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1. 发明授权

EP1315001B1 Radar system and method for merging detected targets 有权
标题翻译：雷达系统和方法检测到的目标的融合
公开(公告)号：EP1315001B1
公开(公告)日：2014-08-20
申请号：EP02257670.6
申请日：2002-11-06
申请人： FUJITSU TEN LIMITED
发明人： Tokutsu, Masahiro , Kishida, Masayuki , Shinagawa, Tokio
IPC分类号： G01S13/93 , G01S13/34 , G01S13/42 , G01S13/72
CPC分类号： G01S13/931 , G01S13/34 , G01S13/426 , G01S13/726 , G01S2013/9325 , G01S2013/9353

2. 发明公开

EP1569009A3 Radar data processing apparatus and data processing method 审中-公开
标题翻译：雷达数据处理装置和数据处理方法
公开(公告)号：EP1569009A3
公开(公告)日：2005-10-12
申请号：EP05007857.5
申请日：2002-12-11
申请人： FUJITSU TEN LIMITED
发明人： Kishida, Masayuki , Matsui, Sadanori , Sekiguchi, Yasuhiro , Shinagawa, Tokio , Ono, Daisaku
IPC分类号： G01S13/34 , G01S13/93
CPC分类号： G01S13/345 , G01S13/426 , G01S13/584 , G01S13/931 , G01S2013/9353
摘要： The invention detects a ghost occurring due to mispairing, reflections from a wall, or the like, and improves the ability of a radar to track targets when actual relative velocity changes by more than a certain value. If a stationary target is present within a prescribed region centered about a moving target, the stationary target is excluded from output data by determining it as being a target resulting from mispairing due to the detection of guardrail posts or similar structures. Further, a moving target that is expected to collide with an eligible target is also excluded from the output data by determining it as being a target resulting from mispairing due to the detection of a target having many reflecting points. For a moving target showing an unlikely relative velocity, pairing with some other peak is attempted by determining the moving target as being a target resulting from mispairing due to the detection of a plurality of moving targets moving in the same direction. When there are two targets substantially equal in distance and velocity, the target located outward, as viewed from the radar-equipped vehicle, is excluded from the output data by determining it as being a ghost occurring due to reflections from a wall or like structure. After checking continuity, if the present data is not one calculated by extrapolation but the previous data is one calculated by extrapolation, filtering calculations are not performed for the calculation of the relative velocity; in other cases, the filtering calculations are performed.
摘要翻译：本发明检测由于错配，墙壁反射等而发生的重影，并且在实际相对速度变化超过特定值时提高雷达追踪目标的能力。如果在以移动目标为中心的规定区域内存在静止目标，则通过将静止目标确定为由于检测到护栏柱或类似结构而导致错配导致的目标，将静止目标从输出数据中排除。此外，通过将由于检测到具有许多反射点的目标而导致的错配导致的目标确定为输出数据，也将预期与合格目标碰撞的移动目标排除在输出数据之外。对于显示不太可能的相对速度的移动目标，通过将移动目标确定为由于检测到多个移动目标沿相同方向移动而导致的错配导致的目标，尝试与其他峰值配对。当有两个目标的距离和速度基本相等时，从配备有雷达的车辆看去，位于外面的目标通过将其确定为由于来自墙壁或类似结构的反射而发生的重影而从输出数据中排除。在检查连续性之后，如果当前数据不是通过外推计算的数据，而是先前的数据是通过外推计算的数据，则不计算相对速度的过滤计算; 在其他情况下，执行过滤计算。

3. 发明公开

EP1315001A2 Radar system and method for merging detected targets 有权
标题翻译：雷达系统und -verfahren zum Verschmelzen von detektierten Zielen
公开(公告)号：EP1315001A2
公开(公告)日：2003-05-28
申请号：EP02257670.6
申请日：2002-11-06
申请人： FUJITSU TEN LIMITED
发明人： Tokutsu, Masahiro , Kishida, Masayuki , Shinagawa, Tokio
IPC分类号： G01S13/93
CPC分类号： G01S13/931 , G01S13/34 , G01S13/426 , G01S13/726 , G01S2013/9325 , G01S2013/9353
摘要： In a target merging process in a radar ranging device, determination of continuity is accurately performed and output processing of newly appearing targets is performed rapidly. The current target position (data prior to merging) is calculated (S1), and a predicted position is calculated (S2). The continuity of targets whose previous position and current position satisfy predetermined conditions (S3 to S5) is determined (S6 to S7). After the data prior to merging is stored in a buffer (S9), the merging process is performed. By storing the data prior to merging in the buffer, continuity is determined for each detected target and, therefore, even if the position of a target changes after merging, subsequent determination of continuity can be performed accurately.
摘要翻译：在雷达测距装置的目标合并过程中，精确地确定连续性，并快速执行新出现的目标的输出处理。计算当前目标位置（合并之前的数据）（S1），并计算预测位置（S2）。确定其前一位置和当前位置满足预定条件（S3至S5）的目标的连续性（S6至S7）。在合并之前的数据被存储在缓冲器（S9）中之后，执行合并处理。通过在缓冲器中合并之前存储数据，对于每个检测到的目标确定连续性，因此即使目标位置在合并之后改变，可以准确地执行后续的连续性确定。

