JPH0216996B2 - - Google Patents
Info
- Publication number
- JPH0216996B2 JPH0216996B2 JP18842782A JP18842782A JPH0216996B2 JP H0216996 B2 JPH0216996 B2 JP H0216996B2 JP 18842782 A JP18842782 A JP 18842782A JP 18842782 A JP18842782 A JP 18842782A JP H0216996 B2 JPH0216996 B2 JP H0216996B2
- Authority
- JP
- Japan
- Prior art keywords
- frequency
- beat
- wave
- radar
- pass filter
- 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.)
- Expired
Links
- 230000035559 beat frequency Effects 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 3
- 238000007493 shaping process Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000010355 oscillation Effects 0.000 description 7
- 230000007257 malfunction Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Description
【発明の詳細な説明】
発明の技術分野
本発明は、他のFM−CWレーダからの電波干
渉による誤動作を防止する手段を備えたFM−
CWレーダに関するものである。DETAILED DESCRIPTION OF THE INVENTION Technical Field of the Invention The present invention relates to an FM-CW radar equipped with means for preventing malfunction due to radio wave interference from other FM-CW radars.
It is related to CW radar.
従来技術と問題点
FM−CWレーダは、例えば三角波状の周波数
変化となる周波数変調波を送信し、その送信波
と、ターゲツト等からの反射波を受信した受信波
とによるビート信号を用いて相対距離、相対速度
等を測定するものである。ところが、このような
FM−CWレーダを限られた領域で複数個使用す
ると、レーダ相互間で電波干渉を起こし、測定値
に誤差が生じる。このため、従来のFM−CWレ
ーダにおいて、レーダのRF部に各種の電波干渉
防止対策を施したものが提案されているが、いず
れも使用するアンテナの型式や装着方法に制限が
伴う欠点があつた。Conventional technology and problems FM-CW radar transmits a frequency modulated wave whose frequency changes, for example, in the form of a triangular wave, and uses a beat signal made up of the transmitted wave and a received wave that is a reflected wave from a target etc. to generate a relative signal. It measures distance, relative speed, etc. However, something like this
When multiple FM-CW radars are used in a limited area, radio wave interference occurs between the radars, resulting in errors in measurement values. For this reason, conventional FM-CW radars have been proposed in which various measures are taken to prevent radio wave interference in the RF section of the radar, but all of them have drawbacks such as restrictions on the type of antenna used and the mounting method. Ta.
発明の目的
本発明はこのような従来の欠点を改善したもの
であり、その目的は、レーダアンテナに関係なく
信号処理だけで電波干渉による誤動作を防止し得
るFM−CWレーダを提供することにある。OBJECT OF THE INVENTION The present invention improves these conventional drawbacks, and its purpose is to provide an FM-CW radar that can prevent malfunctions due to radio wave interference by signal processing alone, regardless of the radar antenna. .
発明の構成
第１図は本発明の構成説明図である。送信部１
は、ある周期で所定の周波数変化をする周波数変
調波を送信するが、その周波数変化は周波数変化
中断手段２により所定周期でランダムな時間だけ
中断させられる。受信波と送信波の一部とのビー
ト信号が受信部３で検出され、ローパスフイルタ
４を通すことにより、妨害波によるビート信号の
みを減衰させたビート信号が取り出される。ま
た、所定時間毎のビート周波数がビート周波数計
数器５で計数され、ビート周波数変化検出部６で
前回のビート周波数との差が求められる。そし
て、その差がある閾値を越えたとき、妨害波の影
響があることを示す信号が出力される。Configuration of the Invention FIG. 1 is an explanatory diagram of the configuration of the present invention. Transmitter 1
transmits a frequency modulated wave whose frequency changes at a predetermined period, but the frequency change is interrupted by the frequency change interrupting means 2 for a random time at a predetermined period. Beat signals of the received wave and a portion of the transmitted wave are detected by the receiving section 3, and are passed through the low-pass filter 4 to extract a beat signal in which only the beat signal due to the interference wave is attenuated. Further, the beat frequency at each predetermined time period is counted by a beat frequency counter 5, and a beat frequency change detection section 6 calculates the difference from the previous beat frequency. Then, when the difference exceeds a certain threshold, a signal indicating that there is an influence of interference waves is output.
