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111. 发明授权

US6121915A Random noise automotive radar system 失效
标题翻译：随机噪声汽车雷达系统
公开(公告)号：US6121915A
公开(公告)日：2000-09-19
申请号：US982999
申请日：1997-12-03
申请人： George R. Cooper , Jimmie D. Huff , Alexander Niechayev
发明人： George R. Cooper , Jimmie D. Huff , Alexander Niechayev
IPC分类号： G01S13/18 , G01S13/26 , G01S13/32 , G01S13/36 , G01S13/524 , G01S13/58 , G01S13/64 , G01S13/93
CPC分类号： G01S13/584 , G01S13/18 , G01S13/26 , G01S13/32 , G01S13/524 , G01S13/582 , G01S13/64 , G01S13/931 , G01S13/36 , G01S2013/9325 , G01S2013/9342 , G01S2013/9346 , G01S2013/935
摘要： An automotive radar system for use with an automotive control system such as a collision avoidance or smart cruise control system, for example. A wide-bandwidth, random noise signal generated at an RF frequency that is transmitted by a transmitter and reflected from targets in the vicinity of the system. The random noise modulation is sampled prior to transmission in a noise source sampler and this sampled image of the transmitted noise is stored and passed through a series of delay stages that are formed in a correlator. The noise signal reflected from objects is processed by a homodyne receiver and also sampled in a receiver sampler. The noise samples from the signal return are passed to the correlator where they are cross correlated with the delayed images of the transmit noise. The output from the correlator for each unit of delay (range gate) is processed in a digital signal processor to find the range and closing velocity (Doppler frequency) of objects in the field of view. The output (range gate) of the correlator where the delay of the sampled transmit modulation equals the transmit delay of the signal transmitted from the radar system to the object and back, contains the range and closing velocity of the objects. At delays (ranges) where there are no objects to reflect the signal, the outputs of the correlator contain noise. Output signals from the digital signal processor are coupled to the automotive control system which processes the output signals to control the vehicle to avoid collision with the detected targets.
摘要翻译：例如，用于汽车控制系统的汽车雷达系统，例如防撞或智能巡航控制系统。在RF频率处产生的宽带随机噪声信号，其由发射机发射并由系统附近的目标反射。随机噪声调制在噪声源采样器中传输之前被采样，并且将该发射噪声的采样图像存储并通过形成在相关器中的一系列延迟级。从物体反射的噪声信号由零差接收机处理，并在接收机采样器中采样。来自信号返回的噪声样本被传递到相关器，在那里它们与发射噪声的延迟图像交叉相关。在数字信号处理器中处理来自每个延迟单元（量程门）的相关器的输出，以找到在视场中的对象的范围和关闭速度（多普勒频率）。相关器的输出（范围门限），其中采样发射调制的延迟等于从雷达系统发射到物体和后面的信号的发射延迟，包含对象的范围和关闭速度。在没有物体反射信号的延迟（范围）上，相关器的输出包含噪声。来自数字信号处理器的输出信号被耦合到汽车控制系统，其处理输出信号以控制车辆以避免与检测到的目标的碰撞。

112. 发明授权

US6104336A Radar system and method of operating same 有权
公开(公告)号：US6104336A
公开(公告)日：2000-08-15
申请号：US406302
申请日：1999-09-27
申请人： Anthony Curran , Steven L. Potts , Arthur Crain
发明人： Anthony Curran , Steven L. Potts , Arthur Crain
IPC分类号： G01S7/285 , G01S7/35 , G01S13/34 , G01S13/42 , G01S13/48 , G01S13/72 , G01S13/93
CPC分类号： G01S13/931 , G01S13/34 , G01S13/42 , G01S13/48 , G01S13/726 , G01S7/354 , G01S13/345 , G01S2007/356 , G01S2013/9321 , G01S2013/9325 , G01S2013/9353
摘要： A method of operating a radar system, including the steps of digitally sampling a received signal at a predetermined sampling rate, to periodically provide a set of selected samples, the set of selected samples including positive going ramp samples, negative going ramp samples and CW burst samples and performing a first fast Fourier transform (FFT) on the positive going ramp samples, performing a second fast Fourier transform on the negative going ramp samples and performing a third fast Fourier transform on the CW burst samples is described. Utilizing the subsequent radar operations the method further includes the steps of tracking each resulting signal from the first fast Fourier transform performing steps, tracking each resulting signal from the second fast Fourier transform performing steps and tracking each resulting signal from the third fast Fourier transform performing steps and associating any resulting signals from the tracking steps to periodically provide output signals indicative of other vehicles.

