Denso Corporation

Toyota Jidosha Kabushiki Kaisha

So-ken Corporation

Takayuki Kitamura

Yusuke Akamine

Naotsugu Shimizu

Yasuyuki Miyake

Koji Takeuchi

Takuya Takayama

Koichiro Suzuki

Iwao Izumikawa

Kazuhiro Aoki

Hiroki Hori

Hiroki Shimazu

In a target tracking device, a state quantity estimation unit is configured to, every time a preset repetition period of a processing cycle elapses, estimate, for each of the one or more targets, a current state quantity based on at least either observation information of the one or more targets observed by a sensor or past state quantities of the one or more targets. A model selection unit is configured to, for each of the one or more targets, select one motion model from a plurality of predefined motion models, based on at least either states of the one or more targets or a state of the vehicle. An estimation selection unit is configured to, for each of the one or more targets, cause the state quantity estimation unit to estimate the state quantity of the target with the one motion model selected by the model selection unit.

Target tracking device

In a radar device, a hypothesis selector selects one of first to third hypotheses based on velocity-accuracy posterior distributions after a preset number of distribution calculations. The first hypothesis assumes that an observed velocity of an object is an aliased relative velocity when the relative velocity is higher than an upper limit of an observable velocity range. The second hypothesis assumes that the observed velocity is an unaliased relative velocity. The third hypothesis assumes that the observed velocity is an aliased relative velocity in a case where the relative velocity is below a lower limit of the observable velocity range. The velocity-accuracy posterior distributions are respectively calculated for the first to third hypotheses from velocity-accuracy prior distributions and a detection result of observed velocities for the preset number of distribution calculations.

Radar device

The radar device includes a transmission section, a reception antenna section, a reception section, a frequency analysis section, a first correlation matrix generation section, and an averaging process section. The transmission section transmits a chirp at cycle periods, the number of the transmitted chirps being a repetition number. The first correlation matrix generation section generates, for the chirps, first correlation matrixes based on complex information on long-distance bins in distance spectra corresponding to respective reception antennas that have received the identical chirp. The averaging process section performs, for the respective long-distance bins, an averaging process for the repetition number of first correlation matrixes generated so as to correspond to the long-distance bins, to generate average correlation matrixes.

A radar system is provided with a plurality of radar units. Each radar unit includes a first processing unit for calculating a distance and a relative speed to an object in the vicinity of each radar unit in accordance with a beat signal, a frequency band of the first modulated waves being a first frequency band, and a modulation period of the first modulated waves being a first modulation period; a second processing unit for calculating a distance to the object in accordance with a beat signal, a frequency band of the second modulated waves being a second frequency band, and a modulation period of the second modulated waves being a second modulation period; and a calculation result determination unit for determining the distance and the relative speed to the object in accordance with calculation results of the first and second processing units.

Radar system suppressing interference between a plurality of radar units

A driving assistance device includes an object detection unit, an acquisition unit acquiring a first value of a relative speed of an approaching object with respect to an own vehicle, a ghost determination unit, and an assistance determination unit. The ghost determination unit calculates a second value of the relative speed of the approaching object in accordance with a speed of the own vehicle and a value of the relative speed of a following object located between the own vehicle and the approaching object; calculates, as a speed difference, an absolute difference between the first value of the relative speed and the second value of the relative speed; calculates, as an azimuth difference, an absolute difference between an azimuth of the following object and an azimuth of the approaching object; and determines whether the approaching object is the ghost target based on the speed difference and the azimuth difference.

Driving assistance device

A transmission antenna unit includes transmission antennas arranged in a row along a predetermined array direction at a predetermined first interval. A reception antenna unit includes reception antennas arranged in a row along the array direction at a second interval set to differ from the first interval. The transmission antennas and the reception antennas form a virtual array in which virtual reception antennas are arranged in a row along the array direction. The first interval is equal to a multiplication value of a minimum interval being a minimum value of an arrangement interval of the virtual reception antennas and a first multiple being an integer of 2 or greater. The second interval is equal to a multiplication value of the minimum interval and a second multiple being an integer of 2 or greater and set to differ from the first multiple. The first and second multiples are coprime.

Radar apparatus

An other lane monitoring device of the present disclosure includes an other vehicle acquisition section, a path acquisition section, a lane estimation section, and a position estimation section. The other vehicle acquisition section is configured to acquire other vehicle position information that indicates the current position of an other vehicle near the own vehicle. The path acquisition section is configured to acquire an own vehicle travel path that indicates a path along which the own vehicle has traveled. The lane estimation section is configured to use the own vehicle travel path as a basis for estimating an other lane area that is a lane where the other lane is present. The position estimation section is configured to estimate a future position of the other vehicle, assuming that the other vehicle moves along the own vehicle travel path or in the other lane area.

