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1. 发明专利

JP2013156147A Surrounding object detection device 有权
标题翻译：周边物体检测装置
公开(公告)号：JP2013156147A
公开(公告)日：2013-08-15
申请号：JP2012016851
申请日：2012-01-30
申请人： Toyota Motor Corp , トヨタ自動車株式会社 , Fujitsu Ten Ltd , 富士通テン株式会社
发明人： OKITA TOSHINOBU , ITO ATSUSHI
IPC分类号： G01S13/93 , B60R21/00
CPC分类号： G01S13/931 , G01S13/04 , G01S2013/462 , G01S2013/9346 , G01S2013/9375
摘要： PROBLEM TO BE SOLVED: To provide a surrounding object detection device that detects an obstacle to traveling of a vehicle with high accuracy.SOLUTION: The surrounding object detection device is mounted on a vehicle for detecting an obstacle to traveling of the vehicle. The surrounding object detection device transmits an electromagnetic wave by radar, receives a reflected electromagnetic wave to obtain reflection intensity, calculates a cumulative value of an amount of change in reflection intensity in a predetermined section by use of the reflection intensity obtained by the radar, and determines an object located below, which is not an obstacle to traveling of the vehicle (especially when the cumulative value is less than a threshold) on the basis of the cumulative value.
摘要翻译：要解决的问题：提供一种以高精度检测车辆行驶障碍的周边物体检测装置。解决方案：周围物体检测装置安装在用于检测车辆行驶障碍物的车辆上。周边物体检测装置通过雷达发送电磁波，接收反射电磁波以获得反射强度，通过利用雷达获得的反射强度来计算预定部分中反射强度的变化量的累积值，以及确定位于下方的物体，其不是基于累积值的车辆行驶的障碍（特别是当累积值小于阈值时）。

2. 发明专利

JP2013170898A Obstacle determination device 有权
标题翻译： OBSTACLE确定装置
公开(公告)号：JP2013170898A
公开(公告)日：2013-09-02
申请号：JP2012034360
申请日：2012-02-20
申请人： Toyota Motor Corp , トヨタ自動車株式会社 , Fujitsu Ten Ltd , 富士通テン株式会社
发明人： ITO ATSUSHI
IPC分类号： G01S13/93
CPC分类号： G01S13/931 , B60T7/22 , G01S2013/462 , G01S2013/9375 , G08G1/165
摘要： PROBLEM TO BE SOLVED: To provide an obstacle determination device that prevents an increase in load during collision determination control and improves accuracy of collision determination.SOLUTION: An obstacle determination device 1 includes a driving support ECU 3 that determines a collision with an obstacle detected by an output of a radar 2 mounted on a vehicle, to support driving of the vehicle. The driving support ECU 3 uses a distance of a null point section formed by null points where an output of the radar 2 decreases, as an inter-null-point distance, and determines that a vehicle does not collide with the obstacle when a predetermined number of null point sections or more having inter-null-point distance shorter than an inter-null-point distance of a reference section are detected at a distance far from the reference null point section closest to the vehicle in a predetermined range.
摘要翻译：要解决的问题：提供一种防止碰撞判定控制中的负载增加并提高碰撞判定精度的障碍物判定装置。解决方案：障碍物确定装置1包括：驾驶辅助ECU 3，其确定与由安装在车辆上的雷达2的输出，以支持车辆的行驶。驾驶辅助ECU 3使用由雷达2的输出减少的零点形成的零点部分的距离作为零点间距离，并且当预定数量时确定车辆不与障碍物碰撞在比预定范围内最靠近车辆的基准零点部分的距离处检测具有比参考部分的零点间距离短的点间距离的零点部分或更多的零点部分。

3. 发明专利

JP2011047807A Signal processing device, radar device, vehicle control system, signal processing method, and program 有权
标题翻译：信号处理装置，雷达装置，车辆控制系统，信号处理方法和程序
公开(公告)号：JP2011047807A
公开(公告)日：2011-03-10
申请号：JP2009196712
申请日：2009-08-27
申请人： Fujitsu Ten Ltd , 富士通テン株式会社
发明人： ITO ATSUSHI , SHINAGAWA TOKIO , NAKABAYASHI DAISUKE , ISHIMORI HIROYUKI
IPC分类号： G01S13/34
摘要： PROBLEM TO BE SOLVED: To provide a radar device which can correctly detect object information. SOLUTION: In object detection processing for a plurality of consecutive times, whether the object information relating to the same object is detected consecutively is determined. Based on the object information detected in the object detection processing in the past, specific object information having object information being about an integral multiple of this object information is detected, and when the specific object information is detected, predicted object information having object information obtained by dividing the object information of the specific object information by an integer is set virtually. In setting the object information, both of the object information detected in the latest object detection processing and the predicted object information are made to be determined. Thereby the object information can be detected correctly. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供可以正确地检测对象信息的雷达装置。解决方案：在多个连续时间的对象检测处理中，确定连续检测与相同对象相关的对象信息。基于过去的对象检测处理中检测到的对象信息，检测具有关于该对象信息的整数倍的对象信息的特定对象信息，并且当检测到特定对象信息时，具有由将特定对象信息的对象信息除以整数即可。在设置对象信息时，确定在最新对象检测处理中检测到的对象信息和预测对象信息。从而可以正确检测物体信息。版权所有（C）2011，JPO＆INPIT

