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1. 发明专利

JP2011180030A Radar system and azimuth calculation method 审中-公开
标题翻译：雷达系统和AZIMUTH计算方法
公开(公告)号：JP2011180030A
公开(公告)日：2011-09-15
申请号：JP2010045776
申请日：2010-03-02
申请人： Fujitsu Ten Ltd , Toyota Motor Corp , トヨタ自動車株式会社 , 富士通テン株式会社
发明人： ASANUMA HISATERU , SAKAGUCHI MASAHIRO , KAWASAKI TOMOYA , IYOTA NORIFUMI
IPC分类号： G01S13/44 , G01S13/34 , G01S13/93
摘要： PROBLEM TO BE SOLVED: To provide technology concerning a radar system capable of accurately calculating the azimuth of each target, even when the frequency spectra corresponding to different targets overlap. SOLUTION: The radar system receives reflection signals, received via at least two receiving antennas as a receiving signal of each receiving antenna, calculates a phase difference between peak frequencies of the beat signals generated from a transmitting signal and the receiving signal; stores the calculated phase difference to a storing region; and calculates the azimuth of a target, on the basis of the calculated phase difference. In addition, the radar system predicts whether the peak frequencies of a plurality of the targets overlap; on the basis of prediction information predicting change of the peak frequency of the beat signal; including the azimuth information concerning the calculated azimuth, calculates the phase difference as prediction phase difference, when the peak frequencies overlap on the basis of the phase difference stored to the storing region, and calculates the azimuth of the target, on the basis of the prediction phase difference, when it is predicted that the peak frequencies overlap. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：即使当对应于不同目标的频谱重叠时，提供能够精确地计算每个目标的方位角的雷达系统的技术。解决方案：雷达系统接收经由至少两个接收天线接收的反射信号作为每个接收天线的接收信号，计算从发射信号产生的拍频信号的峰值频率与接收信号之间的相位差; 将计算出的相位差存储到存储区域; 并基于计算出的相位差计算目标的方位角。此外，雷达系统预测多个目标的峰值频率是否重叠; 基于预测信号的峰值频率的变化的预测信息; 包括关于所计算的方位角的方位角信息，当基于存储在存储区域中的相位差的峰值频率重叠时，将相位差计算为预测相位差，并且基于预测来计算目标的方位角相位差，当预测峰值频率重叠时。版权所有（C）2011，JPO＆INPIT

2. 发明专利

JP2010038705A Signal processing apparatus, radar device, vehicle control device, and signal processing method 审中-公开
标题翻译：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：JP2010038705A
公开(公告)日：2010-02-18
申请号：JP2008201380
申请日：2008-08-05
申请人： Fujitsu Ten Ltd , Toyota Motor Corp , トヨタ自動車株式会社 , 富士通テン株式会社
发明人： KISHIDA MASAYUKI , ASANUMA HISATERU , NODA HIROAKI , KAWASAKI TOMOYA
IPC分类号： G01S13/34 , B60R21/00 , G08G1/16
CPC分类号： G01S13/345 , G01S13/42 , G01S13/584 , G01S13/931 , G01S2013/9375 , G01S2013/9385 , G01S2013/9389
摘要： PROBLEM TO BE SOLVED: To prevent output delay of detection results, even when using a plurality of frequency modulations having each different frequency changing rate. SOLUTION: An FM-CW radar device using two kinds of frequency modulations having each different frequency changing rate has a distance/speed detection means for performing detection processing for detecting a relative distance or relative speed of a target object based on a beat signal having the same frequency changing rate as that of a transmitted signal, and detection processing for detecting a relative distance or relative speed by using each beat signal having each different frequency changing rate; and a distance/speed determination means for adding an evaluation point to the relative distance or the relative speed detected by the detection processing, and determining a relative distance or relative speed whose evaluation point reaches a reference point. Hereby, more data can be acquired in one detection cycle to thereby acquire the same effect as the case of executing a plurality of detection cycles. Consequently, output delay of the detection results from the radar device to a vehicle control device can be prevented. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了防止检测结果的输出延迟，即使当使用具有每个不同频率变化率的多个频率调制时。解决方案：使用具有不同频率变化率的两种频率调制的FM-CW雷达装置具有距离/速度检测装置，用于执行基于拍子的目标物体的相对距离或相对速度的检测处理信号具有与发送信号相同的频率变化率，以及检测处理，用于通过使用具有不同频率变化率的每个差拍信号来检测相对距离或相对速度; 以及距离/速度确定装置，用于将评估点添加到由检测处理检测到的相对距离或相对速度，并且确定评估点到达参考点的相对距离或相对速度。因此，可以在一个检测周期中获取更多的数据，从而获得与执行多个检测周期相同的效果。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。版权所有（C）2010，JPO＆INPIT