発明の実施例
第２図は本発明FM−CWレーダのハードウエ
ア構成の一例を示す要部ブロツク図である。Embodiment of the Invention FIG. 2 is a block diagram of essential parts showing an example of the hardware configuration of the FM-CW radar of the present invention.
同図において、プログラムパルス発振器１０
は、マイクロコンピユータ１１から発振起動命令
を受けて所定周期の短形波を出力し、発振停止命
令を受けてその発振を停止することができる発振
器で、その出力は積分器１２で三角波に変換され
てRF部のバラクタ変調器１３に入力される。バ
ラクタ変調器１３はガン発振器１４の発振周波数
の変化が入力の三角波形状となるように変化させ
るもので、ガン発振器の周波数変調波はアンテナ
１５を介して送信される。プログラムパルス発振
器１０の出力パルスはパルスカウンタ１６にも入
力されており、パルスカウンタ１６は所定数のパ
ルスをカウントする毎に、即ち一定時間Ｔｍｓ毎
に割込み信号をマイクロコンピユータ１１に出力
する。 In the figure, a program pulse oscillator 10
is an oscillator that can output a rectangular wave of a predetermined period upon receiving an oscillation start command from the microcomputer 11, and can stop the oscillation upon receiving an oscillation stop command, and its output is converted into a triangular wave by an integrator 12. and is input to the varactor modulator 13 of the RF section. The varactor modulator 13 changes the oscillation frequency of the Gunn oscillator 14 so that it becomes an input triangular wave, and the frequency modulated wave of the Gunn oscillator is transmitted via the antenna 15. The output pulses of the program pulse oscillator 10 are also input to a pulse counter 16, and the pulse counter 16 outputs an interrupt signal to the microcomputer 11 every time it counts a predetermined number of pulses, that is, every fixed time Tms.
マイクロコンピユータ１１は、割込みがかかる
と、ROM１７の記憶プログラムに従つて例えば
第３図のフローチヤートに示すような割込み処理
を実行する。即ち、先ず発振停止命令を出力して
（ステツプS1）、プログラムパルス発振器１０の
発振動作を停止させ、次にRAM１８に予め記憶
しておいた例えば第４図に示すような乱数テーブ
ルのｋ（１≦ｋ≦ｎ）番目の内容を読み取る（ス
テツプS2）。この乱数テーブルには周波数変化を
中断させるランダムな時間δt1〜δtoが記憶されて
おり、マイクロコンピユータ１１は読み取つた時
間δtkが経過するまでウエイト状態となる（ステ
ツプS3）。そして、時間δtkが経過すると、発振起
動命令を発してプログラムパルス発振器１０を再
起動し（ステツプS4）、乱数テーブルの入力指標
を変更する（ステツプS5）。なお、乱数テーブル
の内容は各レーダ毎に変えておくのが望ましい。 When the microcomputer 11 receives an interrupt, it executes the interrupt processing as shown in the flowchart of FIG. 3, for example, according to the program stored in the ROM 17. That is, first, an oscillation stop command is output (step S1) to stop the oscillation operation of the program pulse oscillator 10, and then k(1) of a random number table, for example, as shown in FIG. ≦k≦n)-th content is read (step S2). Random times δt 1 to δt o for interrupting the frequency change are stored in this random number table, and the microcomputer 11 enters a wait state until the read time δt k has elapsed (step S3). Then, when the time δtk has elapsed, an oscillation start command is issued to restart the program pulse oscillator 10 (step S4), and the input index of the random number table is changed (step S5). Note that it is desirable to change the contents of the random number table for each radar.
このような動作が行なわれることから、アンテ
ナ１５から送信される周波数変調波は、例えば第
５図Ａの実線f0（ｔ）に示すように周波数変化が
所定周期Ｔ毎にランダムな時間だけ中断させられ
る周波数変調波となる。 Because such an operation is performed, the frequency change of the frequency modulated wave transmitted from the antenna 15 is interrupted for a random time every predetermined period T, as shown by the solid line f 0 (t) in FIG. 5A, for example. It becomes a frequency modulated wave.
