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1. 发明授权

US07570197B2 Radar device 失效
标题翻译：雷达设备
公开(公告)号：US07570197B2
公开(公告)日：2009-08-04
申请号：US10478805
申请日：2001-05-30
申请人： Kazuaki Takano , Jiro Takezaki , Hiroshi Kuroda , Hiroshi Kondo
发明人： Kazuaki Takano , Jiro Takezaki , Hiroshi Kuroda , Hiroshi Kondo
IPC分类号： G01S13/93 , G01S7/40 , G01S13/00 , G01S7/00
CPC分类号： G01S13/931 , G01S13/003 , G01S13/345 , G01S13/348 , G01S13/426 , G01S13/4454 , G01S13/48 , G01S13/584 , G01S2013/9321 , G01S2013/9325 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9375 , G01S2013/9389
摘要： One of the objects of the present invention is to reduce the size of a radar device mounted on a vehicle body. To achieve the object, one aspect of the invention provides a radar device, which is mounted on a vehicle body and detects a target present in a moving direction of the vehicle body, with (1) a transmitting antenna for transmitting a mm-Wave that forms an electric field having a width equivalent to the width of the vehicle body at a position away in a moving direction of the vehicle body by a distance corresponding to the most-approached distance defined between the vehicle body and the target and (2) two receiving antennas for receiving the reflected mm-Waves at mutually different positions.
摘要翻译：本发明的目的之一是减小安装在车体上的雷达装置的尺寸。为了实现该目的，本发明的一个方面提供了一种雷达装置，其安装在车身上，并且检测目前存在于车身的移动方向上的目标，其中（1）发射天线用于发射mm波，在车体的移动方向上的位置处的距离对应于车身与目标之间最接近的距离的距离，形成与车体的宽度相当的宽度的电场，（2）两接收天线，用于在相互不同的位置接收反射的mm波。

2. 发明授权

US07136013B2 Radio-wave radar system and adaptive cruise control system 失效
标题翻译：无线电波雷达系统和自适应巡航控制系统
公开(公告)号：US07136013B2
公开(公告)日：2006-11-14
申请号：US10625642
申请日：2003-07-24
申请人： Kazuhiko Hanawa , Hiroshi Kuroda , Kazuaki Takano
发明人： Kazuhiko Hanawa , Hiroshi Kuroda , Kazuaki Takano
IPC分类号： G01S13/42 , G01S13/93
CPC分类号： B60K31/00 , G01S7/352 , G01S13/10 , G01S13/32 , G01S13/34 , G01S13/87 , G01S13/931 , G01S2007/356 , G01S2013/9321 , G01S2013/9325 , G01S2013/9346 , G01S2013/935
摘要： In a radio wave radar system using a two-frequency CW modulation method, it is possible to detect a distance between a host vehicle and a forward vehicle and to realize a stable ACC following travel, even in a condition in which the relative speed is 0. By combining the two-frequency CW modulation method with the frequency pulse CW modulation method, that is, by using combination with the two-frequency CW method when the relative speed occurs and the frequency pulse CW method when the relative speed is close to 0, even if the relative speed is 0, the IF signal obtained from the reflected wave from the forward vehicle can be generated to detect the existence of the ACC target vehicle, so that it is possible to realize a stable ACC following travel.
摘要翻译：在使用双频CW调制方式的无线电波雷达系统中，即使在相对速度为0的条件下，也可以检测本车辆与前方车辆之间的距离，并且实现行驶后的稳定的ACC 通过将双频CW调制方式与频率脉冲CW调制方式相结合，即当相对速度发生时通过与双频CW方法组合，当相对速度接近于0时使用频率脉冲CW方法即使相对速度为0，也可以生成从前方车辆的反射波获得的IF信号，以检测ACC目标车辆的存在，从而可以实现行驶后的稳定的ACC。

3. 发明授权

US06972710B2 Automotive radio wave radar and signal processing 失效
标题翻译：汽车无线电波雷达和信号处理
公开(公告)号：US06972710B2
公开(公告)日：2005-12-06
申请号：US10665562
申请日：2003-09-22
申请人： Shigeaki Matsubara , Kazuaki Takano , Hiroshi Kuroda
发明人： Shigeaki Matsubara , Kazuaki Takano , Hiroshi Kuroda
IPC分类号： B60R21/00 , G01S7/36 , G01S7/40 , G01S13/32 , G01S13/34 , G01S13/38 , G01S13/93
CPC分类号： G01S7/36 , G01S7/4004 , G01S13/34 , G01S13/38 , G01S13/931 , G01S2013/462
摘要： In an automotive radio wave radar, a center frequency of a transmitted wave is shifted at a certain cycle, and position information of an obstacle detected at three or more center frequencies is subjected to decision by majority to determine whether detection results of the obstacle are erroneous with the occurrence of jamming. If any of the detection results is determined to be abnormal, the abnormal result is discarded. An automotive radio wave radar is realized which can correctly perform the obstacle detection even in the event of jamming without causing erroneous obstacle detection or omission of the detection.
摘要翻译：在汽车无线电波雷达中，发送波的中心频率以一定的周期移动，并且以三个以上的中心频率检测到的障碍物的位置信息经过多数决定，以确定障碍物的检测结果是否是错误的发生卡住。如果检测结果中的任何一个异常，则异常结果被丢弃。实现了一种汽车无线电波雷达，其即使在卡住的情况下也能正确地执行障碍物检测，而不会引起错误的障碍物检测或省略检测。

