公开(公告)号：US08686893B2

公开(公告)日：2014-04-01

申请号：US13298556

申请日：2011-11-17

申请人： Yuu Watanabe ,  Koichiro Suzuki ,  Chiharu Yamano

发明人： Yuu Watanabe ,  Koichiro Suzuki ,  Chiharu Yamano

IPC分类号： G01S13/90 ,  G01S13/42 ,  G01S13/93 ,  G01S13/34 ,  G08G1/16

CPC分类号： G01S13/34 ,  G01S3/74 ,  G01S7/412 ,  G01S13/345 ,  G01S13/42 ,  G01S13/584 ,  G01S13/931 ,  G01S2013/9353 ,  G01S2013/9375 ,  G08G1/16

摘要： A signal processing unit in a radar device calculates a change amount Y (=log(P)−log(Pb)) between a power P of a current arrival echo and a power of a previous arrival echo arrived before an observation period TSW. A memory unit in the radar device stores, every type of objects, a probability distribution of the change amount Y calculated from the arrival echo from the object. On the basis of the calculated change amount Y and the probability distribution, the signal processing unit determines a probability Pr to obtain the change amount Y every type of object, and determines that the object having the maximum probability Pr is the object which transmits the current arrival echo.

摘要翻译： 雷达装置中的信号处理单元计算当前到达回波的功率P与在观测期间TSW之前到达的先前到达回波的功率之间的变化量Y（= log（P）-log（Pb））。 雷达装置中的存储单元存储从对象的到达回波计算的变化量Y的概率分布。 根据计算出的变化量Y和概率分布，信号处理单元确定概率Pr以获得每种类型的对象的变化量Y，并且确定具有最大概率Pr的对象是发送当前的对象 到达回声。

公开(公告)号：US20120127016A1

公开(公告)日：2012-05-24

申请号：US13298556

申请日：2011-11-17

申请人： Yuu Watanabe ,  Koichiro Suzuki ,  Chiharu Yamano

发明人： Yuu Watanabe ,  Koichiro Suzuki ,  Chiharu Yamano

IPC分类号： G01S13/00 ,  G01S13/42

CPC分类号： G01S13/34 ,  G01S3/74 ,  G01S7/412 ,  G01S13/345 ,  G01S13/42 ,  G01S13/584 ,  G01S13/931 ,  G01S2013/9353 ,  G01S2013/9375 ,  G08G1/16

摘要： A signal processing unit in a radar device calculates a change amount Y (=log(P)−log(Pb)) between a power P of a current arrival echo and a power of a previous arrival echo arrived before an observation period TSW. A memory unit in the radar device stores, every type of objects, a probability distribution of the change amount Y calculated from the arrival echo from the object. On the basis of the calculated change amount Y and the probability distribution, the signal processing unit determines a probability Pr to obtain the change amount Y every type of object, and determines that the object having the maximum probability Pr is the object which transmits the current arrival echo.

摘要翻译： 雷达装置中的信号处理单元计算当前到达回波的功率P与在观测期间TSW之前到达的先前到达回波的功率之间的变化量Y（= log（P）-log（Pb））。 雷达装置中的存储单元存储从对象的到达回波计算的变化量Y的概率分布。 根据计算出的变化量Y和概率分布，信号处理单元确定概率Pr以获得每种类型的对象的变化量Y，并且确定具有最大概率Pr的对象是发送当前的对象 到达回声。

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：US20080036645A1

公开(公告)日：2008-02-14

申请号：US11676741

申请日：2007-02-20

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

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

IPC分类号： G01S7/02 ,  H01Q3/26

CPC分类号： G01S7/4021 ,  G01S7/023 ,  G01S7/352 ,  G01S13/931 ,  G01S2007/356

摘要： A sampled beat signal is cut out into two or more short time data in a time direction concerning each antenna component. From a frequency spectrum of the short time data, an interference element frequency of an interference wave is detected. From the interference element frequency of the interference wave, two or more candidates of the frequency before aliasing of the interference wave are produced, and phase correction is executed on each candidate. Digital Beamforming is executed on the corrected frequency so as to extract maximum peaks of the power of an azimuth direction, and the frequency candidate showing the maximum peak power is selected and the arrival azimuth of the interference element is estimated. A filter for suppressing the interference element is applied on the short time data from the estimated arrival azimuth of the interference element so as to suppress the interference element.

