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1. 发明授权

US07911374B2 Radar device and target detection method 有权
标题翻译：雷达装置和目标检测方法
公开(公告)号：US07911374B2
公开(公告)日：2011-03-22
申请号：US12320414
申请日：2009-01-26
申请人： Takumi Moriuchi , Masahiro Sakaguchi , Hisateru Asanuma , Tomoya Kawasaki , Jun Tsunekawa , Motomi Iyoda
发明人： Takumi Moriuchi , Masahiro Sakaguchi , Hisateru Asanuma , Tomoya Kawasaki , Jun Tsunekawa , Motomi Iyoda
IPC分类号： G01S13/60 , G01S13/93
CPC分类号： G01S3/48 , G01S13/345 , G01S13/584 , G01S13/723 , G01S13/931 , G01S2013/9375 , G01S2013/9389
摘要： A target position is estimated in such a manner to maintain target position continuity, with high accuracy, even when the X coordinate displacement of the target is large. 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 for estimate is a position having an X coordinate resulting from shifting, by a first displacement, the X coordinate estimated according to the trajectory, on a basis of the X coordinate of a previous position, while when the trajectory is not within the predetermined region, the position for estimate is a position having an X coordinate resulting from shifting, by a second displacement that is larger than the first displacement, the X coordinate estimated according to the trajectory, on a basis of the X coordinate of a previous position.
摘要翻译：估计目标位置，即使当目标的X坐标位移大时，以高精度维持目标位置连续性。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，估计位置是由移位产生的具有X坐标的位置，通过第一位移，基于前一位置的X坐标根据轨迹估计的X坐标，而当轨迹不在预定区域内时，估计位置是具有由X坐标产生的X坐标的位置基于前一位置的X坐标，移动大于第一位移的第二位移，根据轨迹估计的X坐标。

2. 发明申请

US20090189814A1 Radar device and target detection method 有权
标题翻译：雷达装置和目标检测方法
公开(公告)号：US20090189814A1
公开(公告)日：2009-07-30
申请号：US12320414
申请日：2009-01-26
申请人： Takumi Moriuchi , Masahiro Sakaguchi , Hisateru Asanuma , Tomoya Kawasaki , Jun Tsunekawa , Motomi Iyoda
发明人： Takumi Moriuchi , Masahiro Sakaguchi , Hisateru Asanuma , Tomoya Kawasaki , Jun Tsunekawa , Motomi Iyoda
IPC分类号： G01S13/93 , G01S13/60
CPC分类号： G01S3/48 , G01S13/345 , G01S13/584 , G01S13/723 , G01S13/931 , G01S2013/9375 , G01S2013/9389
摘要： A target position is estimated in such a manner to maintain target position continuity, with high accuracy, even when the X coordinate displacement of the target is large. 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 for estimate is a position having an X coordinate resulting from shifting, by a first displacement, the X coordinate estimated according to the trajectory, on a basis of the X coordinate of a previous position, while when the trajectory is not within the predetermined region, the position for estimate is a position having an X coordinate resulting from shifting, by a second displacement that is larger than the first displacement, the X coordinate estimated according to the trajectory, on a basis of the X coordinate of a previous position.
摘要翻译：估计目标位置，即使当目标的X坐标位移大时，以高精度维持目标位置连续性。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，估计位置是由移位产生的具有X坐标的位置，通过第一位移，基于前一位置的X坐标根据轨迹估计的X坐标，而当轨迹不在预定区域内时，估计位置是具有由X坐标产生的X坐标的位置基于前一位置的X坐标，移动大于第一位移的第二位移，根据轨迹估计的X坐标。

