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公开(公告)号：US09128174B2
公开(公告)日：2015-09-08
申请号：US13408080
申请日：2012-02-29
CPC分类号： G01S7/2925 , G01S3/06 , G01S7/28 , G01S7/2813 , G01S7/483 , G01S13/00
摘要： There is provided a radar apparatus of an electronic scan type configured to transmit an electric wave and calculate an angle of a target based on a phase difference of respective reception signals, thereby detecting a target position. An antenna unit transmits and receives the electric wave and provided with two transmission antennae. A transmission unit alternately transmits an electric wave having a first beam pattern and an electric wave having a second beam pattern from the two transmission antennae. First and second reception units calculate arrival angles and reception levels of reflected waves calculated from respective reception signals which are obtained by receiving the reflected waves by the first and second beam patterns. A comparison unit compares the reception levels by combining the arrival angles of the reflected waves. A determination unit determines whether a target actually exists at the arrival angles in accordance a comparison result.
摘要翻译： 提供了一种电子扫描类型的雷达装置，其被配置为基于各个接收信号的相位差来传送电波并计算目标的角度，从而检测目标位置。 天线单元发送和接收电波并提供两个发射天线。 发送单元从两个发送天线交替发送具有第一波束图案的电波和具有第二波束图案的电波。 第一和第二接收单元计算通过由第一和第二波束图案接收反射波而获得的各个接收信号计算出的反射波的到达角度和接收电平。 比较单元通过组合反射波的到达角度来比较接收电平。 确定单元根据比较结果确定目标是否在到达角度实际存在。
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2.发明授权公开(公告)号：US08179303B2
公开(公告)日：2012-05-15
申请号：US12536112
申请日：2009-08-05
CPC分类号： G01S13/42 , G01S13/345 , G01S13/4454 , G01S13/584 , G01S13/931 , G01S2013/9375 , G01S2013/9385 , G01S2013/9389
摘要： A signal processing apparatus for a radar transceiver, which receives a reflected signal generated by a target object in response to a frequency modulated transmission signal, and generates a beat signal having a frequency difference between the transmission signal and a reception signal, includes: an azimuth angle detection unit that detects an azimuth angle of the target object on the basis of a peak signal in a frequency spectrum of the beat signal; a peak signal extraction unit that prioritizes extraction of a peak signal corresponding to a predetermined azimuth angle range and a predetermined relative distance range of the target object; and a target object detection unit that detects the target object from the extracted peak signal.
摘要翻译： 一种用于雷达收发器的信号处理装置，其接收由目标物体产生的反射信号，响应于调频传输信号，并产生具有发送信号与接收信号之间的频差的差拍信号，包括：方位角 角度检测单元，其基于所述拍子信号的频谱中的峰值信号来检测所述目标对象的方位角; 峰值信号提取单元，优先提取与目标对象的预定方位角范围和预定相对距离范围相对应的峰值信号; 以及目标对象检测单元，其根据所提取的峰值信号来检测目标对象。
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公开(公告)号：US08054216B2
公开(公告)日：2011-11-08
申请号：US12320413
申请日：2009-01-26
CPC分类号： G01S13/4454
摘要： A radar device has a plurality of receiving antennas which receive, as a reception wave, a radar wave sent in a predetermined reference direction and reflected by a target; a phase difference detection unit which detects a first phase difference of the reception wave received by a first receiving antenna pair that is spaced by a first gap, and a second phase difference of the reception wave received by a second receiving antenna pair that is spaced by a second gap smaller than the first gap; and an angle detection unit which performs a first process of determining, as a detection angle, an angle of the target relative to the reference direction being a mutually coincident angle from among a plurality of first angles corresponding to the first phase difference and a plurality of second angles corresponding to the second phase difference. The radar device allows expanding an angle detection range without reducing the resolution of the angle corresponding to the second phase difference.