4. 发明专利

JP2010114515A Control device and radar device 审中-公开
标题翻译：控制装置和雷达装置
公开(公告)号：JP2010114515A
公开(公告)日：2010-05-20
申请号：JP2008283493
申请日：2008-11-04
申请人： Fujitsu Ten Ltd , 富士通テン株式会社
发明人： HONDA HIDENORI , IWASHIMA HIROSHI , SHINAGAWA TOKIO , ITO ATSUSHI
IPC分类号： H03F1/30 , G01S7/03 , G01S7/285
摘要： PROBLEM TO BE SOLVED: To stabilize a level of an amplification signal which decreases in connection with temperature increase of the amplification signal amplified by a field effect transistor. SOLUTION: A control device of an amplifier has a memory unit which memorizes an instruction value of control voltage to amplify the signal level to a reference level for every first temperature increase width, and a control voltage creation unit which outputs the control voltage corresponding to the instruction value of the control voltage to the amplifier. Further, it has a control means which supplies the control voltage corresponding to the instruction value of the control voltage to the control voltage creation unit for every first temperature increase width in a first temperature region, and introduces the instruction value for every second temperature increase width which is smaller than the first temperature increase width based on the instruction value of the control voltage in a second temperature range in which a level reduction width of the amplification signal accompanied to the temperature increase is smaller than the first temperature increase width, and supplies to the control voltage creation unit. Accordingly, a level of the amplification signal can be stabilized when compensating level reduction of the amplification signal. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：稳定与场效应晶体管放大的放大信号的温度升高相关的放大信号的电平降低。解决方案：放大器的控制装置具有存储单元，其存储控制电压的指令值，以将信号电平放大到每第一升温宽度的参考电平;以及控制电压产生单元，其输出控制电压对应于放大器的控制电压的指令值。此外，它具有控制装置，其在第一温度区域中针对每第一升温宽度向控制电压创建单元提供与控制电压的指令值相对应的控制电压，并且引入每第二升温宽度的指令值其基于在伴随温度升高的放大信号的电平减小宽度小于第一升温宽度的第二温度范围内的控制电压的指示值小于第一温度上升幅度，并且供给至控制电压创建单元。因此，当补偿放大信号的电平降低时，可以稳定放大信号的电平。版权所有（C）2010，JPO＆INPIT

5. 发明专利

JP2009204505A Radar device 审中-公开
标题翻译：雷达设备
公开(公告)号：JP2009204505A
公开(公告)日：2009-09-10
申请号：JP2008048037
申请日：2008-02-28
申请人： Fujitsu Ten Ltd , 富士通テン株式会社
发明人： ITO HIROSHI , ITO ATSUSHI
IPC分类号： G01S7/03 , G01D5/36 , G01S13/42
摘要： PROBLEM TO BE SOLVED: To provide a radar device of a mechanical scanning system capable of cost reduction and miniaturization of the device, by reducing the number of light-receiving elements, in the radar device of a mechanical scanning system. SOLUTION: In this radar device of the mechanical scanning system for scanning, by reciprocating an antenna by a motor, which is a radar device of a mechanical scanning system for detecting the inversion or a swing angle of the antenna by an encoder 7 equipped with a slit plate 8; a light-emitting element and a light-receiving element, with the encoder 7 provided with the light-emitting element and the light-receiving element 28 and slits 4 provided on the slit plate 8, having asymmetric patterns in the right direction and in the left direction, with respect to the center C of the slit plate 8. In order to make the patterns asymmetric, a method can be applied, wherein the number of slits is changed between the right end and the left end of the slit plate 8, or the slit width is changed between the right and the left, or the like. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：通过减少机械扫描系统的雷达装置中的光接收元件的数量，提供能够降低成本并且小型化的机械扫描系统的雷达装置。解决方案：在用于扫描的机械扫描系统的雷达装置中，通过由用于通过编码器7检测天线的反转或摆动角度的机械扫描系统的雷达装置的电机往复运动天线装有狭缝板8; 发光元件和受光元件，其中编码器7设置有发光元件和受光元件28以及设置在狭缝板8上的狭缝4，其具有沿正确方向的不对称图案和左右方向相对于狭缝板8的中心C.为了使图案不对称，可以应用狭缝板8的右端部和左端部之间切缝数量变化的方法，或狭缝宽度在右侧和左侧之间变化等。版权所有（C）2009，JPO＆INPIT

