Mitsubishi Denki Kabushiki Kaisha

Mitsubishi Electric Corporation

Nikken Industry Co., Ltd.

Masashi Mitsumoto

Takahiko Fujisaka

Toshio Wakayama

Toru Takahashi

Koichi Kai

Atsushi Okamura

Tadashi Oshima

Masayoshi Ito

Nobuhiro Suzuki

Naohisa Uehara

Takashi Sekiguchi

Hiroshi Sakamaki

Yusuke Kitsukawa

Teruyuki Hara

Tetsuo Kirimoto

Michimasa Kondo

Takayuki Inaba

Takamitsu Okada

Yoshio Kosuge

Takahiko Sugimoto

Kentarou Isoda

A radar device includes a radar signal outputting unit that repeatedly outputs radar signals whose frequency changes with the passage of time, at a non-uniform repetition period.

Radar device

First voltage data (Vto V) and second voltage data (Vto V) each correspond to ranges of the same transmitted signals (Tto T) that have different modulation center frequencies. A speed calculating unit () calculates a moving speed of a radio-wave-reflecting object by calculating a reference speed (Sref) which is based on a difference value between the modulation center frequency (Fc_1) of the range of the transmitted signals (Tto T) corresponding to the first voltage data (Vto V) and the modulation center frequency (Fc_2) of the range of the transmitted signals (Tto T) corresponding to the second voltage data (Vto V), and comparing a plurality of speed candidates (Scand[m]) with the reference speed (Sref).

Radar signal processing device and radar system

A highly accurate object identification is performed. A first feature quantity related to a relative distance and a relative speed to an object, the direction and the reflection intensity of the object, which are extracted by a first feature quantity extraction block, is made identical in time series in a data storage processing block; a second feature quantity is extracted in a second feature quantity extraction block; and a category of the object is determined by an object determination block on the basis of an attribution degree to the distribution of the second feature quantity related to a predetermined category calculated by an attribution degree calculation block.

Radar signal processing device

A stationary object decision processing unitdecides whether range R and Doppler frequency fcorresponding to peaks detected by the peak detection processing unitsatisfy geometric positional relationships between a radar and a stationary object. If they satisfy the geometric positional relationships, it recognizes that the object associated with the peaks is a stationary object. Thus, even if the number of peaks detected by the peak detection processing unitincreases, it can accurately decide whether the object associated with the peaks is a stationary object or not with a small amount of calculation.

Radar system

Provided is a golf club support on which a wooden club, etc. can be suspended in a desired direction while being prevented from falling or tumbling. The golf club support for supporting a golf club of which head portion has an R shape on a base end side has a columnar shape, has an openingin the circumferential surface thereof, and has a guide portionwhich is formed from the opening toward the inside. A first support member, a second support member, and a third support memberare formed on at least the top surface of the golf club support. When a golf club is positioned at an innermost portionA of the guide portion with a sole surface of its head portion turned upward, the first support membersupports a face surfaceA of the head portion of the golf club, the second support membersupports a surfaceB facing obliquely outward and upward in the base-end-side side surface of the head portion of the golf club, and the third support membersupports a top surfaceD of the head portion of the golf club on its top end. The positions of the top portions of the first support member and the second support member are higher than the top portion of the third support member.

Support for golf club

A signal wave arrival angle measuring device includes: an observation data vector generation section generating an observation data vector necessary for an angle measurement of a signal wave from an electrical signal having been converted at a sensor group converting the signal wave of an observation target to the electrical signal; an ESPRIT angle measurement processing section calculating an arrival angle of the signal wave from the generated observation data vector; an arriving signal wave estimation section estimating information other than the arrival angle of the arriving signal wave from an angle measurement processing process data of the ESPRIT angle measurement processing at the ESPRIT angle measurement processing section; and a reliability determination section determining whether or not an angle measurement result of the calculated arrival angle is correct based on an estimation result of the arriving signal wave estimation section, and excluding an erroneous angle measurement result.

Signal wave arrival angle measuring device

Provided is a vehicular radar device which is capable of reducing an operation resource quantity necessary for a process of estimating an axis deviation angle in a radar measurement coordinate system, to thereby reduce a device size. The vehicular radar device includes: a measurement unit that measures an azimuth angle and a relative Doppler velocity; an extraction/accumulation unit that extracts target information satisfying conditions related to the relative Doppler velocity, a travel speed and a turning velocity, and accumulates the azimuth angle and a velocity ratio obtained by dividing the relative Doppler velocity by the travel speed of the subject vehicle among the extracted target information; and an axis deviation angle estimate unit that reads the target information accumulated in the extraction/accumulation unit, and estimates an axis deviation angle of the measurement coordinate system of a radar based on a second-order polynomial expression of the azimuth angle of the target.

