JP7394582B2 - レーダーデータを処理する装置及び方法 - Google Patents
レーダーデータを処理する装置及び方法 Download PDFInfo
- Publication number
- JP7394582B2 JP7394582B2 JP2019194389A JP2019194389A JP7394582B2 JP 7394582 B2 JP7394582 B2 JP 7394582B2 JP 2019194389 A JP2019194389 A JP 2019194389A JP 2019194389 A JP2019194389 A JP 2019194389A JP 7394582 B2 JP7394582 B2 JP 7394582B2
- Authority
- JP
- Japan
- Prior art keywords
- radar
- radar data
- signal
- information
- processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012545 processing Methods 0.000 title claims description 116
- 238000000034 method Methods 0.000 title claims description 88
- 230000008569 process Effects 0.000 claims description 43
- 238000009826 distribution Methods 0.000 claims description 32
- 230000008859 change Effects 0.000 claims description 31
- 238000001514 detection method Methods 0.000 claims description 25
- 230000007704 transition Effects 0.000 claims description 13
- 238000004458 analytical method Methods 0.000 claims description 7
- 238000012417 linear regression Methods 0.000 claims description 6
- 230000001747 exhibiting effect Effects 0.000 claims description 3
- 238000004590 computer program Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 29
- 230000007423 decrease Effects 0.000 description 5
- 238000012805 post-processing Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000002902 bimodal effect Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 206010020675 Hypermetropia Diseases 0.000 description 3
- 230000035559 beat frequency Effects 0.000 description 3
- 238000007781 pre-processing Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000007476 Maximum Likelihood Methods 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000012886 linear function Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/343—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using sawtooth modulation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/345—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using triangular modulation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
- G01S13/44—Monopulse radar, i.e. simultaneous lobing
- G01S13/4454—Monopulse radar, i.e. simultaneous lobing phase comparisons monopulse, i.e. comparing the echo signals received by an interferometric antenna arrangement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/356—Receivers involving particularities of FFT processing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/414—Discriminating targets with respect to background clutter
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/50—Magnetic or electromagnetic sensors
- B60W2420/506—Inductive sensors, i.e. passive wheel sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/60—Doppler effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/862—Combination of radar systems with sonar systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9318—Controlling the steering
