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1. 发明授权

US08781644B2 Method and apparatus for recognizing shape of road for vehicles 有权
标题翻译：用于识别车辆道路形状的方法和装置
公开(公告)号：US08781644B2
公开(公告)日：2014-07-15
申请号：US13424735
申请日：2012-03-20
申请人： Yoshie Samukawa , Toyohito Nozawa , Mai Sakamoto , Hiroshi Ookata
发明人： Yoshie Samukawa , Toyohito Nozawa , Mai Sakamoto , Hiroshi Ookata
IPC分类号： G05D1/00 , G05D1/02 , B60W40/072
CPC分类号： B60W40/072 , B60W10/06 , B60W10/10 , B60W10/184 , B60W30/12 , B60W30/16 , B60W50/14 , B60W2050/143 , B60W2420/62 , B60W2510/0604 , B60W2520/10 , B60W2520/14 , B60W2540/12 , B60W2540/18 , B60W2550/306
摘要： An example of recognition of the shape of a road where a vehicle travels is provided. An object type as to whether an object is a moving or stationary object is determined according to a relative speed of the object and a speed of the vehicle. Object-unit data effective for recognizing a road shape is extracted according to the determination. The object-unit data is used for forming data of a roadside object group, based on which a road edge is recognized. A series of the processes is repeatedly performed at a predetermined cycle. After the extraction process, a data addition process is performed to add object-unit data obtained in the extraction process of the previous cycle to object-unit data obtained in the extraction process of the present cycle. In a recognition process, a road edge is recognized according to the object-unit data obtained in the data addition process.
摘要翻译：提供车辆行驶的道路的形状识别的一个例子。根据物体的相对速度和车辆的速度来确定物体是移动物体还是静止物体的物体类型。根据确定提取对识别道路形状有效的对象单位数据。对象单元数据用于形成路边对象组的数据，基于该数据识别道路边缘。以预定的周期重复执行一系列处理。在提取处理之后，执行数据添加处理以将在前一周期的提取处理中获得的对象单元数据添加到在本周期的提取处理中获得的对象单元数据。在识别处理中，根据在数据添加处理中获得的对象单位数据来识别路边。

2. 发明授权

US08169361B2 Electronically scanned radar system 有权
标题翻译：电子扫描雷达系统
公开(公告)号：US08169361B2
公开(公告)日：2012-05-01
申请号：US12521248
申请日：2007-12-26
申请人： Chiharu Yamano , Kazuma Natsume , Yuu Watanabe , Mai Sakamoto
发明人： Chiharu Yamano , Kazuma Natsume , Yuu Watanabe , Mai Sakamoto
IPC分类号： G01S13/34 , G01S7/35
CPC分类号： G01S7/352 , G01S7/023 , G01S7/2813 , G01S13/345 , G01S13/42 , G01S13/931 , G01S2007/356
摘要： A sampled beat signal RD is split into a plurality of short-time data SD in the time direction, for each of antenna elements. Interference component frequency of an interference wave is detected from a frequency spectrum of the short-time data SD. A digital beam forming process is performed for the interference component frequency of the interference wave to extract a peak of the electrical power of an azimuth direction and estimate an absolute value of an incoming direction of interference components. Based on the absolute value of the incoming direction of the estimated interference components, a filter for suppressing the interference components is operated to suppress the interference components.
摘要翻译：对于每个天线元件，采样差拍信号RD在时间方向被分割为多个短时数据SD。从短时数据SD的频谱中检测干扰波的干扰分量频率。对干扰波的干扰分量频率进行数字波束形成处理，以提取方位方向的电功率的峰值，并估计干扰分量的输入方向的绝对值。基于估计的干扰分量的输入方向的绝对值，操作用于抑制干扰分量的滤波器以抑制干扰分量。

