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1. 发明公开

KR1020130113102A 차량용 레이더의 수평 정렬 보정 방법 및 보정 장치 有权
标题翻译：用于车辆雷达水平对准的校准方法和装置
公开(公告)号：KR1020130113102A
公开(公告)日：2013-10-15
申请号：KR1020120035423
申请日：2012-04-05
申请人： 한화시스템 주식회사
发明人： 백인찬
IPC分类号： G01S13/06 , G01S13/93 , B60R21/013 , B60W30/08
CPC分类号： G01S13/931 , G01S7/4026 , G01S2007/403
摘要： PURPOSE: A method and an apparatus for horizontal alignment correction of vehicle radars are provided to correct the horizontal alignment of the radar in a variety of road conditions, thereby improving the accuracy of target detection. CONSTITUTION: An apparatus (100) for horizontal alignment correction of vehicle radars comprises a module (200) for extraction of virtual straight lines, a module (300) for extraction of straight lines in the traveling direction, a module (400) for acquisition of a difference angle, and a correction processing module (500). The module for extraction of the virtual straight line receives a plurality of frame data from the vehicle radar to generate fixed target information and produces the virtual straight line from the generated fixed target information. The module for extraction of the straight line in the traveling direction measures the turning information of a vehicle depending on sensing information received from a vehicle steering sensor and predicts a traveling path from the measured turning information of the vehicle to produce the straight line in the traveling direction. The module for acquisition of the difference angle calculates an angle difference between the produced straight lines or straight lines in the traveling direction. The correction processing module corrects the horizontal alignment of the vehicle radar depending on the calculated angle difference. [Reference numerals] (200) Virtual straight line extraction module; (230) Target information obtaining unit; (270) Straight line calculation unit; (300) Driving direction straight line extraction module; (400) Difference angle acquisition module; (50) Radar; (500) Correction processing module; (60) Sensor
摘要翻译：目的：提供车辆雷达水平对准校正的方法和装置，以校正各种道路情况下雷达的水平对准，从而提高目标检测的准确性。构成：用于车辆雷达的水平对准校正的装置（100）包括用于提取虚拟直线的模块（200），用于在行进方向上提取直线的模块（300），用于获取差角度和校正处理模块（500）。用于提取虚拟直线的模块从车辆雷达接收多个帧数据，以产生固定目标信息，并从所产生的固定目标信息产生虚拟直线。用于在行进方向上提取直线的模块根据从车辆转向传感器接收到的感测信息来测量车辆的转向信息，并根据车辆的测量车削信息预测行驶路径，以在行驶中产生直线方向。用于获取差角度的模块计算行进方向上产生的直线或直线之间的角度差。校正处理模块根据计算的角度差校正车辆雷达的水平对准。（附图标记）（200）虚拟直线提取模块; （230）目标信息获取单元; （270）直线计算单位; （300）行驶方向直线提取模块; （400）差分角度采集模块; （50）雷达; （500）校正处理模块; （60）传感器

2. 发明授权

KR101654252B1 이중 송신빔 방식의 후측방 레이더 有权
标题翻译：双Tx光束型后方和侧向RADAR
公开(公告)号：KR101654252B1
公开(公告)日：2016-09-05
申请号：KR1020120053608
申请日：2012-05-21
申请人： 한화시스템 주식회사
发明人： 김석 , 백인찬
IPC分类号： G01S13/06 , G01S13/93
摘要： 본발명은차량용레이더에있어서, 특히 2개의송신빔을이용하여복수의후측방영역(BSD, LCA, RCTA 및 RCW) 을탐지할수 있는이중송신빔방식의후측방레이더에관한것으로, 후측방사각지대검출(BSD) 영역과차선변경보조(LCA) 영역과후방추돌경보(RCW) 영역에해당하는제1영역을탐지하기위한제1송신빔을방사하는제1송신안테나와, 상기제1송신안테나에의해탐지되는제1영역을제외한후방주차보조(RCTA) 영역에해당하는제2영역을탐지하기위한제2송신빔을방사하는제2송신안테나와, 상기제1영역또는상기제2영역의표적에반사된수신신호를수신하는제1 및 2 수신안테나들과, 상기제1수신안테나의제1수신신호로부터동위상수신채널신호와직교위상수신채널신호를출력하는제1수신신호처리부와, 상기제2수신안테나의제2수신신호로부터동위상수신채널신호와직교위상수신채널신호를출력하는제2수신신호처리부와, 상기제1 및 2 수신신호처리부들의채널별출력을디지털수신신호로변환하는 AD 컨버터와, 상기디지털수신신호를사용하여상기표적에대한탐지정보를산출하는디지털신호처리프로세서로구성되는것이특징인발명이다.