4. 发明授权

EP1310804B1 Scan type radar device 有权
标题翻译：扫描雷达
公开(公告)号：EP1310804B1
公开(公告)日：2010-12-22
申请号：EP02257737.3
申请日：2002-11-07
申请人： FUJITSU TEN LIMITED
发明人： Matsui, Sadanori , Shinagawa, Tokio , Kishida, Masayuki , Ono, Daisaku
IPC分类号： G01S13/93 , G01S13/34 , G01S13/58
CPC分类号： G01S13/345 , G01S13/536 , G01S13/584 , G01S13/726 , G01S13/931 , G01S2013/9325 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9375

5. 发明公开

EP1315001A3 Radar system and method for merging detected targets 有权
标题翻译：雷达系统和方法检测到的目标的融合
公开(公告)号：EP1315001A3
公开(公告)日：2004-04-14
申请号：EP02257670.6
申请日：2002-11-06
申请人： FUJITSU TEN LIMITED
发明人： Tokutsu, Masahiro , Kishida, Masayuki , Shinagawa, Tokio
IPC分类号： G01S13/93
CPC分类号： G01S13/931 , G01S13/34 , G01S13/426 , G01S13/726 , G01S2013/9325 , G01S2013/9353
摘要： In a target merging process in a radar ranging device, determination of continuity is accurately performed and output processing of newly appearing targets is performed rapidly. The current target position (data prior to merging) is calculated (S1), and a predicted position is calculated (S2). The continuity of targets whose previous position and current position satisfy predetermined conditions (S3 to S5) is determined (S6 to S7). After the data prior to merging is stored in a buffer (S9), the merging process is performed. By storing the data prior to merging in the buffer, continuity is determined for each detected target and, therefore, even if the position of a target changes after merging, subsequent determination of continuity can be performed accurately.

6. 发明公开

EP1569009A2 Radar data processing apparatus and data processing method 审中-公开
标题翻译： Vorrichtung und Verfahren zur Radardatenverarbeitung
公开(公告)号：EP1569009A2
公开(公告)日：2005-08-31
申请号：EP05007857.5
申请日：2002-12-11
申请人： FUJITSU TEN LIMITED
发明人： Kishida, Masayuki , Matsui, Sadanori , Sekiguchi, Yasuhiro , Shinagawa, Tokio , Ono, Daisaku
IPC分类号： G01S13/34 , G01S13/93
CPC分类号： G01S13/345 , G01S13/426 , G01S13/584 , G01S13/931 , G01S2013/9353
摘要： The invention detects a ghost occurring due to mispairing, reflections from a wall, or the like, and improves the ability of a radar to track targets when actual relative velocity changes by more than a certain value. If a stationary target is present within a prescribed region centered about a moving target, the stationary target is excluded from output data by determining it as being a target resulting from mispairing due to the detection of guardrail posts or similar structures. Further, a moving target that is expected to collide with an eligible target is also excluded from the output data by determining it as being a target resulting from mispairing due to the detection of a target having many reflecting points. For a moving target showing an unlikely relative velocity, pairing with some other peak is attempted by determining the moving target as being a target resulting from mispairing due to the detection of a plurality of moving targets moving in the same direction. When there are two targets substantially equal in distance and velocity, the target located outward, as viewed from the radar-equipped vehicle, is excluded from the output data by determining it as being a ghost occurring due to reflections from a wall or like structure. After checking continuity, if the present data is not one calculated by extrapolation but the previous data is one calculated by extrapolation, filtering calculations are not performed for the calculation of the relative velocity; in other cases, the filtering calculations are performed.
摘要翻译：本发明检测由于错配，来自墙壁的反射等引起的鬼影，并且当实际相对速度改变超过某一值时，提高雷达跟踪目标的能力。如果在以移动目标为中心的规定区域内存在固定目标，则通过由于检测护栏柱或类似结构而导致由于误配而导致的静止目标被排除在输出数据之外。此外，预期与合格目标相撞的移动目标也从输出数据中排除为由于检测到具有多个反射点的目标而导致的由于错配导致的目标。对于显示不太可能的相对速度的移动目标，通过将移动目标确定为由于检测到以相同方向移动的多个移动目标而导致的失调导致的目标，尝试与其它峰值配对。当有两个目标在距离和速度上基本相等时，从配备雷达的车辆观察到的目标位置从输出数据中排除，因为它是由于由墙壁或类似结构的反射而发生的鬼影。在检查连续性后，如果当前数据不是通过外推计算出的数据，而是先前的数据是通过外推计算的数据，则不进行相对速度计算的滤波计算; 在其他情况下，执行滤波计算。