113. 发明授权

US6061001A Object detecting apparatus 失效
标题翻译：物体检测装置
公开(公告)号：US6061001A
公开(公告)日：2000-05-09
申请号：US368899
申请日：1999-08-06
申请人： Yoichi Sugimoto
发明人： Yoichi Sugimoto
IPC分类号： B60Q1/52 , B60W30/00 , G01S7/481 , G01S13/93 , G01S17/93 , G08G1/16
CPC分类号： G01S17/936 , B60Q1/52 , G01S13/931 , G01S7/4814 , G08G1/166 , G01S2013/9325 , G01S2013/9353 , G01S2013/9375 , G08G1/165 , Y10S367/909
摘要： The detection region to which the electromagnetic wave from a vehicle is transmitted ahead in a direction of movement of the vehicle in order to detect an obstacle such as another vehicle in front or the like, is composed of a first detection region looking slightly upward with respect to the road surface and a second detection region looking slightly downward with respect to the road surface. Received signal strengths of reflected waves in the first and second detection regions are compared with each other. When the two received signal strengths are substantially equal to each other, the vertical angle of the object detecting apparatus is judged adequate. When the received signal strength of the reflected wave in the upper-side, first detection region is larger, the angle is judged downward. When the received signal strength of the reflected wave in the lower-side, second detection region is larger, the angle is judged upward and the angle for attachment of the object detecting apparatus is adjusted automatically.
摘要翻译：来自车辆的电磁波的检测区域在车辆的移动方向上向前方传递，以便检测诸如前方等的其他车辆的障碍物，由与第一检测区域相对地看起来稍微向上并且相对于路面稍微向下看的第二检测区域。将第一和第二检测区域中的反射波的接收信号强度相互比较。当两个接收信号强度基本相等时，判断物体检测装置的垂直角度是足够的。当上侧，第一检测区域中的反射波的接收信号强度较大时，向下判断角度。当下侧，第二检测区域的反射波的接收信号强度较大时，向上判断角度，并自动调整物体检测装置的安装角度。

114. 发明授权

US6043773A Vehicle-mounted radar apparatus 失效
标题翻译：车载雷达装置
公开(公告)号：US6043773A
公开(公告)日：2000-03-28
申请号：US8545
申请日：1998-01-16
申请人： Masahiro Watanabe
发明人： Masahiro Watanabe
IPC分类号： G01S13/60 , G01S13/93
CPC分类号： G01S13/931 , G01S2013/9325
摘要： A variable-scanning-speed mechanical driving unit is provided for providing control in such a manner as to acquire data while continuously changing in a range of a scanning angle the direction of an antenna unit for transmission and reception of radio waves. A so-called warning mode which is primarily aimed at the prevention of a collision is set, and a data updating period is shortened by making the scanning speed for transmitted radio waves and received radio waves so relatively high so as to shorten the data updating period. In a case where a so-called follow-up mode which is primarily aimed at follow-up traveling is set, the scanning speed for transmitted radio waves and received radio waves is made relatively low so as to extend the data updating period. Accordingly, the vehicle-mounted radar apparatus can be used as a following-distance warning apparatus or a following-distance controlling apparatus, to make it possible to obtain such as resolutions of the relative distance and relative velocity and a data updating period which are optimally suited for one's own vehicle and a driver in correspondence with the situation during actual use of the apparatus.
摘要翻译：提供了一种可变扫描速度机械驱动单元，用于以在无线电波的发送和接收的天线单元的方向上的扫描角度的范围内连续变化的同时获取数据的方式提供控制。设置主要针对防止碰撞的所谓的警告模式，通过使发送的无线电波和接收的无线电波的扫描速度相对较高以缩短数据更新周期，从而缩短数据更新周期。在主要针对跟随行进的所谓的后续模式被设定的情况下，使发送的无线电波和接收的无线电波的扫描速度相对较低，以便延长数据更新周期。因此，车载雷达装置可以用作后续距离警告装置或后续距离控制装置，以使得可以获得相对距离和相对速度的分辨率以及数据更新周期是最佳的适合自己的车辆和驾驶员在实际使用该设备时与该情况相对应。