6. 发明专利

JP2009014631A Radar device and method for detecting target thereof 审中-公开
标题翻译：雷达装置和用于检测其目标的方法
公开(公告)号：JP2009014631A
公开(公告)日：2009-01-22
申请号：JP2007179164
申请日：2007-07-09
申请人： Fujitsu Ten Ltd , 富士通テン株式会社
发明人： NAKABAYASHI DAISUKE , ITO ATSUSHI , SHINAGAWA TOKIO , SHIBATA SHINICHI
IPC分类号： G01S13/34
摘要： PROBLEM TO BE SOLVED: To prevent a failure or mistake in pairing even when a plurality of targets are in close proximity and differ in angles at which local maximal values are formed in a group of level peaks of upbeat/downbeat signals.
SOLUTION: In an FM-CW radar device the level peaks of upbeat/downbeat signals corresponding to frequency differences in sent and received signals between a period of rising frequencies and a period of falling frequencies are detected, and from among a plurality of first local maximal values belonging to a group of level peaks of upbeat signals distributed in angular orientation and a plurality of second local maximal values belonging to a group of level peaks of downbeat signals distributed in angular orientation, a first local maximal value and a second local maximal value are associated with each other in accordance with the proximity of local maximal values and the proximity of angles at which local maximal values are formed. This makes it possible to prevent a failure or mistake in pairing of a plurality of targets even when a plurality of targets are in close proximity and one and the same target differs in angles at which a first local maximal value and a second local maximal value are formed.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：即使当多个目标靠近并且在一个起伏/向下信号的一组电平峰值中形成局部最大值的角度不同时，也可防止配对中的故障或错误。解决方案：在FM-CW雷达设备中，检测对应于上升频率周期和下降频率周期之间的发送和接收信号中的频率差异的上升/下降信号的电平峰值，并且从多个属于以角度方向分布的乐观信号的一组电平峰值的组的第一局部最大值和属于以角度取向分布的一组低频信号的电平峰值的多个第二局部最大值，第一局部最大值和第二局部最大值最大值根据局部最大值的接近度和形成局部最大值的角度的接近度彼此相关联。这使得即使当多个目标非常接近且一个相同的目标在第一局部最大值和第二局部最大值的角度不同时，也可以防止多个目标的配对中的故障或错误形成。版权所有（C）2009，JPO＆INPIT

7. 发明专利

JP2008286647A Peak position extraction device, peak position extraction method, and radar device 审中-公开
标题翻译：峰位置提取装置，峰位置提取方法和雷达装置
公开(公告)号：JP2008286647A
公开(公告)日：2008-11-27
申请号：JP2007132113
申请日：2007-05-17
申请人： Fujitsu Ten Ltd , 富士通テン株式会社
发明人： KISHIDA MASAYUKI , ITO ATSUSHI
IPC分类号： G01S13/34 , G01S7/32
摘要： PROBLEM TO BE SOLVED: To provide a peak extraction device and a peak extraction method in waveform analysis capable of determining accurately an essential signal peak, relative to a signal whose waveform is changed from a waveform expected to have one peak to a waveform having a plurality of unexpected peaks, and to provide a radar device equipped with the peak extraction device. SOLUTION: Concerning a signal measured on a plurality of measuring positions determined beforehand by a processing circuit 23, secondary approximation of intensity of each signal on the measuring position in each combination is performed, relative to a plurality of combinations each of which is a combination of three measuring positions, wherein at least one measuring position is different from other combinations, and each approximate peak position in the secondary approximation is extracted, and a position determined by averaging the plurality of extracted approximate peak positions is acquired as the peak position. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供波形分析中的峰值提取装置和峰值提取方法，其能够相对于波形从预期具有一个峰值的波形改变为波形的信号而准确地确定基本信号峰值具有多个意想不到的峰值，并且提供配备有峰值提取装置的雷达装置。解决方案：关于由处理电路23预先确定的多个测量位置测量的信号，相对于多个组合中的每个组合，执行每个组合中的每个信号的每个信号的强度的二次近似，三个测量位置的组合，其中至少一个测量位置与其他组合不同，并且提取二次近似中的每个近似峰值位置，并且通过对多个提取的近似峰值位置进行平均而确定的位置被获取为峰值位置。版权所有（C）2009，JPO＆INPIT

