公开(公告)号：EP1388017B1

公开(公告)日：2009-04-22

申请号：EP02708234.6

申请日：2002-02-13

Applicant: ROBERT BOSCH GMBH

Inventor： WINNER, Hermann ,  LUEDER, Jens

IPC: G08G1/16 ,  G01S13/93 ,  B60R1/00 ,  B60W40/04 ,  B60W30/12 ,  B60W30/16

CPC classification number: B60W30/16 ,  B60K31/0008 ,  B60T2201/08 ,  B60T2201/081 ,  B60W2520/14 ,  B60W2550/20 ,  G01S13/931 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9346

Abstract: The invention relates to a method for recognising a change in lane of a vehicle (20). Said device comprises an angular resolution locating device (10) for locating vehicles (VEH1, VEH2, VEH3) travelling in front and a device (44) for determining the individual yaw rate (φ0). The invention is characterised in that the angular speed (φI) of at least one vehicle travelling in front of the first vehicle is measured in relation to the said individual vehicle (20) with the aid of the locating device (10) and a lane change signal (LC) indicating the lane change is formed by comparing the measured angular speed (φi) with the individual yaw rate (φ0).

公开(公告)号：EP1939648A2

公开(公告)日：2008-07-02

申请号：EP08006341.5

申请日：2001-08-16

Applicant: Raytheon Company

Inventor： Russell, Mark E. ,  Delcheccolo, Michael Joseph ,  Woodington, Walter Gordon ,  Pleva, Joseph S. ,  Van Rees, H Barteld ,  Hanson, James T.

IPC: G01S13/93 ,  G01S7/40 ,  G01S7/35 ,  G01S7/36 ,  G01S13/34

CPC classification number: B60Q9/008 ,  B60K31/0008 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/088 ,  B60W2530/10 ,  B60W2550/304 ,  G01S7/023 ,  G01S7/032 ,  G01S7/038 ,  G01S7/06 ,  G01S7/288 ,  G01S7/352 ,  G01S7/354 ,  G01S7/4004 ,  G01S7/4008 ,  G01S7/4021 ,  G01S13/04 ,  G01S13/282 ,  G01S13/343 ,  G01S13/346 ,  G01S13/48 ,  G01S13/584 ,  G01S13/726 ,  G01S13/87 ,  G01S13/931 ,  G01S2007/356 ,  G01S2013/0245 ,  G01S2013/9321 ,  G01S2013/9332 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9385 ,  G01S2013/9389 ,  H01Q1/3233 ,  H01Q1/3258 ,  H01Q1/3283 ,  H01Q1/38 ,  H01Q1/42 ,  H01Q3/24 ,  H01Q3/40 ,  H01Q13/10 ,  H01Q13/18 ,  H01Q21/0043 ,  H01Q21/0075 ,  H01Q21/0087 ,  H01Q21/065 ,  H01Q25/00

Abstract: A radar detection process includes computing a derivative of an FFT output signal to detect an object within a specified detection zone. In one embodiment, a zero crossing in the second derivative of the FIT output signal indicates the presence of an object. The range of the object is determined as a function of the frequency at which the zero crossing occurs.
Also described is a detection table containing indicators of the presence or absence of an object within a respective radar beam and processing cycle. At least two such indicators are combined in order to detect the presence of an object within the detection zone and with changing range gates in each of the antenna beams the coverage of the detection zone can be varied.

Abstract translation: 雷达检测过程包括计算FFT输出信号的导数以检测指定检测区域内的对象。 在一个实施例中，FIT输出信号的二阶导数中的零交叉指示物体的存在。 物体的范围根据零交叉出现的频率来确定。 还描述了包含各个雷达波束和处理周期内存在或不存在对象的指示符的检测表。 至少两个这样的指示器被组合以检测检测区域内的物体的存在，并且在每个天线波束中改变的距离门可以改变检测区域的覆盖范围。

公开(公告)号：EP1912080A2

公开(公告)日：2008-04-16

申请号：EP08075061.5

申请日：2001-08-16

Applicant: Raytheon Company

Inventor： Woodington, Walter Gordon ,  Delcheccolo, Michael Joseph ,  Pleva, Joseph S. ,  Russell, Mark E. ,  Van Rees, H. Barteld ,  Hanson, James T.