本実施例のFM−CWレーダが自動車用レーダ
として例えば第６図の自動車Ａに搭載されてお
り、自動車Ａが自動車Ｂの後方を走行するとき、
上記周波数変調波f0（ｔ）は自動車Ｂで反射され、
反射波f0（ｔ−τ）として第２図のアンテナ１９
で受信されることになる。また、反対車線を自動
車Ａに向かつて走行する自動車Ｃにも本実施例の
FM−CWレーダと同様のレーダが搭載されてい
る場合、それから発せられる周波数変調波f1（ｔ）
も上記アンテナ１９で受信されることになる。即
ち、電波干渉が引き起こされる。しかし、反射波
f0（ｔ−τ）は周波数変調波f0（ｔ）と同期がとれ
ているから、自動車Ａ，Ｂの相対距離及び相対速
度で定まる一定の関係があり、例えば第５図Ａの
破線f0（ｔ−τ）に示すものとなるが、妨害波f1
（ｔ）は同期がとれないので周波数変調波f0（ｔ）
との関係では第５図Ｃの一点鎖線f1（ｔ）に示す
ものとなる。なお、同図Ａ，Ｃにおいて、δto，
δto+1，δto+2は周波数変調波f0（ｔ）のランダム中
断時間、δt′o，δt′o+1，δt′o+2は妨害波f1（ｔ）
のラ
ンダム中断時間である。 The FM-CW radar of this embodiment is installed as an automobile radar in, for example, automobile A in FIG. 6, and when automobile A runs behind automobile B,
The frequency modulated wave f 0 (t) is reflected by car B,
The reflected wave f 0 (t-τ) is the antenna 19 in FIG.
It will be received at Furthermore, this embodiment also applies to car C, which is running toward car A in the opposite lane.
If a radar similar to the FM-CW radar is installed, the frequency modulated wave f 1 (t) emitted from it
will also be received by the antenna 19. That is, radio wave interference is caused. However, the reflected wave
Since f 0 (t-τ) is synchronized with the frequency modulated wave f 0 (t), there is a certain relationship determined by the relative distance and relative speed of cars A and B. For example, the broken line f in FIG. 0 (t-τ), but the interference wave f 1
(t) cannot be synchronized, so the frequency modulated wave f 0 (t)
The relationship is as shown by the dashed dotted line f 1 (t) in FIG. 5C. In addition, in A and C of the same figure, δt o ,
δt o+1 , δt o+2 are random interruption times of frequency modulated wave f 0 (t), δt′ o , δt′ o+1 , δt′ o+2 are interference waves f 1 (t)
is the random interruption time.
従つて、第２図のミキサ２０において受信波と
送信波の一部とを混合して得たビート信号は、送
信波f0（ｔ）と反射波f0（ｔ−τ）による例えば第
５図Ｂに示すようなビート信号と、送信波f0（ｔ）
と反射波f0（ｔ−τ）による例えば第５図Ｄに示
すようなビート信号とを合成したものとなる。第
５図Ｂ，Ｄにおいて図示するように、反射波f0
（ｔ−τ）とのビート信号の周波数fo，fo+1，fo+2
は自動車の速度等の制限から比較的小さく、これ
に対し、妨害波f1（ｔ）とのビート信号の周波数
f′o，f′o+1，f′o+2は極端に大きくなる場合が多い。
そこで、第５図Ｄの破線に示すように反射波f0
（ｔ−τ）によるビート信号の周波数帯域のみ通
過させるローパスフイルタ２１を設け、周波数の
高い妨害波によるビート信号をカツトする。この
ローパスフイルタ２１の出力はプリアンプ２２で
増幅されてパルス整形回路２３でパルス整形さ
れ、カウンタ２４でカウントされる。マイクロコ
ンピユータ１１は第３図の割込み処理のステツプ
S6においてこのカウンタ２４のカウント値を読
み取り、次のステツプS6、S7でそのカウント値
をRAM１８に格納し、カウンタ２４をリセツト
する。 Therefore, the beat signal obtained by mixing the received wave and a part of the transmitted wave in the mixer 20 in FIG. Beat signal as shown in Figure B and transmitted wave f 0 (t)
and a beat signal such as that shown in FIG. 5D due to the reflected wave f 0 (t-τ). As illustrated in FIGS. 5B and 5D, the reflected wave f 0
(t-τ) and beat signal frequencies f o , f o+1 , f o+2
is relatively small due to limitations such as vehicle speed, whereas the frequency of the beat signal with the interference wave f 1 (t)
f′ o , f′ o+1 , and f′ o+2 are often extremely large.