4. 发明授权

US06191704B1 Run environment recognizing apparatus 失效
标题翻译：运行环境识别装置
公开(公告)号：US06191704B1
公开(公告)日：2001-02-20
申请号：US08994750
申请日：1997-12-19
申请人： Hiroshi Takenaga , Hiroshi Kuroda , Satoru Kuragaki , Mitsuo Kayano , Tokuji Yoshikawa , Hiroto Morizane , Kazuaki Takano
发明人： Hiroshi Takenaga , Hiroshi Kuroda , Satoru Kuragaki , Mitsuo Kayano , Tokuji Yoshikawa , Hiroto Morizane , Kazuaki Takano
IPC分类号： G08G116
CPC分类号： G01S13/42 , B60K31/0008 , G01S13/867 , G01S13/931 , G01S2013/9321 , G01S2013/9325 , G01S2013/9353 , G01S2013/9357 , G05D1/0246 , G05D1/0257 , G05D1/0278 , G08G1/09623 , G08G1/165 , G08G1/166 , G08G1/167
摘要： Described herein is a run environment recognizing apparatus. The run environment recognizing apparatus comprises an imaging device for sensing the direction of traveling of a host vehicle as imaging vision, a radar for detecting the direction of traveling of the host vehicle as a detection range, an image processing device for recognizing traveling lanes, leading vehicles and stationary objects located ahead of the host vehicle, based on the image information sensed by the imaging device and the result of detection by the radar, and a display for displaying the results of recognition by the image processing device. The image processing device includes means for setting vehicle regions indicative of the leading vehicles within the image information, based on the result of detection by the radar. Thus, the influence of the leading vehicles in the process for recognizing the traveling lanes within the image information is eliminated by the vehicle regions.
摘要翻译：这里描述了运行环境识别装置。运行环境识别装置包括：摄像装置，用于感测作为成像视觉的主车辆的行驶方向，用于检测本车辆的行驶方向的雷达作为检测范围，识别行车道的图像处理装置，前导基于由成像装置感测的图像信息和雷达的检测结果，位于主车辆前方的车辆和固定物体以及用于显示图像处理装置的识别结果的显示器。图像处理装置包括：基于雷达的检测结果，在图像信息内设定表示前方车辆的车辆区域的装置。因此，车辆区域消除了在图像信息中识别行车道的过程中的主要车辆的影响。

5. 发明授权

US07084761B2 Security system 失效
公开(公告)号：US07084761B2
公开(公告)日：2006-08-01
申请号：US10226116
申请日：2002-08-23
申请人： Shiho Izumi , Hiroshi Kuroda , Satoru Kuragaki , Kazuhiko Sato , Terumi Nakazawa , Kenichi Mitzuishi , Kazuaki Takano , Mitsuhide Sasaki , Hiroshi Kondoh , Mikito Tsubota
发明人： Shiho Izumi , Hiroshi Kuroda , Satoru Kuragaki , Kazuhiko Sato , Terumi Nakazawa , Kenichi Mitzuishi , Kazuaki Takano , Mitsuhide Sasaki , Hiroshi Kondoh , Mikito Tsubota
IPC分类号： G08B13/00
CPC分类号： G01S13/56 , G01S13/04 , G01S13/348 , G01S13/589
摘要： There is provided a device in which surroundings of a building can be monitored using a sensor; when detecting an intruder, an object can be detected even in the case of bad weather; and a predetermined area can be monitored using as few sensors as possible. The device includes a security system which emits a radio wave from a building to a predetermined area outside the building to detect an object, and on the basis of output of the object detecting unit, a judgment is made as to whether or not the object will intrude into the predetermined area.