IPC: G01S13/93 ,  G01S7/40 ,  G01S7/35 ,  G01S7/36 ,  G01S13/34

CPC classification number: B60Q9/008 ,  B60K31/0008 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/088 ,  B60W2530/10 ,  B60W2550/304 ,  G01S7/023 ,  G01S7/032 ,  G01S7/038 ,  G01S7/06 ,  G01S7/288 ,  G01S7/352 ,  G01S7/354 ,  G01S7/4004 ,  G01S7/4008 ,  G01S7/4021 ,  G01S13/04 ,  G01S13/282 ,  G01S13/343 ,  G01S13/346 ,  G01S13/48 ,  G01S13/584 ,  G01S13/726 ,  G01S13/87 ,  G01S13/931 ,  G01S2007/356 ,  G01S2013/0245 ,  G01S2013/9321 ,  G01S2013/9332 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9385 ,  G01S2013/9389 ,  H01Q1/3233 ,  H01Q1/3258 ,  H01Q1/3283 ,  H01Q1/38 ,  H01Q1/42 ,  H01Q3/24 ,  H01Q3/40 ,  H01Q13/10 ,  H01Q13/18 ,  H01Q21/0043 ,  H01Q21/0075 ,  H01Q21/0087 ,  H01Q21/065 ,  H01Q25/00

Abstract: A radar detection process includes computing a derivative of an FFT output signal to detect an object within a specified detection zone. In one embodiment, a zero crossing in the second derivative of the FFT output signal indicates the presence of an object. The range of the object is determined as a function of the frequency at which the zero crossing occurs. Also described is a detection table containing indicators of the presence or absence of an object within a respective radar beam and processing cycle. At least two such indicators are combined in order to detect the presence of an object within the detection zone and with changing range gates in each of the antenna beams the coverage of the detection zone can be varied.

公开(公告)号：EP1879045A2

公开(公告)日：2008-01-16

申请号：EP07016165.8

申请日：2001-08-16

Applicant: Raytheon Company

Inventor： Woodington, Walter Gordon ,  Delcheccolo, Michael Joseph ,  Pleva, Joseph S. ,  Russell, Mark E. ,  Van Rees, Barteld H. ,  Hanson, James T.

IPC: G01S13/93 ,  G01S7/40 ,  G01S7/35 ,  G01S7/36 ,  G01S13/34

CPC classification number: B60Q9/008 ,  B60K31/0008 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/088 ,  B60W2530/10 ,  B60W2550/304 ,  G01S7/023 ,  G01S7/032 ,  G01S7/038 ,  G01S7/06 ,  G01S7/288 ,  G01S7/352 ,  G01S7/354 ,  G01S7/4004 ,  G01S7/4008 ,  G01S7/4021 ,  G01S13/04 ,  G01S13/282 ,  G01S13/343 ,  G01S13/346 ,  G01S13/48 ,  G01S13/584 ,  G01S13/726 ,  G01S13/87 ,  G01S13/931 ,  G01S2007/356 ,  G01S2013/0245 ,  G01S2013/9321 ,  G01S2013/9332 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9385 ,  G01S2013/9389 ,  H01Q1/3233 ,  H01Q1/3258 ,  H01Q1/3283 ,  H01Q1/38 ,  H01Q1/42 ,  H01Q3/24 ,  H01Q3/40 ,  H01Q13/10 ,  H01Q13/18 ,  H01Q21/0043 ,  H01Q21/0075 ,  H01Q21/0087 ,  H01Q21/065 ,  H01Q25/00

Abstract: A radar detection process includes computing a derivative of an FFT output signal to detect an object within a specified detection zone. In one embodiment, a zero crossing in the second derivative of the FFT output signal indicates the presence of an object. The range of the object is determined as a function of the frequency at which the zero crossing occurs. Also described is a detection table containing indicators of the presence or absence of an object within a respective radar beam and processing cycle. At least two such indicators are combined in order to detect the presence of an object within the detection zone and with changing range gates in each of the antenna beams the coverage of the detection zone can be varied.

