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1. 发明授权

US09110152B2 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的对象信息产生装置
公开(公告)号：US09110152B2
公开(公告)日：2015-08-18
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： G01S7/40 , G01S7/35 , G01S13/34 , G01S13/93
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。

2. 发明申请

US20120105300A1 Radome incorporating partition wall for enhancing isolation between transmitted and received radar waves of radar apparatus 有权
标题翻译：雷达装置采用分隔壁，用于增强雷达装置发射和接收的雷达波之间的隔离度
公开(公告)号：US20120105300A1
公开(公告)日：2012-05-03
申请号：US13200228
申请日：2011-09-21
申请人： Takamasa Ando , Kazuma Natsume
发明人： Takamasa Ando , Kazuma Natsume
IPC分类号： H01Q1/42
CPC分类号： G01S7/032 , G01S7/038 , G01S2007/027 , H01Q1/42 , H01Q1/525
摘要： A radome covers an antenna substrate of a millimeter-band radar apparatus, with a partition wall formed integrally in the radome separating the internal space of the radome into a first internal space, located in correspondence with a transmitting antenna section, and a second internal space, located in correspondence with a receiving antenna section. Increased isolation between transmission and reception is achieved thereby, by reducing the amount of transmitted radar waves which directly reach the receiving antenna section.
摘要翻译：天线罩覆盖毫米波段雷达装置的天线基板，其中一个分隔壁整体形成在天线罩中，将天线罩的内部空间分隔成与发射天线部分对应的第一内部空间，以及第二内部空间位于与接收天线部分对应的位置。从而通过减少直接到达接收天线部分的发射雷达波的数量来实现传输和接收之间的增加的隔离。

3. 发明申请

US20100073216A1 Radar device 有权
标题翻译：雷达设备
公开(公告)号：US20100073216A1
公开(公告)日：2010-03-25
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 , G01S13/00 , G01S13/08
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。

4. 发明授权

US07474252B2 Radar device 有权
标题翻译：雷达设备
公开(公告)号：US07474252B2
公开(公告)日：2009-01-06
申请号：US11171726
申请日：2005-06-30
申请人： Kazuma Natsume , Yasuyuki Miyake
发明人： Kazuma Natsume , Yasuyuki Miyake
IPC分类号： G01S13/00 , G01S13/16
CPC分类号： G01S3/74 , G01S13/34 , G01S13/931 , G01S2013/9321 , G01S2013/9375
摘要： A radar device uses a transmission signal outputted from a transmission antenna and a reception signal as an incoming wave reflected from a target object through an arrangement of reception antennas for estimating an angle of the incoming wave. An incoming wave estimation process stores a threshold for each beat frequency of the beat signal, and distinguishes the incoming wave in a signal space from the incoming wave in a non-signal space using the threshold. The estimation process facilitates an accurate estimation of the incoming wave in MUSIC method, ESPRIT method or the like.
摘要翻译：雷达装置使用从发送天线输出的发送信号和接收信号作为从对象物体反射的入射波，通过用于估计入射波的角度的接收天线的布置。入射波估计处理存储拍子信号的每个拍频的阈值，并且使用该阈值将信号空间中的入射波与非信号空间中的入射波区分开。估计过程有助于在MUSIC方法，ESPRIT方法等中准确估计入射波。

5. 发明授权

US07439903B2 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：US07439903B2
公开(公告)日：2008-10-21
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： G01S13/00
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。

6. 发明授权

US07372404B2 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：US07372404B2
公开(公告)日：2008-05-13
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： G01S5/02
CPC分类号： G01S3/74 , G01S3/8006
摘要： Apparatus and method are disclosed for estimating direction of an arrival wave, such as radio or acoustic waves. A correlation matrix of an arrival wave is computed, and matrices for obtaining eigenvalues and eigenvectors are produced. Column norms of the matrix, which is subject to a Householder transformation, are computed. Whether a maximum value of the column norms is the same as or lower than a predetermined threshold is judged. A Householder transformation of the matrix is performed only if the maximum value of the column norms is determined to be greater than or equal to the threshold, and not when the maximum value of the column norms is less than the threshold. The eigenvectors and the eigenvalues of the correlation matrix are obtained by further implementing the Householder transformation. The number of arrival waves is judged from the number of times the Householder transformation is performed.
摘要翻译：公开了用于估计到达波的方向（诸如无线电或声波）的装置和方法。计算到达波的相关矩阵，并产生用于获得特征值和特征向量的矩阵。计算矩阵的列规范，这是由Householder转换进行的。判断列规范的最大值是否等于或低于预定阈值。仅当列范数的最大值被确定为大于或等于阈值时，而不是当列范数的最大值小于阈值时才执行矩阵的Householder变换。相关矩阵的特征向量和特征值通过进一步实施Householder变换获得。到达波数是从众议院转型次数来判断的。

7. 发明申请

US20070147482A1 Arrival direction estimation apparatus 有权
标题翻译：到达方向估计装置
公开(公告)号：US20070147482A1
公开(公告)日：2007-06-28
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： H04B1/00 , H04L27/06
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。

