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1. 发明授权

US12092726B2 Methods and systems for millimeter wave assisted vehicle navigation 有权
公开(公告)号：US12092726B2
公开(公告)日：2024-09-17
申请号：US17548032
申请日：2021-12-10
申请人： Honeywell International Inc.
发明人： Marek Fojtach
IPC分类号： G01S13/60 , G01S13/58 , G01S13/86 , G01S13/933 , G01S19/49
CPC分类号： G01S13/60 , G01S13/583 , G01S13/589 , G01S13/86 , G01S13/933 , G01S19/49
摘要： Disclosed are methods and systems for providing millimeter wave assisted vehicle navigation. A method may include generating a frequency-modulated continuous wave (FMCW) signal, transmitting the FMCW signal as radio waves by a plurality of radar transmitters each having a beam direction, receiving reflected radio signals by a corresponding plurality of receivers, and determining individual beam velocities of the vehicle in each of the beam directions. The method may further include combining the individual beam velocities; generating a body velocity vector based on the combined individual beam velocities; combining input from the radar signal processor and a previous known vehicle position; and based on the combined input, providing real-time position and velocity information for the vehicle.

2. 发明授权

US12050259B2 Extended object tracking using RADAR and recursive least squares 有权
公开(公告)号：US12050259B2
公开(公告)日：2024-07-30
申请号：US18454455
申请日：2023-08-23
申请人： MOTIONAL AD LLC
发明人： Nikhil Bharadwaj Gosala , Xiaoli Meng
IPC分类号： G01S13/72 , G01S7/41 , G01S13/42 , G01S13/58 , G01S13/931
CPC分类号： G01S13/723 , G01S7/415 , G01S13/42 , G01S13/589 , G01S13/931
摘要： Techniques are provided for extended object tracking using RADAR return points only. The techniques include receiving the return points from at least one RADAR sensor of the vehicle. One or more clusters based on or from the return points are generated. An estimated position and velocity of each of the one or more clusters is computed. A Recursive Least Squares (RLS) based algorithm is proposed to estimate the instantaneous velocity of a cluster in real-time that allows for accurate track-cluster association, removes the need to perform computationally expensive non-linear state updates, and allows for the estimation of the true velocity even in frames with a large amount of clutter. If it is determined that the one or more clusters are associated with an existing object track, the existing object track is updated using at least the respective positions of the one or more clusters associated with the existing object track.

3. 发明授权

US11882542B2 Monitoring device, tracking method, and non-transitory computer-readable medium 有权
公开(公告)号：US11882542B2
公开(公告)日：2024-01-23
申请号：US17432206
申请日：2019-02-26
申请人： NEC Corporation
发明人： Shinichi Miyamoto
IPC分类号： H04W64/00 , H04W4/029 , H04W4/40 , G01S13/58
CPC分类号： H04W64/006 , G01S13/589 , H04W4/029 , H04W4/40
摘要： The present disclosure is directed to providing a monitoring device that can improve the accuracy in tracking ships. A monitoring device (10) according to the present disclosure includes a position information acquiring unit (11) configured to acquire position information of an object to be tracked; an estimating unit (12) configured to estimate a position of the object to be tracked displayed in an image captured of a predetermined region; and an information generating unit (13) configured to generate path information of the object to be tracked by supplementing, based on an estimated position of the object to be tracked, the position of the object to be tracked held between the position indicated by the position information acquired at a first timing and the position indicated by the position information acquired at a second timing later than the first timing.

4. 发明授权

US11698451B2 Method and device for evaluating the angular position of an object, and driver assistance system 有权
公开(公告)号：US11698451B2
公开(公告)日：2023-07-11
申请号：US16767838
申请日：2018-11-15
申请人： Robert Bosch GmbH
发明人： Benedikt Loesch
IPC分类号： G01S13/72 , H04B17/309 , B60W40/00 , G01S7/40 , G01S13/58
CPC分类号： G01S13/72 , B60W40/00 , G01S7/4021 , G01S13/589 , H04B17/309 , B60W2420/52
摘要： A method for evaluating an angular position of an object recognized on the basis of radar data, the radar data being ascertained by a radar device. The method includes: ascertaining of an intrinsic speed of the radar device; ascertaining a relative speed of the recognized object in relation to the radar device, using the ascertained radar data; ascertaining at least one angular test region using the ascertained intrinsic speed and the ascertained relative speed, the at least one angular test region corresponding to possible stationary objects that have a relative speed that substantially corresponds to the ascertained relative speed; and ascertaining whether an azimuth angle of the recognized object lies in the ascertained angular test region.