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/93185—Controlling the brakes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9319—Controlling the accelerator
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9321—Velocity regulation, e.g. cruise control
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Mathematical Physics (AREA)
- Signal Processing (AREA)
- Radar Systems Or Details Thereof (AREA)
Description
vd=v・cos(θt-θv)
を算出する。したがって、レーダーデータを処理する装置1590は、候補速度vを次式により算出し得る。
210:レーダーセンサ
220:プロセッサ
Claims (22)
- 車両に搭載された電子装置により行われるレーダーデータを処理する方法において、
レーダーセンサを介して受信されたレーダー信号から前記レーダー信号の位相情報を算出するステップと、
前記算出された位相情報からノイズ代表情報を算出するステップと、
前記ノイズ代表情報及び前記レーダー信号から算出されたレーダーデータに基づいて前記車両の車両速度を決定するステップと、
を含み、
前記ノイズ代表情報を算出するステップは、
前記レーダーセンサのスキャンを介して検出された位相変化推移を示す前記位相情報に対して、線形回帰分析による線形モデルを推定するステップと、
前記線形モデルに対する前記位相情報の適合度を前記ノイズ代表情報として推定するステップと、
を含むレーダーデータを処理する方法。 - 前記位相情報を算出するステップは、
個別ターゲット地点ごとに前記レーダーセンサのスキャンを介して一連のチャープ信号を検出するステップと、
前記検出された一連のチャープ信号に対応する前記位相変化推移を算出するステップと、
を含む、請求項1に記載のレーダーデータを処理する方法。 - 前記位相変化推移を算出するステップは、前記検出された一連のチャープ信号の各チャープ信号でドップラー軸による位相値を決定するステップを含む、請求項2に記載のレーダーデータを処理する方法。
- 前記位相変化推移を算出するステップは、前記レーダー信号から分析された角度情報及び距離情報に基づいて複数のターゲット地点のそれぞれを識別するステップを含む、請求項2に記載のレーダーデータを処理する方法。
- 前記位相情報を算出するステップは、前記位相情報に対してアンラッピング演算を適用するステップを含む、請求項1に記載のレーダーデータを処理する方法。
- 前記ノイズ代表情報を推定するステップは、
一連のチャープ信号の各チャープ信号に対して、位相値と前記線形モデルによる推定値との間の誤差を算出するステップと、
前記算出された誤差に関する和を前記ノイズ代表情報として決定するステップと、
を含む、請求項1に記載のレーダーデータを処理する方法。 - 前記レーダーデータを処理する方法は、前記レーダーデータを処理した結果及び前記ノイズ代表情報に基づいて、周辺オブジェクトを検出するステップをさらに含む、請求項1-6のうち何れか1項に記載のレーダーデータを処理する方法。
- 前記車両速度を決定するステップは、
前記ノイズ代表情報と閾値との間の比較に基づいて、前記ノイズ代表情報のうち正常信号を示すターゲット地点を判別するステップと、
前記判別されたターゲット地点に対応するノイズ代表情報及びレーダーデータに基づいて前記車両速度を決定するステップと、
を含む、請求項1-6のうち何れか1項に記載のレーダーデータを処理する方法。 - 前記レーダーデータを処理する方法は、前記閾値を前記ノイズ代表情報に対する分布に基づいて決定するステップをさらに含む、請求項8に記載のレーダーデータを処理する方法。
- 前記分布に基づいて前記閾値を決定するステップは、前記ノイズ代表情報に対する前記分布から第1ピークが示す値及び第2ピークが示す値の間の値を前記閾値として決定するステップを含む、請求項9に記載のレーダーデータを処理する方法。
- 前記車両速度を決定するステップは、
前記正常信号を示す複数のターゲット地点のそれぞれに対応するレーダーデータから候補速度を推定するステップと、
前記複数のターゲット地点から推定された候補速度に基づいて車両速度を決定するステップと、
を含む、請求項8に記載のレーダーデータを処理する方法。 - 前記車両速度を決定するステップは、前記複数のターゲット地点のそれぞれから反射して受信された前記正常信号から算出されたドップラーの速度及び角度に基づいて前記候補速度を推定するステップをさらに含む、請求項11に記載のレーダーデータを処理する方法。
- 前記車両速度を決定するステップは、複数の候補速度を代表する値を前記車両速度として決定するステップをさらに含む、請求項11に記載のレーダーデータを処理する方法。
- 前記レーダーデータを処理する方法は、前記車両速度をユーザに提供するステップをさらに含む、請求項1-13のうち何れか1項に記載のレーダーデータを処理する方法。
- 前記車両速度をユーザに提供するステップは、前記車両速度を視角化するステップを含む、請求項14に記載のレーダーデータを処理する方法。
- 前記レーダーデータを処理する方法は、前記ノイズ代表情報及び前記レーダーデータに基づいて検出されたオブジェクト検出情報を指示するステップをさらに含む、請求項1-15のうち何れか1項に記載のレーダーデータを処理する方法。
- 前記オブジェクト検出情報を指示するステップは、前記オブジェクト検出情報に基づいて車両の動きを制御するステップを含む、請求項16に記載のレーダーデータを処理する方法。
- 請求項1に記載の方法をレーダーデータ処理装置のコンピュータに実行させる1つ以上の命令語を含むコンピュータプログラム。
- 車両に搭載されたレーダーデータを処理する装置において、
レーダー信号を検出するレーダーセンサと、
前記レーダー信号の位相情報を算出し、前記算出された位相情報からノイズ代表情報を算出し、前記ノイズ代表情報及び前記レーダー信号から算出されたレーダーデータに基づいて前記車両の車両速度を決定するプロセッサと、
を含み、
前記プロセッサは、
前記レーダーセンサのスキャンを介して検出された位相変化推移を示す前記位相情報に対して、線形回帰分析による線形モデルを推定し、
前記線形モデルに対する前記位相情報の適合度を前記ノイズ代表情報として推定するレーダーデータを処理する装置。 - 前記レーダーセンサは、複数のターゲット地点に関するレーダー信号を検出し、
前記プロセッサは、