3. 发明申请

US20100019950A1 ELECTRONICALLY SCANNED RADAR SYSTEM 有权
标题翻译：电子扫描雷达系统
公开(公告)号：US20100019950A1
公开(公告)日：2010-01-28
申请号：US12521248
申请日：2007-12-26
申请人： Chiharu Yamano , Kazuma Natsume , Yuu Watanabe , Mai Sakamoto
发明人： Chiharu Yamano , Kazuma Natsume , Yuu Watanabe , Mai Sakamoto
IPC分类号： G01S13/34 , G01S7/02
CPC分类号： G01S7/352 , G01S7/023 , G01S7/2813 , G01S13/345 , G01S13/42 , G01S13/931 , G01S2007/356
摘要： A sampled beat signal RD is split into a plurality of short-time data SD in the time direction, for each of antenna elements. Interference component frequency of an interference wave is detected from a frequency spectrum of the short-time data SD. A digital beam forming process is performed for the interference component frequency of the interference wave to extract a peak of the electrical power of an azimuth direction and estimate an absolute value of an incoming direction of interference components. Based on the absolute value of the incoming direction of the estimated interference components, a filter for suppressing the interference components is operated to suppress the interference components.
摘要翻译：对于每个天线元件，采样差拍信号RD在时间方向被分割为多个短时数据SD。从短时数据SD的频谱中检测干扰波的干扰分量频率。对干扰波的干扰分量频率进行数字波束形成处理，以提取方位方向的电功率的峰值，并估计干扰分量的输入方向的绝对值。基于估计的干扰分量的输入方向的绝对值，操作用于抑制干扰分量的滤波器以抑制干扰分量。

4. 发明授权

US07495604B2 Electronic scanning radar apparatus 有权
标题翻译：电子扫描雷达装置
公开(公告)号：US07495604B2
公开(公告)日：2009-02-24
申请号：US11676741
申请日：2007-02-20
申请人： Chiharu Yamano , Kazuma Natsume , Yuu Watanabe , Mai Sakamoto
发明人： Chiharu Yamano , Kazuma Natsume , Yuu Watanabe , Mai Sakamoto
IPC分类号： G01S13/58
CPC分类号： G01S7/4021 , G01S7/023 , G01S7/352 , G01S13/931 , G01S2007/356
摘要： A sampled beat signal is cut out into two or more short time data in a time direction concerning each antenna component. From a frequency spectrum of the short time data, an interference element frequency of an interference wave is detected. From the interference element frequency of the interference wave, two or more candidates of the frequency before aliasing of the interference wave are produced, and phase correction is executed on each candidate. Digital Beamforming is executed on the corrected frequency so as to extract maximum peaks of the power of an azimuth direction, and the frequency candidate showing the maximum peak power is selected and the arrival azimuth of the interference element is estimated. A filter for suppressing the interference element is applied on the short time data from the estimated arrival azimuth of the interference element so as to suppress the interference element.
摘要翻译：在每个天线部件的时间方向上将采样的拍频信号切成两个以上的短时间数据。根据短时间数据的频谱，检测干扰波的干扰要素频率。根据干扰波的干扰要素频率，产生干扰波混叠前的频率的两个以上候选，对每个候选进行相位校正。在校正后的频率上执行数字波束成形，以提取方位方向的功率的最大峰值，并且选择表示最大峰值功率的频率候选，并且估计干扰要素的到达方位角。用于抑制干扰要素的滤波器从干扰要素的预计到达方位施加在短时间数据上，以便抑制干扰要素。

5. 发明申请

US20090040097A1 RADAR APPARATUS 有权
标题翻译：雷达装置
公开(公告)号：US20090040097A1
公开(公告)日：2009-02-12
申请号：US11497033
申请日：2006-07-31
申请人： Mai Sakamoto , Kazuma Natsume , Yasuyuki Miyake
发明人： Mai Sakamoto , Kazuma Natsume , Yasuyuki Miyake
IPC分类号： G01S13/08
CPC分类号： G01S3/74 , G01S7/35 , G01S13/34 , G01S13/345 , G01S13/42 , G01S13/48
摘要： A radar apparatus includes a receiving means that receives a reflected signal, a beat signal generation means that generates beat signals based on the reflected signal, a correlation matrix generation means that calculates correlation matrices based on the beat signals, a storing means that stores previous correlation matrices, an addition means that calculates addition correlation matrices by adding the correlation matrices to the previous correlation matrices, a detection means that detects a frequency component satisfying a predetermined condition by using the beat signals, an extraction means that extracts an extraction matrix corresponding to the detected frequency from the addition correlation matrices, and a direction calculation means that calculates a direction of the object with respect to the radar apparatus based on the extraction matrix.
摘要翻译：雷达装置包括接收反射信号的接收装置，基于反射信号产生拍频信号的拍子信号产生装置，基于拍子信号计算相关矩阵的相关矩阵生成装置，存储先前相关的存储装置矩阵，加法装置，通过将相关矩阵与先前的相关矩阵相加来计算加法相关矩阵;检测装置，通过使用拍子信号来检测满足预定条件的频率分量;提取装置，提取对应于来自加法相关矩阵的检测频率;以及方向计算装置，其基于提取矩阵来计算相对于雷达装置的对象的方向。