Other lane monitoring device

A target detection device includes an analysis section, a direction estimating section, a received waveform forming section, and a distance calculating section. The received waveform forming section forms a received waveform for each of the frequencies of the continuous waves by weighting beat signals corresponding to received waves received by each of receiving antennas, so as to have directivity in one of arrival directions estimated by the direction estimating section.

Target detection device

A transmission antenna unit includes a plurality of transmission antennas, a reception antenna unit, and a processor. The plurality of transmission antennas that are arranged in a row along a predetermined array direction. The reception antenna unit includes a plurality of reception antennas that are arranged in a row along the array direction. The plurality of transmission antennas and the plurality of reception antennas form a virtual array in which a plurality of virtual reception antennas are arranged in a row along the array direction. The processor corrects a plurality of virtual reception signals by multiplying a virtual reception signal matrix by an inverse matrix of a reception mutual coupling matrix and an inverse matrix of a transmission mutual coupling matrix.

In an azimuth estimation device, a center generation unit configured to generate, for each peak bin extracted by the extraction unit, a center matrix which is a correlation matrix obtained using values of the same peak bin collected from all of transmitting/receiving channels. A surrounding generation unit is configured to generate, for each of one or more surrounding bins of each of the peak bins, a surrounding matrix which is a correlation matrix obtained using values of the same surrounding bin collected from all of the transmitting/receiving channels. An integration unit is configured to generate, for each peak bin, an integrated matrix which is a correlation matrix obtained by weighting and adding the center matrix and the one or more surrounding matrices. An estimation unit is configured to execute an azimuth estimation calculation using the integrated matrix generated by the integration unit.

Azimuth estimation device and method

A periphery monitoring radar device includes a transmission unit, a reception unit, a spectrum generation unit, an azimuth calculation unit, an environment determination unit, and a position calculation unit. The transmission unit transmits a combination of transmission signals modulated using a plurality of modulation modes. The environment determination unit determines whether a peripheral environment is a complex environment from the degree of randomness of a frequency spectrum for each modulation mode. The position calculation unit removes, upon the peripheral environment for at least one modulation mode being determined to be the complex environment, at least one azimuth corresponding to the at least one modulation mode from the azimuths respectively calculated for modulation modes to thereby obtain at least one target azimuth that is at least one of the remaining azimuths except for the removed azimuth; and calculates a position of the vehicle based on the at least one target azimuth.

Periphery monitoring radar device

In a mounting angle error detection method, a relative speed to an object that has reflected continuous waves is determined. An estimated orientation of the object is determined for each frequency bin. An approximated straight line that indicates a relationship between a relative speed of a stationary object relative to the own vehicle and an orientation at which the stationary object is positioned is calculated from the relative speed and estimated orientation determined. As a mounting angle error of the onboard radar apparatus, a difference between an orientation angle identified from the approximated straight line and at which the relative speed of the stationary object relative to the own vehicle is zero, and an orientation angle at which the relative speed of the stationary object relative to the own vehicle is zero when the onboard radar apparatus is mounted in the own vehicle at a predetermined mounting angle is determined.

Mounting angle error detection method and apparatus for onboard radar apparatus, and onboard radar apparatus

A learning selection unit selects execution of learning by a rapid learning unit at a learning moment if the number of times of learning is less than a number threshold value, and selects execution of learning by an accurate learning unit at the learning moment if the number of times of learning is greater than the number threshold value. The number of times of learning indicates how many times a learned value has been updated by the time learning at the learning moment is started.

Mounting angle learning device

A method of detecting direction errors of an object, applied to an in-vehicle radar apparatus, whereby in a first step, relative speeds of an object reflecting a continuous wave are obtained by executing frequency analysis of signals acquired by transmitting and receiving the continuous wave. In a second step estimated directions, which are values of estimated directions in which the object is present, are calculated for each of respective frequency bins in which the presence of the object has been confirmed by the frequency analysis executed in the first step. In a third step a theoretical curve is calculated which expresses a relationship between relative speed of a stationary object and directions in which the stationary object is present, with respect to the own vehicle. In a fourth step, the direction errors are obtained as errors of the estimated directions with respect to the theoretical curve.

Growing community of inventors

Kariya, Japan

Takayuki Kitamura