摘要翻译： 雷达装置具有多个接收天线，其接收以预定参考方向发送并由目标反射的雷达波作为接收波; 相位差检测单元，检测由第一接收天线对接收的与第一间隙间隔的接收波的第一相位差和由第二接收天线对接收的接收波的第二相位差， 第二间隙小于第一间隙; 以及角度检测单元，其执行第一处理，所述角度检测单元从对应于所述第一相位差的多个第一角度和多个第一相位角确定作为检测角度的所述目标相对于所述参考方向的角度是相互重合的角度 对应于第二相位差的第二角度。 雷达装置允许扩大角度检测范围而不降低对应于第二相位差的角度的分辨率。
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4.发明授权Road surface detection apparatus and apparatus for detecting upward/downward axis displacement of vehicle-mounted radar 有权用于检测车载雷达的向上/向下轴位移的路面检测装置和装置公开(公告)号：US06896082B2
公开(公告)日：2005-05-24
申请号：US10181743
申请日：2001-12-21
申请人： Hisateru Asanuma , Masayuki Kishida
发明人： Hisateru Asanuma , Masayuki Kishida
CPC分类号： G01S7/4026 , B60K31/0008 , B60W2050/0215 , B60W2420/52 , B60W2540/12 , B60W2550/308 , G01S7/2922 , G01S7/2927 , G01S7/412 , G01S7/4972 , G01S7/52004 , G01S13/60 , G01S13/931 , G01S2007/4034 , G01S2007/4091 , G01S2013/9325 , G01S2013/9353 , G01S2013/9375
摘要： A road surface detection apparatus capable of detecting an upward/downward displacement in radar axis when detecting a road surface by projecting a radar beam. The apparatus projects a radar beam signal onto the road surface on which the radar-equipped vehicle is traveling, and receives a signal containing a reflected signal of the radar beam signal. Then, the apparatus compares the level of the road surface reflected signal contained in the received signal with a predetermined reference level and, if the result of the comparison lies outside a predefined range, then the apparatus determines that the axis defining the projection direction of the radar beam signal is displaced.
摘要翻译： 一种路面检测装置，其能够通过投射雷达光束来检测路面时检测雷达轴上的向上/向下位移。 该装置将雷达波束信号投射到配备有雷达的车辆行进的路面上，并接收包含雷达波束信号的反射信号的信号。 然后，该装置将包含在接收信号中的路面反射信号的电平与预定的参考电平进行比较，并且如果比较结果在预定范围之外，则该装置确定定义投影方向的轴 雷达波束信号被移位。
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公开(公告)号：US06683559B2
公开(公告)日：2004-01-27
申请号：US10301989
申请日：2002-11-22
申请人： Sadanori Matsui , Hisateru Asanuma
发明人： Sadanori Matsui , Hisateru Asanuma
IPC分类号： G01S7292
CPC分类号： G01S13/584 , G01S13/345 , G01S13/426
摘要： An unwanted peak occurring due to an antenna sidelobe and an unwanted peak occurring due to a harmonic are eliminated in a radar apparatus. A peak from a target that can cause an unwanted peak is found based on the intensity of the peak, and a search is made for a peak having a predetermined positional relationship with the thus found peak. If such a peak is located, then it is determined whether the peak is a candidate for an unwanted peak, based on the difference between the intensity of the peak and the intensity of the main peak. If both of the paired peaks are determined as being candidates for unwanted peaks, it is determined that the peaks are unwanted peaks.
摘要翻译： 在雷达装置中消除了由于天线旁瓣而产生的不期望的峰值和由于谐波而发生的不期望的峰值。 基于峰的强度，找到可能导致不希望的峰的目标的峰，并且搜索具有与所找到的峰的预定位置关系的峰。 如果定位了这样的峰，则基于峰的强度和主峰的强度之间的差来确定峰是否是不需要的峰的候选。 如果两个配对峰都被确定为不想要的峰的候选，则确定峰是不想要的峰。
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6.发明授权公开(公告)号：US09194940B2
公开(公告)日：2015-11-24
申请号：US13552229
申请日：2012-07-18
申请人： Hisateru Asanuma
发明人： Hisateru Asanuma
CPC分类号： G01S7/354 , G01S3/74 , G01S13/343 , G01S13/42 , G01S13/48 , G01S13/584 , G01S13/931 , G01S2007/356
摘要： Provided is a signal processing apparatus configured to calculate an angle of a detection point corresponding to an object on the basis of received signals of a plurality of array antennas. A beat signal is generated by a difference between a transmitted signal and a received signal. Digital data is derived through AD conversion of the beat signal. The digital data is divided into a plurality of data groups. A fast Fourier transform is performed on the data groups to acquire a plurality of transformed data corresponding to the number of the data groups. The transformed data are divided into a plurality of sets, correlation matrices for the respective sets are acquired, and an average value of the correlation matrices is calculated. The angle of the detection point is calculated on the basis of the average value of the correlation matrices.
