WO2005066654A1 - レーダ - Google Patents
レーダ Download PDFInfo
- Publication number
- WO2005066654A1 WO2005066654A1 PCT/JP2004/016530 JP2004016530W WO2005066654A1 WO 2005066654 A1 WO2005066654 A1 WO 2005066654A1 JP 2004016530 W JP2004016530 W JP 2004016530W WO 2005066654 A1 WO2005066654 A1 WO 2005066654A1
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- WO
- WIPO (PCT)
- Prior art keywords
- frequency
- signal
- pair
- modulation section
- protrusions
- Prior art date
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Classifications
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- 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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
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- 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
- G01S13/345—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 using triangular modulation
Definitions
- the present invention relates to a radar that detects a target by transmitting and receiving a radio wave obtained by frequency-modulating a continuous wave.
- FM—CW radar transmits and receives radio waves obtained by frequency-modulating (FM) continuous waves (CW) to detect targets. That is, a transmission signal that repeats an up-modulation section in which the frequency gradually increases and a down-modulation section in which the frequency gradually decreases is transmitted, and the reception signal including the reflection signal from the target is received.
- the relative distance and relative speed of the target are obtained based on the frequency spectrum of the beat signal which is the signal of the frequency difference from the target.
- the relative position and relative speed of the target are not usually constant, the above operation is repeated at a fixed period, and the relative position and relative speed of the target are obtained each time.
- the above operation is performed on one beam directed to a predetermined azimuth, and the beam azimuth is sequentially changed, so that the target azimuth within the detection azimuth angle range is obtained. Find the direction of the target.
- the target is a single target
- a single protrusion is generated in the frequency spectrum of the beat signal based on the reflected wave from the target in the up modulation section and the down modulation section. Therefore, the peak frequency of the protruding portion is determined for each of the beat signal in the up-modulation section (hereinafter referred to as “upbeat signal”) and the beat signal in the down-modulation section (hereinafter referred to as “downbeat signal”). Then, the relative distance and relative speed of the two peak frequency targets can be determined.
- Patent Document 1 a combination in which the strength of the protruding portion appearing in the frequency spectrum of the received signal is substantially the same is regarded as the same target and pairing is performed. Do as you do.
- Patent Document 2 discloses that the slopes of uplink modulation and downlink modulation are set such that the travel distance corresponding to the Doppler shift frequency matches the travel distance based on the relative speed at a predicted time in the future. According to this configuration, the distance can be calculated without performing pairing.
- Patent Document 1 Japanese Patent Application Laid-Open No. Hei 4 343084
- Patent Document 2 JP-A-6-94829
- an object of the present invention is to solve the above-described problems and to provide a radar that facilitates pairing and enables calculation of a relative speed.
- the present invention provides an uplink modulation section in which the frequency gradually increases and a frequency in which the frequency gradually decreases.
- a transmission signal which alternately repeats a downlink modulation section to be transmitted is received, and a reception signal which is a reflection signal of a target of the transmission signal is received, and data on a frequency spectrum of a beat signal between the transmission signal and the reception signal is transmitted. Pairing is performed from the plurality of first protrusions appearing in the frequency spectrum of the beat signal in the up-modulation section and the plurality of second protrusions appearing in the frequency spectrum of the beat signal in the down-modulation section, Based on the frequency of the two protrusions in a pair, the radar detects relative distance and relative velocity.
- the center frequency of the peak frequencies of the first and second protrusions at a certain time after the predetermined timing is calculated.
- the method is characterized in that an error of the protruding portion obtained at the timing after the predetermined time is predicted and extracted based on the center frequency.
- the center frequency of the peak frequencies of the first and second protrusions at a timing that is a predetermined time before the predetermined timing from the peak frequency of the second protrusion at a predetermined timing. And a pair of protruding portions obtained at the timing before the predetermined time is extracted based on the center frequency.
- the present invention provides a measurement cycle for performing the frequency analysis as T, a modulation cycle with one cycle of an up-modulation section and a down-modulation section adjacent thereto as lZfm, and a center frequency of a transmission signal as fo,
- AF is the frequency displacement width in the up modulation section and the down modulation section
- nT fo / (2 A F-fm)
- n is any natural number
- a pair of protruding parts is extracted by setting nT satisfying the relationship of the above as the “certain time”.
- the present invention uses the peak frequency of the first protruding portion a predetermined time before the predetermined timing force and the peak frequency of the second protruding portion after a predetermined time from the predetermined timing,
- the method is characterized in that a center frequency of peak frequencies of the first and second protrusions at a predetermined timing is predicted, and a pair of protrusions obtained at the predetermined timing is extracted based on the center frequency.
