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41. 发明授权

US07271761B2 Distance calculating method and system 有权
标题翻译：距离计算方法和系统
公开(公告)号：US07271761B2
公开(公告)日：2007-09-18
申请号：US10690843
申请日：2003-10-23
申请人： Kazuma Natsume , Hiroshi Hazumi
发明人： Kazuma Natsume , Hiroshi Hazumi
IPC分类号： G01S13/34 , G01S13/93
CPC分类号： G01S13/34 , G01S13/343 , G01S13/931 , G01S2013/9321 , G01S2013/9325 , G01S2013/9346
摘要： In a system, a frequency-modulating unit is configured to frequency-modulate a radar wave signal within a predetermined frequency modulation range from bottom to top so that a frequency of the frequency-modulated radar wave changes in time. The rate of frequency change of the radar wave signal in time is set to F0/Tf. The F0 represents a center frequency in the frequency modulation range. The Tf represents the predetermined constant time. A mixing unit is configured to mix the transmitted frequency-modulated radar wave signal and the reflection signal to obtain a beat signal. The beat signal is based on a frequency difference between a frequency of the transmitted radar wave signal and that of the reflection signal. A sweeping unit is configured to sweep the beat signal within the frequency modulation range from one of the bottom and the top to the other thereof to obtain a frequency component of the beat signal. An obtaining unit is configured to obtain the prediction distance based on a relationship between the frequency component of the beat signal and the prediction distance.
摘要翻译：在一个系统中，频率调制单元被配置为在从下到上的预定频率调制范围内对雷达波信号进行频率调制，使得调频雷达波的频率随时间而变化。雷达波信号在时间上的频率变化率设定为F0 / Tf。 F0表示频率调制范围内的中心频率。 Tf表示预定的恒定时间。混合单元被配置为混合发射的调频雷达波信号和反射信号以获得拍频信号。拍频信号基于发射的雷达波信号的频率与反射信号的频率之间的频率差。扫描单元被配置为在频率调制范围内扫描从底部和顶部之一到另一个的频率信号，以获得拍频信号的频率分量。获取单元被配置为基于拍子信号的频率分量与预测距离之间的关系来获得预测距离。

42. 发明申请

US20060262009A1 Method of preventing interference between radars and radar system having interference preventing function 有权
标题翻译：防止雷达与具有防干扰功能的雷达系统之间的干扰的方法
公开(公告)号：US20060262009A1
公开(公告)日：2006-11-23
申请号：US11417336
申请日：2006-05-03
申请人： Yuu Watanabe , Kazuma Natsume
发明人： Yuu Watanabe , Kazuma Natsume
IPC分类号： G01S13/93
CPC分类号： G01S7/36 , G01S13/931 , G01S2013/9325 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9375 , G01S2013/9378
摘要： A radar system mounted on a vehicle includes a first radar and a second radar, each having a transmitter-receiver and a signal processor. The transmitter-receiver transmits radar waves to detect objects such as another vehicle or other obstacles. An operating cycle period T1, T2 and a transmission time X1, X2 during which the radar waves are transmitted are set in both radars to satisfy the formula: K·T2+X2+X1≦T1≦(K+1)·T2−X2−X1 under a condition that T1>T2, where K is a positive integer. By setting both radars in this manner, interference between two radars is avoided without using additional devices in the radar system, and a high detection accuracy is realized.
摘要翻译：安装在车辆上的雷达系统包括第一雷达和第二雷达，每个具有发射机 - 接收机和信号处理器。发射机 - 接收机发射雷达波以检测诸如其他车辆或其他障碍物的物体。在两个雷达中设置操作周期T 1，T 2以及发送雷达波的发送时间X 1，X 2，以满足下列公式：KT + X + X 1 <= T 1 <=（ K + 1）.T 2- X 2- X 1，条件是T 1> T 2，其中K是正整数。通过以这种方式设置两个雷达，避免了在雷达系统中使用附加设备的两个雷达之间的干扰，并且实现了高检测精度。