摘要翻译： 提供了一种信号处理装置，被配置为基于多个阵列天线的接收信号来计算与对象相对应的检测点的角度。 由发送信号和接收信号之间的差产生差拍信号。 通过差拍信号的AD转换得到数字数据。 数字数据被分成多个数据组。 对数据组执行快速傅立叶变换，以获取与数据组的数量相对应的多个变换数据。 经变换的数据被分成多组，获取各组的相关矩阵，并计算相关矩阵的平均值。 基于相关矩阵的平均值来计算检测点的角度。
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公开(公告)号：US20120306685A1
公开(公告)日：2012-12-06
申请号：US13574449
申请日：2011-01-26
IPC分类号： G01S13/44
CPC分类号： G01S13/931 , G01S7/354 , G01S13/345 , G01S2013/9375
摘要： A reflected wave that a transmitted wave is reflected by targets including a stationary target and a moving target is received as receiving signals of at least two reception antennas. A phase difference between beat signals at respective peak frequencies, generated from a transmitting signal and the receiving signals, is calculated. Directions of the targets are calculated in such a manner that the calculated phase difference of the targets is stored in a storage area in advance, it is predicted whether peak frequencies of the plurality of targets overlap each other, a predicted phase difference of the stationary target at the time when the peak frequencies overlap each other is calculated on the basis of the stored phase difference, and a predicted phase difference of the moving target is calculated on the basis of the calculated phase difference and the predicted phase difference of the stationary target.
摘要翻译： 作为至少两个接收天线的接收信号，接收发射波被包括固定目标和移动目标的目标反射的反射波。 计算从发送信号和接收信号产生的各个峰值频率的差拍信号之间的相位差。 以目标计算的相位差预先存储在存储区域中的方式计算目标的方向，预测多个目标的峰值频率是否彼此重叠，预测的静止目标的相位差 基于存储的相位差来计算峰值频率彼此重叠的时间，并且基于计算出的相位差和静止目标的预测相位差来计算移动目标的预测相位差。
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公开(公告)号：US07911374B2
公开(公告)日：2011-03-22
申请号：US12320414
申请日：2009-01-26
申请人： Takumi Moriuchi , Masahiro Sakaguchi , Hisateru Asanuma , Tomoya Kawasaki , Jun Tsunekawa , Motomi Iyoda
发明人： Takumi Moriuchi , Masahiro Sakaguchi , Hisateru Asanuma , Tomoya Kawasaki , Jun Tsunekawa , Motomi Iyoda
CPC分类号： G01S3/48 , G01S13/345 , G01S13/584 , G01S13/723 , G01S13/931 , G01S2013/9375 , G01S2013/9389
摘要： A target position is estimated in such a manner to maintain target position continuity, with high accuracy, even when the X coordinate displacement of the target is large. On a scan in which the target position is not detected, when a trajectory of the target in the past is within a predetermined region in the vicinity of the Y-axis, a position for estimate is a position having an X coordinate resulting from shifting, by a first displacement, the X coordinate estimated according to the trajectory, on a basis of the X coordinate of a previous position, while when the trajectory is not within the predetermined region, the position for estimate is a position having an X coordinate resulting from shifting, by a second displacement that is larger than the first displacement, the X coordinate estimated according to the trajectory, on a basis of the X coordinate of a previous position.