- the present invention is also characterized in that in the above (4), the medium at the predetermined timing forms a frequency difference substantially equal to the difference between the peak frequencies of the first and second projections forming a pair at the predetermined timing.
- the medium at the predetermined timing forms a frequency difference substantially equal to the difference between the peak frequencies of the first and second projections forming a pair at the predetermined timing.
- the peak frequencies of the first and second protrusions at a timing after a predetermined time from the predetermined timing from the peak frequency of the first protrusion at the predetermined timing are determined.
- the center frequency a component based on the distance delay
- extracting the pair of protruding portions obtained at a certain time later based on the center frequency pairing becomes easier. Since the degree of occurrence of the pairing error is almost eliminated, it is possible to calculate the correct relative distance and speed. Further, since the amount of calculation required for pairing is reduced, the number of detectable targets per unit time is increased, and the detection cycle can be shortened.
- the peak frequencies of the first and second protrusions at a timing that is a predetermined time before the predetermined timing from the peak frequency of the second protrusion at the predetermined timing are a predetermined time before the predetermined timing from the peak frequency of the second protrusion at the predetermined timing.
- the measurement cycle is T
- the modulation cycle with one cycle of the uplink modulation section and the downstream modulation section adjacent thereto is lZfm
- the center frequency of the transmission signal is fo
- the uplink frequency is fo.
- the peak of the first protruding portion a predetermined time before the predetermined timing force is applied.
- the center frequency of the peak frequencies of the first and second protrusions at a predetermined timing is predicted using the peak frequency and the peak frequency of the second protrusion after a predetermined time from the predetermined timing, and obtained at the predetermined timing. Since the pair of projected portions is extracted based on the center frequency, even if the relationship of nT ⁇ foZ (2 ⁇ F'fm) is not satisfied or the deviation from the relationship occurs, the center The frequency prediction error is canceled, and the pairing accuracy can be improved.
- the first and second protrusions at the predetermined timing at which the frequency difference is substantially equal to the peak frequency difference between the first and second protrusions forming the pair at the predetermined timing are formed.
- Z or the frequency difference is calculated.
- FIG. 1 is a block diagram showing a configuration of a radar.
- FIG. 2 is a diagram showing an example of a beat signal in an up modulation section and a down modulation section of the radar.
- FIG. 3 is a diagram showing an example of a frequency spectrum of a beat signal in an up modulation section and a down modulation section.
- FIG. 4 is a diagram illustrating an example of a change in a peak frequency or the like at each measurement timing of the radar according to the first embodiment.
- FIG. 5 is a diagram illustrating an example of a change in a peak frequency or the like at each measurement timing of the radar according to the first embodiment.
- FIG. 6 is a flowchart showing a processing procedure for pairing of the radar.
- FIG. 7 is a flowchart showing a processing procedure relating to pairing in the radar according to the second embodiment.
- FIG. 8 shows a peak frequency at each measurement timing in the radar according to the third embodiment. It is a figure showing an example of a change of.
- FIG. 9 is a flowchart showing a processing procedure for pairing in the radar. Explanation of symbols
- FIG. 1 is a block diagram showing the configuration of a radar according to an embodiment of the present invention.
- This radar is composed of an RF block 1 and a signal processing block 2 as shown in FIG.
- the RF block 1 transmits and receives radio waves for radar measurement, and outputs a beat signal of a transmitted wave and a received wave to the signal processing block 2.
- the modulation counter 11 of the signal processing block 2 counts for generating a triangular wave signal from the DA converter 10 as a result, and outputs the value to the DA converter 10.
- the DA converter 10 converts the signal into an analog voltage signal and supplies the analog voltage signal to the VCO (voltage controlled oscillator) 8 of the RF block 1.
- the transmission wave is FM-modulated. That is, the oscillation signal of VC08 is supplied to the primary radiator 4 via the isolator 7, the coupler 6, and the circulator 5.
- the primary radiator 4 is located at or near the focal plane of the dielectric lens 3, and the dielectric lens 3 transmits a millimeter wave signal radiated from the primary radiator 4 as an acute V beam.
- a reflected wave from a target such as a vehicle
- the received signal is guided to the mixer 9 via the circulator 5.
- Mi The received signal and the local signal which is a part of the transmitted signal from the power blur 6 are input to the mixer 9, and a beat signal corresponding to the frequency difference signal is used as an intermediate frequency signal in the signal processing block 2.
- the AD converter 12 converts this into digital data.
