WO2021229812A1 - 物体検出方法、物体検出装置および物体検出システム - Google Patents

物体検出方法、物体検出装置および物体検出システム Download PDF

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Publication number
WO2021229812A1
WO2021229812A1 PCT/JP2020/019523 JP2020019523W WO2021229812A1 WO 2021229812 A1 WO2021229812 A1 WO 2021229812A1 JP 2020019523 W JP2020019523 W JP 2020019523W WO 2021229812 A1 WO2021229812 A1 WO 2021229812A1
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WIPO (PCT)
Prior art keywords
database
object detection
wireless
beam identifier
measurement
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Ceased
Application number
PCT/JP2020/019523
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English (en)
French (fr)
Japanese (ja)
Inventor
友規 村上
信也 大槻
匡史 岩渕
智明 小川
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NTT Inc
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Nippon Telegraph and Telephone Corp
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Filing date
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Priority to PCT/JP2020/019523 priority Critical patent/WO2021229812A1/ja
Priority to US17/921,398 priority patent/US12270890B2/en
Priority to JP2022522485A priority patent/JP7420237B2/ja
Publication of WO2021229812A1 publication Critical patent/WO2021229812A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • G01S13/003—Bistatic radar systems; Multistatic radar systems
    • 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
    • G01S13/46—Indirect determination of position data
    • G01S13/48—Indirect determination of position data using multiple beams at emission or reception
    • 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
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers

Definitions

  • the present invention relates to a device-free object detection method, an object detection device, and an object detection system that detect an object in a communication area as a detection area based on information of a wireless transmission device and a wireless reception device capable of beamforming.
  • a service that uses signal strength information of a wireless signal for example, RSS (Received Signal Strength)
  • RSS Received Signal Strength
  • the wireless terminal measures the RSS of the beacon signal transmitted from the plurality of radio base stations, and the position of the wireless terminal is calculated from the measured plurality of RSS (for example, Non-Patent Document 1). reference).
  • This method is widely used as a positioning system in an indoor environment where it is difficult to use GPS (Global Positioning System).
  • Non-Patent Document 2 a device-free detection method for detecting an object (object such as a person) that does not hold a special device such as an antenna is known (see, for example, Non-Patent Document 2).
  • the presence or absence of an object and the state of an object are detected from the fluctuation characteristics of RSS measured by a wireless base station and a wireless terminal fixed in or around the detection area.
  • the device-free detection method generally has a problem in detection accuracy because the fluctuation of the propagation environment is smaller than the detection method of an object holding a special device such as an antenna.
  • a method of increasing the number of installed wireless base stations and wireless terminals can be considered, but there is a problem that the cost increases.
  • the present invention is an object detection method, an object detection device, and an object detection system that can suppress an increase in cost with high detection accuracy by using the beam forming function used in a wireless communication system in device-free object detection.
  • the purpose is to provide.
  • the present invention is an object detection method for detecting an object in a detection area by an object detection device based on information output by a wireless transmission device having a beam forming function and a wireless reception device, respectively, and the wireless transmission device is described in advance.
  • a radio signal is transmitted by a plurality of determined beam patterns, a transmission beam identifier corresponding to the beam pattern is output to the object detection device, and the radio reception device determines a radio signal to be transmitted by the radio transmission device in advance.
  • the received signal intensity is measured for each beam pattern, the received beam identifier corresponding to the beam pattern and the received signal intensity are output to the object detection device, and the object detection is performed.
  • the device is connected to the wireless transmitting device and the wireless receiving device, and the transmitted beam identifier input from the wireless transmitting device, the received beam identifier input from the wireless receiving device, and the received signal strength corresponding to the received beam identifier. It is characterized in that an object in the detection area is detected based on the above.
  • a radio signal is obtained by a plurality of predetermined beam patterns.
  • the transmission beam identifier corresponding to the beam pattern is input from the radio transmission device that transmits the radio signal, and the radio signal transmitted by the radio transmission device is received by a plurality of predetermined beam patterns, and reception for each beam pattern is received.