摘要翻译： 在每个天线部件的时间方向上将采样的拍频信号切成两个以上的短时间数据。 根据短时间数据的频谱，检测干扰波的干扰要素频率。 根据干扰波的干扰要素频率，产生干扰波混叠前的频率的两个以上候选，对每个候选进行相位校正。 在校正后的频率上执行数字波束成形，以提取方位方向的功率的最大峰值，并且选择表示最大峰值功率的频率候选，并估计干扰要素的到达方位角。 用于抑制干扰要素的滤波器从干扰要素的预计到达方位施加在短时间数据上，以便抑制干扰要素。

公开(公告)号：US07760133B2

公开(公告)日：2010-07-20

申请号：US12269205

申请日：2008-11-12

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

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

IPC分类号： G01S13/34 ,  G01S13/56 ,  G01S7/35 ,  G01S13/00 ,  G01S7/00

CPC分类号： G01S7/023 ,  G01S7/2813 ,  G01S13/345 ,  G01S13/931

摘要： In a FM-CW or CW radar apparatus, when interference components are contained in channel signals obtained as beat signals from array antenna elements of respective channels, and the interference components result from directly receiving transmitted CW radar waves from an external source, phase shifting is applied to each of the channel signals to shift respective phases of the interference components of the respective channels to a condition corresponding to reception of interference waves from a predetermined direction. The interference components are then eliminated, and reverse phase shifting is applied to restore remaining components of the channel signals to their original phase condition.

摘要翻译： 在FM-CW或CW雷达装置中，当干扰分量被包含在作为来自各个信道的阵列天线元件的拍频信号获得的信道信号中，并且干扰分量是从直接接收来自外部源的发射的CW雷达波时产生的，相移是 应用于每个信道信号以将各个信道的干扰分量的各个相位移位到对应于从预定方向的干扰波的接收的状态。 然后消除干扰分量，并且应用反向相移以将信道信号的剩余分量恢复到其原始相位条件。

公开(公告)号：US08169361B2

公开(公告)日：2012-05-01

申请号：US12521248

申请日：2007-12-26

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

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

IPC分类号： G01S13/34 ,  G01S7/35

CPC分类号： G01S7/352 ,  G01S7/023 ,  G01S7/2813 ,  G01S13/345 ,  G01S13/42 ,  G01S13/931 ,  G01S2007/356

摘要： A sampled beat signal RD is split into a plurality of short-time data SD in the time direction, for each of antenna elements. Interference component frequency of an interference wave is detected from a frequency spectrum of the short-time data SD. A digital beam forming process is performed for the interference component frequency of the interference wave to extract a peak of the electrical power of an azimuth direction and estimate an absolute value of an incoming direction of interference components. Based on the absolute value of the incoming direction of the estimated interference components, a filter for suppressing the interference components is operated to suppress the interference components.

摘要翻译： 对于每个天线元件，采样差拍信号RD在时间方向被分割为多个短时数据SD。 从短时数据SD的频谱中检测干扰波的干扰分量频率。 对干扰波的干扰分量频率进行数字波束形成处理，以提取方位方向的电功率的峰值，并估计干扰分量的输入方向的绝对值。 基于估计的干扰分量的输入方向的绝对值，操作用于抑制干扰分量的滤波器以抑制干扰分量。