Abstract translation: 雷达检测过程包括计算FFT输出信号的导数以检测指定检测区域内的对象。 在一个实施例中，FFT输出信号的二阶导数中的零交叉指示物体的存在。 物体的范围根据零交叉出现的频率来确定。 还描述了包含各个雷达波束和处理周期内存在或不存在对象的指示符的检测表。 至少两个这样的指示器被组合以检测检测区域内的物体的存在，并且在每个天线波束中改变的距离门可以改变检测区域的覆盖范围。

公开(公告)号：EP1661751B1

公开(公告)日：2008-01-09

申请号：EP05025061.2

申请日：2005-11-16

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Kuge, Nobuyuki ,  Kimura, Takeshi

IPC: B60K31/00 ,  B60T8/1755 ,  B62D15/02

CPC classification number: B60K31/0008 ,  B60T8/1755 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/086 ,  B60T2201/089 ,  B60T2220/02 ,  B60T2260/02 ,  B60W2550/306 ,  B62D6/007 ,  B62D15/029

公开(公告)号：EP1873551A1

公开(公告)日：2008-01-02

申请号：EP07018064.1

申请日：2001-08-16

Applicant: Raytheon Company

Inventor： Woodington, Walter Gordon ,  Delcheccolo, Michael Joseph ,  Pleva, Joseph S. ,  Russell, Mark E. ,  Van Rees, H. Barteld ,  Hanson, James T.

IPC: G01S7/36

CPC classification number: B60Q9/008 ,  B60K31/0008 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/088 ,  B60W2530/10 ,  B60W2550/304 ,  G01S7/023 ,  G01S7/032 ,  G01S7/038 ,  G01S7/06 ,  G01S7/288 ,  G01S7/352 ,  G01S7/354 ,  G01S7/4004 ,  G01S7/4008 ,  G01S7/4021 ,  G01S13/04 ,  G01S13/282 ,  G01S13/343 ,  G01S13/346 ,  G01S13/48 ,  G01S13/584 ,  G01S13/726 ,  G01S13/87 ,  G01S13/931 ,  G01S2007/356 ,  G01S2013/0245 ,  G01S2013/9321 ,  G01S2013/9332 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9385 ,  G01S2013/9389 ,  H01Q1/3233 ,  H01Q1/3258 ,  H01Q1/3283 ,  H01Q1/38 ,  H01Q1/42 ,  H01Q3/24 ,  H01Q3/40 ,  H01Q13/10 ,  H01Q13/18 ,  H01Q21/0043 ,  H01Q21/0075 ,  H01Q21/0087 ,  H01Q21/065 ,  H01Q25/00

Abstract: A radar transmitter includes a digital ramp generator circuit for generating a VCO control signal. The ramp generator includes a digital signal processor and a digital-to-analog converter. In one embodiment, the VCO output signal is up-converted to provide the transmit signal and in another embodiment, the VCO operates over the transmit frequency. Also described is a VCO comprising a DR and a phase shifter. A temperature compensation feature includes detecting the transmit frequency and comparing the DSP output generating the detected frequency to a DSP output stored in association with the detected frequency. Also described is a technique for compensating for non-linear VCO operation in which the DSP output words are adjusted to provide a waveform complementary in shape to the non-linear VCO characteristic. Susceptibility of the radar to interference is reduced by randomly varying at least one parameter of the ramp signal, such as offset interval or voltage range, in at least one ramp signal cycle.

Abstract translation: 雷达发射器包括用于产生VCO控制信号的数字斜坡发生器电路。 斜坡发生器包括数字信号处理器和数模转换器。 在一个实施例中，VCO输出信号被上变频以提供发射信号，而在另一实施例中，VCO在发射频率上工作。 还描述了包括DR和移相器的VCO。 温度补偿功能包括检测发射频率并将产生检测到的频率的DSP输出与检测到的频率相关联地存储的DSP输出进行比较。 还描述了一种用于补偿非线性VCO操作的技术，其中DSP输出字被调整以提供与非线性VCO特性形状互补的波形。 在至少一个斜坡信号周期中，通过随机地改变斜坡信号的至少一个参数（例如偏移间隔或电压范围）来减少雷达对干扰的敏感性。

公开(公告)号：EP1495932B1

公开(公告)日：2007-08-29

申请号：EP04254011.2

申请日：2004-07-02

Applicant: NISSAN MOTOR COMPANY LIMITED

Inventor： Ozaki, Masakiro ,  Sadano, On ,  Sugano, Takashi ,  Uemura, Yoshitaka

IPC: B60T8/00 ,  G08G1/16 ,  G05D1/02 ,  G08G1/04

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/086 ,  B60T2260/09 ,  B60W10/184 ,  B60W30/12 ,  B60W2720/14 ,  G08G1/04 ,  G08G1/161

