JP4265803B2 - レーダシステム - Google Patents
レーダシステム Download PDFInfo
- Publication number
- JP4265803B2 JP4265803B2 JP2005336748A JP2005336748A JP4265803B2 JP 4265803 B2 JP4265803 B2 JP 4265803B2 JP 2005336748 A JP2005336748 A JP 2005336748A JP 2005336748 A JP2005336748 A JP 2005336748A JP 4265803 B2 JP4265803 B2 JP 4265803B2
- Authority
- JP
- Japan
- Prior art keywords
- azimuth angle
- angle error
- reflection point
- reflection
- reflection points
- 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
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
- 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
-
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
-
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
-
- 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
-
- 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
- G01S2013/9323—Alternative operation using light waves
-
- 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
- G01S2013/9324—Alternative operation using ultrasonic waves
-
- 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
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
-
- 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
- G01S2013/9329—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles cooperating with reflectors or transponders
-
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
- G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation
-
- 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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
- G01S7/4972—Alignment of sensor
-
- 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
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Description
この発明の実施の形態1に係るレーダシステムについて図1から図3までを参照しながら説明する。図1は、この発明の実施の形態1に係るレーダシステムのレーダ装置の動作原理を説明するための図である。なお、各図中、同一符号は同一又は相当部分を示す。
q2=vcos(θ2)=vcos(θ2’/a) ・・・(3)
この発明の実施の形態2に係るレーダシステムについて図4及び図5を参照しながら説明する。図4は、この発明の実施の形態2に係るレーダシステムのレーダ装置の動作原理を説明するための図である。なお、図1は軸ずれ角φ=0の場合を図示しているが、この図4は見易くするために方位角度誤差a=1の場合を図示している。
q2=vcos(θ2−φ)=vcos(θ2’/a−φ) ・・・(6)
Claims (3)
- 移動体に搭載されるレーダシステムであって、
複数の反射体の視線方向成分の相対速度及び方位角度観測値を出力するレーダ装置と、
前記複数の反射体の視線方向成分の相対速度及び方位角度観測値に基づき、求めた方位角度誤差を出力する方位角度誤差推定装置と、
前記レーダ装置から出力された方位角度観測値を、前記方位角度誤差推定装置から出力された方位角度誤差で除した値を出力する補正装置とを備え、
前記方位角度誤差推定装置は、
前記レーダ装置から出力された前記複数の反射体の視線方向成分の相対速度及び方位角度観測値を記憶する記憶部と、
前記記憶部に記憶された複数の反射点の中から、反射点の相対速度の分布において中央値となる相対速度を基準速度と定め、前記基準速度を中心に一定の幅を有する範囲内に含まれる、相対速度がほぼ等しい第1及び第2の反射点を選択する反射点選択部と、
前記反射点選択部により選択された第1の反射点の相対速度をq1、第2の反射点の相対速度をq2、第1の反射点の方位角度観測値をθ1’、第2の反射点の方位角度観測値をθ2’とすると、
q1/q2=cos(θ1’/a)/cos(θ2’/a)
に基づき、方位角度誤差aを算出する方位角度誤差算出部とを含む
ことを特徴とするレーダシステム。 - 前記反射点選択部は、前記記憶部に記憶された複数の反射点の中から、反射点の相対速度の分布において中央値となる相対速度を基準速度と定め、前記基準速度を中心に一定の幅を有する範囲内に含まれる、相対速度がほぼ等しい第1、第2及び第3の反射点を選択し、
前記方位角度誤差算出部は、前記第1及び第2の反射点から第1の方位角度誤差を算出するとともに、前記第1及び第3の反射点、あるいは前記第2及び第3の反射点のいずれかの組み合わせから第2の方位角度誤差を算出し、
前記方位角度誤差推定装置は、
前記第1及び第2の方位角度誤差の平均値を算出し、前記平均値を方位角度誤差の真値として推定する方位角度誤差真値推定部をさらに含む
ことを特徴とする請求項1記載のレーダシステム。 - 前記反射点選択部は、前記記憶部に記憶された複数の反射点の中から、反射点の相対速度の分布において中央値となる相対速度を基準速度と定め、前記基準速度を中心に一定の幅を有する範囲内に含まれる、相対速度がほぼ等しい第1、第2及び第3の反射点を選択し、
前記方位角度誤差算出部は、前記第1及び第2の反射点から第1の方位角度誤差を算出するとともに、前記第1及び第3の反射点、あるいは前記第2及び第3の反射点のいずれかの組み合わせから第2の方位角度誤差を算出し、
前記方位角度誤差推定装置は、
前記第1及び第2の方位角度誤差の二乗誤差平均を最小とするような方位角度誤差を算出し、前記算出した方位角度誤差を方位角度誤差の真値として推定する方位角度誤差真値推定部をさらに含む
ことを特徴とする請求項1記載のレーダシステム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005336748A JP4265803B2 (ja) | 2005-11-22 | 2005-11-22 | レーダシステム |
