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1. 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

2. 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

3. 发明专利

JP2010002389A 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：JP2010002389A
公开(公告)日：2010-01-07
申请号：JP2008163371
申请日：2008-06-23
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： KINOSHITA TOEI , ASANUMA HISATERU , KAWASAKI TOMOYA , IYODA NORIBUMI , TSUNEKAWA JUN
IPC分类号： G01S7/295 , G01S7/02 , G01S13/93
摘要： PROBLEM TO BE SOLVED: To determine an azimuth angle wrongly detected at a reception domain center part to be false, and to determine an azimuth angle detected at a reception domain end to be correct, among azimuth angles detected from a reception signal from an object existing on the reception domain end. SOLUTION: In this signal processing device for transmitting a radar signal in a reference direction, and detecting an azimuth angle of an object from a phase difference of a radar signal pair received by an antennal pair separated at a prescribed interval, when the intensity of a reception signal pair is equal to or higher than a reference value corresponding to a combination of the azimuth angle detected from the reception signal pair and a distance, the azimuth angle is determined to be correct, and when the intensity is below the reference value, the azimuth angle is determined to be false. In this case, since the reference value is differentiated according to the distance and also differentiated according to the azimuth angle, the azimuth angle wrongly detected at the reception domain center part can be determined to be false, and the azimuth angle detected at the reception domain end can be determined to be correct. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了确定在接收域中心部分处错误地检测到的方位角为假，并且确定在接收端端处检测到的正确方位角的方位角在从接收域上存在的对象结束。解决方案：在用于在参考方向上发射雷达信号的信号处理装置中，并且根据由规定间隔分开的天线对接收的雷达信号对的相位差检测物体的方位角，接收信号对的强度等于或高于对应于从接收信号对检测的方位角与距离的组合的参考值，方位角被确定为正确，并且当强度低于参考值，方位角被确定为假。在这种情况下，由于参考值根据距离而不同，并且也根据方位角进行微分，所以可以将在接收区域中心部错误地检测到的方位角确定为假，并且在接收域检测到的方位角结束可以确定是正确的。版权所有（C）2010，JPO＆INPIT

4. 发明专利

JP2009293968A Signal processing apparatus and radar system 有权
标题翻译：信号处理装置和雷达系统
公开(公告)号：JP2009293968A
公开(公告)日：2009-12-17
申请号：JP2008145374
申请日：2008-06-03
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： KINOSHITA TOEI , ASANUMA HISATERU , TSUNEKAWA JUN , KAWASAKI TOMOYA , IYODA NORIBUMI
IPC分类号： G01S13/44 , G01S7/02 , G01S13/34
CPC分类号： G01S13/931 , G01S13/345 , G01S2013/9375
摘要： PROBLEM TO BE SOLVED: To take a peak frequency by smoothing a frequency component and to prevent erroneous detection when detecting an azimuthal angle using a beat signal of the peak frequency in each beat signal.
SOLUTION: A peak frequency detecting means detects a peak frequency of which a maximum value is formed when a frequency component of a beat signal group is smoothened; a beat signal extracting means extracts a beat signal, in which the status of frequency component in a peak frequency band containing the peak frequency satisfies a predetermined condition, from the beat signal group; an azimuthal angle detecting means detects an azimuthal angle, which corresponds to a phase difference between the beat signal of the peak frequency contained in a first extraction beat signal and the beat signal of the peak frequency contained in a second extraction beat signal, out of the extracted extraction beat signals; therefore, the azimuthal angle is detected using the beat signal obtained from an identical object. Consequently, erroneous detection is prevented.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：通过平滑频率分量来获取峰值频率，并且在每个拍频信号中使用峰值频率的拍频信号检测方位角时防止错误检测。解决方案：峰值频率检测装置检测当拍频信号组的频率分量被平滑时形成最大值的峰值频率; 拍子信号提取装置从拍子信号组中提取其中包含峰值频率的峰值频带中的频率分量的状态满足预定条件的拍频信号; 方位角检测装置检测方位角，其对应于包含在第一提取节拍信号中的峰值频率的拍子信号与包含在第二提取拍子信号中的峰值频率的拍子信号之间的相位差，提取提取节拍信号; 因此，使用从相同对象获得的拍频信号来检测方位角。因此，防止错误检测。版权所有（C）2010，JPO＆INPIT