3. 发明授权

KR101387664B1 전파고도계를 이용한 변형된 고도모델 기반의 지형참조 항법장치 有权
标题翻译：使用基于改进的高程模型的雷达高度计的TERRAIN-AIDED NAVIGATION APPARATUS
公开(公告)号：KR101387664B1
公开(公告)日：2014-04-29
申请号：KR1020130039177
申请日：2013-04-10
申请人： 한화시스템 주식회사 , 한국과학기술원
发明人： 백인찬 , 전주환
IPC分类号： G01C21/20 , G01S13/88 , G05D1/10
CPC分类号： G01C21/20 , B64D47/00 , G01S13/882 , G05D1/10 , G08G5/00
摘要： The present invention relates to terrain referencing navigation technology, especially to a terrain referencing navigation apparatus based on a modified elevation model, which uses a radio-altimeter mounted on a flight vehicle to autonomously detect the location of the flight vehicle without external help and measures the location of the flight vehicle. The terrain referencing navigation apparatus includes an elevation model generating unit that generates the modified elevation model by reflecting the beam-width of the mounted radio-altimeter to digital elevation model data embedded in the flight vehicle in each pixel corresponding to all the radio-altimeter measurement points along a flight path; a data processing unit that extracts elevation data from the waveform of a reflected wave signal that is reflected from the surface of the earth; and a navigation unit that determines the flight path of the flight vehicle by comparing the elevation data that is extracted by the data processing unit with the modified elevation model that is extracted by the elevation model generating unit. [Reference numerals] (100) High frequency module; (140a,140b) High frequency processing unit; (200) Signal processing module; (210) Elevation model generating unit; (220) Data processing unit; (230) Navigation unit; (AA) Tx control/Rx control
摘要翻译：本发明涉及地形参考导航技术，特别是涉及一种基于改进的高程模型的地形参考导航装置，其使用安装在飞行器上的无线电高度计来自动地在没有外部帮助的情况下自动检测飞行器的位置并且测量飞行器的位置。地形引导导航装置包括：高程模型生成单元，其通过将安装的无线电高度计的波束宽度反映到与所有无线电高度计测量对应的每个像素中嵌入在飞行器中的数字高程模型数据来生成修改的高程模型沿着飞行路线的点; 数据处理单元，从从地球表面反射的反射波信号的波形中提取高程数据; 以及导航单元，其通过将由所述数据处理单元提取的高程数据与由所述高程模型生成单元提取的修改的高程模型进行比较来确定所述飞行器的飞行路径。（附图标记）（100）高频模块; （140a，140b）高频处理单元; （200）信号处理模块; （210）高程模型生成单元; （220）数据处理单元; （230）导航单元; （AA）Tx控制/ Rx控制

4. 发明公开

KR1020130129591A 이중 송신빔 방식의 후측방 레이더 有权
标题翻译：双TX-波束类型后方和侧向方向雷达
公开(公告)号：KR1020130129591A
公开(公告)日：2013-11-29
申请号：KR1020120053608
申请日：2012-05-21
申请人： 한화시스템 주식회사
发明人： 김석 , 백인찬
IPC分类号： G01S13/06 , G01S13/93
CPC分类号： G01S13/06 , G01S13/42 , G01S13/93
摘要： The present invention relates to rear lateral radar of dual transmission type capable of detecting multiple rear lateral areas (BSD, LCA, RCTA and RCW) using especially two transmission beams at vehicle radar and the characteristic of the resent invention is to comprise; a first transmission antenna which radiates a first transmission beam for detecting a first area corresponding to a rear lateral blind spot detection (BSD) area, a lane change assist (LCA) area, and a rear crash warning (RCW) area; a second transmission antenna which radiates a second transmission beam for detecting a second area corresponding to a rear cross traffic alert (RCTA) area except the first area detected by the first transmission antenna; first and second reception antennas for receiving a reception signal reflected to a target of the first area or the second area; a first reception signal processing part which outputs a coordinate reception channel signal and a quadrature phase reception channel signal from a first reception signal of the first reception antenna; a second reception signal processing part which outputs a coordinate reception channel signal and a quadrature phase reception channel signal from a second reception signal of the second reception antenna; an AD converter which converts an output of the first and second reception signal processing part according to channel into a digital reception signal; a digital signal processing processer which calculates detection information for the target using the digital signal. [Reference numerals] (100) Superhigh frequency module;(130) Transmission signal processing unit;(140a,140b) Reception signal processing unit;(200) Signal processing module;(220,221,222,223) AD converter;(AA) Tx control;(BB) Rx control;(CC) Correction;(DD) CFAR detection;(EE) Angle calculation
摘要翻译：本发明涉及在车辆雷达上使用特别是两个发射波束来检测多个后侧向区域（BSD，LCA，RCTA和RCW）的双重传输类型的后侧向雷达，并且所述发明的特征包括：第一发射天线，辐射用于检测对应于后侧面盲点检测（BSD）区域，车道改变辅助区域（LCA）区域和后方碰撞警告区域（RCW））的第一区域的第一传输波束; 第二发送天线，其辐射第二发送波束，用于检测对应于由所述第一发送天线检测到的所述第一区域之后的交叉后交通警报（RCTA）区域的第二区域; 第一和第二接收天线，用于接收反映到第一区域或第二区域的目标的接收信号; 第一接收信号处理部，其从第一接收天线的第一接收信号输出坐标接收信道信号和正交相位接收信道信号; 第二接收信号处理部，其从第二接收天线的第二接收信号输出坐标接收信道信号和正交相位接收信道信号; AD转换器，其将根据信道的第一和第二接收信号处理部分的输出转换为数字接收信号; 数字信号处理处理器，使用数字信号计算目标的检测信息。（100）超高频模块;（130）发送信号处理单元;（140a，140b）接收信号处理单元;（200）信号处理模块;（220,221,222,223）AD转换器;（AA）Tx控制;（BB ）Rx控制;（CC）校正;（DD）CFAR检测;（EE）角度计算