前記レーダー信号に関する前記ノイズ代表情報を算出し、前記ノイズ代表情報の分布から第1ピークに対応するノイズ代表情報及び第2ピークに対応するノイズ代表情報の間の値を閾値として決定し、前記閾値に基づいて前記複数のターゲット地点から検出された前記レーダー信号を分類し、前記ノイズ代表情報から正常信号を有するターゲット地点を含む信号マップを生成する、請求項19に記載のレーダーデータを処理する装置。 - 前記プロセッサは、特定のターゲットポイントから検出されたレーダー信号のノイズ代表値が前記閾値未満である場合、前記特定のターゲットポイントから正常信号が受信されたものとして決定するように構成される、請求項20に記載のレーダーデータを処理する装置。
- 前記プロセッサは、特定のターゲットポイントから検出されたレーダー信号のノイズ代表値が前記閾値以上であれば、前記特定のターゲットポイントからノイズ信号が受信されたものとして決定するように構成される、請求項20に記載のレーダーデータを処理する装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2018-0154686 | 2018-12-04 | ||
KR1020180154686A KR20200067629A (ko) | 2018-12-04 | 2018-12-04 | 레이더 데이터를 처리하는 장치 및 방법 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020091281A JP2020091281A (ja) | 2020-06-11 |
JP7394582B2 true JP7394582B2 (ja) | 2023-12-08 |
Family
ID=68342633
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019194389A Active JP7394582B2 (ja) | 2018-12-04 | 2019-10-25 | レーダーデータを処理する装置及び方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11340332B2 (ja) |
EP (1) | EP3663790A1 (ja) |
JP (1) | JP7394582B2 (ja) |
KR (1) | KR20200067629A (ja) |
CN (1) | CN111352110A (ja) |
Families Citing this family (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11733699B2 (en) * | 2017-06-16 | 2023-08-22 | FLIR Belgium BVBA | Ultrasonic perimeter ranging sensor systems and methods |
US20200293860A1 (en) * | 2019-03-11 | 2020-09-17 | Infineon Technologies Ag | Classifying information using spiking neural network |
EP3978946A4 (en) * | 2019-05-29 | 2023-07-12 | Kyocera Corporation | ELECTRONIC APPARATUS, ELECTRONIC APPARATUS CONTROL METHOD, AND ASSOCIATED PROGRAM |
US11143747B2 (en) * | 2019-07-11 | 2021-10-12 | GM Global Technology Operations LLC | Methods and systems for classifying received signals from radar system |
US11555890B1 (en) * | 2019-11-06 | 2023-01-17 | Marvell Asia Pte Ltd | Methods and systems for processing lidar signals |
EP3862782A1 (en) * | 2020-02-04 | 2021-08-11 | Infineon Technologies AG | Apparatus and method for correcting an input signal |
KR102531755B1 (ko) * | 2020-03-12 | 2023-05-12 | 한국전자통신연구원 | 레이더 영상 생성 방법 및 이를 수행하는 장치 |
DE102020208544A1 (de) * | 2020-07-08 | 2022-01-13 | Robert Bosch Gesellschaft mit beschränkter Haftung | Hybride Auswertung von Radardaten für die Klassifikation von Objekten |
CN112017310A (zh) * | 2020-07-20 | 2020-12-01 | 广州市凌特电子有限公司 | 具有电磁干扰的情况下的车辆监测方法和路网监测*** |
CN112363131B (zh) * | 2020-09-03 | 2024-05-14 | 江西华讯方舟智能技术有限公司 | 车载毫米波雷达数据的处理方法、装置及计算机存储介质 |
CN111999726B (zh) * | 2020-09-27 | 2022-05-17 | 四川长虹电器股份有限公司 | 一种基于毫米波雷达的人员定位方法 |
DE112020007763T5 (de) | 2020-11-10 | 2023-08-31 | Mitsubishi Electric Corporation | Sensorrauschenentfernungsvorrichtung und Sensorrauschenentfernungsverfahren |
KR102542919B1 (ko) * | 2020-12-21 | 2023-06-15 | (주)스마트레이더시스템 | 레이더 장착 차량을 위한 교통 안전 장치 |
US20220242443A1 (en) * | 2021-01-29 | 2022-08-04 | Johannes Traa | Method for detecting objects in automotive-grade radar signals |
EP4036602A1 (en) * | 2021-01-29 | 2022-08-03 | Aptiv Technologies Limited | Radar data processing for vehicle ego-motion estimation |