US11/398,709 US7443335B2 (en) | 2005-11-22 | 2006-04-06 | Radar system |
DE102006019846.8A DE102006019846B4 (de) | 2005-11-22 | 2006-04-28 | Radarsystem |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005336748A JP4265803B2 (ja) | 2005-11-22 | 2005-11-22 | レーダシステム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2007139690A JP2007139690A (ja) | 2007-06-07 |
JP4265803B2 true JP4265803B2 (ja) | 2009-05-20 |
Family
ID=37989640
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005336748A Active JP4265803B2 (ja) | 2005-11-22 | 2005-11-22 | レーダシステム |
Country Status (3)
Country | Link |
---|---|
US (1) | US7443335B2 (ja) |
JP (1) | JP4265803B2 (ja) |
DE (1) | DE102006019846B4 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120242531A1 (en) * | 2011-03-23 | 2012-09-27 | Fujitsu Ten Limited | Calculation device for radar apparatus, radar apparatus and calculation method |
KR101794620B1 (ko) | 2017-03-08 | 2017-11-08 | 최수호 | 레이더 시스템의 안테나 빔 중심 보정방법 |
Families Citing this family (35)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4803498B2 (ja) * | 2007-03-30 | 2011-10-26 | 株式会社エクォス・リサーチ | 車輪半径推定装置 |
WO2010086895A1 (ja) * | 2009-01-29 | 2010-08-05 | トヨタ自動車株式会社 | 物体認識装置および物体認識方法 |
JP4827956B2 (ja) * | 2009-09-18 | 2011-11-30 | 三菱電機株式会社 | 車載用レーダ装置 |
KR101007217B1 (ko) | 2010-08-26 | 2011-01-12 | 삼성탈레스 주식회사 | 슬롯 도파관의 사시각 효과를 이용하는 유사 2d 배열 레이더 시스템 및 그 이용 방법 |
JP6106601B2 (ja) * | 2012-03-19 | 2017-04-05 | パナソニック株式会社 | レーダ装置 |
EP2867696B1 (en) | 2012-06-28 | 2020-04-15 | Veoneer Sweden AB | Misalignment estimation of a vehicle radar system |
JP5926208B2 (ja) * | 2013-02-12 | 2016-05-25 | 株式会社デンソー | 車載レーダ装置 |
US20150070207A1 (en) * | 2013-09-06 | 2015-03-12 | Valeo Radar Systems, Inc. | Method and Apparatus For Self Calibration of A Vehicle Radar System |
US9255988B2 (en) * | 2014-01-16 | 2016-02-09 | GM Global Technology Operations LLC | Object fusion system of multiple radar imaging sensors |
JP6365251B2 (ja) * | 2014-02-28 | 2018-08-01 | パナソニック株式会社 | レーダ装置 |
EP3104189B1 (en) | 2015-06-11 | 2020-09-30 | Veoneer Sweden AB | Misalignment estimation for a vehicle radar system |
EP3176750B1 (en) | 2015-12-04 | 2019-03-13 | Veoneer Sweden AB | Vision system for a motor vehicle and method of controlling a vision system |
EP3239737B1 (en) | 2016-04-29 | 2018-11-28 | Veoneer Sweden AB | Misalignment detection for a vehicle radar sensor |
JP2017215196A (ja) * | 2016-05-31 | 2017-12-07 | パナソニックIpマネジメント株式会社 | レーダ装置 |
US10114106B2 (en) * | 2016-07-22 | 2018-10-30 | Delphi Technologies, Inc. | Automated vehicle radar system with auto-alignment for azimuth, elevation, and vehicle speed-scaling-error |
US10641878B2 (en) | 2016-08-10 | 2020-05-05 | Aptiv Technologies Limited | Positional feedback sensing useful for automated vehicle LIDAR |
JP6622167B2 (ja) * | 2016-09-26 | 2019-12-18 | 株式会社デンソー | 軸ずれ推定装置 |
US10481243B2 (en) | 2016-10-31 | 2019-11-19 | Aptiv Technologies Limited | Automated vehicle radar system with self-calibration |
JP6769898B2 (ja) * | 2017-03-17 | 2020-10-14 | 株式会社デンソー | 方位誤差検出方法および装置 |
JP6957820B2 (ja) * | 2017-03-24 | 2021-11-02 | 住友電工システムソリューション株式会社 | 電波センサ、調整方法および調整プログラム |
DE102017215586A1 (de) * | 2017-09-05 | 2019-03-07 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Bestimmung der Abweichung einer Sensorachse eines Umfeldsensors von der Fahrachse eines Fahrzeugs |