5. 发明授权

KR101490819B1 차량용 레이더의 수평 정렬 보정 방법 및 보정 장치 有权
标题翻译：用于车辆雷达水平对准的校准方法和装置
公开(公告)号：KR101490819B1
公开(公告)日：2015-02-06
申请号：KR1020120035423
申请日：2012-04-05
申请人： 한화시스템 주식회사
发明人： 백인찬
IPC分类号： G01S13/06 , G01S13/93 , B60R21/013 , B60W30/08
CPC分类号： G01S13/931 , G01S7/4026 , G01S2007/403
摘要： 차량용 레이더의 수평 정렬 보정 방법이 개시된다. 상기 수평 정렬 보정 방법은 표적정보 획득부가 차량용 레이더로부터 수신한 프레임 데이터로부터 고정 표적 정보를 생성하여 직선 산출부로 전송하는 단계와 상기 직선 산출부가 상기 전송된 고정 표적 정보를 선형 커브 피팅법(Linear Curve Fitting)에 적용하여 가상 직선을 산출하는 단계와 주행 방향 직선 추출모듈이 차량 조향 센서로부터 수신한 센싱 정보에 따라 차량의 주행 방향 직선을 산출하는 단계와 차이각 획득 모듈이 상기 산출된 가상 직선 및 주행 방향 직선 사이의 각도 차이를 계산하는 단계 및 정렬 보정 처리 모듈이 상기 계산된 각도 차이에 따라 상기 차량용 레이더의 수평 정렬을 보정하는 단계를 포함한다.

6. 发明授权

KR101403357B1 고도 적응형 전파고도계를 이용하는 정밀지형 참조 항법장치 有权
标题翻译：使用高度自适应雷达高度计的精密地雷导航装置
公开(公告)号：KR101403357B1
公开(公告)日：2014-06-05
申请号：KR1020130039179
申请日：2013-04-10
申请人： 한화시스템 주식회사
发明人： 백인찬
IPC分类号： G01C21/20 , G01S13/88 , G05D1/10
CPC分类号： G01C21/20 , B64D47/00 , G01S13/882 , G05D1/10 , G08G5/00
摘要： The present invention relates to navigation technology and, more particularly, to a precision topography-aided navigation apparatus using an elevation-adaptive radio altimeter in which detection is allowed to be performed by using a plurality of waveforms that can be convertibly generated according to detected altitudes. The navigation apparatus that measures the altitude of a flight vehicle includes a continuous wave generating unit that generates a continuous wave signal; a frequency modulated wave generating unit that generates a linear frequency modulation signal by using the continuous wave signal which is generated by the continuous wave generating unit; and a control unit that controls so that at least one of the continuous wave signal generated by the continuous wave generating unit and the linear frequency modulation signal generated by the frequency modulated wave generating unit is transmitted on the basis of the altitude of the flight vehicle.
摘要翻译：本发明涉及导航技术，更具体地，涉及一种使用仰角自适应无线电高度计的精密地形辅助导航装置，其中允许通过使用根据检测到的高度可转换地生成的多个波形来进行检测。测量飞行器高度的导航装置包括产生连续波信号的连续波发生单元; 频率调制波生成单元，其通过使用由连续波生成单元生成的连续波信号来生成线性调频信号; 以及控制单元，其控制使得由连续波生成单元生成的连续波信号和由调频波生成单元生成的线性频率调制信号中的至少一个基于飞行器的高度被发送。

