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1.发明授权
公开(公告)号：US5555312A
公开(公告)日：1996-09-10
申请号：US234676
申请日：1994-04-28
申请人： Nobukazu Shima , Hiroshi Kamada
发明人： Nobukazu Shima , Hiroshi Kamada
CPC分类号： G05D1/0246 , B60R1/00 , G06K9/00798 , G06K9/00805 , B60R2300/30 , B60R2300/804 , G05D2201/0213
摘要： An apparatus recognizes road traffic lines and a car running ahead without regard to obstacles and noise signals. A video image recording unit on a car provides an image of the road ahead. Horizontal edges in the image are detected for determining the presence of a car ahead. Successive lateral sweeps in both directions from a center line that advance at predetermined sampling intervals from a proximal portion of the image toward a distal portion of the image provide data by which horizontal edges are determined for comparison against predetermined standards. A base line on the road for the car ahead is determined as the most proximal horizontal edge. Lines marking road lanes are detected by similar two directional search lines from a center line. Lane lines are identified in right and left proximal portions of the image and extrapolated to the distal portion of the image. Missing portions of lines are interpolated. In determining the presence of marked road lanes, vertical edge detection provides basic data for establishing the thickness and distance between probable lines for comparison against predetermined standards. Comparison of successive road images determines relative motion between the vehicle bearing the apparatus and detected images and aids in updating the image and eliminating noise signals.
摘要翻译： 一种装置识别道路交通线路和前方的汽车，而不考虑障碍物和噪声信号。 轿厢上的视频图像记录单元提供前方道路的图像。 检测图像中的水平边缘以确定前方的汽车的存在。 从以图像的近端部分向图像的远端部分以预定取样间隔前进的中心线的两个方向的连续横向扫描提供了确定水平边缘以与预定标准进行比较的数据。 前方车道的基线被确定为最近的水平边缘。 通过从中心线的类似的两条方向搜索线检测标记道路的行。 车道线在图像的右侧和左侧近端部分被识别并外推到图像的远端部分。 内插缺失部分行。 在确定标记的道路通道的存在时，垂直边缘检测提供基本数据，用于建立可能线路之间的厚度和距离，以便与预定标准进行比较。 连续道路图像的比较确定了携带装置的车辆与检测到的图像之间的相对运动，并且有助于更新图像并消除噪声信号。
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公开(公告)号：US20080158056A1
公开(公告)日：2008-07-03
申请号：US11858044
申请日：2007-09-19
申请人： Nobukazu Shima
发明人： Nobukazu Shima
CPC分类号： H04B7/0606 , G01S7/034 , G01S13/345 , H01Q3/24 , H01Q3/26 , H04B7/0814
摘要： A radar apparatus is provided which includes a plurality of antennas arranged at unequally spaced intervals in a single row, the plurality of antennas configured to transmit a radio wave as transmitting antennas during continued multiple periods, and receive a reflected radio wave as receiving antennas during the continued multiple periods. A plurality of transceivers are included for transmitting a radio wave from the transmitting antennas and receiving received signals from the receiving antennas, said received signals representing the reflected wave received at the receiving antennas. A signal processing unit is included for selecting a transceiver which transmits a radio wave during each of the continue multiple periods, selecting transceivers which receive the received signals from the receiving antennas during each of the continued multiple periods, and perform digital beam forming with a first receiving signal channel group and a second receiving signal channel group.
摘要翻译： 提供一种雷达装置，其包括在单行中以不等间隔布置的多个天线，所述多个天线被配置为在连续的多个周期期间将无线电波作为发送天线发送，并且在所述雷达装置期间接收反射的无线电波作为接收天线 持续多个时期。 包括多个收发器用于从发射天线发送无线电波并从接收天线接收接收信号，所述接收信号表示在接收天线处接收的反射波。 包括信号处理单元，用于选择在每个连续多个周期期间发送无线电波的收发器，选择在每个连续的多个周期期间从接收天线接收接收到的信号的收发器，并且执行数字波束形成与第一 接收信号信道组和第二接收信号信道组。
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公开(公告)号：US07266221B2
公开(公告)日：2007-09-04
申请号：US10254035
申请日：2002-09-24
申请人： Nobukazu Shima , Akihiro Oota , Kenji Oka
发明人： Nobukazu Shima , Akihiro Oota , Kenji Oka
CPC分类号： G06K9/00805 , B60W2420/42 , G06K9/3241 , G06K2209/23 , G06T7/97
摘要： An image size changing section obtains a size-changed image by changing the size of one of two original images captured by a pair of cameras. If an edge of an object has many oblique components, the edge is difficult to detect as a vertical edge but, when the image is horizontally reduced, an oblique edge becomes close to a vertical edge. For this reason, a feature end points are extracted with reliability by a feature extracting section and, thereby, an object is recognized and the distance to the object is determined reliably.