3. 发明专利

JP2010008104A Signal processor, radar system, and signal processing method 有权
标题翻译：信号处理器，雷达系统和信号处理方法
公开(公告)号：JP2010008104A
公开(公告)日：2010-01-14
申请号：JP2008164955
申请日：2008-06-24
申请人： Fujitsu Ten Ltd , Toyota Motor Corp , トヨタ自動車株式会社 , 富士通テン株式会社
发明人： KISHIDA MASAYUKI , ASANUMA HISATERU , KAWASAKI TOMOYA , TSUNEKAWA JUN , HARADA TOMOAKI
IPC分类号： G01S13/34
摘要： PROBLEM TO BE SOLVED: To perform peak frequency pairing with high precision, even when the levels of peak signals match each other between an up period and a down period.
SOLUTION: The signal processor includes: a peak frequency detection means for detecting a first peak frequency at which the frequency spectrum of a beat signal forms a maximum value in the frequency increasing period of a frequency-modulated first radar signal and a second peak frequency at which the frequency spectrum of the beat signal forms a maximum value in the frequency decreasing period of the first radar signal; a speed detection means for detecting the relative speed of a target on the basis of the difference between the frequency during transmission and the frequency during reception of a second radar signal having a predetermined frequency; and a pairing means for extracting a pair of the first and second peak frequencies from which the relative speed is derived. Even when peak frequencies of which the levels of the beat signals at the peak frequencies match each other (or are close to each other) are paired with each other, the pairing can be performed with high precision.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：即使在峰值信号的电平在上升周期和下降周期之间相互匹配的情况下，也可以高精度地进行峰值配对。解决方案：信号处理器包括：峰值频率检测装置，用于检测在频率调制的第一雷达信号的频率增加周期中节拍信号的频谱形成最大值的第一峰值频率;以及第二峰值频率所述拍频信号的频谱在所述第一雷达信号的频率下降期间中形成最大值的峰值频率; 速度检测装置，用于基于传输期间的频率与接收具有预定频率的第二雷达信号之间的频率之间的差异来检测目标的相对速度; 以及用于提取从其导出相对速度的一对第一和第二峰值频率的配对装置。即使在峰值频率处的拍频信号的电平相互匹配（或彼此接近）的峰值频率彼此配对时，可以以高精度执行配对。版权所有（C）2010，JPO＆INPIT