3. 发明授权

US08054216B2 Radar device and target angle detection method 有权
标题翻译：雷达装置和目标角度检测方法
公开(公告)号：US08054216B2
公开(公告)日：2011-11-08
申请号：US12320413
申请日：2009-01-26
申请人： Motohide Kinoshita , Hisateru Asanuma , Jun Tsunekawa , Motomi Iyoda , Tomoya Kawasaki
发明人： Motohide Kinoshita , Hisateru Asanuma , Jun Tsunekawa , Motomi Iyoda , Tomoya Kawasaki
IPC分类号： G01S13/93 , G01S7/02 , G01S13/00
CPC分类号： G01S13/4454
摘要： A radar device has a plurality of receiving antennas which receive, as a reception wave, a radar wave sent in a predetermined reference direction and reflected by a target; a phase difference detection unit which detects a first phase difference of the reception wave received by a first receiving antenna pair that is spaced by a first gap, and a second phase difference of the reception wave received by a second receiving antenna pair that is spaced by a second gap smaller than the first gap; and an angle detection unit which performs a first process of determining, as a detection angle, an angle of the target relative to the reference direction being a mutually coincident angle from among 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 allows expanding an angle detection range without reducing the resolution of the angle corresponding to the second phase difference.
摘要翻译：雷达装置具有多个接收天线，其接收以预定参考方向发送并由目标反射的雷达波作为接收波; 相位差检测单元，检测由第一接收天线对接收的与第一间隙间隔的接收波的第一相位差和由第二接收天线对接收的接收波的第二相位差，第二间隙小于第一间隙; 以及角度检测单元，其执行第一处理，所述角度检测单元从对应于所述第一相位差的多个第一角度和多个第一相位角确定作为检测角度的所述目标相对于所述参考方向的角度是相互重合的角度对应于第二相位差的第二角度。雷达装置允许扩大角度检测范围而不降低对应于第二相位差的角度的分辨率。

4. 发明申请

US20090207071A1 Radar device and target angle detection method 有权
标题翻译：雷达装置和目标角度检测方法
公开(公告)号：US20090207071A1
公开(公告)日：2009-08-20
申请号：US12320413
申请日：2009-01-26
申请人： Motohide Kinoshita , Hisateru Asanuma , Jun Tsunekawa , Motomi Iyoda , Tomoya Kawasaki
发明人： Motohide Kinoshita , Hisateru Asanuma , Jun Tsunekawa , Motomi Iyoda , Tomoya Kawasaki
IPC分类号： G01S13/00
CPC分类号： G01S13/4454
摘要： A radar device has a plurality of receiving antennas which receive, as a reception wave, a radar wave sent in a predetermined reference direction and reflected by a target; a phase difference detection unit which detects a first phase difference of the reception wave received by a first receiving antenna pair that is spaced by a first gap, and a second phase difference of the reception wave received by a second receiving antenna pair that is spaced by a second gap smaller than the first gap; and an angle detection unit which performs a first process of determining, as a detection angle, an angle of the target relative to the reference direction being a mutually coincident angle from among 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 allows expanding an angle detection range without reducing the resolution of the angle corresponding to the second phase difference.
摘要翻译：雷达装置具有多个接收天线，其接收以预定参考方向发送并由目标反射的雷达波作为接收波; 相位差检测单元，检测由第一接收天线对接收的与第一间隙间隔的接收波的第一相位差和由第二接收天线对接收的接收波的第二相位差，第二间隙小于第一间隙; 以及角度检测单元，其执行第一处理，所述角度检测单元从对应于所述第一相位差的多个第一角度和多个第一相位角确定作为检测角度的所述目标相对于所述参考方向的角度是相互重合的角度对应于第二相位差的第二角度。雷达装置允许扩大角度检测范围而不降低对应于第二相位差的角度的分辨率。