摘要翻译： 估计目标位置，即使当目标的X坐标位移大时，以高精度维持目标位置连续性。 在没有检测到目标位置的扫描中，当过去的目标的轨迹在Y轴附近的预定区域内时，估计位置是由移位产生的具有X坐标的位置， 通过第一位移，基于前一位置的X坐标根据轨迹估计的X坐标，而当轨迹不在预定区域内时，估计位置是具有由X坐标产生的X坐标的位置 基于前一位置的X坐标，移动大于第一位移的第二位移，根据轨迹估计的X坐标。
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公开(公告)号：US08390509B2
公开(公告)日：2013-03-05
申请号：US13574449
申请日：2011-01-26
IPC分类号： G01S13/00
CPC分类号： G01S13/931 , G01S7/354 , G01S13/345 , G01S2013/9375
摘要： A reflected wave that a transmitted wave is reflected by targets including a stationary target and a moving target is received as receiving signals of at least two reception antennas. A phase difference between beat signals at respective peak frequencies, generated from a transmitting signal and the receiving signals, is calculated. Directions of the targets are calculated in such a manner that the calculated phase difference of the targets is stored in a storage area in advance, it is predicted whether peak frequencies of the plurality of targets overlap each other, a predicted phase difference of the stationary target at the time when the peak frequencies overlap each other is calculated on the basis of the stored phase difference, and a predicted phase difference of the moving target is calculated on the basis of the calculated phase difference and the predicted phase difference of the stationary target.
摘要翻译： 作为至少两个接收天线的接收信号，接收发射波被包括固定目标和移动目标的目标反射的反射波。 计算从发送信号和接收信号产生的各个峰值频率的差拍信号之间的相位差。 以目标计算的相位差预先存储在存储区域中的方式计算目标的方向，预测多个目标的峰值频率是否彼此重叠，预测的静止目标的相位差 基于存储的相位差来计算峰值频率彼此重叠的时间，并且基于计算出的相位差和静止目标的预测相位差来计算移动目标的预测相位差。
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10.发明授权Signal processing device, radar device, vehicle control device, and signal processing method 有权信号处理装置，雷达装置，车辆控制装置和信号处理方法公开(公告)号：US08164511B2
公开(公告)日：2012-04-24
申请号：US12461198
申请日：2009-08-04
CPC分类号： G01S13/345 , G01S13/42 , G01S13/584 , G01S13/931 , G01S2013/9375 , G01S2013/9385 , G01S2013/9389
摘要： In order to prevent delays in output of detection results, even when a plurality of frequency modulation methods with different frequency change rates are used, an FM-CW radar device employing frequency modulation with two different frequency change rates, has distance/velocity detection unit for detecting the relative distance or relative velocity of a target object based on beat signals of transmission signals with the same frequency change rate and for detecting the relative distance or relative velocity using beat signals when the frequency change rates are different, and distance/velocity confirmation unit for adding evaluation values for relative distances or relative velocities detected in the detection processing, and for confirming the relative distance or relative velocity based on the evaluation value which has reached a criterion value. As a result, more data can be obtained in one detection cycle, and the same advantageous results as when executing a plurality of detection cycles can be obtained. Consequently, delay of output of detection results from the radar device to a vehicle control device can be prevented.
摘要翻译： 为了防止检测结果输出的延迟，即使使用具有不同频率变化率的多种频率调制方法，采用具有两种不同频率变化率的频率调制的FM-CW雷达装置具有距离/速度检测单元 基于具有相同频率变化率的传输信号的差拍信号来检测目标对象的相对距离或相对速度，并且用于当频率变化率不同时检测使用节拍信号的相对距离或相对速度，以及距离/速度确认单元 用于添加在检测处理中检测到的相对距离或相对速度的评估值，并且用于基于已经达到标准值的评估值来确认相对距离或相对速度。 结果，在一个检测周期中可以获得更多的数据，并且可以获得与执行多个检测周期时相同的有利结果。 因此，可以防止从雷达装置到车辆控制装置的检测结果的输出延迟。
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