  • the wireless receiving device that measures the signal strength
  • the received beam identifier corresponding to the beam pattern and the received signal strength are input, the transmission beam identifier input from the wireless transmitting device, and the reception input from the wireless receiving device. It is characterized by having an analysis unit that detects an object in the detection area based on the beam identifier and the received signal intensity corresponding to the received beam identifier.
  • the present invention relates to an object detection system having an object detection device that detects an object in a detection area based on a wireless transmission device having a beam forming function and information output by the wireless reception device.
  • a radio signal is transmitted by a plurality of predetermined beam patterns, a transmission beam identifier corresponding to the beam pattern is output to the object detection device, and the radio reception device outputs a radio signal transmitted by the radio transmission device in advance. It receives with a plurality of determined beam patterns, measures the received signal intensity for each beam pattern, outputs the received beam identifier corresponding to the beam pattern and the received signal intensity to the object detection device, and outputs the object.
  • the detection device is connected to the radio transmission device and the radio reception device, and the transmission beam identifier input from the radio transmission device, the reception beam identifier input from the radio reception device, and the reception signal corresponding to the reception beam identifier. It is characterized by detecting an object in the detection area based on the intensity.
  • the object detection method, object detection device, and object detection system according to the present invention use the beamforming function used in a wireless communication system in device-free object detection to suppress an increase in cost with high detection accuracy. Can be done.
  • FIG. 1 shows a configuration example of the object detection system 10 according to the present embodiment.
  • the object detection system 10 includes a wireless transmission device 20, a wireless reception device 30, and an object detection device 40.
  • the wireless transmission device 20 and the wireless reception device 30 are installed in the detection area 15 or in the vicinity of the detection area 15. Further, it is assumed that the object 50 to be detected exists in the detection area 15.
  • the object detection system 10 uses the beamforming function for wireless communication adopted in a wireless communication system using a high frequency band such as millimeter waves for object detection.
  • the beamforming function is a function of forming radio wave radiation characteristics of an arbitrary shape, and it is possible to realize an arbitrary beam pattern by adjusting the strength of radio waves in a specific direction.
  • the beam pattern is a radiation characteristic of a radio wave transmitted from the radio transmitting device 20 (or a radio wave received by the radio receiving device 30).
  • the wireless transmission device 20 transmits a wireless signal in the air with a plurality of predetermined beam patterns. Then, the wireless transmission device 20 outputs a transmission beam identifier (referred to as a transmission beam ID) corresponding to the beam pattern to the object detection device 40.
  • the transmission beam ID is an identifier assigned to each shape of the beam pattern, and different transmission beam IDs have different beam patterns.
  • the wireless receiving device 30 receives the wireless signal transmitted by the wireless transmitting device 20 in a plurality of predetermined beam patterns, and measures the received signal strength RSS. Then, the received beam identifier (referred to as the received beam ID) and RSS corresponding to the beam pattern are output to the object detection device 40. Like the transmitted beam ID, the received beam ID is an identifier assigned to each shape of the beam pattern, and different received beam IDs have different beam patterns.
  • the object detection device 40 is connected to the wireless transmission device 20 and the wireless reception device 30 by wire or wirelessly. Then, the object detection device 40 detects an object based on the transmission beam ID input from the wireless transmission device 20 and the reception beam ID and RSS input from the wireless reception device 30. Specifically, the object detection device 40 is based on the map information of the detection area 15 stored as prior information, the location where the wireless transmission device 20 and the wireless reception device 30 are installed, and information on the beam shape of the object 50. The presence / absence and the location of the object 50 are output.
  • the map information of the detection area 15 is the layout information of the detection area 15, and is the information of the plane including the distance information.
  • the object detection system 10 can estimate the presence / absence of the object 50 and the location of the object 50 in the detection area 15.