EP4036601A1 (en) * | 2021-01-29 | 2022-08-03 | Aptiv Technologies Limited | Radar data processing for vehicle ego-motion estimation |
US20220373674A1 (en) * | 2021-05-21 | 2022-11-24 | Kabushiki Kaisha Toshiba | Method and device for improved range tracking for inverse synthetic aperture radar |
CN113267778A (zh) * | 2021-06-18 | 2021-08-17 | 珠海上富电技股份有限公司 | 一种车载毫米波雷达出厂检测装置及方法 |
CN113288214B (zh) * | 2021-06-29 | 2023-01-06 | 逸超医疗科技(北京)有限公司 | 超声多普勒频谱数据的处理方法、设备及可读存储介质 |
US20230142674A1 (en) * | 2021-07-23 | 2023-05-11 | Zoox, Inc. | Radar data analysis and concealed object detection |
CN114399904B (zh) * | 2021-09-15 | 2023-07-28 | 芜湖易来达雷达科技有限公司 | 一种雷达自动识别车道的车道识别方法 |
US20230221408A1 (en) * | 2022-01-11 | 2023-07-13 | Gm Cruise Holdings Llc | Radar multipath filter with track priors |
CN118169649A (zh) * | 2024-05-14 | 2024-06-11 | 成都玖锦科技有限公司 | 一种自适应高灵敏度实时信号检测新方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20160084941A1 (en) | 2014-09-19 | 2016-03-24 | Delphi Technologies, Inc. | Radar system with phase based multi-target detection |
US20170269196A1 (en) | 2016-03-17 | 2017-09-21 | Valeo Radar Systems, Inc. | System and method for detecting blockage in an automotive radar |
JP2019027979A (ja) | 2017-08-01 | 2019-02-21 | 株式会社デンソーテン | レーダ装置および物標検出方法 |
Family Cites Families (39)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2741957B1 (fr) | 1995-12-05 | 1997-12-26 | Siemens Automotive Sa | Procede de mesure de la vitesse d'un vehicule par rapport au sol, au moyen d'un radar utilisant la reflexion d'ondes electromagnetiques sur la chaussee |
GB9602250D0 (en) | 1996-02-05 | 1996-04-03 | Secr Defence | Collision warning system |
US6046695A (en) * | 1996-07-11 | 2000-04-04 | Science Application International Corporation | Phase gradient auto-focus for SAR images |
GB0019825D0 (en) * | 2000-08-12 | 2000-09-27 | Secr Defence | Signal processing |
JP3734729B2 (ja) * | 2001-08-20 | 2006-01-11 | 三菱電機株式会社 | 目標観測装置及び目標観測方法 |
US7426450B2 (en) | 2003-01-10 | 2008-09-16 | Wavetronix, Llc | Systems and methods for monitoring speed |
US7714782B2 (en) * | 2004-01-13 | 2010-05-11 | Dennis Willard Davis | Phase arrays exploiting geometry phase and methods of creating such arrays |
KR101105904B1 (ko) | 2004-11-30 | 2012-01-17 | 텔레폰악티에볼라겟엘엠에릭슨(펍) | 다목적 레이더 감시 시스템 |
JP4977443B2 (ja) * | 2006-10-31 | 2012-07-18 | 日立オートモティブシステムズ株式会社 | レーダ装置及びレーダ検出方法 |
JP5267538B2 (ja) * | 2010-11-05 | 2013-08-21 | 株式会社デンソー | ピーク検出閾値の設定方法、物標情報生成装置、プログラム |
US9529082B1 (en) * | 2012-03-21 | 2016-12-27 | Hadal, Inc. | Systems and methods for bi-static or multi-static holographic navigation |
KR101676448B1 (ko) | 2012-06-28 | 2016-11-29 | 오토리브 디벨로프먼트 에이비 | 오정렬 처리를 위한 차량 레이더 시스템 및 방법 |
WO2014118968A1 (ja) * | 2013-02-01 | 2014-08-07 | 三菱電機株式会社 | レーダ装置 |
KR101295756B1 (ko) | 2013-04-18 | 2013-08-12 | 주식회사 휴미디어 | 디지털 스펙트럼을 이용한 레이더 분석시스템 및 분석방법 |
DE102013216970A1 (de) * | 2013-08-27 | 2015-03-05 | Robert Bosch Gmbh | Radarsensor für Kraftfahrzeuge |