公开(公告)号：EP1818231A2

公开(公告)日：2007-08-15

申请号：EP07002197.7

申请日：2007-02-01

Applicant: DENSO CORPORATION

Inventor： Isaji, Kazuyoshi ,  Tsuru, Naohiko

IPC: B60T8/1755

CPC classification number: B60T8/1755 ,  B60T7/22 ,  B60T2201/022 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/16 ,  B60T2210/24 ,  B60T2210/32 ,  B60W30/02 ,  B60W30/16 ,  B60W40/072 ,  B60W40/076 ,  B60W2420/52 ,  B60W2550/143 ,  G08G1/166 ,  G08G1/167

Abstract: When a vehicle travels along a curve of a road, a target vehicle acceleration/deceleration (dV s0 /dt) that is used for accelerating/decelerating the vehicle to a target vehicle speed (V s0_t ), which is set for the curve, is calculated. Based on a comparison between a present vehicle speed (V s0 ) of the vehicle and the target vehicle speed (V s0_t ) the vehicle is controlled such that an acceleration/deceleration of the vehicle coincides with the target vehicle acceleratio/deceleration (dV s0 /dt).

Abstract translation: 当车辆沿着道路的曲线行驶时，用于将车辆加速/减速的目标车辆加速/减速（dV s0 / dt）设定为曲线设定的目标车速（V s0_t）为 计算。 基于车辆的当前车速（V s0）与目标车速（V s0_t）之间的比较，车辆被控制，使得车辆的加速/减速与目标车辆的加速/减速（dV s0 / DT）。

公开(公告)号：EP1309883B1

公开(公告)日：2007-01-31

申请号：EP01967994.3

申请日：2001-08-16

Applicant: RAYTHEON COMPANY

Inventor： HANSON, James, T. ,  WOODINGTON, Walter, Gordon ,  DELCHECCOLO, Michael, Joseph ,  PLEVA, Joseph, S. ,  RUSSELL, Mark, E. ,  VAN REES, H., Barteld

IPC: G01S7/40 ,  G01S7/35 ,  H03F1/30

CPC classification number: B60Q9/008 ,  B60K31/0008 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/088 ,  B60W2530/10 ,  B60W2550/304 ,  G01S7/023 ,  G01S7/032 ,  G01S7/038 ,  G01S7/06 ,  G01S7/288 ,  G01S7/352 ,  G01S7/354 ,  G01S7/4004 ,  G01S7/4008 ,  G01S7/4021 ,  G01S13/04 ,  G01S13/282 ,  G01S13/343 ,  G01S13/346 ,  G01S13/48 ,  G01S13/584 ,  G01S13/726 ,  G01S13/87 ,  G01S13/931 ,  G01S2007/356 ,  G01S2013/0245 ,  G01S2013/9321 ,  G01S2013/9332 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9385 ,  G01S2013/9389 ,  H01Q1/3233 ,  H01Q1/3258 ,  H01Q1/3283 ,  H01Q1/38 ,  H01Q1/42 ,  H01Q3/24 ,  H01Q3/40 ,  H01Q13/10 ,  H01Q13/18 ,  H01Q21/0043 ,  H01Q21/0075 ,  H01Q21/0087 ,  H01Q21/065 ,  H01Q25/00

Abstract: A video amplifier for a radar receiver includes a temperature compensating attenuator. The attenuator includes a temperature sensitive device, such as a thermistor, arranged in a voltage divider network and is coupled in cascade between two filter stages. Each of the filter stages has a bandpass characteristic in order to filter low-frequency leakage signals and provide sensitivity control based on frequency and thus range, while also filtering high frequency signals to reduce aliasing.

公开(公告)号：EP1245427B1

公开(公告)日：2007-01-10

申请号：EP02250983.0

申请日：2002-02-13

Applicant: NISSAN MOTOR COMPANY, LIMITED

Inventor： Kiyomi, Hirasago

IPC: B60K31/00 ,  B60K35/00

CPC classification number: B60W30/16 ,  B60K31/0008 ,  B60K31/185 ,  B60K35/00 ,  B60K2350/1084 ,  B60T2201/08 ,  B60T2201/081 ,  B60W2540/10 ,  B60W2540/12 ,  B60W2540/16