7. 发明授权

KR100979943B1 차량용 레이더 안테나의 각도를 조절하는 장치 및 방법 有权
标题翻译：用于调整车辆雷达天线角度的装置和方法
公开(公告)号：KR100979943B1
公开(公告)日：2010-09-06
申请号：KR1020100049200
申请日：2010-05-26
申请人： 한화시스템 주식회사
发明人： 백인찬 , 김영주
IPC分类号： B60W40/02 , B60R1/00 , B60R16/02
摘要： PURPOSE: An apparatus and a method for adjusting the angle of a vehicle radar antenna are provided to efficiently detect a target by sequentially controlling the angle of the vehicle radar antenna. CONSTITUTION: An apparatus for controlling the angle of the vehicle radar antenna comprise: an antenna unit having a plurality of RX-antennas and at least one TX-antenna; a transmitting/receiving unit(403) transmitting a signal to at least two target and receiving a reflected signal from the target; and controller(401) controlling the angle by using distance between the transmitting unit and a target.
摘要翻译：目的：提供一种用于调整车辆雷达天线的角度的装置和方法，以通过依次控制车辆雷达天线的角度来有效地检测目标。构成：用于控制车辆雷达天线的角度的装置包括：具有多个RX天线和至少一个TX天线的天线单元; 发送/接收单元（403），将信号发送到至少两个目标并从目标接收反射信号; 以及控制器（401），通过使用发送单元和目标之间的距离来控制角度。

8. 发明授权

KR101643194B1 ＭＩＭＯ 신호처리 기법을 이용한 다중빔 방식의 후측방 레이더 有权
标题翻译：多波束型后方和侧向RADAR使用MIMO信令方法
公开(公告)号：KR101643194B1
公开(公告)日：2016-07-27
申请号：KR1020120037862
申请日：2012-04-12
申请人： 한화시스템 주식회사
发明人： 김석 , 백인찬
IPC分类号： G01S13/93 , G01S13/06 , B60R21/013 , B60W30/08
摘要： 본발명은차량용레이더에있어서, 특히다중빔을이용하여복수의후측방영역(BSD, LCA, RCTW 및 RCW) 을탐지할수 있는다중빔방식의후측방레이더에관한것으로, 표적의탐지를위한송신신호를송출하는 M개송신안테나와, 상기표적에반사된수신신호를수신하는 N개수신안테나와, 상기수신안테나를통해수신된수신신호들에대해동위상수신채널의수신신호들과직교위상수신채널의수신신호들을각각다중화하여출력하는멀티플렉서와, 상기멀티플렉서에서출력된아날로그수신신호를디지털수신신호로변환하는 AD 컨버터와, 상기디지털수신신호에대한신호처리를통해 MХN개앨리먼트의가상배열안테나패턴을구성하고, 상기가상배열안테나패턴을통해후측방사각지대검출(BSD) 영역을커버하는제1수신빔, 차선변경보조(LCA) 영역을커버하는제2수신빔, 후방주차보조(RCTA) 영역을커버하는제3수신빔, 그리고후방추돌경보(RCW) 영역을커버하는제4수신빔을형성하는디지털신호처리프로세서를포함하여구성되는것이특징인발명이다.