US20150070207A1 (en) * | 2013-09-06 | 2015-03-12 | Valeo Radar Systems, Inc. | Method and Apparatus For Self Calibration of A Vehicle Radar System |
US9939522B2 (en) * | 2013-10-13 | 2018-04-10 | Oculii Corp | Systems and methods for 4-dimensional radar tracking |
JP6176079B2 (ja) * | 2013-11-26 | 2017-08-09 | 株式会社デンソー | レーダ装置 |
KR101896725B1 (ko) * | 2013-12-02 | 2018-09-07 | 주식회사 만도 | Fmcw 레이더 기반의 주변 환경 감지 방법 및 장치 |
KR101598208B1 (ko) | 2014-05-20 | 2016-02-26 | 현대모비스 주식회사 | 레이더를 이용한 타겟 검출 장치 및 방법 |
JP6379709B2 (ja) | 2014-06-18 | 2018-08-29 | 沖電気工業株式会社 | 信号処理装置、信号処理方法及びプログラム |
US9400325B2 (en) * | 2014-11-26 | 2016-07-26 | Valeo Radar Systems, Inc. | Method and apparatus for increasing angular resolution in an automotive radar system |
DE102014226073A1 (de) * | 2014-12-16 | 2016-06-16 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Radarsystems eines Kraftfahrzeugs |
JP2016151425A (ja) * | 2015-02-16 | 2016-08-22 | パナソニックIpマネジメント株式会社 | レーダ装置 |
DE102015102929B3 (de) | 2015-03-02 | 2016-02-04 | Karlsruher Institut für Technologie | Verfahren zum Betrieb eines Dauerstrichradardetektors und Dauerstrichradardetektor |
EP3098623A1 (en) * | 2015-05-25 | 2016-11-30 | Autoliv Development AB | A vehicle radar system |
US11125866B2 (en) * | 2015-06-04 | 2021-09-21 | Chikayoshi Sumi | Measurement and imaging instruments and beamforming method |
US9831881B2 (en) * | 2015-06-18 | 2017-11-28 | Yekutiel Josefsberg | Radar target detection system for autonomous vehicles with ultra-low phase noise frequency synthesizer |
CN106125052B (zh) * | 2016-06-23 | 2021-07-23 | 复旦大学 | 一种线性调频连续波雷达调制泄露的消除方法和*** |
JP6778873B2 (ja) | 2016-08-10 | 2020-11-04 | パナソニックIpマネジメント株式会社 | レーダ設置角度算出装置、レーダ装置およびレーダ設置角度算出方法 |
JP2018072014A (ja) | 2016-10-25 | 2018-05-10 | ソニーセミコンダクタソリューションズ株式会社 | レーダ装置、信号処理装置及び信号処理方法 |
CN107132511B (zh) * | 2017-05-11 | 2020-01-21 | 中国科学院电子学研究所 | 一种精确的雷达线性调频源预失真方法 |
DE102017110404A1 (de) * | 2017-05-12 | 2018-11-15 | Symeo Gmbh | Verfahren und Vorrichtung zur Kompensation von Störeinflüssen |
GB201713639D0 (en) * | 2017-08-24 | 2017-10-11 | Sonitor Technologies As | Position determining system |
US10598764B2 (en) * | 2017-10-30 | 2020-03-24 | Yekutiel Josefsberg | Radar target detection and imaging system for autonomous vehicles with ultra-low phase noise frequency synthesizer |
EP3483622B1 (en) * | 2017-11-10 | 2020-08-05 | Nxp B.V. | Radar unit having a built-in self-test |
IL255982A (en) * | 2017-11-29 | 2018-01-31 | Arbe Robotics Ltd | Detection, mitigation and prevention of mutual interference between fixed water radars in vehicles |
DE102018102816B3 (de) * | 2018-02-08 | 2019-07-04 | Infineon Technologies Ag | Radar mit phasenkorrektur |
US10205457B1 (en) * | 2018-06-01 | 2019-02-12 | Yekutiel Josefsberg | RADAR target detection system for autonomous vehicles with ultra lowphase noise frequency synthesizer |
-
2018
- 2018-12-04 KR KR1020180154686A patent/KR20200067629A/ko not_active Application Discontinuation
-
2019
- 2019-04-22 US US16/390,552 patent/US11340332B2/en active Active