43. 发明申请

US20060224655A1 Apparatus for estimating direction of arrival wave 有权
标题翻译：用于估计到达波方向的装置
公开(公告)号：US20060224655A1
公开(公告)日：2006-10-05
申请号：US11390866
申请日：2006-03-27
申请人： Hideki Shirai , Kazuma Natsume
发明人： Hideki Shirai , Kazuma Natsume
IPC分类号： G06F7/52
CPC分类号： G01S3/74 , G01S3/8006
摘要： Apparatus has means for computing correlation matrix of arrival wave, means for producing a matrix for obtaining eigenvalues and a matrix for obtaining eigenvectors, means for computing column norms on the matrix which is a subject for Householder transformation, means for judging whether a maximum value of the column norms is the same as or lower than a predetermined threshold, means for repeating Householder transformation on the matrix only if the maximum value of the column norms is judged not to be the same or not to be lower, means for breaking Householder transformation if the maximum value is the same as or lower, means for further implementing Householder transformation and for obtaining the eigenvectors and the eigenvalues of the correlation matrix, and means for judging the number of the arrival waves from the implementation times of Householder transformation.
摘要翻译：装置具有用于计算到达波的相关矩阵的装置，用于产生用于获得特征值的矩阵的装置和用于获得特征向量的矩阵的装置，用于计算作为Householder变换的主题的矩阵的列规范的装置，用于判断是否有最大值列规范等于或小于预定阈值，用于仅在列规范的最大值被判断为不相同或不低于的情况下重复矩阵中的Householder变换的方法，如果最大值相同或更低，用于进一步实施Householder变换和获取相关矩阵的特征向量和特征值的手段，以及用于根据Householder转换的实施时间来判断到达波数的方法。

44. 发明授权

US06924762B2 Radar designed to acquire radar data with high accuracy 有权
标题翻译：雷达设计用于高精度地获取雷达数据
公开(公告)号：US06924762B2
公开(公告)日：2005-08-02
申请号：US10844600
申请日：2004-05-13
申请人： Yasuyuki Miyake , Kazuma Natsume
发明人： Yasuyuki Miyake , Kazuma Natsume
IPC分类号： G01S7/02 , G01S13/34 , G01S13/44 , G01S13/50 , G01S13/58 , G01S13/60 , G01S13/93 , G01S13/42
CPC分类号： G01S13/4454 , G01S13/34 , G01S13/584 , G01S13/931 , G01S2013/9321 , G01S2013/9353
摘要： A radar is provided which transmits a radar wave whose frequency is so modulated as to rise, fall, and be kept constant cyclically. The radar uses beat signals produced by the radar wave and radar echoes received by two antennas to produce radar data on a target. When it is impossible to pair frequency peaks of the beat signals in a modulated frequency-rising and -falling ranges, the radar determines that the frequency peaks have arisen from different objects so that they overlap each other and uses frequency peaks of the beat signals in a constant modulated frequency range to acquire the radar data.
摘要翻译：提供雷达，其发射频率被调制为上升，下降的雷达波，并且周期性地保持恒定。该雷达使用由雷达波产生的拍频信号和由两个天线接收的雷达回波，以在目标上产生雷达数据。当不可能将拍频信号的频率峰值配置在调制的上升和下降范围内时，雷达确定频率峰值从不同的对象产生，使得它们彼此重叠，并使用频率峰值一个恒定的调制频率范围来获取雷达数据。