- a DSP (Digital Signal Processor) 13 performs a FFT (Fast Fourier Transform) process on the data sequence input from the AD converter 12 to calculate a relative distance and a relative speed of the target as described later.
- FFT Fast Fourier Transform
- the scan unit 16 in the RF block 1 translates the primary radiator 4 in the focal plane of the dielectric lens 3 or in a plane parallel thereto.
- An OdB power plug is configured between the movable section where the primary radiator 4 is provided and the fixed section side.
- the motor M is a drive motor for the scan unit 16. By this motor, for example, a beam scan is performed in a range of ⁇ 10 degrees to +10 degrees at a period of 100 ms.
- the microprocessor 14 in the signal processing block 2 controls the modulation counter 11 and the scan unit 16.
- the microprocessor 14 controls the modulation counter 11 so that the beam azimuth is directed at a predetermined angle with respect to the scan unit 16 and the VC08 is modulated with a triangular wave.
- the microprocessor 14 extracts (pairs) a pair of a protrusion that appears in the frequency spectrum of the up-modulation section and a protrusion that appears in the frequency spectrum of the down-modulation section, obtained by the DSP 13. Further, the microprocessor 14 obtains a relative distance and a relative speed of the target by a method described later, and outputs them to a host device (not shown).
- FIG. 2 shows an example of a shift in frequency change between a transmission signal and a reception signal due to a distance to a target and a relative speed.
- the transmission signal TXS is a signal that is frequency-modulated in a triangular waveform with the center frequency fo as the frequency center.
- the frequency difference between the transmission signal TXS and the reception signal RXS when the frequency of the transmission signal TXS rises is the frequency fl of the upbeat signal, and the frequency between the transmission signal TXS and the reception signal RXS when the frequency of the transmission signal TXS falls
- the difference is the frequency f 2 of the downbeat signal.
- AF is the frequency deviation width.
- the shift (time difference) At between the transmission signal TXS and the reception signal RXS on the time axis of the triangular wave corresponds to the round trip time of the radio wave from the antenna to the target.
- the shift on the frequency axis between the transmission signal TXS and the reception signal RXS is the amount of Doppler shift, which occurs due to the relative speed of the target with respect to the antenna.
- the frequency f of the upbeat signal is determined by the time difference and the amount of the Dobler shift.
- the value of 1 and the frequency f 2 of the downbeat signal change.
- FIG. 3 shows an example of a frequency spectrum of a beat signal in an up modulation section and a down modulation section.
- the solid line is the frequency spectrum of the beat signal in the up modulation section
- the dashed line is the frequency spectrum of the beat signal in the down modulation section.
- the peak signal has three protruding portions with peak frequencies f11, fl2, and f13 in the upward modulation section, and the peak signal has the peak frequency in the downward modulation section.
- V Cfd / (2fo) --- (6)
- the upbeat frequency fl and the downbeat frequency f 2 are respectively
- the frequency component fr based on the distance delay of the target at the measurement timing ⁇ times later can be predicted at any timing. It can.
- fr at time t is equal to the beat frequency fl of the uplink modulation section at time t nT.
- the relative distance and the relative speed are obtained by combining the beat frequencies fl and f2 in the up-modulation section and the down-modulation section in the measurement at a certain time. Can be obtained at the same time, but if there are multiple targets, there will be multiple fl and f2, and if they are not properly combined, values that are completely different from the true values in both distance and speed will be output. According to the present invention, the distance and the relative speed of a target are obtained by the following procedure, and all of the above-mentioned problems are solved at the same time.
- the beat frequency fl of the uplink modulation section at time t nT is defined as the predicted distance flprd at time t.
- ⁇ is a constant appropriately set based on a possible error.
- FIGS. 4A and 4B are examples in which the relative speeds of the targets are different.
- the frequency component fr based on the distance delay at time t is substantially equal to the upbeat signal frequency fl at time t nT.
- FIG. 5 shows an example of a change in the frequency fl of the upbeat signal and the frequency f2 of the downbeat signal when the target also increases the radar power. Also in this case, fr at time t is substantially equal to fl at time t nT.
- FIG. 6 shows an example of the above-mentioned pairing procedure as a flowchart.
- t is a variable indicating the number of measurements.
- S1 an initial value 0 is substituted for t (S1), sampling data of a beat signal is input, and an FFT operation is performed (S2 ⁇ S3).