6. 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。

7. 发明申请

US20090121918A1 RADAR APPARATUS ENABLING SIMPLIFIED SUPPRESSION OF INTERFERENCE SIGNAL COMPONENTS WHICH RESULT FROM RECEPTION OF DIRECTLY TRANSMITTED RADAR WAVES FROM ANOTHER RADAR APPARATUS 有权
标题翻译： RADAR设备启用了从其他RADAR设备接收直接发送的雷达波形的干扰信号组件的简化抑制
公开(公告)号：US20090121918A1
公开(公告)日：2009-05-14
申请号：US12269205
申请日：2008-11-12
申请人： Hideki Shirai , Chiharu Yamano , Kazuma Natsume , Yuu Watanabe , Mai Sakamoto
发明人： Hideki Shirai , Chiharu Yamano , Kazuma Natsume , Yuu Watanabe , Mai Sakamoto
IPC分类号： G01S13/93
CPC分类号： G01S7/023 , G01S7/2813 , G01S13/345 , G01S13/931
摘要： In a FM-CW or CW radar apparatus, when interference components are Contained in channel signals obtained as beat signals from array antenna elements of respective channels, and the interference components result from directly receiving transmitted CW radar waves from an external source, phase shifting is applied to each of the channel signals to shift respective phases of the interference components of the respective channels to a condition corresponding to reception of interference waves from a predetermined direction. The interference components are then eliminated, and reverse phase shifting is applied to restore remaining components of the channel signals to their original phase condition.
摘要翻译：在FM-CW或CW雷达装置中，当干扰分量被包含在作为来自各个信道的阵列天线元件的拍频信号获得的信道信号中时，并且干扰分量是从直接接收来自外部源的发送的CW雷达波而产生的，相移是应用于每个信道信号以将各个信道的干扰分量的各个相位移位到对应于从预定方向的干扰波的接收的状态。然后消除干扰分量，并且应用反向相移以将信道信号的剩余分量恢复到其原始相位条件。

8. 发明授权

US07495605B1 Radar apparatus 有权
标题翻译：雷达装置
公开(公告)号：US07495605B1
公开(公告)日：2009-02-24
申请号：US11497033
申请日：2006-07-31
申请人： Mai Sakamoto , Kazuma Natsume , Yasuyuki Miyake
发明人： Mai Sakamoto , Kazuma Natsume , Yasuyuki Miyake
IPC分类号： G01S13/08
CPC分类号： G01S3/74 , G01S7/35 , G01S13/34 , G01S13/345 , G01S13/42 , G01S13/48
摘要： A radar apparatus includes a receiving means that receives a reflected signal, a beat signal generation means that generates beat signals based on the reflected signal, a correlation matrix generation means that calculates correlation matrices based on the beat signals, a storing means that stores previous correlation matrices, an addition means that calculates addition correlation matrices by adding the correlation matrices to the previous correlation matrices, a detection means that detects a frequency component satisfying a predetermined condition by using the beat signals, an extraction means that extracts an extraction matrix corresponding to the detected frequency from the addition correlation matrices, and a direction calculation means that calculates a direction of the object with respect to the radar apparatus based on the extraction matrix.
摘要翻译：雷达装置包括接收反射信号的接收装置，基于反射信号产生拍频信号的拍子信号产生装置，基于拍子信号计算相关矩阵的相关矩阵生成装置，存储先前相关的存储装置矩阵，加法装置，通过将相关矩阵与先前的相关矩阵相加来计算加法相关矩阵;检测装置，通过使用拍子信号来检测满足预定条件的频率分量;提取装置，提取对应于来自加法相关矩阵的检测频率;以及方向计算装置，其基于提取矩阵来计算相对于雷达装置的对象的方向。

9. 发明申请

US20120271483A1 METHOD AND APPARATUS FOR RECOGNIZING SHAPE OF ROAD FOR VEHICLES 有权
标题翻译：用于识别车辆道路形状的方法和装置
公开(公告)号：US20120271483A1
公开(公告)日：2012-10-25
申请号：US13424735
申请日：2012-03-20
申请人： Yoshie Samukawa , Toyohito Nozawa , Mai Sakamoto , Hiroshi Ookata
发明人： Yoshie Samukawa , Toyohito Nozawa , Mai Sakamoto , Hiroshi Ookata
IPC分类号： G06F17/00
CPC分类号： B60W40/072 , B60W10/06 , B60W10/10 , B60W10/184 , B60W30/12 , B60W30/16 , B60W50/14 , B60W2050/143 , B60W2420/62 , B60W2510/0604 , B60W2520/10 , B60W2520/14 , B60W2540/12 , B60W2540/18 , B60W2550/306
摘要： An example of recognition of the shape of a road where a vehicle travels is provided. An object type as to whether an object is a moving or stationary object is determined according to a relative speed of the object and a speed of the vehicle. Object-unit data effective for recognizing a road shape is extracted according to the determination. The object-unit data is used for forming data of a roadside object group, based on which a road edge is recognized. A series of the processes is repeatedly performed at a predetermined cycle. After the extraction process, a data addition process is performed to add object-unit data obtained in the extraction process of the previous cycle to object-unit data obtained in the extraction process of the present cycle. In a recognition process, a road edge is recognized according to the object-unit data obtained in the data addition process.
摘要翻译：提供车辆行驶的道路的形状识别的一个例子。根据物体的相对速度和车辆的速度来确定物体是移动物体还是静止物体的物体类型。根据确定提取对识别道路形状有效的对象单位数据。对象单元数据用于形成路边对象组的数据，基于该数据识别道路边缘。以预定的周期重复执行一系列处理。在提取处理之后，执行数据添加处理以将在前一周期的提取处理中获得的对象单元数据添加到在本周期的提取处理中获得的对象单元数据。在识别处理中，根据在数据添加处理中获得的对象单位数据来识别路边。

10. 发明授权

US07567204B2 Method for determining noise floor level and radar using the same 有权
标题翻译：用于确定噪声基准电平的方法和使用其的雷达
公开(公告)号：US07567204B2
公开(公告)日：2009-07-28
申请号：US12077594
申请日：2008-03-19
申请人： Mai Sakamoto
发明人： Mai Sakamoto
IPC分类号： G01S7/35 , G01S13/32 , G01S13/00 , G01S13/93 , G01R29/26
CPC分类号： G01S7/354 , G01S13/345 , G01S2007/356
摘要： A method for a radar for detecting a noise floor level of an electric signal corresponding to an incident radio wave received by the radar, the incident radio wave including a return of a radar wave that is transmitted from the radar toward a measuring range of the radar to detect target object characteristic including presence of a target object within the measuring range of the radar, a distance between the target object and the radar, and a relative speed of the target object to the radar is provided. The method includes steps of: calculating a histogram of intensities of frequency components, the frequency components exceeding a predetermined value relating to the measuring range, and extracting an intensity having the maximum height in the histogram as the noise floor level of the electric signal.
摘要翻译：一种雷达检测方法，用于检测与雷达接收到的入射无线电波对应的电信号的基底噪声电平，入射的无线电波包括从雷达向雷达的测量范围发送的雷达波的返回提供包括在雷达的测量范围内的目标物体的存在，目标物体与雷达之间的距离以及目标物体与雷达的相对速度的目标物体特性。该方法包括以下步骤：计算频率分量的强度的直方图，频率分量超过与测量范围相关的预定值，并将具有直方图中最大高度的强度提取为电信号的噪声基底电平。

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