5. 发明申请

US20120306685A1 RADAR SYSTEM AND DIRECTION DETECTING METHOD 有权
标题翻译：雷达系统和方向检测方法
公开(公告)号：US20120306685A1
公开(公告)日：2012-12-06
申请号：US13574449
申请日：2011-01-26
申请人： Hisateru Asanuma , Masahiro Sakaguchi , Tomoya Kawasaki , Motomi Iyoda
发明人： Hisateru Asanuma , Masahiro Sakaguchi , Tomoya Kawasaki , Motomi Iyoda
IPC分类号： G01S13/44
CPC分类号： G01S13/931 , G01S7/354 , G01S13/345 , G01S2013/9375
摘要： A reflected wave that a transmitted wave is reflected by targets including a stationary target and a moving target is received as receiving signals of at least two reception antennas. A phase difference between beat signals at respective peak frequencies, generated from a transmitting signal and the receiving signals, is calculated. Directions of the targets are calculated in such a manner that the calculated phase difference of the targets is stored in a storage area in advance, it is predicted whether peak frequencies of the plurality of targets overlap each other, a predicted phase difference of the stationary target at the time when the peak frequencies overlap each other is calculated on the basis of the stored phase difference, and a predicted phase difference of the moving target is calculated on the basis of the calculated phase difference and the predicted phase difference of the stationary target.
摘要翻译：作为至少两个接收天线的接收信号，接收发射波被包括固定目标和移动目标的目标反射的反射波。计算从发送信号和接收信号产生的各个峰值频率的差拍信号之间的相位差。以目标计算的相位差预先存储在存储区域中的方式计算目标的方向，预测多个目标的峰值频率是否彼此重叠，预测的静止目标的相位差基于存储的相位差来计算峰值频率彼此重叠的时间，并且基于计算出的相位差和静止目标的预测相位差来计算移动目标的预测相位差。

6. 发明授权

US08390509B2 Radar system and direction detecting method 有权
标题翻译：雷达系统和方向检测方法
公开(公告)号：US08390509B2
公开(公告)日：2013-03-05
申请号：US13574449
申请日：2011-01-26
申请人： Hisateru Asanuma , Masahiro Sakaguchi , Tomoya Kawasaki , Motomi Iyoda
发明人： Hisateru Asanuma , Masahiro Sakaguchi , Tomoya Kawasaki , Motomi Iyoda
IPC分类号： G01S13/00
CPC分类号： G01S13/931 , G01S7/354 , G01S13/345 , G01S2013/9375
摘要： A reflected wave that a transmitted wave is reflected by targets including a stationary target and a moving target is received as receiving signals of at least two reception antennas. A phase difference between beat signals at respective peak frequencies, generated from a transmitting signal and the receiving signals, is calculated. Directions of the targets are calculated in such a manner that the calculated phase difference of the targets is stored in a storage area in advance, it is predicted whether peak frequencies of the plurality of targets overlap each other, a predicted phase difference of the stationary target at the time when the peak frequencies overlap each other is calculated on the basis of the stored phase difference, and a predicted phase difference of the moving target is calculated on the basis of the calculated phase difference and the predicted phase difference of the stationary target.
摘要翻译：作为至少两个接收天线的接收信号，接收发射波被包括固定目标和移动目标的目标反射的反射波。计算从发送信号和接收信号产生的各个峰值频率的差拍信号之间的相位差。以目标计算的相位差预先存储在存储区域中的方式计算目标的方向，预测多个目标的峰值频率是否彼此重叠，预测的静止目标的相位差基于存储的相位差来计算峰值频率彼此重叠的时间，并且基于计算出的相位差和静止目标的预测相位差来计算移动目标的预测相位差。

