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1. 发明申请

US20150145714A1 RADAR APPARATUS 有权
标题翻译：雷达装置
公开(公告)号：US20150145714A1
公开(公告)日：2015-05-28
申请号：US14403926
申请日：2013-05-21
申请人： DENSO CORPORATION
发明人： Yuu Watanabe , Koichiro Suzuki
IPC分类号： G01S13/50 , G01S13/58
CPC分类号： G01S13/50 , G01S13/38 , G01S13/584 , G01S13/72 , G01S13/931
摘要： In a dual-frequency CW radar apparatus, first/second beat signals that include reflection components of radar waves conforming to transmission signals of first/second frequencies are generated for each antenna element and the generated signals are Fourier transformed. A power spectrum average of the beat signals is used as a basis for the detection of a peak frequency fp corresponding to the frequency of the reflection components. A second eigenvalue λ2 of a correlation matrix: Ry=(½)·[y1,y2][y1,y2]H is calculated, the matrix being based on first received vector y1/second received vector y2 having elements that are Fourier transformed values of the peak frequency fp. Based on the magnitude of the eigenvalue λ2, whether or not the reflection components corresponding to the peak frequency fp are synthetic components of the reflected waves from a plurality of targets is decided.
摘要翻译：在双频CW雷达装置中，对于每个天线元件生成包括符合第一/第二频率的传输信号的雷达波的反射分量的第一/第二拍频信号，并且所生成的信号被傅里叶变换。使用拍频信号的功率谱平均值作为检测与反射分量的频率对应的峰值频率fp的基础。计算相关矩阵的第二特征值λ2：Ry =（½）·[y1，y2] [y1，y2] H，基于具有作为傅里叶变换值的元素的第一接收矢量y1 /第二接收矢量y2 的峰值频率fp。基于特征值λ2的大小，判定与峰值频率fp对应的反射分量是否是来自多个目标的反射波的合成分量。

2. 发明授权

US11407411B2 Other lane monitoring device 有权
公开(公告)号：US11407411B2
公开(公告)日：2022-08-09
申请号：US16337031
申请日：2017-09-27
申请人： DENSO CORPORATION
发明人： Takayuki Kitamura , Naotsugu Shimizu , Koichiro Suzuki
IPC分类号： B60W30/095 , B60W40/10 , G08G1/16 , G06V20/58
摘要： An other lane monitoring device of the present disclosure includes an other vehicle acquisition section, a path acquisition section, a lane estimation section, and a position estimation section. The other vehicle acquisition section is configured to acquire other vehicle position information that indicates the current position of an other vehicle near the own vehicle. The path acquisition section is configured to acquire an own vehicle travel path that indicates a path along which the own vehicle has traveled. The lane estimation section is configured to use the own vehicle travel path as a basis for estimating an other lane area that is a lane where the other lane is present. The position estimation section is configured to estimate a future position of the other vehicle, assuming that the other vehicle moves along the own vehicle travel path or in the other lane area.

3. 发明授权

US10353063B2 Radar apparatus and signal processing method of radar apparatus 有权
公开(公告)号：US10353063B2
公开(公告)日：2019-07-16
申请号：US15318192
申请日：2015-05-26
申请人： DENSO CORPORATION
发明人： Mai Sakamoto , Koichiro Suzuki
IPC分类号： G01S13/34 , G01S13/38 , G01S13/58 , G01S13/93 , G01S13/95 , G01S7/41 , G01S7/35 , G01S7/40 , G01S13/536 , G01S13/72
摘要： A radar apparatus includes a targeting unit that irradiates a radar wave and recognizes a detection subject using a reflected wave thereof. The targeting unit extracts, as a target, a peak that is confirmed to have historical connection over measurement cycles equal to or more than a predetermined targeting threshold, from peaks extracted from a power spectrum generated by frequency analysis. A rainy-weather determining unit determines that weather is rainy when a number of erroneous detections is greater than a predetermined rainy-weather determination threshold. The number of erroneous detections is a number of peaks that have been detected in a previous measurement cycle or earlier by the targeting unit and are not confirmed to have historical connection to a peak detected in a current measurement cycle. A parameter updating unit updates the targeting threshold so as to be a larger value as the number of erroneous detections increases when the rainy-weather determining unit determines that the weather is rainy.