4. 发明专利

JP2009180515A Radar device and target detection method 有权
标题翻译：雷达设备和目标检测方法
公开(公告)号：JP2009180515A
公开(公告)日：2009-08-13
申请号：JP2008017147
申请日：2008-01-29
申请人： Fujitsu Ten Ltd , Toyota Motor Corp , トヨタ自動車株式会社 , 富士通テン株式会社
发明人： MORIUCHI KO , SAKAGUCHI MASAHIRO , ASANUMA HISATERU , KAWASAKI TOMOYA , TSUNEKAWA JUN , IYODA NORIBUMI
IPC分类号： G01S13/93
CPC分类号： G01S3/48 , G01S13/345 , G01S13/584 , G01S13/723 , G01S13/931 , G01S2013/9375 , G01S2013/9389
摘要： PROBLEM TO BE SOLVED: To estimate a target position to maintain target position continuity with high accuracy even when an X coordinate displacement quantity of a target is large.
SOLUTION: 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 having an X coordinate further displaced by a first displacement quantity to the X coordinate estimated by the trajectory from the X coordinate of a previous position is set as an estimate position, and when the trajectory is not within the predetermined region, a position having the X coordinate further displaced by a second displacement quantity larger than the first displacement quantity to the X coordinate estimated by the trajectory from the X coordinate of a previous position is set as an estimate position.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：即使当目标的X坐标位移量大时，也可以高精度地估计目标位置以维持目标位置连续性。解决方案：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，具有X坐标的位置进一步被第一将由与前一位置的X坐标的轨迹估计的X坐标的位移量设置为估计位置，并且当轨迹不在预定区域内时，具有X坐标进一步位移第二位移量的位置较大将与从前一位置的X坐标的轨迹估计的X坐标的第一位移量设定为估计位置。版权所有（C）2009，JPO＆INPIT

5. 发明专利

JP2004233090A Radar system 有权
公开(公告)号：JP2004233090A
公开(公告)日：2004-08-19
申请号：JP2003018965
申请日：2003-01-28
申请人： Fujitsu Ten Ltd , Toyota Motor Corp , トヨタ自動車株式会社 , 富士通テン株式会社
发明人： KISHIDA MASAYUKI , MIYAKOSHI HIROCHIKA , KAWASAKI TOMOYA
IPC分类号： B60R21/00 , B60K31/00 , G01S13/34 , G01S13/50 , G01S13/60 , G01S13/93
摘要： PROBLEM TO BE SOLVED: To provide a method of processing data that can cope with the limit of the data transmittable amount of a transmission line between a radar system and a vehicle controller, wherein the system measures the relative speeds of vehicles running in front of the system and the distances to the vehicles. SOLUTION: The radar equipment calculates the distances to and speeds of targets existing in front of the equipment by analyzing reflected waves and outputs the calculated distances and speeds to the transmission line. In case the output buffer to the transmission line has no margin when the radar equipment outputs the distances and speeds (step 1000), the equipment preferentially outputs the distance to and speed of a moving target of which data have been outputted last time than the distances and speeds of other targets (step 1004). COPYRIGHT: (C)2004,JPO&NCIPI

6. 发明专利

JP2010096589A Signal processing device, radar device, and signal processing method 审中-公开
标题翻译：信号处理装置，雷达装置和信号处理方法
公开(公告)号：JP2010096589A
公开(公告)日：2010-04-30
申请号：JP2008266504
申请日：2008-10-15
申请人： Fujitsu Ten Ltd , Toyota Motor Corp , トヨタ自動車株式会社 , 富士通テン株式会社
发明人： KISHIDA MASAYUKI , ASANUMA HISATERU , KAWASAKI TOMOYA
IPC分类号： G01S13/34
摘要： PROBLEM TO BE SOLVED: To prevent decline of detection accuracy of an azimuth angle caused by approximation of each peak frequency of a plurality of target objects. SOLUTION: In this signal processing device of a radar transmitter/receiver for receiving a reflected signal of a transmission signal subjected to frequency modulation as a reception signal by an antenna group, and generating a beat signal having a frequency corresponding to a frequency difference between the transmission signal and the reception signal relative to each antenna, azimuth angle candidates of the target object are detected based on a phase difference of beat signals in a common frequency relative to each pair of antennas, and an azimuth angle candidate agreeing in a prescribed error range with a predicted azimuth angle predicted from a variation of a detected azimuth angle detected in the past from among the azimuth angle candidate group is extracted, and since the azimuth angle of the target object is detected based on the predicted azimuth angle and the extracted azimuth angle candidate, even when detection accuracy of the azimuth angle candidate is lowered by approximation of each peak frequency of the plurality of target objects, accuracy decline of the detected azimuth angle can be prevented by using the predicted azimuth angle. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了防止由多个目标对象的每个峰值频率的近似引起的方位角的检测精度的下降。解决方案：在雷达发射机/接收机的信号处理装置中，用于通过天线组接收进行频率调制的发送信号的反射信号作为接收信号，并产生具有对应于频率的频率的拍频信号基于相对于每对天线的公共频率的拍频信号的相位差来检测目标对象的方位角候选的相对于每个天线的发送信号和接收信号之间的差异，并且在提取根据从方位角候选组中检测到的过去检测到的方位角的变化预测的预测方位角的规定误差范围，并且由于基于预测的方位角检测目标对象的方位角，并且即使在方位角候选的检测精度降低的情况下，提取方位角候选可以通过使用预测的方位角来防止检测到的方位角的精度下降。版权所有（C）2010，JPO＆INPIT