8. 发明申请

US20070120730A1 Radar signal processor 有权
标题翻译：雷达信号处理器
公开(公告)号：US20070120730A1
公开(公告)日：2007-05-31
申请号：US11605993
申请日：2006-11-29
申请人： Gaku Takano , Chiharu Yamano , Kazuma Natsume , Yasuyuki Miyake
发明人： Gaku Takano , Chiharu Yamano , Kazuma Natsume , Yasuyuki Miyake
IPC分类号： G01S13/93
CPC分类号： G01S13/931 , G01S3/74 , G01S13/42 , G01S2013/0245
摘要： A radar signal processor has means for outputting a predetermined observation signal from a reflected wave caught by an array element, means for extracting an observation signal component concerning a target from the observation signal, means for computing a sample correlation matrix showing a correlation characteristic between the observation means which is a sample value of a correlation matrix from the observation signal components, means for estimating power of the reflected wave from the sample correlation matrix, and an array response matrix which is comprised of response vectors of the reflected waves, and means for selecting the reflected wave in a predetermined arrival direction power of which is to be estimated and a reflected wave in an azimuth adjacent to the arrival direction of the reflected wave and for computing and determining the array response matrix as an adjacent azimuth array response matrix, having only these reflected waves as elements in order to estimate the power of the reflected wave on the basis of the adjacent azimuth array response matrix.
摘要翻译：雷达信号处理器具有用于从由阵列元件捕获的反射波输出预定观测信号的装置，用于从观测信号中提取关于目标的观测信号分量的装置，用于计算示出相关特征的样本相关矩阵的装置观测装置，其是来自观测信号分量的相关矩阵的样本值，用于估计来自样本相关矩阵的反射波的功率的装置和由反射波的响应矢量组成的阵列响应矩阵，以及用于选择要被估计的预定到达方向功率的反射波和与反射波的到达方向相邻的方位角的反射波，并且用于计算和确定阵列响应矩阵作为相邻的方位阵列响应矩阵，具有只有这些反射波作为元素才能估计p 在相邻的方位阵列响应矩阵的基础上反射波的反射。

9. 发明申请

US20070024492A1 Radar signal processor 有权
标题翻译：雷达信号处理器
公开(公告)号：US20070024492A1
公开(公告)日：2007-02-01
申请号：US11376625
申请日：2006-03-15
申请人： Gaku Takano , Chiharu Yamano , Kazuma Natsume , Yasuyuki Miyake , Yasushi Sakuma
发明人： Gaku Takano , Chiharu Yamano , Kazuma Natsume , Yasuyuki Miyake , Yasushi Sakuma
IPC分类号： G01S13/93
CPC分类号： G01S13/878 , G01S3/74 , G01S2013/9353
摘要： A radar signal processor has observation means, for receiving a reflected wave from a target and for outputting a predetermined observation signal, means for extracting distance component, for extracting a distance component corresponding to a distance from the each observation signal, means for estimating, for collecting respective distance components and for computing and estimating an estimated value of a corresponding correlation matrix with a forgetting factor as a parameter by a method for estimating correlation matrix with exponential smoothing, means for estimating a presence of a target or a movement state of the target on the basis of the respective estimated values of the correlation matrices, and means for determining forgetting factor, for respectively computing and determining the forgetting factors corresponding to the distances, and for respectively outputting the computed and determined.
摘要翻译：雷达信号处理器具有用于从目标接收反射波并输出预定观测信号的观测装置，用于提取距离分量的装置，用于提取与每个观测信号相对应的距离的距离分量;装置，用于估计收集相应的距离分量，并且通过用于以指数平滑估计相关矩阵的方法来计算和估计具有遗忘因子的相应相关矩阵的估计值作为参数，用于估计目标的存在或目标的移动状态的装置根据相关矩阵的相应估计值，以及用于确定遗忘因子的装置，分别计算和确定与距离对应的遗忘因子，并分别输出计算和确定的。

10. 发明授权

US07151482B2 Antenna configuration and radar device including same 有权
标题翻译：天线配置和雷达设备包括相同
公开(公告)号：US07151482B2
公开(公告)日：2006-12-19
申请号：US10765846
申请日：2004-01-29
申请人： Kazuma Natsume , Hiroshi Hazumi
发明人： Kazuma Natsume , Hiroshi Hazumi
IPC分类号： G01S13/06 , G01S7/40 , H01Q21/06 , G01S13/93 , H01Q1/32
CPC分类号： G01S13/343 , H01Q3/24
摘要： A radar device (2) includes plural transmission antennas and plural reception antennas. The reception antennas constitute a reception-side antenna portion (20) and are arranged at an interval of d. The transmission antennas constitute a transmission-side antenna portion (18) and are arranged at an interval of d′=d×(n−1). The path length at which the electric wave is reflected from a target is identical between channels A9 and B1, and seventeen kinds of channels (A1 to A8, A9 or B1, B2 to B9) which are different in path length by every fixed distance are achieved. The data of the channels (A1 to A9 and B1 to B9) using different transmission antennas are respectively collected in different measuring cycles, and an error based on the time difference between the measuring cycles is corrected on the basis of a correction value calculated from the data of the channels A9, B1.
摘要翻译：雷达装置（2）包括多个发送天线和多个接收天线。接收天线构成接收侧天线部（20），并以d间隔配置。发送天线构成发送侧天线部（18），并且以d'= dx（n-1）的间隔配置。电波从目标反射的路径长度在通道A 9和B 1之间相同，17种通道（A 1至A 8，A 9或B 1，B 2至B 9）不同实现了每个固定距离的路径长度。使用不同的发送天线的信道（A 1〜A 9和B 1〜B 9）的数据分别以不同的测量周期收集，并且基于校正周期之间的时间差的误差被校正根据通道A 9，B 1的数据计算出的值。

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