7. 发明公开

EP1310804A3 Scan type radar device 有权
标题翻译：扫描雷达
公开(公告)号：EP1310804A3
公开(公告)日：2003-07-30
申请号：EP02257737.3
申请日：2002-11-07
申请人： FUJITSU TEN LIMITED
发明人： Matsui, Sadanori , Shinagawa, Tokio , Kishida, Masayuki , Ono, Daisaku
IPC分类号： G01S13/93 , G01S13/34 , G01S13/58 , G08G1/16 , B60K31/00
CPC分类号： G01S13/345 , G01S13/536 , G01S13/584 , G01S13/726 , G01S13/931 , G01S2013/9325 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9375
摘要： A scan type radar device (10) capable of detecting a lateral position of a target, even if a peak showing the lateral position of the target irregularly fluctuates in the lateral direction, as well as reducing the mis-pairing. The former is achievable by changing a reference value of the lateral fluctuation of the target when all the past and present target data fluctuate to an extent exceeding the reference value. The latter is achievable by forecasting a representative peak position at this time in both of up-beat and down-beat from the peak position data at the preceding time and carrying out the past-correspondence grouping of the up-beat and the down-beat at this time in the vicinity of the position of the representative peak forecast this time; the pairing being carried out by using the representative peak calculated by the past-correspondence grouping.

8. 发明授权

EP1612577B1 Method for adaptive determination of axial alignment of an automotive radar 有权
标题翻译：自动地确定汽车雷达的轴向未对准的方法
公开(公告)号：EP1612577B1
公开(公告)日：2007-02-28
申请号：EP05253266.0
申请日：2005-05-27
申请人： FUJITSU TEN LIMITED
发明人： Shinagawa, Tokio , Ueda, Sunao
IPC分类号： G01S7/40
CPC分类号： G01S7/4026 , G01S2007/403 , G01S2007/4091

9. 发明公开

EP1612577A1 Method for adaptive determination of axial alignment of an automotive radar 有权
标题翻译： Verfahren zumselbsttätigenBestimmen einer轴心Fehlausrichtung eines Automobil-Radars
公开(公告)号：EP1612577A1
公开(公告)日：2006-01-04
申请号：EP05253266.0
申请日：2005-05-27
申请人： FUJITSU TEN LIMITED
发明人： Shinagawa, Tokio , Ueda, Sunao
IPC分类号： G01S7/40
CPC分类号： G01S7/4026 , G01S2007/403 , G01S2007/4091
摘要： An on-vehicle radar and a method of determining an axial deviation of the radar using stationary objects free of erroneous determination are disclosed. The amount of axial deviation of the radar is determined from the calculated stationary object line based on the distribution of stationary objects. In the case where such a factor for determining the calculated stationary object line as to reduce the calculation accuracy of axial deviation is detected in the distribution of stationary objects, the calculation of the amount of the particular axial deviation is canceled.
摘要翻译：公开了一种车载雷达和使用没有错误确定的静止物体来确定雷达的轴向偏差的方法。基于静止物体的分布，从计算出的静止物体线确定雷达的轴向偏差量。在静止物体的分布中检测到用于确定计算出的静止物体线用于降低轴向偏离的计算精度的因素的情况下，特定轴向偏差的量的计算被取消。

10. 发明公开

EP1347306A3 Scan type radar device 审中-公开
标题翻译：扫描雷达
公开(公告)号：EP1347306A3
公开(公告)日：2004-06-30
申请号：EP03013463.9
申请日：2002-11-07
申请人： FUJITSU TEN LIMITED
发明人： Matsui, Sadanori , Shinagawa, Tokio , Kishida, Masayuki , Ono, Daisaku
IPC分类号： G01S13/93 , G01S13/34 , G01S13/58
CPC分类号： G01S13/345 , G01S13/536 , G01S13/584 , G01S13/726 , G01S13/931 , G01S2013/9325 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9375
摘要： A scan type radar device (10) capable of detecting a lateral position of a target, even if a peak showing the lateral position of the target irregularly fluctuates in the lateral direction, as well as reducing the mis-pairing. The former is achievable by changing a reference value of the lateral fluctuation of the target when all the past and present target data fluctuate to an extent exceeding the reference value. The latter is achievable by forecasting a representative peak position at this time in both of up-beat and down-beat from the peak position data at the preceding time and carrying out the past-correspondence grouping of the up-beat and the down-beat at this time in the vicinity of the position of the representative peak forecast this time; the pairing being carried out by using the representative peak calculated by the past-correspondence grouping.

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