直接到达接收天线部分的发射雷达波的数量来实现传输和接收之间的增加的隔离。

公开(公告)号：US20100073216A1

公开(公告)日：2010-03-25

申请号：US12584982

申请日：2009-09-15

申请人： Mai Sakamoto ,  Kazuma Natsume ,  Yuu Watanabe ,  Hideki Shirai ,  Chiharu Yamano

发明人： Mai Sakamoto ,  Kazuma Natsume ,  Yuu Watanabe ,  Hideki Shirai ,  Chiharu Yamano

IPC分类号： G01S13/42 ,  G01S13/00 ,  G01S13/08

CPC分类号： G01S13/345 ,  G01S3/74 ,  G01S13/42 ,  G01S13/931 ,  G01S2013/9375

摘要： A FMCW-type radar device generates snapshot data from a beat signal that represents a received condition of the radar device every modulation period. Auto-correlation matrices generated by the snapshot data every modulation period are averaged every set of plural periods. The radar device calculates the target azimuth of a target object such as a preceding vehicle based on the averaged auto-correlation matrix based on MUSIC (MUltiple SIgnal Classification) method. This averaging is performed by weighting average based on an amount of mixed noise (or an interference amount) contained in the snapshot data in each modulation period. A weighting coefficient to be applied to the auto-correlation matrix in each modulation period is set to a value corresponding to the amount of mixed noise, namely, the interference amount of this modulation period. The weighting coefficient becomes large when the interference amount is small, and on the other hand, becomes small when it is large.

摘要翻译： FMCW型雷达装置从表示每个调制周期的雷达装置的接收状态的拍子信号产生快照数据。 每个调制周期由快照数据生成的自相关矩阵在多个周期的集合中取平均值。 雷达装置基于基于MUSIC（多尺度分类）方法的平均自相关矩阵来计算诸如前一车辆的目标对象的目标方位角。 该平均化是通过基于每个调制周期中包含在快照数据中的混合噪声量（或干扰量）的加权平均来执行的。 将在每个调制周期中应用于自相关矩阵的加权系数设置为与混合噪声量即该调制周期的干扰量相对应的值。 当干扰量小时，加权系数变大，另一方面，当它大时变小。

公开(公告)号：US07474252B2

公开(公告)日：2009-01-06

申请号：US11171726

申请日：2005-06-30

申请人： Kazuma Natsume ,  Yasuyuki Miyake

发明人： Kazuma Natsume ,  Yasuyuki Miyake

IPC分类号： G01S13/00 ,  G01S13/16

CPC分类号： G01S3/74 ,  G01S13/34 ,  G01S13/931 ,  G01S2013/9321 ,  G01S2013/9375

摘要： A radar device uses a transmission signal outputted from a transmission antenna and a reception signal as an incoming wave reflected from a target object through an arrangement of reception antennas for estimating an angle of the incoming wave. An incoming wave estimation process stores a threshold for each beat frequency of the beat signal, and distinguishes the incoming wave in a signal space from the incoming wave in a non-signal space using the threshold. The estimation process facilitates an accurate estimation of the incoming wave in MUSIC method, ESPRIT method or the like.

摘要翻译： 雷达装置使用从发送天线输出的发送信号和接收信号作为从对象物体反射的入射波，通过用于估计入射波的角度的接收天线的布置。 入射波估计处理存储拍子信号的每个拍频的阈值，并且使用该阈值将信号空间中的入射波与非信号空间中的入射波区分开。 估计过程有助于在MUSIC方法，ESPRIT方法等中准确估计入射波。

公开(公告)号：US07439903B2

公开(公告)日：2008-10-21

申请号：US11417336

申请日：2006-05-03

申请人： Yuu Watanabe ,  Kazuma Natsume

发明人： Yuu Watanabe ,  Kazuma Natsume

IPC分类号： G01S13/00

CPC分类号： G01S7/36 ,  G01S13/931 ,  G01S2013/9325 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9375 ,  G01S2013/9378

摘要： A radar system mounted on a vehicle includes a first radar and a second radar, each having a transmitter-receiver and a signal processor. The transmitter-receiver transmits radar waves to detect objects such as another vehicle or other obstacles. An operating cycle period T1, T2 and a transmission time X1, X2 during which the radar waves are transmitted are set in both radars to satisfy the formula: K·T2+X2+X1≦T1≦(K+1)·T2−X2−X1 under a condition that T1>T2, where K is a positive integer. By setting both radars in this manner, interference between two radars is avoided without using additional devices in the radar system, and a high detection accuracy is realized.

摘要翻译： 安装在车辆上的雷达系统包括第一雷达和第二雷达，每个具有发射机 - 接收机和信号处理器。 发射机 - 接收机发射雷达波以检测诸如其他车辆或其他障碍物的物体。 在两个雷达中设置操作周期T 1，T 2以及发送雷达波的发送时间X 1，X 2，以满足下列公式：KT + X + X 1 <= T 1 <=（ K + 1）.T 2- X 2- X 1，条件是T 1> T 2，其中K是正整数。 通过以这种方式设置两个雷达，避免了在雷达系统中使用附加设备的两个雷达之间的干扰，并且实现了高检测精度。

公开(公告)号：US07372404B2

公开(公告)日：2008-05-13

申请号：US11390866

申请日：2006-03-27

申请人： Hideki Shirai ,  Kazuma Natsume

发明人： Hideki Shirai ,  Kazuma Natsume

IPC分类号： G01S5/02

CPC分类号： G01S3/74 ,  G01S3/8006

摘要： Apparatus and method are disclosed for estimating direction of an arrival wave, such as radio or acoustic waves. A correlation matrix of an arrival wave is computed, and matrices for obtaining eigenvalues and eigenvectors are produced. Column norms of the matrix, which is subject to a Householder transformation, are computed. Whether a maximum value of the column norms is the same as or lower than a predetermined threshold is judged. A Householder transformation of the matrix is performed only if the maximum value of the column norms is determined to be greater than or equal to the threshold, and not when the maximum value of the column norms is less than the threshold. The eigenvectors and the eigenvalues of the correlation matrix are obtained by further implementing the Householder transformation. The number of arrival waves is judged from the number of times the Householder transformation is performed.

摘要翻译： 公开了用于估计到达波的方向（诸如无线电或声波）的装置和方法。 计算到达波的相关矩阵，并产生用于获得特征值和特征向量的矩阵。 计算矩阵的列规范，这是由Householder转换进行的。 判断列规范的最大值是否等于或低于预定阈值。 仅当列范数的最大值被确定为大于或等于阈值时，而不是当列范数的最大值小于阈值时才执行矩阵的Householder变换。 相关矩阵的特征向量和特征值通过进一步实施Householder变换获得。 到达波数是从众议院转型次数来判断的。