- the peak frequency of the protrusion appearing in the frequency spectrum of the upbeat signal obtained by the FFT operation (hereinafter simply referred to as the “peak frequency of the upbeat signal”) and the peak frequency of the protrusion appearing in the frequency spectrum of the downbeat signal (Hereafter simply referred to as ⁇ downbeat signal Peak frequency ". )
- the two-dimensional array variables fl [t] and f2 [t]. (S4).
- the data sequence of the peak frequencies of a plurality of protruding portions appearing in the frequency spectrum of the upbeat signal and the downbeat signal at each timing is represented in a one-dimensional array format in order to represent the data sequence collectively.
- the difference between the peak frequency fl [t] of the upbeat signal and the peak frequency f2 [t] of the downbeat signal is the difference between fl and f2 at time t nT (f2 [t ⁇ If there is no f2 [t-nT] that is substantially equal to (nT] -fl [t-nT]), the combination of fl [t] and f2 [t] is excluded from the pair candidates (S6). After that, the most probable value is determined in consideration of the peak intensity and the similarity of the peak orientation, and the combination is determined as a pair (S7).
- the above processing is repeated to perform pairing at each measurement timing (S7 ⁇ S8 ⁇ S2 ⁇ ).
- fr at the time t is estimated from f1 and f2 at the time t nT, but in the second embodiment, fr at the time t nT is estimated from f2 at the time t. I do.
- FIG. 7 is a flowchart showing a processing procedure of the pairing. Steps S15, S16, and S18 differ from the example of FIG.
- step S15 (fl [t-nT] + f2 [t-nT]) Z2 of the plurality of peak frequencies included in the upbeat signal and the downbeat signal at time t nT is obtained in this measurement.
- the combination of the peak frequencies fl [t-nT] and f2 [t-nT] that match in the range of ⁇ with respect to the multiple peak frequencies f2 [t] of the downbeat signal is extracted as a pair candidate.
- the difference (f2 [t] —fl [t]) between the peak frequency fl of the upbeat signal at time t and the peak frequency f2 of the downbeat signal at time t is expressed as fl, £ at time t nT. If there is no fl [t] that is approximately equal to the difference 2 [1: 1— [1: 1) from 2, the combination of fl [t-nT] and f2 [t-nT] is selected from the pair candidates. Exclude (SI 6).
- the most probable combination is determined as a pair in consideration of the peak intensity and the similarity of the peak orientation (S 17).
- the third embodiment corresponds to an arbitrary measurement period.
- FIG. 8 shows an example of changes in the peak frequency fl of the upbeat signal, the peak frequency f2 of the downbeat signal, and the frequency component fr based on the distance delay at each measurement timing.
- the period nT has a relationship of nT and ⁇ , even if ⁇ is appropriately selected so that the difference between nT and ⁇ is minimized. Therefore, fl at the previous measurement timing t nT does not match fr at the current measurement timing t!
- FIG. 9 is a flowchart showing a processing procedure relating to radar pairing according to the third embodiment.
- the steps different from the procedure shown in FIG. 6 are steps S25 to S27.
- step S25 f2 closest to f1 at time t2nT and f2 at the current time t indicating the frequency is selected, and the average value of both is calculated at time tnT as fr (i.e., Fl [t- 2nT] + f2 [t]) fl and f2 at time t nT that matches Z2) within a range of ⁇ ⁇ are extracted as a pair candidate.
- the difference (f2 [t] —fl [t]) between the peak frequency fl of the upbeat signal at time t and the peak frequency f2 of the downbeat signal at time t is represented by fl and £ at time t nT. If there is no fl [t] that is almost equal to the difference 2 [1: 1– [1: 1]), the combination of fl [t-nT] and f2 [t-nT] is excluded from the pair candidates. (S26).
- the peak frequency fl of the upbeat signal at time t2nT and the downbeat signal is the difference between fl and f2 at time t ⁇ (f2 [t-nT] —fl [t-nT If there is no f 2 [t ⁇ 2nT] that is substantially equal to]]), the combination of fl [t ⁇ ] and f 2 [t ⁇ ] is excluded from the pair candidates (S27).
- fr at time t nT is estimated from f 2 at time t and f 1 at time t 2nT, and a pair whose frequency component based on the distance delay satisfies the fr is paired.
- a pair that has a Doppler shift frequency approximately equal to the Doppler shift frequency component fd [t-nT] for which the extracted pair force is also obtained is extracted at the time t- Extract pair candidates at nT.
- fl [t-nT] and f2 [t-nT] which are regarded as keys, are obtained in the same manner as shown in step 18 of FIG.