9. 发明公开

KR1020130115510A ＭＩＭＯ 신호처리 기법을 이용한 다중빔 방식의 후측방 레이더 有权
标题翻译：使用MIMO信号方法的多频型后置和侧向方向雷达
公开(公告)号：KR1020130115510A
公开(公告)日：2013-10-22
申请号：KR1020120037862
申请日：2012-04-12
申请人： 한화시스템 주식회사
发明人： 김석 , 백인찬
IPC分类号： G01S13/93 , G01S13/06 , B60R21/013 , B60W30/08
摘要： PURPOSE: A multi beam type rear side radar using a multi-input multi-output (MIMO) signal processing method is provided to simultaneously and precisely detect all rear side areas of rear cross traffic alert (RCTA) areas, rear crash warning (RCW) areas, lane change assist (LCA) areas, and blind spot detection (BSD) areas. CONSTITUTION: Transmission antennas (110,111) transmit transmission signals for the detection of a target. Receiving antennas (120a-120d) receive signals reflected to the target. A multiplexer (210) respectively multiplexes the receiving signals of a quadrature-phase receiving channel and the receiving signals of an in-phase receiving channel in respect to the signals received through the receiving antenna. An analog/digital converter (220) converts an analog receiving signal, output from the multiplexer, into a digital receiving signal. A digital signal processor (230) configures a virtual array antenna pattern having MxN antenna elements through a multi-input multi-output (MIMO) signal processing method for the digital receiving signal. Through the virtual array antenna pattern, the digital signal processor forms a first receiving beam covering a rear-side blind spot detection (BSD) area, a second receiving beam covering a lane change assist (LCA) area, a third receiving beam covering a rear cross traffic alert (RCTA) area, and a fourth receiving beam covering a rear crash warning (RCW) area. [Reference numerals] (100) Superhigh frequency module; (130) Transmission signal processing unit; (140a,140b,140c,140d) Reception signal processing unit; (200) Signal processing module; (210) Multiplexer; (220) AD converter; (AA) Tx control; (BB) Rx control; (CC) Correction; (DD) CFAR detection; (EE) Angle calculation
摘要翻译：目的：提供多输入多输出（MIMO）信号处理方法的多光束型后方雷达，以同时精确检测后交叉警报（RCTA）区域的所有后方区域，后方碰撞警告（RCW）区域，车道改变辅助（LCA）区域和盲区检测（BSD）区域。构成：发射天线（110,111）发送传输信号用于检测目标。接收天线（120a-120d）接收反射到目标的信号。多路复用器（210）相对于通过接收天线接收的信号分别复用正交相位接收信道的接收信号和同相接收信道的接收信号。模拟/数字转换器（220）将从多路复用器输出的模拟接收信号转换成数字接收信号。数字信号处理器（230）通过用于数字接收信号的多输入多输出（MIMO）信号处理方法来配置具有M×N个天线元件的虚拟阵列天线方向图。通过虚拟阵列天线图案，数字信号处理器形成覆盖后方盲点检测（BSD）区域的第一接收束，覆盖车道改变辅助（LCA）区域的第二接收束，覆盖后方盲区检测交叉交通警报（RCTA）区域和覆盖后方碰撞警告（RCW）区域的第四个接收波束。（附图标记）（100）超高频模块; （130）传输信号处理单元; （140a，140b，140c，140d）接收信号处理单元; （200）信号处理模块; （210）多路复用器（220）AD转换器; （AA）Tx控制; （BB）Rx控制; （CC）更正; （DD）CFAR检测; （EE）角度计算

10. 发明授权

KR101052041B1 시분할 송신에 의한 장거리 및 단거리 탐지용 차량 레이더 장치 및 그 탐지 방법 有权
标题翻译：通过发送时间锁定信号的长距离和短距离车辆雷达设备及其检测方法
公开(公告)号：KR101052041B1
公开(公告)日：2011-07-26
申请号：KR1020110011828
申请日：2011-02-10
申请人： 한화시스템 주식회사
发明人： 백인찬
IPC分类号： G01S13/88 , B60R21/00
摘要： PURPOSE: A vehicle radar device and detecting method thereof are provided to effectively detect an obstacle of a long distance and an obstacle of a short distance by transmitting a beam for long distance and a beam for short distance. CONSTITUTION: A first transmission antenna(111) radiates a beam for a long distance detection. A second transmission antenna(112) radiates a beam for a short distance detection. A time division transmission control unit(130) irradiates the beam for the long distance detection and the beam for the short distance detection through a first transmission antenna and a second transmission antenna. A receiving antenna receives the reflected beam for long distance detection and the reflected beam for short distance detection. A signal analyzing unit(150) determines a distance of an obstacle and whether the obstacle exists or not by analyzing the beam for long distance diction and the beam for shot distance detection.
摘要翻译：目的：提供一种车辆雷达装置及其检测方法，通过长距离发射光束和短距离光束来有效地检测长距离障碍物和短距离障碍物。构成：第一发射天线（111）辐射用于长距离探测的光束。第二传输天线（112）辐射用于短距离检测的光束。时分传输控制单元（130）通过第一发射天线和第二发射天线照射用于远距离检测的波束和用于短距离检测的波束。接收天线接收用于长距离检测的反射光束和用于短距离检测的反射光束。信号分析单元（150）通过分析用于长距离测距的光束和用于拍摄距离检测的光束来确定障碍物的距离以及该障碍物是否存在。

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