4. 发明申请

US20160011299A1 ON-VEHICLE RADAR APPARATUS CAPABLE OF RECOGNIZING RADAR SENSOR MOUNTING ANGLE 审中-公开
标题翻译：识别雷达传感器安装角的车载雷达装置
公开(公告)号：US20160011299A1
公开(公告)日：2016-01-14
申请号：US14767251
申请日：2014-02-06
申请人： DENSO CORPORATION
发明人： Miki Satou , Yasuyuki Miyake , Gaku Takano , Koichiro Suzuki
IPC分类号： G01S7/40 , G01S13/93 , G01S13/58
CPC分类号： G01S7/4026 , G01S13/34 , G01S13/584 , G01S13/931 , G01S2007/403
摘要： An on-vehicle radar apparatus includes a radar sensor and a mounting angle calculation section that calculates a mounting angle of the radar sensor, and the radar sensor is mounted on a vehicle so that a sensing area includes a direction of 90 degrees relative to a front-back direction of the vehicle and detects a relative speed to an observation point at which the radar wave is reflected in the sensing area and an azimuth at which the observation point is located. The mounting angle calculation section calculates a mounting angle of the radar sensor from an azimuth of a speed zero observation point, the speed zero observation point being the observation point with a relative speed of zero.
摘要翻译：车载雷达装置包括雷达传感器和安装角度计算部分，其计算雷达传感器的安装角度，并且雷达传感器安装在车辆上，使得感测区域包括相对于前方的90度的方向并且检测与雷达波在感测区域中反射的观测点的相对速度以及观测点所在的方位角。安装角度计算部根据速度零观测点的方位角计算雷达传感器的安装角度，速度零点观测点为相对速度为零的观测点。

5. 发明授权

US09547077B2 Radar apparatus 有权
标题翻译：雷达装置
公开(公告)号：US09547077B2
公开(公告)日：2017-01-17
申请号：US14403926
申请日：2013-05-21
申请人： DENSO CORPORATION
发明人： Yuu Watanabe , Koichiro Suzuki
IPC分类号： G01S13/50 , G01S13/38 , G01S13/58 , G01S13/93 , G01S13/72
CPC分类号： G01S13/50 , G01S13/38 , G01S13/584 , G01S13/72 , G01S13/931
摘要： In a dual-frequency CW radar apparatus, first/second beat signals that include reflection components of radar waves conforming to transmission signals of first/second frequencies are generated for each antenna element and the generated signals are Fourier transformed. A power spectrum average of the beat signals is used as a basis for the detection of a peak frequency fp corresponding to the frequency of the reflection components. A second eigenvalue λ2 of a correlation matrix: Ry=(½)·[y1,y2][y1,y2]H is calculated, the matrix being based on first received vector y1/second received vector y2 having elements that are Fourier transformed values of the peak frequency fp. Based on the magnitude of the eigenvalue λ2, whether or not the reflection components corresponding to the peak frequency fp are synthetic components of the reflected waves from a plurality of targets is decided.
摘要翻译：在双频CW雷达装置中，对于每个天线元件生成包括符合第一/第二频率的传输信号的雷达波的反射分量的第一/第二拍频信号，并且所生成的信号被傅里叶变换。使用拍频信号的功率谱平均值作为检测与反射分量的频率对应的峰值频率fp的基础。计算相关矩阵的第二特征值λ2：Ry =（½）·[y1，y2] [y1，y2] H，基于具有作为傅里叶变换值的元素的第一接收矢量y1 /第二接收矢量y2 的峰值频率fp。基于特征值λ2的大小，判定与峰值频率fp对应的反射分量是否是来自多个目标的反射波的合成分量。

6. 发明申请

US20160018219A1 ESTIMATION APPARATUS 审中-公开
标题翻译：估计装置
公开(公告)号：US20160018219A1
公开(公告)日：2016-01-21
申请号：US14772691
申请日：2014-03-04
申请人： DENSO CORPORATION
发明人： Mai Sakamoto , Koichiro Suzuki
IPC分类号： G01B21/16 , G01S11/02
CPC分类号： G01B21/16 , G01S11/02 , G01S13/347 , G01S13/38 , G01S13/42 , G01S13/584 , G01S13/726
摘要： An estimation apparatus includes a distance estimator. The distance estimator performs regression analysis using, as samples, an observation of distance and an observation at each time within a predetermined period obtained by an observer. The estimation apparatus estimates that a value of the distance upon a value of a displacement calculated in accordance with a regression equation based on the regression analysis being zero shows a value of the distance to the forward object at a start time.
摘要翻译：估计装置包括距离估计器。距离估计器使用由观察者获得的预定时间段内的每个时间的距离观察和观察来进行回归分析。估计装置估计根据回归分析为回归分析计算出的位移值的距离值为零，表示在开始时间到正向物体的距离的值。