JP6856496B2 (ja) * | 2017-11-07 | 2021-04-07 | 株式会社デンソーアイティーラボラトリ | 方位誤差関数取得装置、方法及びプログラム |
SG11202008585RA (en) * | 2018-03-23 | 2020-10-29 | Hitachi Int Electric Inc | Radar device, radar system, and method for adjusting radar antenna |
JP7028722B2 (ja) * | 2018-06-05 | 2022-03-02 | 株式会社Soken | 軸ずれ角検出装置 |
EP3588135B1 (en) * | 2018-06-28 | 2021-05-05 | Aptiv Technologies Limited | Method of determining an alignment error of an antenna and vehicle with an antenna and a detection device |
DE102018214961A1 (de) * | 2018-09-04 | 2020-03-05 | Robert Bosch Gmbh | Verfahren zur Erkennung von Winkelmessfehlern bei einem Radarsensor |
DE102019204604A1 (de) * | 2019-04-01 | 2020-10-01 | Robert Bosch Gmbh | Verfahren zum Ermitteln einer Dejustage eines Radarsensors |
JP7252052B2 (ja) * | 2019-05-13 | 2023-04-04 | 株式会社デンソーテン | Mimoレーダ装置、および、信号処理方法 |
JP7193414B2 (ja) * | 2019-05-15 | 2022-12-20 | 株式会社Soken | 軸ずれ推定装置 |
CN110231601A (zh) * | 2019-07-01 | 2019-09-13 | 百度在线网络技术(北京)有限公司 | 传感器误差补偿方法、装置、设备及存储介质 |
US11209524B2 (en) | 2019-09-30 | 2021-12-28 | Veoneer Us, Inc. | Detection system and method for characterizing targets |
JP7212604B2 (ja) * | 2019-10-31 | 2023-01-25 | 株式会社デンソー | 物体検出装置 |
WO2021117304A1 (ja) * | 2019-12-10 | 2021-06-17 | 住友電気工業株式会社 | 電波センサを設置する方法、電波センサ、及び調整装置 |
US11360191B2 (en) * | 2019-12-27 | 2022-06-14 | Woven Planet North America, Inc. | Adaptive tilting radars for effective vehicle controls |
US11782126B2 (en) * | 2021-02-24 | 2023-10-10 | Nxp B.V. | System and method for automotive radar sensor orientation estimation using radar detection information of arbitrary detections |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3618008A (en) * | 1969-12-15 | 1971-11-02 | Motorola Inc | Antiglint radio direction finder |
FR2406831A1 (fr) * | 1977-10-21 | 1979-05-18 | Thomson Csf | Systeme de poursuite d'une cible mobile |
US4472718A (en) * | 1980-02-29 | 1984-09-18 | Mitsubishi Denki Kabushiki Kaisha | Tracking radar system |
US4524359A (en) * | 1982-07-23 | 1985-06-18 | The United States Of America As Represented By The Secretary Of The Air Force | Radar system for reducing angle tracking errors |
US4589610A (en) * | 1983-11-08 | 1986-05-20 | Westinghouse Electric Corp. | Guided missile subsystem |
US5075694A (en) * | 1987-05-18 | 1991-12-24 | Avion Systems, Inc. | Airborne surveillance method and system |
US5430445A (en) * | 1992-12-31 | 1995-07-04 | Raytheon Company | Synthetic aperture radar guidance system and method of operating same |
JPH0943344A (ja) | 1995-08-03 | 1997-02-14 | Mitsubishi Electric Corp | Fm−cwレーダ |
US5631653A (en) * | 1996-04-25 | 1997-05-20 | Hughes Electronics | Dynamic inertial coordinate system maneuver detector and processing method |
JP3708650B2 (ja) * | 1996-06-11 | 2005-10-19 | トヨタ自動車株式会社 | 障害物検知装置を用いた乗員保護装置 |
JP3720662B2 (ja) | 2000-01-19 | 2005-11-30 | 三菱電機株式会社 | 車載用レーダ装置 |
JP3844429B2 (ja) * | 2000-12-12 | 2006-11-15 | 富士通テン株式会社 | 走査型レーダ装置 |
JP3733863B2 (ja) | 2001-02-02 | 2006-01-11 | 株式会社日立製作所 | レーダ装置 |
DE60234911D1 (de) * | 2001-03-15 | 2010-02-11 | Fujitsu Ten Ltd | Signalverarbeitungsverfahren für abtastradar |
JP3753652B2 (ja) * | 2001-12-04 | 2006-03-08 | 富士通テン株式会社 | Fm−cwレーダのミスペアリング判定及び信号処理方法 |
WO2003062852A1 (fr) * | 2002-01-18 | 2003-07-31 | Hitachi,Ltd. | Systeme radar |