公开(公告)号：US20100019950A1

公开(公告)日：2010-01-28

申请号：US12521248

申请日：2007-12-26

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

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

IPC分类号： G01S13/34 ,  G01S7/02

CPC分类号： G01S7/352 ,  G01S7/023 ,  G01S7/2813 ,  G01S13/345 ,  G01S13/42 ,  G01S13/931 ,  G01S2007/356

摘要： A sampled beat signal RD is split into a plurality of short-time data SD in the time direction, for each of antenna elements. Interference component frequency of an interference wave is detected from a frequency spectrum of the short-time data SD. A digital beam forming process is performed for the interference component frequency of the interference wave to extract a peak of the electrical power of an azimuth direction and estimate an absolute value of an incoming direction of interference components. Based on the absolute value of the incoming direction of the estimated interference components, a filter for suppressing the interference components is operated to suppress the interference components.

摘要翻译： 对于每个天线元件，采样差拍信号RD在时间方向被分割为多个短时数据SD。 从短时数据SD的频谱中检测干扰波的干扰分量频率。 对干扰波的干扰分量频率进行数字波束形成处理，以提取方位方向的电功率的峰值，并估计干扰分量的输入方向的绝对值。 基于估计的干扰分量的输入方向的绝对值，操作用于抑制干扰分量的滤波器以抑制干扰分量。

公开(公告)号：US07495604B2

公开(公告)日：2009-02-24

申请号：US11676741

申请日：2007-02-20

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

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

IPC分类号： G01S13/58

CPC分类号： G01S7/4021 ,  G01S7/023 ,  G01S7/352 ,  G01S13/931 ,  G01S2007/356

摘要： A sampled beat signal is cut out into two or more short time data in a time direction concerning each antenna component. From a frequency spectrum of the short time data, an interference element frequency of an interference wave is detected. From the interference element frequency of the interference wave, two or more candidates of the frequency before aliasing of the interference wave are produced, and phase correction is executed on each candidate. Digital Beamforming is executed on the corrected frequency so as to extract maximum peaks of the power of an azimuth direction, and the frequency candidate showing the maximum peak power is selected and the arrival azimuth of the interference element is estimated. A filter for suppressing the interference element is applied on the short time data from the estimated arrival azimuth of the interference element so as to suppress the interference element.

摘要翻译： 在每个天线部件的时间方向上将采样的拍频信号切成两个以上的短时间数据。 根据短时间数据的频谱，检测干扰波的干扰要素频率。 根据干扰波的干扰要素频率，产生干扰波混叠前的频率的两个以上候选，对每个候选进行相位校正。 在校正后的频率上执行数字波束成形，以提取方位方向的功率的最大峰值，并且选择表示最大峰值功率的频率候选，并且估计干扰要素的到达方位角。 用于抑制干扰要素的滤波器从干扰要素的预计到达方位施加在短时间数据上，以便抑制干扰要素。

公开(公告)号：US07907083B2

公开(公告)日：2011-03-15

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

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：US20090121918A1

公开(公告)日：2009-05-14

申请号：US12269205

申请日：2008-11-12

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

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

IPC分类号： G01S13/93

CPC分类号： G01S7/023 ,  G01S7/2813 ,  G01S13/345 ,  G01S13/931

摘要： In a FM-CW or CW radar apparatus, when interference components are Contained in channel signals obtained as beat signals from array antenna elements of respective channels, and the interference components result from directly receiving transmitted CW radar waves from an external source, phase shifting is applied to each of the channel signals to shift respective phases of the interference components of the respective channels to a condition corresponding to reception of interference waves from a predetermined direction. The interference components are then eliminated, and reverse phase shifting is applied to restore remaining components of the channel signals to their original phase condition.

摘要翻译： 在FM-CW或CW雷达装置中，当干扰分量被包含在作为来自各个信道的阵列天线元件的拍频信号获得的信道信号中时，并且干扰分量是从直接接收来自外部源的发送的CW雷达波而产生的，相移是 应用于每个信道信号以将各个信道的干扰分量的各个相位移位到对应于从预定方向的干扰波的接收的状态。 然后消除干扰分量，并且应用反向相移以将信道信号的剩余分量恢复到其原始相位条件。