45. 发明申请

US20120256784A1 ANTENNA APPARATUS 有权
标题翻译：天线装置
公开(公告)号：US20120256784A1
公开(公告)日：2012-10-11
申请号：US13441110
申请日：2012-04-06
申请人： Kento Nakabayashi , Kazuma Natsume
发明人： Kento Nakabayashi , Kazuma Natsume
IPC分类号： G01S13/00
CPC分类号： G01S7/032 , G01S13/4463 , G01S13/931 , G01S2013/9375 , H01Q3/26 , H01Q21/0093 , H01Q21/065
摘要： In an antenna apparatus, a transmitting antenna includes transmitting-side unit antennas arranged in an arranging-direction at transmitting-side arrangement intervals. Receiving antennas are arranged in the arranging-direction at arrangement intervals. Each of the receiving antennas includes receiving-side unit antennas arranged in the arranging-direction at receiving-side arrangement intervals. The receiving-side arrangement interval is larger than the transmitting-side arrangement interval. A transmission-and reception composition characteristic, which is a composition of directivities of the transmitting antenna and receiving antenna, has a main lobe including a detection angle range. The transmitting-side arrangement interval and the receiving-side arrangement interval are determined so that, in the detection angle range, a ratio of the intensity of the main lobe of the transmission-and-reception composition characteristic at a given angle in the detection angle range to the intensity of the transmission-and-reception composition characteristic generated as a false image at the angle by wrap around becomes not less than a threshold.
摘要翻译：在天线装置中，发送天线包括发送侧单元天线，其以发送侧配置间隔排列在排列方向。接收天线以布置间隔排列在排列方向上。每个接收天线包括以接收侧布置间隔布置在排列方向上的接收侧单元天线。接收侧配置间隔大于发送侧配置间隔。作为发送天线和接收天线的方向性的组合的发送接收组合特性具有包括检测角范围的主瓣。确定发送侧配置间隔和接收侧配置间隔，使得在检测角度范围内，发送接收组合特征的主瓣的强度与检测角度的给定角度的比率作为通过包裹的角度产生的假图像的发送和接收合成特征的强度的范围变得不小于阈值。

46. 发明申请

US20120112955A1 METHOD OF DETERMINING THRESHOLD FOR DETECTION OF PEAK FREQUENCY IN RADAR AND OBJECT INFORMATION PRODUCING APPARATUS USING THE SAME 有权
标题翻译：确定用于检测雷达中的峰值频率的阈值的方法和使用其生成装置的对象信息
公开(公告)号：US20120112955A1
公开(公告)日：2012-05-10
申请号：US13289077
申请日：2011-11-04
申请人： Takamasa Ando , Kazuma Natsume
发明人： Takamasa Ando , Kazuma Natsume
IPC分类号： G01S13/00
CPC分类号： G01S7/4056 , G01S7/352 , G01S13/345 , G01S13/931
摘要： A peak detecting threshold determining method is provided which determines a peak detecting threshold which is used by an FMCW radar in detecting a peak frequency component which appears as representing a target object in a frequency spectrum. A CW radar wave is transmitted to produce a CW noise spectrum. An offset is added to frequency components in a high-frequency region of the CW noise spectrum to define a first distribution as a value of the peak detecting threshold. This enables the value of the peak detecting threshold in the high-frequency region to be determined with high precision by reflecting a receiver noise containing a leakage noise.
摘要翻译：提供了一种峰值检测阈值确定方法，其确定由FMCW雷达在检测表现为频谱中的目标对象的峰值频率分量时使用的峰值检测阈值。传输CW雷达波以产生CW噪声谱。将偏移量加到CW噪声频谱的高频区域中的频率分量中，以将第一分布定义为峰值检测阈值的值。这使得通过反映包含泄漏噪声的接收机噪声，可以高精度地确定高频区域中的峰值检测阈值。