  • one wireless transmission device 20 and one wireless reception device 30 are installed, but a plurality of wireless transmission devices 20 and a plurality of wireless reception devices 30 may be installed. In this case, the number of wireless transmitting devices 20 and the number of wireless receiving devices 30 may be different. Further, although FIG. 1 shows an example in which one object 50 to be detected is in the detection area 15, a plurality of objects may be present in the detection area 15.
  • FIG. 2 shows a configuration example of the wireless transmission device 20 according to the present embodiment.
  • the wireless transmission device 20 includes an antenna 21, a transmission unit 22, and a beam control unit 23.
  • the wireless transmission device actually operated as a communication system not a system dedicated to object detection, there are components for performing data communication in addition to the components shown in FIG. 2, but in the present embodiment, there are components for performing data communication. Only the elements related to object detection are described.
  • the antenna 21 is composed of, for example, an array antenna composed of a plurality of antennas, and has a beam forming function for forming a beam pattern designated by the beam control unit 23.
  • the strength of radio waves in a specific direction can be adjusted by controlling the phase and amplitude when the transmission signal output from the transmission unit 22 is input to each antenna. In this way, any beam pattern can be formed.
  • the antenna 21 converts the transmission signal output from the transmission unit 22 into radio waves and transmits the transmission signal to the air using the beam pattern designated by the beam control unit 23.
  • the transmission unit 22 modulates the transmission data into a transmission signal for communication or a transmission signal for measurement and outputs the transmission data to the antenna 21.
  • a transmission signal for communication may be used for object detection, it is preferable to use a predetermined transmission signal for measurement.
  • the beam control unit 23 instructs the antenna 21 to use one of the plurality of beam patterns, and outputs the transmission beam ID corresponding to the beam pattern instructed to the antenna 21 to the object detection device 40.
  • the beam control unit 23 may instruct the antenna 21 on a plurality of beam patterns in order, or may instruct the antenna 21 only on a preset beam pattern.
  • the wireless transmission device 20 transmits a signal by the beam pattern instructed by the beam control unit 23, and notifies the object detection device 40 of the transmission beam ID corresponding to the beam pattern that transmitted the signal. do.
  • the object detection device 40 can confirm in which beam pattern the signal is transmitted among the plurality of beam patterns.
  • FIG. 3 shows a configuration example of the wireless receiving device 30 according to the present embodiment.
  • the wireless receiving device 30 has an antenna 31, a receiving unit 32, and a beam control unit 33.
  • the wireless receiving device actually operated as a communication system instead of the system dedicated to object detection, there are components for data communication in addition to the components in FIG. , In this embodiment, only the elements related to object detection are described.
  • the antenna 31 is composed of, for example, an array antenna composed of a plurality of antennas, and has a beam forming function for forming a beam pattern designated by the beam control unit 33. Then, the antenna 31 converts the radio wave received by the beam pattern designated by the beam control unit 33 into a reception signal and outputs the radio wave to the reception unit 32.
  • the receiving unit 32 demodulates the received signal for communication or the received signal for measurement input from the antenna 31 into the received data. Further, the receiving unit 32 measures the received signal strength RSS of the received signal and outputs the measurement result of the received signal strength RSS to the object detection device 40.
  • the beam control unit 33 instructs the antenna 31 to use one of the plurality of beam patterns, and outputs the received beam ID corresponding to the beam pattern instructed to the antenna 31 to the object detection device 40.
  • the beam control unit 33 may instruct the antenna 31 in order of a plurality of beam patterns, or instruct only the preset beam patterns to the antenna 31. May be good.
  • the wireless receiving device 30 receives a signal with the beam pattern instructed by the beam control unit 33, and measures the received signal strength RSS. Then, the wireless receiving device 30 notifies the object detection device 40 of the received beam ID corresponding to the beam pattern in which the signal is received and the received signal strength RSS when the signal is received in the beam pattern. As a result, the object detection device 40 can confirm in which beam pattern among the plurality of beam patterns the signal is received by the received beam ID, and can acquire the received signal intensity RSS corresponding to the received beam ID.