5. 发明专利

JP2010156567A Body detection apparatus, and body detection method 有权
标题翻译：身体检测装置和身体检测方法
公开(公告)号：JP2010156567A
公开(公告)日：2010-07-15
申请号：JP2008333758
申请日：2008-12-26
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： TSUNEKAWA JUN , KISHIDA MASAYUKI
IPC分类号： G01S13/93
CPC分类号： G08G1/166 , G08G1/165
摘要： PROBLEM TO BE SOLVED: To provide a body detection apparatus and a body detection method capable of accurately grouping the bodies detected by a radar device. SOLUTION: The body detection apparatus includes: a movement direction calculation means that calculates a movement direction of each of acquisition points by using signals that show the acquisition points and that are obtained through detection of a body present around the vehicle; and a determination means that pre-sets a frame commensurate with a shape of a body as a detection object, and for pre-setting for the frame a reference traveling direction as an assumed traveling direction of the body, and for determining, out of the acquisition points, acquisition points present within the frame whose reference traveling direction is aligned with the movement direction as being acquisition points of a single body. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够对由雷达装置检测到的身体进行精确分组的身体检测装置和身体检测方法。身体检测装置包括：运动方向计算装置，其通过使用显示采集点的信号来计算每个采集点的移动方向，并且通过检测车辆周围的身体而获得; 以及确定装置，其将与身体的形状相称的框架预设为检测对象，并且用于将所述框架的参考行进方向预先设定为所述身体的假定行进方向，并且用于确定采集点，参考行进方向与移动方向对齐的框架内的采集点为单体的采集点。版权所有（C）2010，JPO＆INPIT

6. 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

7. 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

8. 发明专利

JP2010038706A Signal processing apparatus and radar system 审中-公开
标题翻译：信号处理装置和雷达系统
公开(公告)号：JP2010038706A
公开(公告)日：2010-02-18
申请号：JP2008201387
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： MORIUCHI KO , KURONO YASUHIRO , ASANUMA HISATERU , TSUNEKAWA JUN , KAWASAKI TOMOYA
IPC分类号： G01S13/66 , G01S13/93 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To provide an anterolateral monitoring radar system of a vehicle which precisely detects a position of a target object. SOLUTION: A signal processing apparatus of a radar transceiver which is mounted to the vehicle and scans a scan area containing a lateral area of the vehicle includes: a position detecting means for detecting X and Y coordinates of the target object position in the scan area wherein Y-axis is along the anterolateral direction of the vehicle, and X-axis intersects with the Y-axis; a position predicting means for predicting the X and Y coordinates of the target object position based on X-coordinate difference values and Y-coordinate difference values at respective detection cycles for the target object position detected in past detection cycles; and a position determining means for determining the detected position when the detected X and Y coordinates are within allowable ranges of the predicted X and Y coordinates, respectively. Therefore, the target object position having a large X-coordinate difference value can be predicted precisely, and position detection can be improved with accuracy. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供精确检测目标物体的位置的车辆的前外侧监视雷达系统。解决方案：安装到车辆并扫描包含车辆横向区域的扫描区域的雷达收发器的信号处理装置包括：位置检测装置，用于检测目标对象位置的X和Y坐标扫描区域，其中Y轴沿着车辆的前外侧方向，并且X轴与Y轴相交; 位置预测装置，用于根据在过去的检测周期中检测到的目标对象位置的各个检测周期的X坐标差值和Y坐标差值来预测目标对象位置的X坐标和Y坐标; 以及位置确定装置，用于当检测到的X和Y坐标分别在预测的X和Y坐标的允许范围内时，确定检测到的位置。因此，可以精确地预测具有大的X坐标差值的目标对象位置，并且可以精确地提高位置检测。版权所有（C）2010，JPO＆INPIT