7. 发明专利

JP2004220341A Preceding vehicle estimating method 有权
标题翻译：预测车辆估计方法
公开(公告)号：JP2004220341A
公开(公告)日：2004-08-05
申请号：JP2003007220
申请日：2003-01-15
申请人： Fujitsu Ten Ltd , Toyota Motor Corp , トヨタ自動車株式会社 , 富士通テン株式会社
发明人： MATSUI TADANORI , SHINAGAWA TOKIO , MIYAKOSHI HIROCHIKA , KAWASAKI TOMOYA
IPC分类号： B60K31/00 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To acquire preceding vehicle probability to estimate a preceding vehicle being the target of driving operation control with sufficient responsiveness even for the rapid driving operation of the preceding vehicle at the time of calculating the preceding vehicle probability by filter processing.
SOLUTION: For example, an electromagnetic wave is oscillated from its own vehicle, and the relative location of a preceding vehicle with respect to its own vehicle is calculated based on a reception signal acquired by receiving a reflected wave from the preceding vehicle. At the time of carrying out the filter processing to calculate the preceding vehicle probability being accuracy that the preceding vehicle exists on the same traffic line as a traffic lane on which its own vehicle is traveling by using the current probability derived from the relative location being probability preliminarily decided according to the relative location, an offset value f1 is used as the initial value of the preceding vehicle probability. Thus, it is possible to shorten a time t3 required until it is judged that the preceding vehicle exists on its own traffic lane by giving the offset value f1 to the initial value.
COPYRIGHT: (C)2004,JPO&NCIPI
摘要翻译：要解决的问题：为了在通过滤波处理计算前一车辆概率时，即使对于前一车辆的快速驾驶操作也以足够的响应性来估计作为驾驶操作控制的目标的前一车辆概率。解决方案：例如，电磁波从其自身的车辆振荡，并且基于通过接收来自前方车辆的反射波获取的接收信号来计算前一车辆相对于其本车辆的相对位置。在进行过滤处理时，通过使用从相对位置导出的当前概率为概率来计算前方车辆存在于与其自己的车辆行驶的行车道相同的行车线上的准确度的前一车辆概率根据相对位置预先决定偏移值f1作为前一车辆概率的初始值。因此，通过将偏移值f1赋予初始值，可以缩短需要的时间t3，直到判定前方车辆存在于自己的行车道上。版权所有（C）2004，JPO＆NCIPI