  • the object detection device 40 receives the transmission beam ID of the wireless transmission device 20 when the wireless reception device 30 measures the reception signal strength RSS from the wireless transmission device 20, the transmission beam ID and the reception beam ID are used. The received signal strength RSS for each combination of can be acquired.
  • FIG. 4 shows a configuration example of the object detection device 40 according to the present embodiment.
  • the object detection device 40 has an analysis unit 41.
  • the object detection device 40 provides advance information such as map information of the detection area 15, information on the installation location of the wireless transmission device 20 and the wireless reception device 30, information on the transmission beam ID and the beam pattern corresponding to the reception beam ID, and the like. Retained in external or internal storage.
  • the analysis unit 41 sequentially refers to the above-mentioned prior information based on the transmission beam ID input from the wireless transmission device 20 and the reception beam ID and reception signal strength RSS input from the wireless reception device 30. Then, the presence / absence of the object 50, the location of the object 50, and the like are analyzed. For example, the analysis unit 41 controls the wireless transmission device 20 and the wireless reception device 30 to perform pre-measurement in a situation where there is no object 50 to be detected, and the reception signal strength for each combination of the transmission beam ID and the reception beam ID. Measure RSS. Similarly, the analysis unit 41 performs the main measurement for detecting the presence or absence of the object 50, and measures the received signal intensity RSS for each combination of the transmitted beam ID and the received beam ID.
  • the analysis unit 41 compares the preliminary measurement result with the main measurement result, and outputs the analysis result such as the presence / absence of the object 50 and the location of the object 50 to the outside.
  • the output destination of the analysis result may be, for example, a monitor screen of a system operator, a system management device connected via a network, or the like. A specific comparison method between the preliminary measurement result and the main measurement result will be described later.
  • the object detection device 40 determines the presence or absence of the object 50 based on the transmission beam ID input from the wireless transmission device 20, the reception beam ID input from the wireless reception device 30, and the RSS. The location of the object 50 can be detected.
  • FIG. 5 shows an example of the processing procedure of the object detection method according to the present embodiment. The process described with reference to FIG. 5 is executed by the wireless transmission device 20, the wireless reception device 30, and the object detection device 40 described with reference to FIGS. 1 to 4.
  • step S101 the object detection device 40 performs pre-measurement.
  • RSS is measured for each combination of the transmission beam ID of the wireless transmission device 20 and the reception beam ID of the wireless reception device 30 in a situation where there is no object to be detected.
  • measurement may be performed for all combinations of the transmission beam ID of the wireless transmission device 20 and the reception beam ID of the wireless reception device 30, or measurement may be performed for a predetermined combination. A measurement example will be described later with reference to FIG.
  • step S102 the object detection device 40 performs this measurement.
  • the RSS for each combination of the transmission beam ID of the wireless transmission device 20 and the reception beam ID of the wireless reception device 30 is measured as in the preliminary measurement.
  • step S103 the object detection device 40 detects the presence / absence of the object 50 and the location of the object 50 based on the preliminary measurement result of step S101 and the main measurement result of step S102. Specifically, the object detection device 40 calculates the difference between the pre-measurement result in step S101 and the main measurement result in step S102, and determines that there is an object when the difference is equal to or greater than the threshold value. The difference is calculated for each combination of the transmitted beam ID and the received beam ID, and the absolute value of the difference between the received signal intensity RSS of the pre-measurement result of the same combination and the received signal intensity RSS of the present measurement result is the difference.
  • the object detection device 40 determines that there is no object.
  • the reception signal intensity of the pre-measurement result is RSS-nm (A)
  • the reception signal intensity of this measurement result is RSS-nm (B).
  • the beam pattern is determined for each combination of the transmitted beam ID and the received beam ID, it is possible to detect the location of the object 50 from the beam pattern when the object 50 is detected.