5. 发明申请

US20190204433A1 METHOD OF TRACKING TARGET BY USING 2D RADAR WITH SENSOR 审中-公开
公开(公告)号：US20190204433A1
公开(公告)日：2019-07-04
申请号：US16217762
申请日：2018-12-12
申请人： VIETTEL GROUP
发明人： Tang Bao Ngoc BUI , Tran Su LE , Quang Bang NGUYEN
IPC分类号： G01S13/86 , G06T7/292 , G01S13/72 , G01S13/58 , G01S7/42
CPC分类号： G01S13/86 , G01S7/42 , G01S13/589 , G01S13/723 , G06T7/292
摘要： Embodiments of the present invention include the different methods for data fusion from multi dissimilar sensors to reduce the noise of the tracking the 3D target in Cartesian coordinates. Accuracy of this invention is precise and more stable than the conventional methods that use geometric calculations of 2D radars to track 3D targets. The results of this invention are using the same 3D radars in the tracking system. These methods are not only implemented in existing tracking centers, but also handle the tradeoff between the data transmission capacity at the command center and the computational speed of system. This invention performs the sequential steps: determining the dynamical motion model of target, state prediction and measurement update. Wherein, the variation of steps is shown in the embodiment of this invention by the following different approaches: selective measurement; parallel filtering; state vector fusion; feedback state vector fusion; measurement fusion state vector fusion.

6. 发明申请

US20180017675A1 System for Video-Doppler-Radar Traffic Surveillance 审中-公开
公开(公告)号：US20180017675A1
公开(公告)日：2018-01-18
申请号：US15209470
申请日：2016-07-13
申请人： Lang Hong , Steven Hong
发明人： Lang Hong , Steven Hong
IPC分类号： G01S13/86 , G01S13/58
CPC分类号： G01S13/867 , G01S13/589 , G01S13/87
摘要： This invention is related to a Video-Doppler-Radar Traffic Surveillance System comprising of multiple Doppler radars and video cameras, circuitry for processing radar and video signals, and data recording devices. Although the system is mainly designed for roadside traffic surveillance, it can be used in different applications, such as mounted on a host vehicle or on a UAV. The system will provide continuous surveillance of all incoming and leaving traffic.

7. 发明授权

US09851470B2 Single beam FMCW radar wind speed and direction determination 有权
公开(公告)号：US09851470B2
公开(公告)日：2017-12-26
申请号：US14207358
申请日：2014-03-12
申请人： LogLinear Group, LLC
发明人： Mark Henderson , Marshall Bradley
IPC分类号： G01W1/00 , G01S13/95 , G01S13/58 , G01S13/72
CPC分类号： G01W1/00 , G01S13/589 , G01S13/72 , G01S13/95 , G01W2001/003 , Y02A90/14 , Y02A90/18
摘要： A single beam frequency modulated continuous wave radar for clear air scatter (CAS) detection and method of monitoring clear air scatterers are provided. CAS monitoring capabilities, including the ability to estimate wind velocity and direction, are obtained using data from a single defined width beam of energy that instead of being averaged is sampled at discrete time steps over a range of altitudes.

8. 发明授权

US09519056B2 System and method for evaluating wind flow fields using remote sensing devices 有权
标题翻译：使用遥感装置评估风流场的系统和方法
公开(公告)号：US09519056B2
公开(公告)日：2016-12-13
申请号：US13952606
申请日：2013-07-27
申请人： Texas Tech University System
发明人： John Schroeder , Brian Hirth , Jerry Guynes
IPC分类号： G01S13/95 , G01P5/00 , G01S13/87 , G01S13/58
CPC分类号： G01S13/95 , F03D17/00 , F05B2270/32 , F05B2270/321 , G01P5/001 , G01S13/589 , G01S13/87 , G01S13/951 , G01S13/956 , Y02A90/18
摘要： The present invention provides a system and method for obtaining data to determine one or more characteristics of a wind field using a first remote sensing device and a second remote sensing device. Coordinated data is collected from the first and second remote sensing devices and analyzed to determine the one or more characteristics of the wind field. The first remote sensing device is positioned to have a portion of the wind field within a first scanning sector of the first remote sensing device. The second remote sensing device is positioned to have the portion of the wind field disposed within a second scanning sector of the second remote sensing device.
摘要翻译：本发明提供一种用于使用第一遥感装置和第二遥感装置获得数据以确定风场的一个或多个特性的系统和方法。协调数据从第一和第二遥感装置收集并分析以确定风场的一个或多个特征。第一遥感装置被定位成将风场的一部分置于第一遥感装置的第一扫描扇区内。第二遥感装置被定位成使风场的部分设置在第二遥感装置的第二扫描扇区内。