6. 发明授权

US06703967B1 Distance measuring device 失效
标题翻译：距离测量装置
公开(公告)号：US06703967B1
公开(公告)日：2004-03-09
申请号：US10069593
申请日：2002-02-27
申请人： Hiroshi Kuroda , Kazuaki Takano , Mitsuru Nakamura
发明人： Hiroshi Kuroda , Kazuaki Takano , Mitsuru Nakamura
IPC分类号： G01S1338
CPC分类号： G01S13/348 , G01S13/536 , G01S13/584 , G01S13/931 , G01S2013/462 , G01S2013/9375
摘要： From a transmitter (18) and a transmission antenna (10), a first frequency signal having a fixed frequency is transmitted for a predetermined time or more, a second frequency signal having a certain frequency difference from the first frequency signal is transmitted for a predetermined time or more, and a third frequency signal having a frequency difference twice the frequency distance from the first frequency signal is transmitted for a predetermined time or more. Reflected waves from objects under measurement at the respective transmission frequencies are supplied to a reception antenna (11), a mixer (12), an analog circuit unit (13), an A/D converter (14), an FFT (15) and a signal processing unit (16). Then, the Doppler frequencies are measured for the reflected waves, objects under measurement are separated and detected at each Doppler frequency, and objects under measurements having the same Doppler frequency are separated to identify a plurality of objects under measurement from phase information and amplitude information of received signals acquired at each transmission frequency. In this manner, when there are a plurality of objects under measurement which are substantially equal in relative speed, these can be separated from each other and detected.
摘要翻译：从发送器（18）和发送天线（10）发送具有固定频率的第一频率信号预定时间或更长时间，将具有与第一频率信号的一定频率差的第二频率信号发送到预定的时间以上，并且具有与第一频率信号的频率距离的两倍的频率差的第三频率信号被发送预定时间或更长时间。在各个传输频率处的被测物体的反射波被提供给接收天线（11），混频器（12），模拟电路单元（13），A / D转换器（14），FFT（15）和信号处理单元（16）。然后，对于反射波测量多普勒频率，在每个多普勒频率下分离检测被测物体，并且分离具有相同多普勒频率的测量对象，以便从相位信息和振幅信息的相位信息和振幅信息中识别测量中的多个对象在每个传输频率处获取的接收信号。以这种方式，当有多个测量对象在相对速度上基本相等时，可以彼此分离并检测。

7. 发明授权

US06473685B2 Vehicle speed control apparatus 有权
公开(公告)号：US06473685B2
公开(公告)日：2002-10-29
申请号：US09971639
申请日：2001-10-09
申请人： Hiroshi Kuroda , Hiroshi Takenaga , Satoru Kuragaki , Mitsuo Kayano , Toshimichi Minowa , Kazuaki Takano
发明人： Hiroshi Kuroda , Hiroshi Takenaga , Satoru Kuragaki , Mitsuo Kayano , Toshimichi Minowa , Kazuaki Takano
IPC分类号： G06F700
CPC分类号： B60W10/10 , B60K31/0008 , B60K31/0066 , B60T7/22 , B60W10/184 , B60W30/045 , B60W30/143 , B60W30/16 , B60W2520/14 , B60W2550/143 , B60W2550/20 , B60W2550/402 , B60W2720/106 , F02D29/02 , G08G1/167
摘要： A vehicle speed control apparatus for allowing a host vehicle trailing a preceding vehicle to accelerate and decelerate without causing discomfort to the host vehicle driver. While the host vehicle is trailing the preceding vehicle, the apparatus on board the host vehicle stores the speed of the preceding vehicle entering a curve ahead as well as a headway distance of the host vehicle to the preceding vehicle. Upon reaching the curve, the host vehicle is controlled by the apparatus to enter the curve at a speed not in excess of the stored speed of the preceding vehicle.

8. 发明授权

US06363311B1 Running controller for automobile 失效
标题翻译：汽车运行控制器
公开(公告)号：US06363311B1
公开(公告)日：2002-03-26
申请号：US09555480
申请日：2000-06-01
申请人： Hiroshi Kuroda , Hiroshi Takenaga , Satoru Kuragaki , Mitsuo Kayano , Toshimichi Minowa , Kazuaki Takano
发明人： Hiroshi Kuroda , Hiroshi Takenaga , Satoru Kuragaki , Mitsuo Kayano , Toshimichi Minowa , Kazuaki Takano
IPC分类号： B60T832
CPC分类号： B60W10/10 , B60K31/0008 , B60K31/0066 , B60T7/22 , B60W10/184 , B60W30/045 , B60W30/143 , B60W30/16 , B60W2520/14 , B60W2550/143 , B60W2550/20 , B60W2550/402 , B60W2720/106 , F02D29/02 , G08G1/167
摘要： A vehicle speed control apparatus for allowing a host vehicle trailing a preceding vehicle to accelerate and decelerate without causing discomfort to the host vehicle driver. While the host vehicle is trailing the preceding vehicle, the apparatus on board the host vehicle stores the speed of the preceding vehicle entering a curve ahead as well as a headway distance of the host vehicle to the preceding vehicle. Upon reaching the curve, the host vehicle is controlled by the apparatus to enter the curve at a speed not in excess of the stored speed of the preceding vehicle.
摘要翻译：一种车辆速度控制装置，用于允许主车辆前进车辆加速和减速，而不会对主车辆驾驶员造成不适。在本车辆跟随前一车辆的情况下，主车辆上的装置存储前一车辆进入前方曲线的速度以及本车辆与前一车辆的前进距离。当达到曲线时，本车辆由设备控制，以不超过前一车辆的存储速度的速度进入曲线。