  • the threshold value is a preset value, and in this embodiment, it is set to a value that is expected to detect an object with high accuracy based on the result obtained by the preliminary measurement. For example, by determining a predetermined volatility (for example, 10%) with respect to the measured value obtained by the preliminary measurement, the threshold value is set as in the equation (4).
  • Threshold (measured value measured in advance) x (volatility) ... (4)
  • the threshold value may be set by statistically processing the result obtained by performing the preliminary measurement a plurality of times.
  • the threshold value is set for each combination of the transmission beam ID and the reception beam ID, but a common threshold value may be set for all the combinations.
  • the object detection device 40 can detect a dynamic object that moves in time by repeating the processes of steps S102 and S103. Specifically, it is possible to detect the moving direction and moving speed of the object 50.
  • FIG. 6 shows an example of the preliminary measurement result or the database of the main measurement result.
  • the pre-measurement result in the situation where there is no object in step S101 described with reference to FIG. 5 is referred to as a database 42 (pre-measurement database), and the main measurement result in step S102 is referred to as a database 43 (main measurement database).
  • the row direction indicates a transmission beam ID from 1 to N (N is a positive integer)
  • the column direction indicates a reception beam ID from 1 to M (M is a positive integer).
  • the wireless transmission device 20 and the wireless reception device 30 set beam patterns corresponding to the transmission beam ID and the reception beam ID in order, and measure the RSS for each combination of the transmission beam ID and the reception beam ID. Then, the object detection device 40 measures RSS for each combination of the transmission beam ID and the reception beam ID for each of the preliminary measurement and the main measurement. As a result, the database 42 of the preliminary measurement results and the database 43 of the main measurement results as shown in FIG. 6 are obtained.
  • This measurement result) is RSS-1M.
  • the object detection device 40 has an RSS database 42 or database 43 of the pre-measurement result or the present measurement result of N ⁇ M combinations of transmission beam IDs 1 to N and reception beam IDs 1 to M. To create. Then, as described with reference to FIG. 5, the object detection device 40 calculates the difference based on the database 42 of the preliminary measurement result in the situation where there is no object to be detected and the database 43 of the main measurement result. , The presence or absence of the object 50 and the location of the object 50 are detected.
  • FIG. 7 shows an example of a processing procedure of a highly accurate object detection method.
  • the process described with reference to FIG. 7 is executed by the wireless transmission device 20, the wireless reception device 30, and the object detection device 40 described with reference to FIGS. 1 to 4 in the same manner as the process described with reference to FIG.
  • a process of extracting an effective area is added to the process of FIG. 5, and the accuracy of object detection is improved by setting an effective area in which the object 50 can be reliably detected.
  • the effective area is an area in the detection area 15 where an object can be detected with high accuracy.
  • two pre-measurements are performed.
  • pre-measurement is performed in a situation where there is no object to be detected. Then, a database 42 of pre-measurement results as described with reference to FIG. 6 is created.
  • the pre-measurement result in a situation where there is no object to be detected is referred to as the first pre-measurement result
  • the database 42 at this time is referred to as the database 42 (A) (first pre-measurement database).
  • the detection area 15 is meshed from the map information of the detection area 15 stored as prior information, and an object for learning is placed in each meshed area to perform pre-measurement.
  • the pre-measurement result when the object for learning is arranged and the pre-measurement is performed is referred to as the second pre-measurement result
  • the database 42 at this time is referred to as the database 42 (B) (second pre-measurement database).
  • the database 42 (B) is obtained for each area in which the learning object is arranged.
  • the object detection device 40 creates a database of effective areas based on the first pre-measurement result and the second pre-measurement result in the situation where there is an object for learning. Specifically, for example, meshing in which the difference between the database 42 (A) of the first pre-measurement result and the database 42 (B) of the second pre-measurement result has a change equal to or greater than the threshold value for detecting the presence or absence of an object. Set each of the specified areas as a valid area. Then, the database 42 (A) of the first pre-measurement result set in the effective area is registered as the database 42 (C) of the effective area.