47. 发明申请

US20110298653A1 METHOD AND DEVICE FOR DETECTING AZIMUTH 有权
标题翻译：用于检测AZIMUTH的方法和装置
公开(公告)号：US20110298653A1
公开(公告)日：2011-12-08
申请号：US13153677
申请日：2011-06-06
申请人： Akiyoshi Mizutani , Kento Nakabayashi , Kazuma Natsume
发明人： Akiyoshi Mizutani , Kento Nakabayashi , Kazuma Natsume
IPC分类号： G01S13/02
CPC分类号： G01S13/32 , G01S3/74 , G01S13/48
摘要： A device for detecting an azimuth has a transmission array antenna having plural transmission antenna elements arrayed along an array axis and a receiving array antenna having plural receiving antenna elements arrayed along the array axis. A reception signal is acquired for each of channels by transmitting and receiving a search wave through each of the channels. The channels are arbitrary combinations of each of the transmission antenna elements and each of the receiving antenna elements. A first spatial frequency analysis is performed along the array axis of either ones of the transmission antenna elements and the receiving antenna elements using the reception signal. A second spatial frequency analysis is then performed along the array axis of the other ones of the antenna elements using results of the first spatial frequency analysis. An azimuth of a target is determined based on analysis results from the second spatial frequency analysis.
摘要翻译：一种用于检测方位的装置具有发射阵列天线，具有沿着阵列轴排列的多个发射天线元件和具有沿阵列轴排列的多个接收天线元件的接收阵列天线。通过每个信道发送和接收搜索波来为每个信道获取接收信号。信道是每个发射天线元件和每个接收天线元件的任意组合。使用接收信号，沿发射天线元件和接收天线元件的阵列轴进行第一空间频率分析。然后使用第一空间频率分析的结果，沿其他天线元件的阵列轴执行第二空间频率分析。基于来自第二空间频率分析的分析结果确定目标的方位角。

48. 发明授权

US07907083B2 Radar device 有权
标题翻译：雷达设备
公开(公告)号：US07907083B2
公开(公告)日：2011-03-15
申请号：US12584982
申请日：2009-09-15
申请人： Mai Sakamoto , Kazuma Natsume , Yuu Watanabe , Hideki Shirai , Chiharu Yamano
发明人： Mai Sakamoto , Kazuma Natsume , Yuu Watanabe , Hideki Shirai , Chiharu Yamano
IPC分类号： G01S13/42
CPC分类号： G01S13/345 , G01S3/74 , G01S13/42 , G01S13/931 , G01S2013/9375
摘要： A FMCW-type radar device generates snapshot data from a beat signal that represents a received condition of the radar device every modulation period. Auto-correlation matrices generated by the snapshot data every modulation period are averaged every set of plural periods. The radar device calculates the target azimuth of a target object such as a preceding vehicle based on the averaged auto-correlation matrix based on MUSIC (MUltiple SIgnal Classification) method. This averaging is performed by weighting average based on an amount of mixed noise (or an interference amount) contained in the snapshot data in each modulation period. A weighting coefficient to be applied to the auto-correlation matrix in each modulation period is set to a value corresponding to the amount of mixed noise, namely, the interference amount of this modulation period. The weighting coefficient becomes large when the interference amount is small, and on the other hand, becomes small when it is large.
摘要翻译： FMCW型雷达装置从表示每个调制周期的雷达装置的接收状态的拍子信号产生快照数据。每个调制周期由快照数据生成的自相关矩阵在多个周期的集合中取平均值。雷达装置基于基于MUSIC（多尺度分类）方法的平均自相关矩阵来计算诸如前一车辆的目标对象的目标方位角。该平均化是通过基于每个调制周期中包含在快照数据中的混合噪声量（或干扰量）的加权平均来执行的。将在每个调制周期中应用于自相关矩阵的加权系数设置为与混合噪声量即该调制周期的干扰量相对应的值。当干扰量小时，加权系数变大，另一方面，当它大时变小。