9. 发明授权

US07136736B2 Vehicular travel control device 有权
标题翻译：车辆行驶控制装置
公开(公告)号：US07136736B2
公开(公告)日：2006-11-14
申请号：US10419878
申请日：2003-04-22
申请人： Satoru Kuragaki , Tokuji Yoshikawa , Shiho Izumi , Hiroshi Kuroda , Takao Kojima , Toshimichi Minowa , Toshio Manaka , Nobuyuki Ueki , Kazuaki Takano
发明人： Satoru Kuragaki , Tokuji Yoshikawa , Shiho Izumi , Hiroshi Kuroda , Takao Kojima , Toshimichi Minowa , Toshio Manaka , Nobuyuki Ueki , Kazuaki Takano
IPC分类号： G01S3/00 , G01S13/36
CPC分类号： B60G17/0195 , B60G17/016 , B60G17/019 , B60G2400/0511 , B60G2400/0512 , B60G2400/0513 , B60G2400/204 , B60G2400/2042 , B60G2400/252 , B60G2401/174 , B60G2800/702 , B60T8/172 , B60T2250/04 , B60W2420/00 , B60W2420/52 , G01S13/36 , G01S13/60 , G01S13/874 , G01S2013/9346
摘要： In a vehicular control device, it is necessary to measure or calculate six physical quantities-forward-reverse speed, left-right speed, vertical speed, pitch angle, roll angle, and angle of sideslip-representing vehicular movement and to control the braking force of each wheel and/or the damping coefficient of each suspension shock absorber in order to further shorten braking distance particularly at the time of braking and to prevent spin at that time. In this case, it is necessary to furnish sensors to measure speed and angle directly. In the present invention, four radar sensors are used in order to directly measure the forward-reverse speed and the left-right speed. Also, the vertical speed, the pitch angle, the roll angle, and the angle of sideslip are indirectly measured from the output of the radar sensors. By using three or four radar sensors, six physical quantities—the forward speed, the left-right direction speed, the vertical speed, the angle of sideslip, the pitch angle, and the roll angle—can be measured. Also, by using two radar sensors, three physical quantities—the forward speed, the left-right speed, and the angle of sideslip—can be measured.
摘要翻译：在车辆控制装置中，需要测量或计算六个物理量 - 前进 - 倒退速度，左右速度，垂直速度，俯仰角，侧倾角以及侧滑表示车辆运动的角度并且控制制动力以及每个悬架减震器的阻尼系数，以进一步缩短制动距离，特别是在制动时，并防止此时的旋转。在这种情况下，需要提供传感器直接测量速度和角度。在本发明中，为了直接测量前进后退速度和左右速度，使用四个雷达传感器。此外，从雷达传感器的输出间接测量垂直速度，俯仰角，侧倾角和侧滑角。通过使用三个或四个雷达传感器，可以测量六个物理量 - 前进速度，左右方向速度，垂直速度，侧滑角，俯仰角和滚动角度。此外，通过使用两个雷达传感器，可以测量三个物理量 - 前进速度，左右速度和侧滑角。

10. 发明授权

US07091900B2 Radar 失效
标题翻译：雷达
公开(公告)号：US07091900B2
公开(公告)日：2006-08-15
申请号：US10502596
申请日：2002-01-28
申请人： Kazuaki Takano , Hiroshi Kuroda
发明人： Kazuaki Takano , Hiroshi Kuroda
IPC分类号： G01S13/93
CPC分类号： G01S13/931 , G01S2013/9325 , G01S2013/9346 , G01S2013/9353 , G01S2013/9375
摘要： A radar of the present invention has: (1) an antenna unit for transmitting a radio wave and receiving a reflected wave of the radio wave; (2) rotating means for rotating the antenna unit about an axis along a direction of transmitting the radio wave; and (3) control means for detecting an azimuth of a target from the reflected wave, the azimuth using the axis as a reference and being defined in a plane determined from a posture of the antenna unit and the axis.
摘要翻译：本发明的雷达具有：（1）用于发送无线电波并接收无线电波的反射波的天线单元; （2）旋转装置，用于沿着发送无线电波的方向围绕轴线旋转天线单元; 以及（3）用于从反射波检测目标的方位角的控制装置，使用该轴作为基准的方位角，并且在由天线单元和轴的姿势确定的平面中限定。

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