Vehicular radar device

A radar device separates directions of a plurality of targets, obtained from combinations of antenna beams, with a high accuracy. The radar device includes: a direction calculating unit for calculating a primary direction, which is the direction of a target, from a combination of characterizing quantities calculated by a signal detector from the reception waves of at least two beams that partially overlap, among the beams radiated in the plurality of directions; and a direction integrating unit for, when a plurality of primary directions calculated by the direction calculating unit is present, calculating an integrated direction, which is the true target direction, from an area in which distribution of the plurality of primary directions is a predetermined density or greater, based on the primary directions belonging to the area.

For enabling determination on whether a sign of a Doppler frequency or a target angle is positive or negative even when only a real signal can be obtained as a received signal, the present invention provides a radar device including: an oscillator; a transmitting element; a distributor; receivers using the local wave to detect the received wave to generate a real received signal; a plurality of inter-channel phase correcting units; a spatial frequency information generating unit for converting a received signal string obtained by gathering a plurality of phase-corrected received signals into a signal in a spatial frequency domain; and a sign selecting unit for selecting a signal having a larger amplitude in a spatial frequency spectrum when two signals from a positive direction and a negative direction which are symmetrical with respect to a direction at approximately 0 degree.

To provide a radar device which employs fast Fourier transform in a beam combining process to reduce the operation amount, the radar device including: a Fourier transform section that extracts a received signal that is obtained from waves radiated from a same transmitting element and received by a receiving element, and subjects a signal series of the extracted received signal to Fourier transform to generate a signal of a spatial frequency domain; a phase compensation section that compensates the signal of the spatial frequency domain with a phase difference that is caused by a difference between a predetermined reference position and a position of the used transmitting element; and a coherent integration section that adds the signals of the spatial frequency domain after the signals have been subjected to the phase compensation processing, which are obtained with the plurality of transmitting elements, in each of the spatial frequencies.

A radar apparatus calculates distances or relative speeds of a target according to a plurality of formulae. An predicted distance calculation formula is obtained at the following observation from the distances or the relative speeds thus calculated. A determination is made as to whether the distance calculation formula at the current observation is equal to the predicted distance calculation formula, and only when they are equal to each other, the result of the calculation is output. A distance, a relative speed and a distance calculation formula at the following observation are calculated, and a determination is made as to whether there is a correlation between the result at the current observation and the result of the prediction section. Only the result of the calculation at the current time point is output in the presence of a correlation.

Radar apparatus and radar signal processing method

A radar apparatus and a radar signal processing method can prevent misdetection even in the case of targets running side by side without an azimuth angle error being varied in accordance with the velocities of the targets. An antenna direction control part controls the direction of an antenna so as to vary the directions of radar beams at the time of observation in up phases and at the time of observation in down phases. An azimuth angle calculation section of a signal processing part calculates azimuth angles in up and down phases, and an azimuth angle determination section of the signal processing part selects an output content of observation data concerning a target to be detected from the amplitude of a difference between the azimuth angles in up and down phase.

A distance and speed measuring method and a radar signal processing apparatus using the method are provided which are capable of obtaining highly reliable measurement results while reducing the number of false targets and undetectable targets, by obtaining the relative distance and the relative speed of each target based on the frequencies of a beat signal of up (or down) phase alone through the use of information in a time series direction of the frequencies of the beat signal of up (or down) phase.

Distance/velocity measuring method and radar signal processing device

A radar signal processing apparatus has a range gate for extracting range gate data sequences from a memory, a first frequency extraction section which extracts a beat frequency corresponding to a target by performing frequency analysis by FFT at a low computation load and with low frequency measurement accuracy on all range gate data sequences extracted by the range gate, a second frequency extraction section which extracts a beat frequency corresponding to the target by performing frequency analysis by FFT at a high computation load and with high frequency measurement accuracy only on the range gate data sequence from which a beat frequency has been extracted by the first frequency extraction section, and a distance and speed derivation section which obtains the relative distance and the relative speed of the target on the basis of the beat frequency extracted by the second frequency extraction section.

Radar signal processing apparatus, and method of measuring distance and speed

The present invention discriminates between moving targets and stationary targets in order to measure distances and speeds of the targets without producing a false target. The invention transmits signals whose modulating frequencies ascend or descend to a target, and receives signals reflected from this target. A frequency spectrum of a beat signal of each target is detected during a modulating frequency ascent period and a modulating frequency descent period. The frequency spectrum of the modulating frequency ascent period and the frequency spectrum of the modulating frequency descent period are used to set a reference spectrum. The reference beat frequencies of either the moving targets or the stationary targets are detected based upon the reference spectrum. The beat frequencies of targets in the modulating frequency ascent and descent periods are used to form a combination seeking table, from which a component other than the reference beat frequencies of either the moving targets or the stationary targets are removed. The distances and speeds of the targets are calculated based upon the beat frequency components from the combination seeking means.

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Tokyo, Japan

Masashi Mitsumoto