8. 发明专利

JP2011214866A Signal processing apparatus, radar device, vehicle control system, and method for processing signal 有权
标题翻译：信号处理装置，雷达装置，车辆控制系统和处理信号的方法
公开(公告)号：JP2011214866A
公开(公告)日：2011-10-27
申请号：JP2010080714
申请日：2010-03-31
申请人： Fujitsu Ten Ltd , 富士通テン株式会社
发明人： ITO ATSUSHI , KISHIDA MASAYUKI
IPC分类号： G01S13/34 , G01S13/93 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To provide a technique for checking correctness of pairing of moving object data.SOLUTION: After peak signals composing detection points of a stationary object are classified in a plurality of regions on a map, detection points of a detected moving object are classified on this map. In the case when corresponding positions of the detection points of the moving object lie in the regions where the number of the peak signals composing the detection points of the stationary object is a prescribed threshold or above, the detection points of the moving object are determined as specific detection points. According to this constitution, correctness of pairing processing of the detection points of the moving object data can be checked.
摘要翻译：要解决的问题：提供一种检查移动物体数据配对的正确性的技术。解决方案：将构成静止物体的检测点的峰值信号分类为地图上的多个区域，检测到的移动物体的检测点为分类在这张地图上。在移动物体的检测点的对应位置位于构成静止物体的检测点的峰值信号的数量为规定阈值以上的区域的情况下，移动体的检测点被确定为具体检测点。根据该结构，可以检查移动对象数据的检测点的配对处理的正确性。

9. 发明专利

JP2011047806A Signal processing device, radar device, vehicle control system, signal processing method, and program 有权
标题翻译：信号处理装置，雷达装置，车辆控制系统，信号处理方法和程序
公开(公告)号：JP2011047806A
公开(公告)日：2011-03-10
申请号：JP2009196711
申请日：2009-08-27
申请人： Fujitsu Ten Ltd , 富士通テン株式会社
发明人： ITO ATSUSHI , SHINAGAWA TOKIO , NAKABAYASHI DAISUKE , ISHIMORI HIROYUKI
IPC分类号： G01S13/34 , G01S13/93
摘要： PROBLEM TO BE SOLVED: To provide a radar device which can correctly detect object information.
SOLUTION: A prescribed frequency range is set on the basis of a frequency being an integral multiple of the frequency of the object information detected in object detection processing in the past. When a peak signal is present within the prescribed frequency range in each of an up section and a down section, the peak signal is set as a specific peak signal. Then, the specific peak signals in the up and down sections are paired. Thereby the object information can be detected correctly.
COPYRIGHT: (C)2011,JPO&INPIT

10. 发明专利

JP2010071649A Signal processor and radar device 审中-公开
标题翻译：信号处理器和雷达装置
公开(公告)号：JP2010071649A
公开(公告)日：2010-04-02
申请号：JP2008235901
申请日：2008-09-16
申请人： Fujitsu Ten Ltd , 富士通テン株式会社
发明人： ITO ATSUSHI , TAKASUKA AYAFUMI , SHINAGAWA TOKIO
IPC分类号： G01S7/03 , G01S13/93
摘要： PROBLEM TO BE SOLVED: To accurately detect a turn angle even when an antenna reverses at a position deviated from an expected reversing position in a radar device of a mechanical scanning method. SOLUTION: This signal processor for receiving an angle signal when a turning section reciprocating and turning within a predetermined angle range turns by unit angle comprises a reverse detecting means for detecting the reverse of the turn direction of the turning section based on state transition of the angle signal, and a turn angle detecting means for detecting the turn angle of the turning section based on the angle signal input after detection of the reverse. Based on the angle signal input after a first reverse of the turning section is detected by the reverse detecting means and until a second reverse is detected, the turn angle detecting means corrects the turn angle based on the angle signal input after the second reverse is detected, so that it can detect the turn angle based on the angle signal from the expected reversing position. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：即使当天线在机械扫描方法的雷达装置中偏离期望的反转位置的位置反转时也能精确地检测转角。解决方案：当在预定角度范围内往复和转动的转动部分转动单位角时，用于接收角度信号的信号处理器包括用于基于状态转换检测转向部分的转向方向相反的反向检测装置角度检测装置，用于根据反相检测后的角度信号检测转向部分的转角。基于通过反转检测装置检测到转向部分的第一反向之后输入的角度信号，并且直到检测到第二反向，转向角检测装置基于在检测到第二反向之后输入的角度信号来校正转角，使得其可以基于来自预期的反转位置的角度信号来检测转角。版权所有（C）2010，JPO＆INPIT

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