115. 发明授权

US5983161A GPS vehicle collision avoidance warning and control system and method 失效
公开(公告)号：US5983161A
公开(公告)日：1999-11-09
申请号：US717807
申请日：1996-09-24
申请人： Jerome H. Lemelson , Robert D. Pedersen
发明人： Jerome H. Lemelson , Robert D. Pedersen
IPC分类号： G01S5/14 , G01S13/86 , G01S13/93 , G01S17/02 , G01S17/93 , G01S19/11 , G01S19/48 , G07C5/08 , G08G1/123 , G08G1/16 , G06F165/00
CPC分类号： G01S19/11 , G07C5/0891 , G08G1/164 , G08G1/20 , B60T2201/022 , B60T2201/08 , B60T2201/082 , B60T2201/083 , B60T2201/085 , B60T2201/087 , G01S13/86 , G01S13/931 , G01S17/023 , G01S17/936 , G01S2013/9321 , G01S2013/9325 , G01S2013/9339 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9357 , G01S2013/936 , G01S5/009
摘要： GPS satellite (4) ranging signals (6) received (32) on comm1, and DGPS auxiliary range correction signals and pseudolite carrier phase ambiguity resolution signals (8) from a fixed known earth base station (10) received (34) on comm2, at one of a plurality of vehicles/aircraft/automobiles (2) are computer processed (36) to continuously determine the one's kinematic tracking position on a pathway (14) with centimeter accuracy. That GPS-based position is communicated with selected other status information to each other one of the plurality of vehicles (2), to the one station (10), and/or to one of a plurality of control centers (16), and the one vehicle receives therefrom each of the others' status information and kinematic tracking position. Objects (22) are detected from all directions (300) by multiple supplemental mechanisms, e.g., video (54), radar/lidar (56), laser and optical scanners. Data and information are computer processed and analyzed (50,52,200,452) in neural networks (132, FIGS. 6-8) in the one vehicle to identify, rank, and evaluate collision hazards/objects, an expert operating response to which is determined in a fuzzy logic associative memory (484) which generates control signals which actuate a plurality of control systems of the one vehicle in a coordinated manner to maneuver it laterally and longitudinally to avoid each collision hazard, or, for motor vehicles, when a collision is unavoidable, to minimize injury or damage therefrom. The operator is warned by a heads up display and other modes and may override. An automotive auto-pilot mode is provided.

116. 发明授权

US5959552A System for minimizing automobile collision damage and personal injury 失效
标题翻译：减少汽车碰撞伤害和人身伤害的系统
公开(公告)号：US5959552A
公开(公告)日：1999-09-28
申请号：US859647
申请日：1997-05-20
申请人： Myungeun Cho
发明人： Myungeun Cho
IPC分类号： B60R19/20 , B60R19/38 , B60R21/01 , B60R21/0134 , G01S13/93 , G08G1/16
CPC分类号： B60R21/013 , B60R19/205 , B60R19/38 , G01S13/931 , B60R19/20 , B60R21/0134 , B60T2201/024 , G01S2013/9321 , G01S2013/9325 , G01S2013/9332 , G01S2013/9346 , G01S2013/9353 , G01S2013/9375 , G01S2013/9378 , G01S2013/9385
摘要： A system for minimizing roadway vehicle damage and personal injury which includes a detection sensor unit, a computer processing unit (CPU), and energy absorbing inflation devices. The detection sensor unit, which is mounted on the roadway vehicle to detect the speed, distance and direction of a potential obstacle, includes a transmitter for transmitting signals and a directional receiver to receive signals reflected by the potential obstacle and generates an electronic signal in response thereto. The CPU, which receives information on the speed and direction of the roadway vehicle and receives signals from the detection sensor unit continuously processes the information and signals and calculates changes in the speed, distance and direction of the potential obstacle with respect to the roadway vehicle. The CPU generates a control signal upon calculation of an imminent collision situation, which calculation is based on a predetermined minimum allowable time window. The minimum allowable time window is generally defined as a time period during which a driver of the roadway vehicle is unable to take evasive action, such as braking or turning the steering wheel, to avoid a collision situation. Each of the energy absorbing inflation devices includes an electronically controlled valve, with at least one of the energy absorbing inflation devices being responsive to the control signal. An external air bag is coupled to the valve of one of the energy absorbing inflation devices and an internal air bag is coupled to the valve of another of the inflation devices, such that upon calculation by the CPU of the imminent collision situation based on the predetermined minimum allowable time window, the CPU transmits the control signal to one of the energy absorbing inflation devices to deploy the air bags prior to the time of actual collision.
摘要翻译：一种用于最小化道路车辆损坏和人身伤害的系统，其包括检测传感器单元，计算机处理单元（CPU）和能量吸收膨胀装置。安装在道路车辆上以检测潜在障碍物的速度，距离和方向的检测传感器单元包括用于发送信号的发射器和用于接收由潜在障碍物反射的信号的定向接收器，并且响应地产生电子信号到此。接收关于道路车辆的速度和方向的信息并接收来自检测传感器单元的信号的CPU连续处理信息和信号，并且计算出相对于道路车辆的潜在障碍物的速度，距离和方向的变化。 CPU在计算即将发生的碰撞情况时产生控制信号，该计算基于预定的最小允许时间窗口。最小允许时间窗口通常被定义为道路车辆的驾驶员不能采取诸如制动或转动方向盘的回避动作以避免碰撞情况的时间段。每个能量吸收膨胀装置包括电子控制阀，其中至少一个能量吸收膨胀装置响应控制信号。外部气囊与能量吸收膨胀装置之一的阀联接，并且内部气囊与另一个充气装置的阀联接，使得在CPU根据预定的冲击状态计算即将发生的碰撞情况时最小允许时间窗口，CPU将控制信号发送到能量吸收充气装置之一以在实际碰撞之前部署气囊。