9. 发明专利

JP2009180514A Radar device and angle detecting method of target 有权
标题翻译：雷达装置和目标的角度检测方法
公开(公告)号：JP2009180514A
公开(公告)日：2009-08-13
申请号：JP2008017142
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： KINOSHITA TOEI , ASANUMA HISATERU , TSUNEKAWA JUN , IYODA NORIBUMI , KAWASAKI TOMOYA
IPC分类号： G01S13/44
CPC分类号： G01S13/4454
摘要： PROBLEM TO BE SOLVED: To enlarge the detection range of an angle without deteriorating the resolution of the angle of a phase monopulse type radar device. SOLUTION: A radar device for detecting the angle of a target to a reference direction transmits a radar wave in a prescribed reference direction, receives the radar wave reflected on the target as a receiving wave, and detects the angle of the target to the reference direction. Since the radar device includes a phase difference detection means for detecting a first phase difference of the receiving wave received with a first receiving antenna pair separated in a first interval and a second phase difference of the receiving wave received with a second receiving antenna pair separated in a second interval smaller than the first interval, and an angle detection means for performing first processing finding mutually matching angles as detection angles out of 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 enlarges the detection range of the angle without deteriorating the resolution of the angle corresponding to the second phase difference. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：扩大角度的检测范围而不会降低相位单脉冲型雷达装置的角度的分辨率。解决方案：用于检测目标与参考方向的角度的雷达装置在指定的参考方向上发射雷达波，接收目标上反射的雷达波作为接收波，并将目标的角度参考方向。由于雷达装置包括相位差检测装置，用于检测由在第一间隔中分离的第一接收天线对接收的接收波的第一相位差，以及用第二接收天线对接收的接收波的第二相位差，小于第一间隔的第二间隔，以及角度检测装置，用于执行以与第一相位差对应的多个第一角度和与第二相位差对应的多个第二角度的相互匹配角度作为检测角度的第一处理雷达装置放大了角度的检测范围，而不会使对应于第二相位差的角度的分辨率恶化。版权所有（C）2009，JPO＆INPIT

10. 发明专利

JP2012224119A Brake control apparatus for vehicle 有权
标题翻译：制动器控制装置
公开(公告)号：JP2012224119A
公开(公告)日：2012-11-15
申请号：JP2011091138
申请日：2011-04-15
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： TSUNEKAWA JUN
IPC分类号： B60T7/12
摘要： PROBLEM TO BE SOLVED: To provide a brake control apparatus for a vehicle, in which an automatic brake can be properly released in response to the driver's intention.SOLUTION: The brake control apparatus for the vehicle automatically brakes an own vehicle depending on a risk of collision of the own vehicle with an obstacle. The apparatus includes: a collision determination device that determines whether the risk of collision of the own vehicle with the obstacle is high; an automatic brake device that controls a braking device of the own vehicle and automatically generates a braking force when the collision determination device determines that the risk of collision of the own vehicle with the obstacle is high; and an automatic brake-release device that stops the automatic generation of the braking force by the automatic brake device, on the basis of operation frequencies of an accelerator pedal of the own vehicle by the own vehicle driver.
摘要翻译：要解决的问题：提供一种用于车辆的制动控制装置，其中可以根据驾驶员的意图适当地释放自动制动器。解决方案：车辆的制动控制装置根据本车辆与障碍物的碰撞风险自动制动本车辆。该装置包括：碰撞确定装置，其确定本车辆与障碍物的碰撞风险是否高; 自动制动装置，其控制本车辆的制动装置，并且当所述碰撞判定装置判定为本车辆与所述障碍物的碰撞风险高时，自动产生制动力; 以及自动制动释放装置，其基于本车辆驾驶员基于本车辆的加速踏板的操作频率停止由自动制动装置自动产生制动力。版权所有（C）2013，JPO＆INPIT

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