9. 发明申请

US20160215763A1 WIND TURBINE BLADE VIBRATION DETECTION AND RADAR CALIBRATION 有权
标题翻译：风力涡轮机叶片振动检测和雷达校准
公开(公告)号：US20160215763A1
公开(公告)日：2016-07-28
申请号：US14704744
申请日：2015-05-05
申请人： VESTAS WIND SYSTEMS A/S
发明人： Knut VANGEN , Eric MEUM , Jan PLEYM
IPC分类号： F03D17/00 , G01S7/40 , G01S13/58 , F03D1/06
CPC分类号： F03D17/00 , F03D1/0675 , F03D7/0296 , F03D7/04 , F05B2240/912 , F05B2270/17 , F05B2270/33 , F05B2270/334 , F05B2270/805 , G01S7/4004 , G01S13/505 , G01S13/582 , G01S13/583 , G01S13/584 , G01S13/589 , G01S13/64 , G01S13/87 , G01S13/88 , Y02B10/30 , Y02E10/721 , Y02E10/723 , Y02E10/728 , Y02P70/523
摘要： A wind turbine is provided, having a wind turbine tower and at least one rotatable blade, and further comprising a system for measuring rotor blade vibration of said wind turbine. The system comprises at least one Doppler radar unit operatively configured to emit and receive radar signals, the radar unit being mounted on the wind turbine tower at a position above the lowest position of the at least one blade, the radar unit being positioned so as to measure reflections of an emitted radar signal from the turbine blade. A processing unit is configured to receive measurement data from the radar unit and to determine, by analysis of Doppler shift in received radar signals relative to transmitted signals due to movement of the blade towards or away from the turbine tower, the velocity of the blade in the direction towards or away from the turbine tower. Using a radar unit to measure blade velocity allows a determination to be made of the vibrations occurring in the blade without needing an internal sensor in the blade. This reduces manufacturing and maintenance costs of the blades since sensors in the blades will not need to be replaced, and sensors positioned on the tower are easier to replace in the field.
摘要翻译：提供了具有风力涡轮机塔架和至少一个可旋转叶片的风力涡轮机，还包括用于测量所述风力涡轮机的转子叶片振动的系统。所述系统包括至少一个多普勒雷达单元，其被可操作地配置为发射和接收雷达信号，所述雷达单元在所述至少一个叶片的最低位置上方的位置处安装在所述风力涡轮机塔架上，所述雷达单元被定位成测量来自涡轮叶片的发射的雷达信号的反射。处理单元被配置为从雷达单元接收测量数据，并且通过分析由于叶片朝向或远离涡轮塔的移动而相对于传输的信号的接收的雷达信号中的多普勒频移，确定叶片的速度朝向或远离涡轮塔的方向。使用雷达单元来测量叶片速度允许确定在叶片中发生的振动，而不需要叶片中的内部传感器。这样可以降低叶片的制造和维护成本，因为叶片中的传感器不需要更换，位于塔架上的传感器在现场更容易替代。

10. 发明申请

US20150260841A1 Alarm System and Method for Vehicle 有权
标题翻译：车辆报警系统及方法
公开(公告)号：US20150260841A1
公开(公告)日：2015-09-17
申请号：US14506688
申请日：2014-10-06
申请人： Wistron NeWeb Corporation
发明人： Chi-Cheng Kuo , Hsin-Lung Hsiao , Tsai-Wang Chang , Min-Jung Wu
IPC分类号： G01S13/93 , B60W30/08
CPC分类号： G01S13/931 , B60W30/08 , B60W50/14 , B60W2050/143 , B60W2050/146 , B60W2420/54 , B60W2422/90 , G01S13/34 , G01S13/341 , G01S13/42 , G01S13/50 , G01S13/589 , G01S2013/9317 , G01S2013/9332 , G01S2013/9378 , G01S2013/9385 , G01S2013/9389
摘要： An alarm system for a vehicle comprises a sensor disposed on an installation plane of the vehicle, configured to emit a plurality of frequency-modulated continuous waveform (FMCW) signals toward a reverse plane of the installation plane and receiving reflected signals of the plurality of FMCW signals, to detect information of a plurality of targets within a specified range corresponding to the vehicle; an alarm being controlled to generate an alarm signal; and a control module coupled to the sensor and the alarm, capable of receiving the information of the plurality of targets detected by the sensor; determining a vehicle information of the vehicle in relation to an external environment according to the information of the plurality of targets; and determining movement statuses of the plurality of targets in relation to the vehicle according to the vehicle information and the information of the plurality of targets, and accordingly controlling the alarm.
摘要翻译：一种用于车辆的报警系统包括设置在车辆的安装平面上的传感器，用于向安装平面的反面发射多个频率调制的连续波形（FMCW）信号，并接收多个FMCW的反射信号信号，以检测对应于车辆的指定范围内的多个目标的信息; 控制报警器产生报警信号; 以及耦合到所述传感器和所述报警器的控制模块，能够接收由所述传感器检测到的所述多个目标的信息; 根据多个目标的信息确定车辆相对于外部环境的车辆信息; 以及根据所述车辆信息和所述多个目标的信息来确定所述多个目标相对于所述车辆的运动状态，并据此控制所述警报。

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