摘要翻译： 图像尺寸改变部分通过改变由一对照相机拍摄的两个原始图像中的一个的尺寸来获得尺寸变化的图像。 如果物体的边缘具有许多倾斜分量，则边缘难以被检测为垂直边缘，但是当图像水平减小时，倾斜边缘变得接近垂直边缘。 因此，通过特征提取部分可靠地提取特征终点，从而识别对象并且可靠地确定到对象的距离。
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4.发明申请Timing adjustment method for radar, and radar apparatus having automatic timing adjusting function 失效雷达定时调整方法，具有自动定时调整功能的雷达装置公开(公告)号：US20050280575A1
公开(公告)日：2005-12-22
申请号：US11137203
申请日：2005-05-24
申请人： Nobukazu Shima
发明人： Nobukazu Shima
CPC分类号： G01S7/4008 , G01S7/038 , G01S13/345
摘要： On/off timing of an amplifier and timing of antenna selection are accurately adjusted. When adjusting the on/off timing of the amplifier, modulation of a transmit signal is stopped, and a switch is set so as not to select any one of the antennas, thereby totally reflecting the transmit signal; in this condition, the timing is controlled so that the average value of the output level of a mixer becomes a minimum. When adjusting the antenna selection timing, modulation of the transmit signal is stopped, and a reflective object is placed in close proximity to the antenna; in this condition, the timing is adjusted so that the average value of the output level of the mixer becomes a maximum.
摘要翻译： 放大器的开/关定时和天线选择的定时被精确地调整。 当调整放大器的开/关定时时，停止对发送信号的调制，并且设置开关以便不选择任何一个天线，从而完全反映发送信号; 在这种情况下，控制定时，使得混合器的输出电平的平均值变得最小。 当调整天线选择定时时，停止发射信号的调制，并将反射物放置在紧靠天线的位置; 在这种情况下，调整定时，使得混频器的输出电平的平均值变为最大。
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公开(公告)号：US07486223B2
公开(公告)日：2009-02-03
申请号：US11858044
申请日：2007-09-19
申请人： Nobukazu Shima
发明人： Nobukazu Shima
CPC分类号： H04B7/0606 , G01S7/034 , G01S13/345 , H01Q3/24 , H01Q3/26 , H04B7/0814
摘要： A radar apparatus is provided which includes a plurality of antennas arranged at unequally spaced intervals in a single row, the plurality of antennas configured to transmit a radio wave as transmitting antennas during continued multiple periods, and receive a reflected radio wave as receiving antennas during the continued multiple periods. A plurality of transceivers are included for transmitting a radio wave from the transmitting antennas and receiving received signals from the receiving antennas, said received signals representing the reflected wave received at the receiving antennas. A signal processing unit is included for selecting a transceiver which transmits a radio wave during each of the continue multiple periods, selecting transceivers which receive the received signals from the receiving antennas during each of the continued multiple periods, and perform digital beam forming with a first receiving signal channel group and a second receiving signal channel group.
摘要翻译： 提供一种雷达装置，其包括在单行中以不等间隔布置的多个天线，所述多个天线被配置为在连续的多个周期期间将无线电波作为发送天线发送，并且在所述雷达装置期间接收反射的无线电波作为接收天线 持续多个时期。 包括多个收发器用于从发射天线发送无线电波并从接收天线接收接收信号，所述接收信号表示在接收天线处接收的反射波。 包括信号处理单元，用于选择在每个连续多个周期期间发送无线电波的收发器，选择在每个连续的多个周期期间从接收天线接收接收到的信号的收发器，并且执行数字波束形成与第一 接收信号信道组和第二接收信号信道组。
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6.发明授权Timing adjustment method for radar, and radar apparatus having automatic timing adjusting function 失效雷达定时调整方法，具有自动定时调整功能的雷达装置公开(公告)号：US07295152B2
公开(公告)日：2007-11-13
申请号：US11137203
申请日：2005-05-24
申请人： Nobukazu Shima
发明人： Nobukazu Shima
CPC分类号： G01S7/4008 , G01S7/038 , G01S13/345
摘要： On/off timing of an amplifier and timing of antenna selection are accurately adjusted. When adjusting the on/off timing of the amplifier, modulation of a transmit signal is stopped, and a switch is set so as not to select any one of the antennas, thereby totally reflecting the transmit signal; in this condition, the timing is controlled so that the average value of the output level of a mixer becomes a minimum. When adjusting the antenna selection timing, modulation of the transmit signal is stopped, and a reflective object is placed in close proximity to the antenna; in this condition, the timing is adjusted so that the average value of the output level of the mixer becomes a maximum.