  • step S201 similarly to step S101 of FIG. 5, the object detection device 40 performs pre-measurement in a situation where there is no object to be detected, and creates a database 42 (A) as the first pre-measurement result.
  • step S202 the object detection device 40 extracts an effective area.
  • an object for learning is placed in each meshed area and pre-measurement is performed, and the database 42 (B) is created as the second pre-measurement result.
  • the object detection device 40 creates and registers the database 42 (C) of the effective area based on the first pre-measurement result and the second pre-measurement result in step S201.
  • step S203 similarly to step S102 in FIG. 5, the object detection device 40 performs this measurement and creates a database 43 as described in FIG.
  • step S204 the object detection device 40 determines the presence / absence of the object 50 and the location of the object 50 in the effective area based on the database 42 (C) of the effective area registered in step S202 and the database 43 of the main measurement result in step S203. Is detected.
  • the specific detection method is the same as in step S103, but the object detection device 40 calculates the difference between the database 42 (C) in the effective area and the database 43 of the main measurement result in step S203, and the difference is the threshold value. If it is above the value, it is judged that there is an object.
  • the object is detected by referring only to the database 42 (C) of the effective area, so that the object can be detected with higher accuracy than the process of FIG.
  • the object detection device 40 has a database 42 (A) of the first pre-measurement result and a database 42 (B) of the second pre-measurement result when an object for learning is arranged in each meshed area. Find the difference with. Then, the object detection device 40 combines the combination of the transmission beam ID and the reception beam ID with the largest absolute value (that is, the largest change) of the difference, and the position (meshed area) of the object for learning when measured. (Position of) and memorize it in association with it. As a result, the position of the area of the combination of the transmission beam ID and the reception beam ID with the largest change becomes the position of the object 50.
  • the object detection device 40 performs the main measurement in a situation where the object 50 is in the detection area 15, and the absolute value of the difference between the database 43 of the main measurement result and the database 42 (A) of the first pre-measurement result is the largest.
  • the combination of the large transmit beam ID and the receive beam ID is calculated.
  • the object detection device 40 acquires the position of the area corresponding to the combination of the calculated transmission beam ID and the reception beam ID from the position database, and outputs the position of the acquired area as the position of the object 50.
  • the wireless transmission device 20 and the wireless reception device 30 have been described as performing each process using one frequency channel, but each process may be executed using a plurality of frequency channels. good. This makes it possible to further improve the detection accuracy. In this case, since a plurality of detection results of the object can be obtained for each frequency channel, the detection accuracy is improved by, for example, statistically processing the plurality of detection results.
  • a plurality of effective areas for each frequency channel can be used in combination, so that the effective area that can be detected with high accuracy can be expanded.
  • the detection process can be speeded up by omitting the measurement in the combination.
  • the object detection method, the object detection device, and the object detection system according to the present invention are cost-effective with high detection accuracy by using the beamforming function used in the wireless communication system in device-free object detection. Can be suppressed.
  • 10 Object detection system; 15 ... Detection area; 20 ... Wireless transmitter; 21 ... Antenna; 22 ... Transmitter; 23 ... Beam control; 30 ... Wireless reception Device; 31 ... Antenna; 32 ... Receiver unit; 33 ... Beam control unit; 40 ... Object detection device; 41 ... Analysis unit; 50 ... Object

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PCT/JP2020/019523 2020-05-15 2020-05-15 物体検出方法、物体検出装置および物体検出システム Ceased WO2021229812A1 (ja)

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PCT/JP2020/019523 WO2021229812A1 (ja) 2020-05-15 2020-05-15 物体検出方法、物体検出装置および物体検出システム
US17/921,398 US12270890B2 (en) 2020-05-15 2020-05-15 Object detection method, object detection device, and object detection system
JP2022522485A JP7420237B2 (ja) 2020-05-15 2020-05-15 物体検出方法、物体検出装置および物体検出システム

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JPH06258425A (ja) * 1992-07-22 1994-09-16 Hughes Aircraft Co 送受信機位置決定および追跡システムおよび方法
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