49. 发明授权

US07843388B2 Arrival direction estimation apparatus 有权
标题翻译：到达方向估计装置
公开(公告)号：US07843388B2
公开(公告)日：2010-11-30
申请号：US11645754
申请日：2006-12-27
申请人： Hideki Shirai , Chiharu Yamano , Kazuma Natsume , Yasuyuki Miyake
发明人： Hideki Shirai , Chiharu Yamano , Kazuma Natsume , Yasuyuki Miyake
IPC分类号： G01S5/04 , H04B7/216
CPC分类号： H04L27/12 , G01S3/40 , G01S3/48 , G01S3/74 , G01S3/8006 , G01S3/8055 , G01S3/808
摘要： A technology for providing an arrival direction estimation apparatus which can greatly reduce the calculation amount in spectrum calculation and can perform precise direction estimation without setting short frequency division in spectrum calculation is disclosed. According to the technology, there is provided the arrival direction estimation apparatus including an antenna, a complex digital signal converting means, a real number correlation matrix calculating means, a real number weight matrix calculating means, a spectrum calculating means, and a spectrum peak detecting means, wherein the spectrum calculating means has a real number matrix storing means which stores a real number matrix, a multiplying means which multiplies part of elements of the real number matrix by part of elements of a real number weight matrix, a result storing means which stores the multiplication processing result, a calculating means which performs at least one or more processing of matrix element inversion processing and matrix element sign change processing for the stored processing result, an adding means which adds the processing result by the calculating means, part of the processing result stored in the result storing means, and part of the elements of the real number weight matrix, and a spectrum calculating means which calculates a spectrum with the use of the processing result.
摘要翻译：公开了一种用于提供能够大大减少频谱计算中的计算量并且可以执行精确方向估计而不在频谱计算中设置短分频的到达方向估计装置的技术。根据该技术，提供了包括天线，复数数字信号转换装置，实数相关矩阵计算装置，实数权重矩阵计算装置，频谱计算装置和频谱峰值检测的到达方向估计装置其中频谱计算装置具有存储实数矩阵的实数矩阵存储装置，将实数矩阵的部分元素乘以实数权重矩阵的元素的一部分的乘法装置，结果存储装置，存储乘法处理结果的计算装置，对所存储的处理结果进行矩阵元素反演处理和矩阵元素符号变更处理的至少一个以上处理的计算单元，将计算单元的处理结果相加的加法单元，存储在结果存储装置中的处理结果，以及真实元素的一部分数量权重矩阵，以及使用处理结果来计算频谱的频谱计算装置。

50. 发明申请

US20100045507A1 ELECTRONICALLY SCANNED RADAR SYSTEM AND RECEIVING ANTENNA 有权
标题翻译：电子扫描雷达系统和接收天线
公开(公告)号：US20100045507A1
公开(公告)日：2010-02-25
申请号：US12524672
申请日：2008-02-27
申请人： Chiharu Yamano , Yasushi Sakuma , Kento Nakabayashi , Kazuma Natsume
发明人： Chiharu Yamano , Yasushi Sakuma , Kento Nakabayashi , Kazuma Natsume
IPC分类号： G01S13/93 , G01S13/58 , G01S13/42
CPC分类号： G01S3/74 , G01S13/42 , G01S13/931 , H01Q3/26
摘要： A plurality of array antenna elements are divided in terms of a set constituted of an optionally selected L number of groups. The spaces between the array antenna elements are determined by obtaining a greatest common divisor of the set as a greatest common divisor of inter-group element spaces, the set having, as components, greatest common divisors of inter-element spaces of the individual L number of groups in the set, obtaining a greatest common divisor of inter-group element for every number L equal to or less than the maximum number of incoming waves by changing the number L of group components, and allowing a direction not to be caused in the radar scanning region by a number equal to or more than L+1, on the basis of the greatest common divisor of inter-group element spaces for every number L of group components, the direction being linearly dependent on an incoming wave corresponding to the greatest common divisor of inter-group element spaces.
摘要翻译：多个阵列天线元件根据由任意选择的L个组构成的集合进行划分。阵列天线元件之间的空间是通过获得该组的最大公约数作为组间元素空间的最大公约数来确定的，该集合具有作为各个L个数的元素间空间的最大公约数的组成部分的组中，通过改变组成分数L来获得等于或小于最大进入波数的每个数L的组间元素的最大公约数，并且允许在雷达扫描区域等于或大于L + 1的数量，基于每个数量L的组分量的群组间空间的最大公约数，该方向线性地取决于对应于最大的入射波组间元素空间的公约数。

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