Therefore, as shown by the broken line in FIG. 5D, the reflected wave f 0
A low-pass filter 21 that passes only the frequency band of the beat signal due to (t-τ) is provided to cut out the beat signal due to high frequency interference waves. The output of this low-pass filter 21 is amplified by a preamplifier 22, pulse-shaped by a pulse shaping circuit 23, and counted by a counter 24. The microcomputer 11 performs the interrupt processing steps shown in FIG.
In S6, the count value of this counter 24 is read, and in the next steps S6 and S7, the count value is stored in the RAM 18 and the counter 24 is reset.
また、マイクロコンピユータ１１はメインルー
チンにおいて例えば第７図に示すような処理を実
行する。即ち、読み取つたカウント値fo+1と前回
のカウント値foとの差を求め（ステツプS9）、そ
の差がドツプラシフト分や測定誤差から定めた所
定の閾値△ｆより大きいか小さいかを判断し（ス
テツプS10）、大きいときは妨害波の影響がある
と判断し（ステツプS11）、小さければ妨害波の
影響は無いと判断するものである（ステツプ
S12）。これは、第５図Ｂ，Ｄからも判るように
妨害波によるビート信号の時間Ｔ毎の周波数変化
は、反射波によるビート信号のそれより大きいの
で、ビート周波数が実際上起り難いほどの増減を
示したとき即ち閾値△ｆを越えたとき、妨害波の
影響があつたものと判断するようにしたものであ
る。このような手段を設けておくことにより、ロ
ーパスフイルタでカツトできなかつた高周波ビー
ト信号による誤動作を除去できると共に、ローパ
スフイルタ２１の通過帯域に一致した妨害波によ
るビート信号の影響も一部除くことが可能とな
る。例えば、閾値△ｆに近い反射波によるビート
信号の受信時に極めて低い周波数の妨害波による
ビート信号が混入した場合等に有益である。な
お、妨害波の影響があると判断されたときの具体
的動作としては、レーダの機能を一時的に停止し
たり、前回の測定値を今回の測定値に置き換えた
りすること等が考えられる。 Further, the microcomputer 11 executes processing as shown in FIG. 7, for example, in the main routine. That is, the difference between the read count value fo+1 and the previous count value fo is determined (step S9), and it is determined whether the difference is larger or smaller than a predetermined threshold value △f determined from the Doppler shift and measurement error. If it is large, it is determined that there is an influence of interference waves (step S11), and if it is small, it is determined that there is no influence of interference waves (step S11).
S12). This is because, as can be seen from Figure 5B and D, the change in frequency of the beat signal due to interference waves over time T is larger than that of the beat signal due to reflected waves, so the beat frequency increases or decreases to the extent that it is practically impossible. In other words, when the threshold value Δf is exceeded, it is determined that there is an influence of interference waves. By providing such means, it is possible to eliminate malfunctions caused by high-frequency beat signals that could not be cut by the low-pass filter, and it is also possible to partially eliminate the influence of beat signals caused by interference waves that match the passband of the low-pass filter 21. It becomes possible. For example, this is useful when a beat signal due to an extremely low frequency interference wave is mixed in when a beat signal due to a reflected wave close to the threshold value Δf is received. Note that specific actions when it is determined that there is an influence of interference waves include temporarily stopping the radar function, replacing the previous measurement value with the current measurement value, etc.
発明の効果
以上説明したように、本発明に依れば、ある周
期で所定の周波数変化をする周波数変調波を送信
する送信部の前記周波数変化を、周波数変化中断
手段により所定周期毎にランダムな時間だけ中断
させ、受信波と送信波の一部とのビート信号を検
出する受信部の出力をローパスフイルタを介して
取り出している。一般に、複数のFM−CWレー
ダが限られた領域で同時に使用されている場合、
各レーダにおける周波数変調波の周波数変化を上
述の如く中断させると、他レーダからの妨害波は
送信波と完全に非同期となるのでそのビート周波
数は高く且つ大きく変動することになる。よつ
て、上記ローパスフイルタにより妨害波の影響の
大部分が除去できる。また、ビート周波数計数器
で所定時間毎のビート周波数を計数し、ビート周
波数変化検出手段で前回のビート周波数との差を
求め、その差が所定の閾値を越えたとき妨害波の
影響有と判別しているので、ローパスフイルタで
除去し得ない妨害波のビート信号による誤動作も
防止することが可能となる。このように本発明に
依れば、信号処理にて電波干渉による誤動作を防
止し得るので、アンテナの型式や装着方法に制限
がなく、各種の自動車等に適用することが可能と
なる。Effects of the Invention As explained above, according to the present invention, the frequency change of the transmitter that transmits a frequency modulated wave that changes the frequency in a predetermined period is randomly controlled at a predetermined period by the frequency change interrupting means. The signal is interrupted for a certain period of time, and the output of the receiving section that detects the beat signal between the received wave and a portion of the transmitted wave is taken out via a low-pass filter. Generally, when multiple FM-CW radars are used simultaneously in a limited area,
If the frequency changes of the frequency modulated waves in each radar are interrupted as described above, the interference waves from other radars will be completely asynchronous with the transmitted waves, so the beat frequency will be high and fluctuate greatly. Therefore, most of the effects of interference waves can be removed by the low-pass filter. In addition, a beat frequency counter counts the beat frequency at predetermined time intervals, a beat frequency change detection means calculates the difference from the previous beat frequency, and when the difference exceeds a predetermined threshold, it is determined that there is an interference wave effect. Therefore, it is possible to prevent malfunctions caused by beat signals of interference waves that cannot be removed by a low-pass filter. As described above, according to the present invention, malfunctions due to radio wave interference can be prevented through signal processing, so there are no restrictions on the antenna type or mounting method, and the present invention can be applied to various types of automobiles.
第１図は本発明の構成説明図、第２図は本発明
FM−CWレーダのハードウエア構成の一例を示
す要部ブロツク図、第３図及び第７図は本発明
FM−CWレーダのソフトウエア構成の一例を示
すフローチヤート、第４図は乱数テーブルの内容
を示す図、第５図は送信波、反射波、妨害波及び
それらのビート信号の状態を示す線図、第６図は
自動車用レーダで電波干渉が起きる状態の説明図
である。
１は送信部、２は周波数変化中断手段、３は受
信部、４はローパスフイルタ、５はビート周波数
計数器、６はビート周波数変化検出部、１０はプ
ログラムパルス発振器、１１はマイクロコンピユ
ータ、１２は積分器、１３はバラクタ変調器、１
４はガン発振器、１５，１９はアンテナ、１６は
パルスカウンタ、１７はROM、１８はRAM、
２０はミキサ、２１はローパスフイルタ、２２は
プリアンプ、２３はパルス整形回路、２４はカウ
ンタである。
Figure 1 is an explanatory diagram of the configuration of the present invention, Figure 2 is the present invention.
The main part block diagrams, FIGS. 3 and 7, showing an example of the hardware configuration of the FM-CW radar are based on the present invention.
A flowchart showing an example of the software configuration of the FM-CW radar, Figure 4 is a diagram showing the contents of the random number table, and Figure 5 is a diagram showing the states of transmitted waves, reflected waves, interference waves, and their beat signals. , FIG. 6 is an explanatory diagram of a state in which radio wave interference occurs in an automobile radar. 1 is a transmitter, 2 is a frequency change interruption means, 3 is a receiver, 4 is a low-pass filter, 5 is a beat frequency counter, 6 is a beat frequency change detector, 10 is a program pulse oscillator, 11 is a microcomputer, 12 is a an integrator, 13 a varactor modulator, 1
4 is a gun oscillator, 15 and 19 are antennas, 16 is a pulse counter, 17 is ROM, 18 is RAM,
20 is a mixer, 21 is a low-pass filter, 22 is a preamplifier, 23 is a pulse shaping circuit, and 24 is a counter.
Claims (1)
する送信部、前記周波数変化を所定周期毎にラン
ダムな時間だけ中断させる周波数変化中断手段、
前記周波数変調波の一部と受信波とのビート信号
を検出する受信部、該受信部からのビート信号を
入力とするローパスフイルタ、該ローパスフイル
タの出力信号を波形整形してパルス数を計数する
ビート周波数計数器、該ビート周波数計数値の計
数値を所定周期毎に読み取つて前回の計数値との
差を求め該差が所定の値を越えたとき妨害波の影
響があつたことを示す信号を出力するビート周波
数変化検出手段を具備したことを特徴とするFM
−CWレーダ。1. A transmitter that transmits a frequency modulated wave that changes a predetermined frequency; a frequency change interrupting means that interrupts the frequency change for a random time every predetermined period;
a receiving section that detects a beat signal of a portion of the frequency modulated wave and the received wave; a low-pass filter that receives the beat signal from the receiving section; and a waveform shaping of the output signal of the low-pass filter to count the number of pulses. A beat frequency counter, which reads the beat frequency count value at predetermined intervals, calculates the difference from the previous count value, and when the difference exceeds a predetermined value, a signal indicating that there has been an influence of interference waves. An FM characterized in that it is equipped with a beat frequency change detection means for outputting a beat frequency change.
-CW radar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18842782A JPS5979175A (en) | 1982-10-27 | 1982-10-27 | Fm-cw radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18842782A JPS5979175A (en) | 1982-10-27 | 1982-10-27 | Fm-cw radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5979175A JPS5979175A (en) | 1984-05-08 |
| JPH0216996B2 true JPH0216996B2 (en) | 1990-04-19 |
Family
ID=16223478
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18842782A Granted JPS5979175A (en) | 1982-10-27 | 1982-10-27 | Fm-cw radar |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5979175A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018124197A (en) * | 2017-02-02 | 2018-08-09 | 株式会社デンソー | Interference countermeasure device |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2759576B2 (en) * | 1992-02-27 | 1998-05-28 | 本田技研工業株式会社 | FM radar equipment |
| KR100852804B1 (en) | 2000-08-16 | 2008-08-18 | 레이던 컴퍼니 | Automotive radar systems and techniques |
| JP4007498B2 (en) * | 2002-11-15 | 2007-11-14 | 三菱電機株式会社 | Automotive radar equipment |
| JP3720803B2 (en) * | 2002-11-19 | 2005-11-30 | 三菱電機株式会社 | Automotive radar equipment |
| US8231506B2 (en) * | 2008-12-05 | 2012-07-31 | Nike, Inc. | Athletic performance monitoring systems and methods in a team sports environment |
| US8628453B2 (en) | 2008-12-05 | 2014-01-14 | Nike, Inc. | Athletic performance monitoring systems and methods in a team sports environment |
| US20100184564A1 (en) | 2008-12-05 | 2010-07-22 | Nike, Inc. | Athletic Performance Monitoring Systems and Methods in a Team Sports Environment |
| DE102012021973A1 (en) * | 2012-11-08 | 2014-05-08 | Valeo Schalter Und Sensoren Gmbh | Method for operating a radar sensor of a motor vehicle, driver assistance device and motor vehicle |
| JP2017003347A (en) * | 2015-06-08 | 2017-01-05 | 日本信号株式会社 | Object detection device and object detection method |
| CN111602067B (en) * | 2018-01-17 | 2023-04-28 | 三菱电机株式会社 | Radar device and computer-readable recording medium containing abnormality determination program |
-
1982
- 1982-10-27 JP JP18842782A patent/JPS5979175A/en active Granted
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018124197A (en) * | 2017-02-02 | 2018-08-09 | 株式会社デンソー | Interference countermeasure device |
| WO2018142882A1 (en) * | 2017-02-02 | 2018-08-09 | 株式会社デンソー | Interference countermeasure device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5979175A (en) | 1984-05-08 |
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