摘要翻译： 放大器的开/关定时和天线选择的定时被精确地调整。 当调整放大器的开/关定时时，停止对发送信号的调制，并且设置开关以便不选择任何一个天线，从而完全反映发送信号; 在这种情况下，控制定时，使得混合器的输出电平的平均值变得最小。 当调整天线选择定时时，停止发射信号的调制，并将反射物放置在紧靠天线的位置; 在这种情况下，调整定时，使得混频器的输出电平的平均值变为最大。
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公开(公告)号：US07248209B2
公开(公告)日：2007-07-24
申请号：US11146329
申请日：2005-06-06
申请人： Nobukazu Shima , Osamu Isaji
发明人： Nobukazu Shima , Osamu Isaji
IPC分类号： G01S7/40
CPC分类号： G01S7/4008 , G01S7/4021 , G01S7/4056 , G01S13/583
摘要： The present invention relates to a radar apparatus that uses a plurality of transmitting/receiving antennas A1-A4 and receives a reflected wave, of a transmitted wave, reflected from a target. By utilizing the property that the path of the transmitted wave from an antenna A1 and its reflected wave and the path of the transmitted wave from the next selected antenna A2 and its reflected wave share the same spatial system, and therefore that both received signals have the same characteristics in terms of frequency and phase, a judgment is made as to whether there exists any difference between the receiving characteristics of the antennas, and the received signal is corrected in accordance with the result of the judgment. It is also possible to judge the presence or absence of a change in the characteristic of each antenna, and apply a correction accordingly, even during the normal operation of the apparatus.
摘要翻译： 本发明涉及使用多个发射/接收天线A 1 -A 4并接收从目标反射的发射波的反射波的雷达装置。 通过利用来自天线A 1的发射波的路径及其反射波和来自下一个所选择的天线A 2的发射波的路径及其反射波共享相同的空间系统的属性，因此接收信号 在频率和相位方面具有相同的特性，判断天线的接收特性之间是否存在差异，并且根据判断结果校正接收信号。 也可以判断每个天线的特性的存在或不存在，并且即使在设备的正常操作期间也相应地应用校正。
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公开(公告)号：US07148840B2
公开(公告)日：2006-12-12
申请号：US10999974
申请日：2004-12-01
CPC分类号： G01S13/582 , G01S7/02 , G01S13/08 , G01S13/87 , G01S13/931 , G01S2013/9321 , G01S2013/9375 , G01S2013/9378
摘要： A radar apparatus comprises: a transmitter unit having a high-frequency oscillating unit whose oscillation frequency is variable, and a pulse amplitude modulating unit for amplitude-modulating a pulse of a transmission high-frequency signal output from the high-frequency oscillating unit with a first control pulse signal; a receiver unit having a gating unit for controlling ON/OFF of an input of a received high-frequency signal with a second control pulse signal; and a controlling and signal processing unit for controlling the transmitter unit and the receiver unit, and for switching a first operation mode for making the apparatus function as an FM-CW radar, and a second operation mode for making the apparatus function as a pulse radar.
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公开(公告)号：US07557858B2
公开(公告)日：2009-07-07
申请号：US10963664
申请日：2004-10-14
申请人： Kanako F. Honda , Nobukazu Shima
发明人： Kanako F. Honda , Nobukazu Shima
CPC分类号： H04N5/232 , H04N5/235 , H04N5/2353
摘要： An image processing device includes a camera that picks up an image, an image density recognizer that recognizes density of the image, and an exposure controller that in an exposure control period automatically controls an exposure of the camera based on the density recognized. The exposure controller period includes at least a maximum exposure period during which the exposure is set to a maximum exposure, a minimum exposure period during which the exposure is set to a minimum exposure, and a normal exposure period during which the exposure is set to in between the maximum exposure and the minimum exposure.
摘要翻译： 图像处理装置包括拍摄图像的相机，识别图像的浓度的图像浓度识别器，以及曝光控制周期中的曝光控制器，基于所识别的密度，自动控制相机的曝光。 曝光控制器周期至少包括将曝光设定为最大曝光的最大曝光期间，将曝光设定为最小曝光的最小曝光期间以及将曝光设定为 在最大曝光和最小曝光之间。
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公开(公告)号：US20070291992A1
公开(公告)日：2007-12-20
申请号：US11839701
申请日：2007-08-16
申请人： Nobukazu Shima , Akihiro Oota , Kenji Oka
发明人： Nobukazu Shima , Akihiro Oota , Kenji Oka
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , B60W2420/42 , G06K9/3241 , G06K2209/23 , G06T7/97
摘要： An image size changing section obtains a size changed image by changing the size of one of two original images captured by a pair of cameras. If an edge of an object has many oblique components, the edge is difficult to detect as a vertical edge but, when the image is horizontally reduced, an oblique edge becomes close to a vertical edge. For this reason, feature end points are extracted with reliability by a feature extracting section and, thereby, an object is recognized and the distance to the object is determined reliably.
摘要翻译： 图像尺寸改变部通过改变由一对相机拍摄的两个原始图像中的一个的尺寸来获得尺寸改变图像。 如果物体的边缘具有许多倾斜分量，则边缘难以被检测为垂直边缘，但是当图像水平减小时，倾斜边缘变得接近垂直边缘。 因此，通过特征提取部分可靠地提取特征终点，从而识别对象并且可靠地确定到对象的距离。
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