117. 发明授权

US5949365A Multiple-beam radar system 失效
标题翻译：多波束雷达系统
公开(公告)号：US5949365A
公开(公告)日：1999-09-07
申请号：US55788
申请日：1998-04-06
申请人： Klaus-Peter Wagner
发明人： Klaus-Peter Wagner
IPC分类号： H01Q19/06 , G01S7/282 , G01S13/00 , G01S13/48 , G01S13/87 , G01S13/93
CPC分类号： G01S13/87 , G01S13/48 , G01S13/931 , G01S13/003 , G01S2013/9325
摘要： A multiple-beam radar system, in particular for motor vehicle applications. More transmission elements than reception elements are present. The transmission elements present can be activated both individually and also in any desired simultaneous combination. An observable angular region can thereby be widened, in economical fashion, as compared with known radar systems.
摘要翻译：多波束雷达系统，特别适用于机动车辆应用。存在比接收元件更多的传输元件。存在的传输元件可以单独激活，也可以以任何期望的同时组合来激活。与已知的雷达系统相比，可观察到的角度区域可以以经济的方式加宽。

118. 发明授权

US5929803A Vehicular radar apparatus 失效
标题翻译：车载雷达装置
公开(公告)号：US5929803A
公开(公告)日：1999-07-27
申请号：US4646
申请日：1998-01-08
申请人： Naohisa Uehara , Masahiro Watanabe
发明人： Naohisa Uehara , Masahiro Watanabe
IPC分类号： B60K31/00 , B60W30/00 , F02D29/02 , G01S7/41 , G01S13/34 , G01S13/42 , G01S13/536 , G01S13/86 , G01S13/93 , G01S17/93 , G08G1/16 , G01S13/92
CPC分类号： G01S7/415 , G01S13/536 , G01S13/931 , G01S7/411 , G01S13/34 , G01S13/42 , G01S13/86 , G01S2013/9321 , G01S2013/9325
摘要： Vehicular radar apparatus which enhances the accuracy of detection of a preceding vehicle and the reliability in tracking, by performing operations that use a normal distribution. For the purpose of obtaining a distance between one's own vehicle, on which the radar apparatus is mounted, and a target object, and obtaining a relative velocity from input data based on transmission and reception electromagnetic waves, this radar apparatus provided with a signal processing unit which has operation devices for performing an operation by applying normal distributions to frequencies of detection of the distance and the relative velocity and a target object recognition device for recognizing a target object on the basis of results of an operation to which the normal distributions are applied. The operation device is operative to establish a window corresponding to each target object, and obtain the frequencies of detection of the distance and the relative velocity correspondingly to each of plural data widths or sections of a probability density on a normal distribution curve, and establish a next window from data representing detected frequencies. The target object recognition device is operative to recognize target objects, each of which corresponds to a distance and a relative velocity that are within a same window, as different objects, but recognize target objects, each of which corresponds to a distance and a relative velocity that are not within a same window, as different objects as an identical object.
摘要翻译：通过执行使用正态分布的操作，提高前方车辆的检测精度的车辆雷达装置和跟踪的可靠性。为了获得安装雷达装置的自己的车辆与目标物体之间的距离，并且基于发射和接收电磁波从输入数据获得相对速度，该雷达装置设置有信号处理单元其具有用于通过将正态分布应用于距离的检测频率和相对速度来执行操作的操作装置，以及用于基于应用正态分布的操作的结果来识别目标对象的目标对象识别装置。操作装置用于建立对应于每个目标对象的窗口，并且获得对应于正常分布曲线上的多个数据宽度或概率密度部分中的每一个的距离和相对速度的检测频率，并建立来自表示检测到的频率的数据的下一个窗口。目标对象识别装置用于识别目标对象，每个目标对象对应于与不同对象相同的窗口内的距离和相对速度，但是识别目标对象，每个对象对应于距离和相对速度它们不在同一个窗口内，作为与相同对象不同的对象。