7. 发明授权

US08179303B2 Signal processing apparatus, radar apparatus, and signal processing method 失效
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：US08179303B2
公开(公告)日：2012-05-15
申请号：US12536112
申请日：2009-08-05
申请人： Masayuki Kishida , Hisateru Asanuma , Tomoya Kawasaki
发明人： Masayuki Kishida , Hisateru Asanuma , Tomoya Kawasaki
IPC分类号： G01S13/93 , G01S13/42
CPC分类号： G01S13/42 , G01S13/345 , G01S13/4454 , G01S13/584 , G01S13/931 , G01S2013/9375 , G01S2013/9385 , G01S2013/9389
摘要： A signal processing apparatus for a radar transceiver, which receives a reflected signal generated by a target object in response to a frequency modulated transmission signal, and generates a beat signal having a frequency difference between the transmission signal and a reception signal, includes: an azimuth angle detection unit that detects an azimuth angle of the target object on the basis of a peak signal in a frequency spectrum of the beat signal; a peak signal extraction unit that prioritizes extraction of a peak signal corresponding to a predetermined azimuth angle range and a predetermined relative distance range of the target object; and a target object detection unit that detects the target object from the extracted peak signal.
摘要翻译：一种用于雷达收发器的信号处理装置，其接收由目标物体产生的反射信号，响应于调频传输信号，并产生具有发送信号与接收信号之间的频差的差拍信号，包括：方位角角度检测单元，其基于所述拍子信号的频谱中的峰值信号来检测所述目标对象的方位角; 峰值信号提取单元，优先提取与目标对象的预定方位角范围和预定相对距离范围相对应的峰值信号; 以及目标对象检测单元，其根据所提取的峰值信号来检测目标对象。

8. 发明授权

US08164511B2 Signal processing device, radar device, vehicle control device, and signal processing method 有权
标题翻译：信号处理装置，雷达装置，车辆控制装置和信号处理方法
公开(公告)号：US08164511B2
公开(公告)日：2012-04-24
申请号：US12461198
申请日：2009-08-04
申请人： Masayuki Kishida , Hisateru Asanuma , Kohsuke Noda , Tomoya Kawasaki
发明人： Masayuki Kishida , Hisateru Asanuma , Kohsuke Noda , Tomoya Kawasaki
IPC分类号： G01S13/58 , G01S13/93
CPC分类号： G01S13/345 , G01S13/42 , G01S13/584 , G01S13/931 , G01S2013/9375 , G01S2013/9385 , G01S2013/9389
摘要： In order to prevent delays in output of detection results, even when a plurality of frequency modulation methods with different frequency change rates are used, an FM-CW radar device employing frequency modulation with two different frequency change rates, has distance/velocity detection unit for detecting the relative distance or relative velocity of a target object based on beat signals of transmission signals with the same frequency change rate and for detecting the relative distance or relative velocity using beat signals when the frequency change rates are different, and distance/velocity confirmation unit for adding evaluation values for relative distances or relative velocities detected in the detection processing, and for confirming the relative distance or relative velocity based on the evaluation value which has reached a criterion value. As a result, more data can be obtained in one detection cycle, and the same advantageous results as when executing a plurality of detection cycles can be obtained. Consequently, delay of output of detection results from the radar device to a vehicle control device can be prevented.
摘要翻译：为了防止检测结果输出的延迟，即使使用具有不同频率变化率的多种频率调制方法，采用具有两种不同频率变化率的频率调制的FM-CW雷达装置具有距离/速度检测单元基于具有相同频率变化率的传输信号的差拍信号来检测目标对象的相对距离或相对速度，并且用于当频率变化率不同时检测使用节拍信号的相对距离或相对速度，以及距离/速度确认单元用于添加在检测处理中检测到的相对距离或相对速度的评估值，并且用于基于已经达到标准值的评估值来确认相对距离或相对速度。结果，在一个检测周期中可以获得更多的数据，并且可以获得与执行多个检测周期时相同的有利结果。因此，可以防止从雷达装置到车辆控制装置的检测结果的输出延迟。