- the Doppler shift frequency which is the difference between fl and f2 obtained in this measurement, is approximately equal to the Doppler shift frequency, which is the difference between fl and f2 obtained in the measurement at time t nT (ie, f2 [t] -fl [t] f2 [t-nT] -fl [t-nT]), and extract fl [t] and f2 [t].
- the distance and the relative speed at the current measurement timing may be obtained.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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JP2005516800A JP4353184B2 (ja) | 2004-01-07 | 2004-11-08 | レーダ |
US10/584,256 US7312745B2 (en) | 2004-01-07 | 2004-11-08 | Radar |
DE112004002541T DE112004002541T5 (de) | 2004-01-07 | 2004-11-08 | Radar |
CN200480038192XA CN1898579B (zh) | 2004-01-07 | 2004-11-08 | 雷达 |
Applications Claiming Priority (2)
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JP2004002145 | 2004-01-07 | ||
JP2004-002145 | 2004-07-01 |
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WO2005066654A1 true WO2005066654A1 (ja) | 2005-07-21 |
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Family Applications (1)
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PCT/JP2004/016530 WO2005066654A1 (ja) | 2004-01-07 | 2004-11-08 | レーダ |
Country Status (5)
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US (1) | US7312745B2 (ja) |
JP (1) | JP4353184B2 (ja) |
CN (1) | CN1898579B (ja) |
DE (1) | DE112004002541T5 (ja) |
WO (1) | WO2005066654A1 (ja) |
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JP2017194369A (ja) * | 2016-04-21 | 2017-10-26 | 三菱電機株式会社 | Fmcwレーダ装置 |
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CN1898579B (zh) * | 2004-01-07 | 2010-04-28 | 株式会社村田制作所 | 雷达 |
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JP5851752B2 (ja) * | 2011-07-30 | 2016-02-03 | 富士通テン株式会社 | 信号処理装置、レーダ装置、および、信号処理方法 |
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JP4093885B2 (ja) * | 2003-03-04 | 2008-06-04 | 富士通テン株式会社 | 異常検出機能を備えたレーダ装置 |
CN1898579B (zh) * | 2004-01-07 | 2010-04-28 | 株式会社村田制作所 | 雷达 |
EP1718179A2 (en) * | 2004-01-16 | 2006-11-08 | GHZ TR Corporation | Methods and apparatus for automotive radar sensors |
JP2006266907A (ja) * | 2005-03-24 | 2006-10-05 | Mitsubishi Electric Corp | レーダ装置およびそのレーダ信号処理方法 |
-
2004
- 2004-11-08 CN CN200480038192XA patent/CN1898579B/zh not_active Expired - Fee Related
- 2004-11-08 DE DE112004002541T patent/DE112004002541T5/de not_active Withdrawn
- 2004-11-08 US US10/584,256 patent/US7312745B2/en not_active Expired - Fee Related
- 2004-11-08 WO PCT/JP2004/016530 patent/WO2005066654A1/ja active Application Filing
- 2004-11-08 JP JP2005516800A patent/JP4353184B2/ja not_active Expired - Fee Related
Patent Citations (4)
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JPH09504612A (ja) * | 1993-11-06 | 1997-05-06 | シーメンス アクチエンゲゼルシヤフト | レーダ装置及び該装置の作動方法 |
JPH08262130A (ja) * | 1995-01-24 | 1996-10-11 | Nippondenso Co Ltd | Fm−cwレーダ装置 |
JP3305624B2 (ja) * | 1997-07-16 | 2002-07-24 | 本田技研工業株式会社 | 物体検知装置 |
WO2002067010A1 (fr) * | 2001-02-21 | 2002-08-29 | Mitsubishi Denki Kabushiki Kaisha | Procede de mesure de distance/vitesse et dispositif de traitement de signaux radar |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010175256A (ja) * | 2009-01-27 | 2010-08-12 | Honda Motor Co Ltd | 物体検知装置 |
JP2015137915A (ja) * | 2014-01-22 | 2015-07-30 | 富士通テン株式会社 | レーダ装置、車両制御システム、および、信号処理方法 |
JP2017194369A (ja) * | 2016-04-21 | 2017-10-26 | 三菱電機株式会社 | Fmcwレーダ装置 |
Also Published As
Publication number | Publication date |
---|---|
US7312745B2 (en) | 2007-12-25 |
JP4353184B2 (ja) | 2009-10-28 |
JPWO2005066654A1 (ja) | 2007-07-26 |
CN1898579B (zh) | 2010-04-28 |
DE112004002541T5 (de) | 2006-12-28 |
CN1898579A (zh) | 2007-01-17 |
US20070153255A1 (en) | 2007-07-05 |
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