7. 发明授权

US10077979B2 Estimation apparatus 有权
公开(公告)号：US10077979B2
公开(公告)日：2018-09-18
申请号：US14772691
申请日：2014-03-04
申请人： DENSO CORPORATION
发明人： Mai Sakamoto , Koichiro Suzuki
IPC分类号： G01B21/16 , G01S13/38 , G01S13/34 , G01S13/72 , G01S11/02 , G01S13/58 , G01S13/42
CPC分类号： G01B21/16 , G01S11/02 , G01S13/347 , G01S13/38 , G01S13/42 , G01S13/584 , G01S13/726
摘要： An estimation apparatus includes a distance estimator. The distance estimator performs regression analysis using, as samples, an observation of distance and an observation at each time within a predetermined period obtained by an observer. The estimation apparatus estimates that a value of the distance upon a value of a displacement calculated in accordance with a regression equation based on the regression analysis being zero shows a value of the distance to the forward object at a start time.

8. 发明授权

US10054671B2 On-vehicle radar apparatus capable of recognizing radar sensor mounting angle 有权
公开(公告)号：US10054671B2
公开(公告)日：2018-08-21
申请号：US14767251
申请日：2014-02-06
申请人： DENSO CORPORATION
发明人： Miki Satou , Yasuyuki Miyake , Gaku Takano , Koichiro Suzuki
IPC分类号： G01S7/40 , G01S13/34 , G01S13/58 , G01S13/93
CPC分类号： G01S7/4026 , G01S13/34 , G01S13/584 , G01S13/931 , G01S2007/403
摘要： An on-vehicle radar apparatus includes a radar sensor and a mounting angle calculation section that calculates a mounting angle of the radar sensor, and the radar sensor is mounted on a vehicle so that a sensing area includes a direction of 90 degrees relative to a front-back direction of the vehicle and detects a relative speed to an observation point at which the radar wave is reflected in the sensing area and an azimuth at which the observation point is located. The mounting angle calculation section calculates a mounting angle of the radar sensor from an azimuth of a speed zero observation point, the speed zero observation point being the observation point with a relative speed of zero.

9. 发明申请

US20170345312A1 APPARATUS FOR MONITORING ADJACENT LANES 审中-公开
公开(公告)号：US20170345312A1
公开(公告)日：2017-11-30
申请号：US15521002
申请日：2015-09-29
申请人： DENSO CORPORATION
发明人： Naotsugu Shimizu , Koichiro Suzuki
IPC分类号： G08G1/16 , G01S13/87 , G01S13/93 , G07C5/08
CPC分类号： G08G1/167 , B60R21/00 , B60W30/18163 , B60W40/04 , G01S13/87 , G01S13/878 , G01S13/931 , G01S2013/9332 , G01S2013/9353 , G07C5/0841
摘要： In an apparatus for monitoring an adjacent lane to a lane in which an own vehicle that is a vehicle carrying the apparatus is traveling, a travel trajectory calculation unit calculates a travel trajectory of the own vehicle based on odometry information of the own vehicle. An adjacent lane estimation unit estimates an adjacent-lane region based on the travel trajectory of the own vehicle. An other-vehicle determination unit determines whether or not a target (the other vehicle) is present in the adjacent lane based on a position of the target detected by an other-vehicle detector and the estimated adjacent-lane region.

10. 发明申请

US20170102459A1 RADAR APPARATUS AND SIGNAL PROCESSING METHOD OF RADAR APPARATUS 审中-公开
公开(公告)号：US20170102459A1
公开(公告)日：2017-04-13
申请号：US15318192
申请日：2015-05-26
申请人： DENSO CORPORATION
发明人： Mai Sakamoto , Koichiro Suzuki
IPC分类号： G01S13/58 , G01S13/93 , G01S13/95
CPC分类号： G01S13/584 , G01S7/354 , G01S7/40 , G01S7/415 , G01S13/347 , G01S13/38 , G01S13/536 , G01S13/726 , G01S13/931 , G01S13/951 , G01S2007/4039 , G01S2013/9353
摘要： A radar apparatus includes a targeting unit that irradiates a radar wave and recognizes a detection subject using a reflected wave thereof. The targeting unit extracts, as a target, a peak that is confirmed to have historical connection over measurement cycles equal to or more than a predetermined targeting threshold, from peaks extracted from a power spectrum generated by frequency analysis. A rainy-weather determining unit determines that weather is rainy when a number of erroneous detections is greater than a predetermined rainy-weather determination threshold. The number of erroneous detections is a number of peaks that have been detected in a previous measurement cycle or earlier by the targeting unit and are not confirmed to have historical connection to a peak detected in a current measurement cycle. A parameter updating unit updates the targeting threshold so as to be a larger value as the number of erroneous detections increases when the rainy-weather determining unit determines that the weather is rainy.

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