119. 发明授权

US5928299A Vehicle control system using navigation system steering 有权
标题翻译：车载控制系统采用导航系统转向
公开(公告)号：US5928299A
公开(公告)日：1999-07-27
申请号：US127934
申请日：1998-08-03
申请人： Hiroshi Sekine , Nobuyoshi Asanuma
发明人： Hiroshi Sekine , Nobuyoshi Asanuma
IPC分类号： B62D1/28 , B62D6/00 , G01C21/26 , G01C21/28 , G01S5/14 , G01S13/93 , G01S19/14 , G06F19/00 , G01C21/20
CPC分类号： G01C21/28 , B62D1/28 , B62D6/00 , G01C21/26 , G01S13/931 , G01S2013/9321 , G01S2013/9325 , G01S2013/9342 , G01S2013/9353 , G01S2013/9357 , G01S2013/9375 , G01S2013/9385
摘要： An azimuth change quantity .theta. of a road during traveling of a vehicle for a time .delta.t is calculated based on road data provided by a navigation system and a vehicle speed provided by a vehicle speed sensor (at step S3 in FIG. 2). On the other hand, an azimuth change quantity .THETA. of the vehicle is calculated by integrating a yaw rate .gamma. obtained from a yaw rate sensor over the time .delta.t (at step S5). A deviation D between the azimuth change quantity .theta. of the road and the azimuth change quantity .THETA. of the vehicle is calculated (at step S6). When the deviation D becomes equal to or larger than a reference value .beta., it is determined that there is a possibility that the vehicle will depart from the road (at step S9), and a predetermined steering torque is applied to a steering device, so that the deviation is converged into zero (at steps S10 and S11).
摘要翻译：根据由导航系统提供的道路数据和由车速传感器提供的车速（在图2中的步骤S3），计算在车辆行驶期间的时间段Δt的道路的方位角变化量θ。另一方面，车辆的方位角变化量THETA通过对从时差Δt得到的横摆率传感器的偏航率γ进行积分来计算（步骤S5）。计算道路的方位角变化量θ与车辆的方位角变化量THETA之间的偏差D（步骤S6）。当偏差D变得等于或大于参考值β时，确定存在车辆将离开道路的可能性（在步骤S9），并且将预定的转向扭矩施加到转向装置，因此偏差收敛于零（步骤S10和S11）。

120. 发明授权

US5878362A Vehicle steering control system including corrections for map position and detected obstacles 有权
标题翻译：车辆转向控制系统包括地图位置和检测到的障碍物的校正
公开(公告)号：US5878362A
公开(公告)日：1999-03-02
申请号：US128001
申请日：1998-08-03
申请人： Hiroshi Sekine , Nobuyoshi Asanuma
发明人： Hiroshi Sekine , Nobuyoshi Asanuma
IPC分类号： B62D1/28 , B62D6/00 , G01C21/26 , G01C21/28 , G01S5/14 , G01S13/93 , G01S19/14 , G01C21/20
CPC分类号： G01C21/28 , B62D1/28 , B62D6/00 , G01C21/26 , G01S13/931 , G01S2013/9321 , G01S2013/9325 , G01S2013/9342 , G01S2013/9353 , G01S2013/9357 , G01S2013/9375 , G01S2013/9385
摘要： An azimuth change quantity .theta. of a road during traveling of a vehicle for a time .delta.t is calculated based on road data provided by a navigation system and a vehicle speed provided by a vehicle speed sensor (at step S3 in FIG. 2). On the other hand, an azimuth change quantity .THETA. of the vehicle is calculated by integrating a yaw rate .gamma. obtained from a yaw rate sensor over the time .delta.t (at step S5). A deviation D between the azimuth change quantity .theta. of the road and the azimuth change quantity .THETA. of the vehicle is calculated (at step S6). When the deviation D becomes equal to or larger than a reference value .beta., it is determined that there is a possibility that the vehicle will depart from the road (at step S9) , and a predetermined steering torque is applied to a steering device, so that the deviation is converged into zero (at steps S10 and S11).
摘要翻译：根据由导航系统提供的道路数据和由车速传感器提供的车速（在图2中的步骤S3），计算在车辆行驶期间的时间段Δt的道路的方位角变化量θ。另一方面，车辆的方位角变化量THETA通过对从时差Δt得到的横摆率传感器的偏航率γ进行积分来计算（步骤S5）。计算道路的方位角变化量θ与车辆的方位角变化量THETA之间的偏差D（步骤S6）。当偏差D变得等于或大于参考值β时，确定存在车辆将离开道路的可能性（在步骤S9），并且将预定的转向扭矩施加到转向装置，因此偏差收敛于零（步骤S10和S11）。

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