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1.发明申请公开(公告)号：US20160291143A1
公开(公告)日：2016-10-06
申请号：US15063270
申请日：2016-03-07
Inventor： YUNYUN CAO , HIROFUMI NISHIMURA , TAKAAKI KISHIGAMI , ASAKO HAMADA
CPC classification number: G01S13/931 , G01S13/60 , G01S13/874 , G01S2013/9385
Abstract: A vehicle movement estimation device has a radar that is provided in a vehicle and that performs transmission of a radar wave and reception of a reflected wave that is the radar wave reflected by an object, a radar movement estimator that estimates a radar movement velocity and a radar movement direction of the radar based on the received reflected wave, an angular velocity estimator that estimates a rotational angular velocity of the vehicle, and a vehicle movement estimator that estimates a movement velocity and a movement direction of a prescribed position of the vehicle based on the estimated radar movement velocity and radar movement direction, the estimated rotational angular velocity, and a spatial relationship between the radar and the prescribed position.
Abstract translation: 车辆运动估计装置具有设置在车辆中的雷达，其进行雷达波的发送以及作为由物体反射的雷达波的反射波的接收，估计雷达移动速度的雷达移动估计器和 基于接收到的反射波的雷达的雷达移动方向，估计车辆的旋转角速度的角速度估计器和基于车辆的规定位置的运动速度和运动方向的车辆运动估计器，基于 估计的雷达移动速度和雷达移动方向，估计的旋转角速度以及雷达与规定位置之间的空间关系。
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2.发明申请公开(公告)号：US20180095103A1
公开(公告)日：2018-04-05
申请号：US15695754
申请日：2017-09-05
Inventor： YOSHITO HIRAI , HIROHITO MUKAI , YUNYUN CAO , HIROSHI TANAKA
IPC: G01P3/64
CPC classification number: G01P3/64 , B60T7/22 , B60T2201/02 , B60T2201/024 , B60T2250/03 , B60T2270/86 , G01S13/42 , G01S13/60 , G01S13/86 , G01S13/931 , G01S2013/9375 , G01S2013/9385
Abstract: A state calculation apparatus includes an receiver that receives azimuths of objects around a vehicle and their relative velocities to the vehicle, detected by a first sensor used for the vehicle, as target information, and a velocity and a travel direction of the vehicle, detected by a second sensor installed on the vehicle and having an error variance, as state information, and a controller that calculates velocities and travel directions of the vehicle, using the state information and based on a plurality of the azimuths and a plurality of the relative velocities extracted from the target information and that outputs at least either a velocity or a travel direction of the vehicle by using a specified filter to filter mean values of and error variances in the calculated velocities and travel directions and at least either the velocity or the travel direction detected by the second sensor.
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公开(公告)号：US20160041260A1
公开(公告)日：2016-02-11
申请号：US14754257
申请日：2015-06-29
Inventor： YUNYUN CAO , HIROFUMI NISHIMURA , ASAKO HAMADA , TAKAAKI KISHIGAMI
CPC classification number: G01S13/42 , G01S7/282 , G01S7/285 , G01S7/2927 , G01S7/4026 , G01S13/28 , G01S13/284 , G01S13/522 , G01S13/584 , G01S13/726 , G01S13/931 , G01S2013/0245
Abstract: A radar apparatus includes an antenna that receives echo signals, each of the echo signals being a radar signal reflected by one or more objects; a Doppler-frequency acquirer that acquires Doppler frequencies at each range bin from the received echo signals; a direction correlation power-value calculator that calculates direction correlation power values for respective combinations of the Doppler frequencies and at least one of a distance to the one or more objects and an arrival direction of the echo signals, each direction correlation power value indicating a strength of a corresponding echo signal; and a normalized direction correlation-value calculator that calculates, for the respective combinations, normalized direction correlation values, each normalized direction correlation value indicating a probability of the arrival direction of the corresponding echo signal.
Abstract translation: 雷达装置包括接收回波信号的天线，每个回波信号是由一个或多个物体反射的雷达信号; 多普勒频率获取器，从接收到的回波信号中获取每个范围bin处的多普勒频率; 方向相关功率值计算器，其计算多普勒频率的各个组合以及与一个或多个对象的距离和回波信号的到达方向中的至少一个的方向相关功率值，每个方向相关功率值表示强度 的相应回波信号; 以及归一化方向相关值计算器，针对各组合计算归一化方向相关值，每个归一化方向相关值表示对应的回波信号的到达方向的概率。
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4.发明申请公开(公告)号：US20180045811A1
公开(公告)日：2018-02-15
申请号：US15647726
申请日：2017-07-12
Inventor： YUNYUN CAO , HIROFUMI NISHIMURA , ASAKO HAMADA , HIROSHI IWAMURA
CPC classification number: G01S7/4004 , G01S7/4026 , G01S13/50 , G01S13/60 , G01S13/931 , G01S2007/403 , G01S2007/4091 , G01S2013/9353 , G01S2013/9385
Abstract: A first data group, which indicates reflection wave intensities from reflection points for radar directions indicating directions in which the corresponding reflection points exist relative to a radar apparatus and distances from the radar apparatus to the reflection points, and a second data group, which indicates Doppler velocities of the reflection points for the radar directions and the distances from the radar apparatus to the reflection points, are used to generate a third data group, which indicates the reflection wave intensities of the reflection points. A radar moving direction relative to a moving direction of the vehicle for each frame is generated based on the third data group. The radar moving direction when the moving direction of the vehicle is straight ahead is estimated using the radar moving direction in a predetermined number of frames, and the radar installation angle is calculated using the estimated radar moving direction.
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