8. 发明专利

JP2009264968A Radar device, method of processing signal for radar device, and vehicle control system 有权
标题翻译：雷达装置，用于雷达装置的信号处理方法和车辆控制系统
公开(公告)号：JP2009264968A
公开(公告)日：2009-11-12
申请号：JP2008115838
申请日：2008-04-25
申请人： Fujitsu Ten Ltd , Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 富士通テン株式会社 , 株式会社豊田中央研究所
发明人： KINOSHITA TOEI , ASANUMA HISATERU , HONDA KANAKO , OGAWA MASARU , KAWASAKI TOMOYA , IYODA NORIBUMI , TSUNEKAWA JUN
IPC分类号： G01S13/66 , G01S7/02 , G01S13/34 , G01S13/44 , G01S13/93
摘要： PROBLEM TO BE SOLVED: To provide a radar device capable of performing precise tracking of a target even when great variations are present in azimuth. SOLUTION: A radar device 10 includes: an azimuth calculating section that calculates two candidate azimuths of a target from a phase difference between reflected waves received by a pair of given two element antennas among three or more element antennas 15 placed at different intervals from one another; a tracking process section that performs a tracking process on each of the two candidate azimuths calculated by the azimuth calculating section; and a CPU 11 that functions as a target information output section to output target information in accordance with results of the tracking process based on the candidate azimuth smaller in error. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：即使在方位角上存在很大变化的情况下，也能够提供能够对目标进行精确跟踪的雷达装置。解决方案：雷达设备10包括：方位计算部分，其从以不同间隔放置的三个或更多个元件天线15中的一对给定的两个元件天线接收的反射波之间的相位差计算目标的两个候选方位角从彼此; 跟踪处理部分，对由方位计算部分计算出的两个候选方位中的每一个执行跟踪处理; 以及用作目标信息输出部分的CPU 11，其基于误差较小的候选方位角，根据跟踪处理的结果来输出目标信息。版权所有（C）2010，JPO＆INPIT

9. 发明专利

JP2009216470A Radar system and vehicle control system 审中-公开
标题翻译：雷达系统和车辆控制系统
公开(公告)号：JP2009216470A
公开(公告)日：2009-09-24
申请号：JP2008058771
申请日：2008-03-07
申请人： Fujitsu Ten Ltd , Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 富士通テン株式会社 , 株式会社豊田中央研究所
发明人： SAKAGUCHI MASAHIRO , ASANUMA HISATERU , HONDA KANAKO , OGAWA MASARU , KAWASAKI TOMOYA , IYODA NORIBUMI , TSUNEKAWA JUN
IPC分类号： G01S13/44 , G01S13/34 , G01S13/93 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To provide a radar system capable of accurately calculating the direction of a target without increasing cost even when the dispersion of the direction is large. SOLUTION: The radar system 10 comprises: a direction candidate operation part for performing a processing on each pair of any element antennas among three or more element antennas 15 at different spacings to determine a plurality of direction candidates of the target based on phase differences of reflected waves received by the respective pairs of element antennas; a DBF operation part for performing a digital beam-forming operation corresponding to one or a plurality of the direction candidates determined by the direction candidate operation part; and a CPU 11 functioning as a direction operation part for determining the direction of the target based on DBF values determined by the DBF operation part and outputting the direction. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：即使当方向的偏差大时，也可以提供能够精确地计算目标的方向而不增加成本的雷达系统。解决方案：雷达系统10包括：方向候选操作部分，用于以不同间隔对三个或更多个元件天线15中的每对任何元件天线进行处理，以基于相位确定目标的多个方向候选由各对元件天线接收的反射波的差异; 一个DBF操作部分，用于执行对应于由方向候选操作部分确定的一个或多个方向候选的数字波束形成操作; 以及作为方向操作部的功能，用于根据由DBF操作部确定的DBF值确定目标的方向，并输出该方向。版权所有（C）2009，JPO＆INPIT

10. 发明专利

JP2004206267A Target detection device and target detection method 审中-公开
标题翻译：目标检测装置和目标检测方法
公开(公告)号：JP2004206267A
公开(公告)日：2004-07-22
申请号：JP2002372482
申请日：2002-12-24
申请人： Fujitsu Ten Ltd , Toyota Motor Corp , トヨタ自動車株式会社 , 富士通テン株式会社
发明人： ASANUMA HISATERU , MIYAKOSHI HIROCHIKA , KAWASAKI TOMOYA
IPC分类号： B60R21/00 , B60K31/00 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To provide a target detection device capable of precisely tracking a target such as a preceding vehicle or oncoming vehicle based on a vehicle without a wrong response.
SOLUTION: The target detection device to be mounted on the vehicle comprises a means for estimating the present position of the target T on the basis of the past position of the target obtained from a position detector for detecting at least the position of the target T. This device further comprises a means for estimating the present position of the target T, when the target T is lost, on the basis of a curve radius R where the vehicle is traveling.
COPYRIGHT: (C)2004,JPO&NCIPI

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