9. 发明申请

US20100033364A1 Signal processing device, radar device, vehicle control device, and signal processing method 有权
标题翻译：信号处理装置，雷达装置，车辆控制装置和信号处理方法
公开(公告)号：US20100033364A1
公开(公告)日：2010-02-11
申请号：US12461198
申请日：2009-08-04
申请人： Masayuki Kishida , Hisateru Asanuma , Kohsuke Noda , Tomoya Kawasaki
发明人： Masayuki Kishida , Hisateru Asanuma , Kohsuke Noda , Tomoya Kawasaki
IPC分类号： G01S13/93 , G01S13/58 , G01S13/42
CPC分类号： G01S13/345 , G01S13/42 , G01S13/584 , G01S13/931 , G01S2013/9375 , G01S2013/9385 , G01S2013/9389
摘要： In order to prevent delays in output of detection results, even when a plurality of frequency modulation methods with different frequency change rates are used, an FM-CW radar device employing frequency modulation with two different frequency change rates, has distance/velocity detection unit for detecting the relative distance or relative velocity of a target object based on beat signals of transmission signals with the same frequency change rate and for detecting the relative distance or relative velocity using beat signals when the frequency change rates are different, and distance/velocity confirmation unit for adding evaluation values for relative distances or relative velocities detected in the detection processing, and for confirming the relative distance or relative velocity based on the evaluation value which has reached a criterion value. As a result, more data can be obtained in one detection cycle, and the same advantageous results as when executing a plurality of detection cycles can be obtained. Consequently, delay of output of detection results from the radar device to a vehicle control device can be prevented.
摘要翻译：为了防止检测结果输出的延迟，即使使用具有不同频率变化率的多种频率调制方法，采用具有两种不同频率变化率的频率调制的FM-CW雷达装置具有距离/速度检测单元基于具有相同频率变化率的传输信号的差拍信号来检测目标对象的相对距离或相对速度，并且用于当频率变化率不同时检测使用节拍信号的相对距离或相对速度，以及距离/速度确认单元用于添加在检测处理中检测到的相对距离或相对速度的评估值，并且用于基于已经达到标准值的评估值来确认相对距离或相对速度。结果，在一个检测周期中可以获得更多的数据，并且可以获得与执行多个检测周期时相同的有利结果。因此，可以防止从雷达装置到车辆控制装置的检测结果的输出延迟。

10. 发明授权

US09128174B2 Radar apparatus 有权
标题翻译：雷达装置
公开(公告)号：US09128174B2
公开(公告)日：2015-09-08
申请号：US13408080
申请日：2012-02-29
申请人： Yasuhiro Kurono , Tomohiro Shinomiya , Hisateru Asanuma
发明人： Yasuhiro Kurono , Tomohiro Shinomiya , Hisateru Asanuma
IPC分类号： G01S13/08 , G01S7/292 , G01S13/58 , G01S13/00 , G01S7/28 , G01S3/06 , G01S7/483
CPC分类号： G01S7/2925 , G01S3/06 , G01S7/28 , G01S7/2813 , G01S7/483 , G01S13/00
摘要： There is provided a radar apparatus of an electronic scan type configured to transmit an electric wave and calculate an angle of a target based on a phase difference of respective reception signals, thereby detecting a target position. An antenna unit transmits and receives the electric wave and provided with two transmission antennae. A transmission unit alternately transmits an electric wave having a first beam pattern and an electric wave having a second beam pattern from the two transmission antennae. First and second reception units calculate arrival angles and reception levels of reflected waves calculated from respective reception signals which are obtained by receiving the reflected waves by the first and second beam patterns. A comparison unit compares the reception levels by combining the arrival angles of the reflected waves. A determination unit determines whether a target actually exists at the arrival angles in accordance a comparison result.
摘要翻译：提供了一种电子扫描类型的雷达装置，其被配置为基于各个接收信号的相位差来传送电波并计算目标的角度，从而检测目标位置。天线单元发送和接收电波并提供两个发射天线。发送单元从两个发送天线交替发送具有第一波束图案的电波和具有第二波束图案的电波。第一和第二接收单元计算通过由第一和第二波束图案接收反射波而获得的各个接收信号计算出的反射波的到达角度和接收电平。比较单元通过组合反射波的到达角度来比较接收电平。确定单元根据比较结果确定目标是否在到达角度实际存在。

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