JP3632013B2 (ja) * | 2002-06-04 | 2005-03-23 | 本田技研工業株式会社 | 対象物検知装置の検知軸調整方法 |
JP4665903B2 (ja) * | 2004-11-12 | 2011-04-06 | 三菱電機株式会社 | 軸ずれ角推定方法及びその装置 |
-
2005
- 2005-11-22 JP JP2005336748A patent/JP4265803B2/ja active Active
-
2006
- 2006-04-06 US US11/398,709 patent/US7443335B2/en active Active
- 2006-04-28 DE DE102006019846.8A patent/DE102006019846B4/de not_active Expired - Fee Related
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120242531A1 (en) * | 2011-03-23 | 2012-09-27 | Fujitsu Ten Limited | Calculation device for radar apparatus, radar apparatus and calculation method |
US8994582B2 (en) * | 2011-03-23 | 2015-03-31 | Fujitsu Ten Limited | Calculation device for radar apparatus, radar apparatus and calculation method |
KR101794620B1 (ko) | 2017-03-08 | 2017-11-08 | 최수호 | 레이더 시스템의 안테나 빔 중심 보정방법 |
Also Published As
Publication number | Publication date |
---|---|
US7443335B2 (en) | 2008-10-28 |
DE102006019846B4 (de) | 2014-09-18 |
US20070115169A1 (en) | 2007-05-24 |
DE102006019846A1 (de) | 2007-05-24 |
JP2007139690A (ja) | 2007-06-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4265803B2 (ja) | レーダシステム | |
JP4665903B2 (ja) | 軸ずれ角推定方法及びその装置 | |
US7911374B2 (en) | Radar device and target detection method | |
US6163252A (en) | Device for detecting obstacles, for use in vehicles | |
US9523769B2 (en) | Alignment method and system for radar of vehicle | |
KR102179784B1 (ko) | 각도 측정용 자동차의 센서를 보정하는 방법, 계산 장치, 운전자 보조 시스템, 및 자동차 | |
US9889798B1 (en) | Detection of a target object utilizing automotive radar | |
US10261172B2 (en) | Radar apparatus for vehicle and method of removing ghost of the same | |
JP5184196B2 (ja) | レーダ装置、レーダ装置の信号処理方法及び、車両制御システム | |
US9977126B2 (en) | Radar apparatus | |
CN102170047B (zh) | 用于雷达传感器设备的天线装置 | |
JPWO2007015288A1 (ja) | 軸ずれ量推定方法及び軸ずれ量推定装置 | |
KR20150034349A (ko) | 차량용 탐지 센서 보정 장치 및 방법 | |
WO2021187040A1 (ja) | レーダ装置 | |
WO2015119298A1 (ja) | ビームセンサの軸ずれ検出装置 | |
JP2009128016A (ja) | レーダ装置、レーダ制御装置およびレーダ装置の制御方法 | |
US20220187422A1 (en) | Aliasing determination device | |
JP2006058135A (ja) | 移動物体検出装置及び移動物体検出方法 | |
JP2019211339A (ja) | 軸ずれ角検出装置 | |
WO2020235463A1 (ja) | レーダ装置 | |
JP6168913B2 (ja) | レーダ装置 | |
EP3761054A1 (en) | Sensor calibration based on strings of detections | |
EP3508873B1 (en) | Measuring device, control device, control method, and program | |
KR101794620B1 (ko) | 레이더 시스템의 안테나 빔 중심 보정방법 | |
EP4253994A1 (en) | Sensor calibration based on strings of detections |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20080108 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20080306 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20080715 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20080902 |
|
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: 20090210 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20090210 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 4265803 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120227 Year of fee payment: 3 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130227 Year of fee payment: 4 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130227 Year of fee payment: 4 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20140227 Year of fee payment: 5 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |