Fujitsu Ten Limited

Hiroyuki Ishimori

Hisateru Asanuma

Masayuki Kishida

Shinichi Shibata

Hideki Kajioka

Jun Itoh

Tokio Shinagawa

Hiroki Ishikawa

Daisuke Nishio

Masatoshi Aoki

Shota Mori

Keishi Yoshimura

Daisuke Nakabayashi

There is provided a radar device. An estimating unit estimates peak signals corresponding to a target in the latest periods of each of UP and DOWN beat sections of a beat signal on the basis of histories of peak signals corresponding to the target in past periods of the UP and DOWN beat sections. A pairing unit extracts peak signals within predetermined ranges defined with reference to the estimate peak signals on the basis of the histories, and pairs the extracted peak signals. In a case where a distance to the target is equal to or shorter than a predetermined value, the pairing unit extracts peak signals corresponding to the target, from a first range which is a predetermined angular range defined with reference to the estimate peak signals, or a second range which is a predetermined transverse position range defined with reference to the estimate peak signals.

Radar device and signal processing method

There is provided a radar device that calculates an angle of a target based on a phase difference between reception signals obtained by receiving reflected waves from the target. A transmitting unit alternately transmits first and second transmission waves having different beam patterns. A calculating unit calculates reception levels of the reception signals, and an estimate angle at which the target is estimated to exist. A first determining unit determines a degree of reliability of a level difference between the reception levels, on the basis of a comparison between the level difference with a reference value which is associated with the estimate angle in advance. A second determining unit determines whether the target exists at the estimate angle, on the basis of a determination result and the reception level based on the first transmission wave.

Radar device and target detecting method

There is provided a radar device which is mounted on a moving object and configured to detect a target on the basis of reception signals acquired by receiving reflected waves from the target by receiving antennae. A transmitting unit has a transmission axis substantially parallel to a traveling direction of the moving object. The transmitting unit is configured to transmit transmission waves around the transmission axis as a center thereof. A determining unit is configured to determine upward axis misalignment or downward axis misalignment of the transmission axis, on the basis of the reception signals acquired by receiving the reflected waves of the transmission waves.

Radar device and vertical axis-misalignment detecting method

A radar apparatus includes a signal processor configured to: derive the target data set of the target, in a predetermined time cycle, based on a reception signal acquired by receiving a reflection wave from the target; detect, based on the target data set, a side wall along a current lane in which the host vehicle is traveling; determine whether or not there is a continuity between a previous target data set and a latest target data set, and in a case where there is no continuity between the previous target data set and the latest target data set, perform 'extrapolation;' determine based on a frequency of the 'extrapolation' whether or not the target associated with the target data set is an upper object overhead of the vehicle and with which the vehicle cannot collide.

Radar apparatus

A radar apparatus is configured to derive information of a target in a vicinity of a host vehicle. The radar apparatus comprising a signal processor configured to: determine whether or not the target is a standstill object having an absolute speed less than a predetermined speed, determine whether or not the target determined as the standstill object is an upper object overhead of the host vehicle and with which the host vehicle cannot collide, and determine whether or not an environment for deriving target information is an adverse environment based on a frequency of determining existence of the upper object that also is the standstill object.

A radar apparatus includes a signal processor configured to: (i) in a case where a first angle peak signal closest to a prediction position in an up period and a second angle peak signal closest to the prediction position in a down period satisfy a pairing condition, finalize a combination of the first angle peak signal and the second angle peak signal as a pair data set; and (ii) in a case where the combination of the first angle peak signal and the second angle peak signal does not satisfy the pairing condition, where the plurality of angle peak signals exist in the prediction region in at least one of the up period and the down period and where a different combination from the combination of the first angle peak signal and the second angle peak signal satisfies a re-pairing condition, finalize the different combination as the pair data set.

A radar apparatus is configured to set a first target to be a non-output object with respect to a control apparatus of a host vehicle in a case where the first target (1) has a fore-and-aft distance from the host vehicle that is larger than a fore-and-aft distance from the host vehicle of a second target and (2) has a predetermined dependency to be an accessory portion which belongs to a same vehicle as the second target. The radar apparatus includes a signal processor configured to: determine whether or not the second target is present in an own lane of the host vehicle; determine whether or not the second target is changing a lane; and set the first target to be an output object with respect to the control apparatus of the host vehicle in a case where the second target is changing the lane from the own lane.

On a radar apparatus, a direction derivation part derives a peak angle related to an angle of a target based on reception signals received by a plurality of reception antennas. Then, a detection information derivation part derives, based on the peak angle, target data that are internal data about the target, and stores the derived target data into a memory. A reliability determination part determines a reliability of an object peak angle upon which the target data about the target was derived, the reliability of the object peak angle being determined based on a different peak angle derived concurrently with the object peak angle by the direction derivation part. Then, a data erasure part deletes, based on the reliability of the object peak angle determined by the reliability determination part, the target data relevant to the object peak angle from the memory to exclude the target data from further processing.

There is provided a radar apparatus capable of emitting a transmission wave relating to a transmitting signal which is frequency-modulated, and receiving a reflection wave coming from a target at which the transmission wave is reflected as a receiving signal, to derive at least position information of the target based on the receiving signal. A deriving unit derives a fluctuation value of a signal level relating to the receiving signal for a stationary target among the targets. A calculating unit calculates a fluctuation integrated value integrated by the fluctuation value. A judging unit judges the stationary target as a target other than a control subject if the fluctuation integrated value is below a predetermined threshold.

Radar apparatus and signal processing method

There is provided a radar apparatus. A derivation unit derives target information which is information relating to a target detected on the basis of a transmission signal of which a frequency changes with a predetermined cycle and a reception signal corresponding to a reflected wave coming from an object at which a transmission wave corresponding to the transmission signal is reflected. A determination unit determines reliability of the target information. A decision unit decides whether the detected target is true or false, based on the target information. The decision unit changes a method of deciding whether the target is true or false in accordance with a determination result of the reliability by the determination unit.

There is provided a radar apparatus configured to extract peak signals which are obtained from a difference frequency between a transmission signal and a reception signal, and to derive information of the target on the basis of the extracted peak signals. A prediction unit predicts this time peak signal based on a peak signal obtained in previous time. An extraction unit extracts this time peak signal corresponding to the predicted peak signal from peak signals existing within a predetermined frequency range. The extraction unit extends the frequency range when this time peak signal corresponding to the predicted peak signal does not exist within the predetermined frequency range.

There is provided a radar apparatus. A setting unit is configured to set a first range including at least a reference target. A deriving unit is configured to derive a representative position of targets included in the first range on the basis of position information of the targets included in the first range. An acquiring unit is configured to acquire vehicle information indicating that the vehicle is running in a curve-shaped lane or a road shape in front of the vehicle is a curve shape. When the acquiring unit acquires the vehicle information, the setting unit sets a second range wider than the first range and the deriving unit derives a representative position of targets included in the second range on the basis of position information of the targets included in the second range.

Radar apparatus, vehicle control system, and signal processing method

A signal processor is configured to: derive, using a first process, at least one of a distance and a relative speed included in the object data set; and derive, using a second process different from the first process, at least one of the distance and the relative speed included in the object data set when the distance included in the object data set is below a predetermined distance.

A radar device () comprising a transmission antenna () for transmitting electromagnetic waves; a reception antenna () for receiving waves; and a detector unit () which detects, based on the reflected waves, the positions of a preceding vehicle and a preceding object, judges the preceding object to be the same as the preceding vehicle if the position of the preceding object is in a predetermined preceding vehicle judging range with the position of the preceding vehicle as a reference, detects the positions of an oncoming vehicle and an oncoming object and judges the oncoming object to be the same as the oncoming vehicle if the position of the oncoming object is in a predetermined oncoming vehicle judging range with the position of the oncoming vehicle as a reference; wherein the oncoming vehicle judging range is set to be narrower than the preceding vehicle judging range.

Radar device

A signal processing device performs object detection processing in which peak signals each representing a differential frequency between a transmitted signal in which a frequency thereof changes in a predetermined cycle and a received signal are derived in a first period where the frequency of the transmitted signal rises and a second period where the frequency of the transmitted signal falls, and the peak signals in the first period are paired with the peak signals in the second period to detect object information related to the peak signals. A range setting unit sets a frequency range in each of the first period and the second period on the basis of a frequency of an integer multiple of the peak signal related to the object information which has been detected in previous object detection processing. A signal setting unit sets a peak signal as a specific peak signal in a case where the peak signal is within the frequency range in each of the first period and the second period. A paring unit pairs the specific peak signal in the first period and the specific peak signal in the second period.

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Kobe, Japan

Hiroyuki Ishimori