- 2019-05-07 CN CN201910378157.0A patent/CN111352110A/zh active Pending
- 2019-10-23 EP EP19204823.9A patent/EP3663790A1/en active Pending
- 2019-10-25 JP JP2019194389A patent/JP7394582B2/ja active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20160084941A1 (en) | 2014-09-19 | 2016-03-24 | Delphi Technologies, Inc. | Radar system with phase based multi-target detection |
US20170269196A1 (en) | 2016-03-17 | 2017-09-21 | Valeo Radar Systems, Inc. | System and method for detecting blockage in an automotive radar |
JP2019027979A (ja) | 2017-08-01 | 2019-02-21 | 株式会社デンソーテン | レーダ装置および物標検出方法 |
Also Published As
Publication number | Publication date |
---|---|
US11340332B2 (en) | 2022-05-24 |
KR20200067629A (ko) | 2020-06-12 |
EP3663790A1 (en) | 2020-06-10 |
CN111352110A (zh) | 2020-06-30 |
US20200174096A1 (en) | 2020-06-04 |
JP2020091281A (ja) | 2020-06-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7394582B2 (ja) | レーダーデータを処理する装置及び方法 | |
US11768286B2 (en) | Method of determining the yaw rate of a target vehicle | |
US10317522B2 (en) | Detecting long objects by sensor fusion | |
CN105717514B (zh) | 利用激光雷达传感器的路面反射性检测 | |
US10139833B1 (en) | Six-dimensional point cloud system for a vehicle | |
US20200182992A1 (en) | Enhanced object detection and motion state estimation for a vehicle environment detection system | |
US10481244B2 (en) | Method for classifying an object in an area surrounding a motor vehicle, driver assistance system and motor vehicle | |
US11131766B2 (en) | Method for the recognition of an object | |
US20160259037A1 (en) | Radar based user interface | |
CN111656217A (zh) | 用于虚拟孔径雷达跟踪的***和方法 | |
US10353051B2 (en) | Apparatus for detecting axial misalignment of beam sensor | |
KR102516367B1 (ko) | 레이더 데이터를 처리하는 장치 및 방법 | |
JP7104728B2 (ja) | 動く物体を検知するシステム | |
TWI470257B (zh) | 角度估計檢測方法及電子裝置 | |
KR20200144862A (ko) | 레이더의 해상도 향상 방법 및 장치 | |
CN107103275B (zh) | 使用雷达和视觉基于车轮进行的车辆检测和追踪 | |
JP2016075558A (ja) | レーダシステム、レーダ信号処理装置、車両走行制御装置および方法、ならびにコンピュータプログラム | |
JPWO2007111130A1 (ja) | レーダ装置および移動体 | |
JP5122536B2 (ja) | レーダ装置 | |
EP3842824A2 (en) | Method and device to process radar signal | |
Kellner et al. | Wheel extraction based on micro doppler distribution using high-resolution radar | |
JP7506829B2 (ja) | 自律車両用途のための速度推定および物体追跡 | |
CN107991677A (zh) | 一种行人检测方法 | |
US20220413129A1 (en) | Methods and Systems for Detecting and Mitigating Automotive Radar Interference | |
KR101938898B1 (ko) | 레이더 배열 안테나 빔 감지 장치 및 방법 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20220728 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20230620 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20230621 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230915 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20231121 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20231128 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7394582 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |