WO2002014098A3 - Safe distance algorithm for adaptive cruise control - Google Patents

Safe distance algorithm for adaptive cruise control Download PDF

Info

Publication number
WO2002014098A3
WO2002014098A3 PCT/US2001/025594 US0125594W WO0214098A3 WO 2002014098 A3 WO2002014098 A3 WO 2002014098A3 US 0125594 W US0125594 W US 0125594W WO 0214098 A3 WO0214098 A3 WO 0214098A3
Authority
WO
WIPO (PCT)
Prior art keywords
cruise control
adaptive cruise
antenna
sensor
safe distance
Prior art date
Application number
PCT/US2001/025594
Other languages
French (fr)
Other versions
WO2002014098A2 (en
Inventor
Mark E Russell
Michael Joseph Delcheccolo
Walter Gordon Woodington
Rees H Barteld Van
John Michael Firda
Delbert Lippert
Original Assignee
Raytheon Co
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Raytheon Co filed Critical Raytheon Co
Priority to US09/931,630 priority Critical patent/US6748312B2/en
Priority to DE60122168T priority patent/DE60122168T2/en
Priority to JP2002519214A priority patent/JP2004505844A/en
Priority to AU2001284953A priority patent/AU2001284953A1/en
Priority to PCT/US2001/025594 priority patent/WO2002014098A2/en
Priority to KR1020037002234A priority patent/KR100713387B1/en
Priority to EP01964056A priority patent/EP1309464B1/en
Publication of WO2002014098A2 publication Critical patent/WO2002014098A2/en
Publication of WO2002014098A3 publication Critical patent/WO2002014098A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • 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
    • G01S13/04—Systems determining presence of a target
    • 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
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • G01S13/26—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
    • G01S13/28—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses
    • G01S13/282—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses using a frequency modulated carrier wave
    • 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
    • G01S13/343—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 sawtooth modulation
    • 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
    • G01S13/346—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 noise modulation
    • 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
    • G01S13/50—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
    • 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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • 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
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • 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
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G01S7/0232—Avoidance by frequency multiplex
    • 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
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
    • G01S7/032—Constructional details for solid-state radar subsystems
    • 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
    • G01S7/04—Display arrangements
    • G01S7/06—Cathode-ray tube displays or other two dimensional or three-dimensional displays
    • 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
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/354—Extracting wanted echo-signals
    • 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
    • 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
    • G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
    • H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/325—Adaptation for use in or on road or rail vehicles characterised by the location of the antenna on the vehicle
    • H01Q1/3258—Adaptation for use in or on road or rail vehicles characterised by the location of the antenna on the vehicle using the gutter of the vehicle; Means for clamping a whip aerial on the edge of a part of the vehicle
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/325—Adaptation for use in or on road or rail vehicles characterised by the location of the antenna on the vehicle
    • H01Q1/3283—Adaptation for use in or on road or rail vehicles characterised by the location of the antenna on the vehicle side-mounted antennas, e.g. bumper-mounted, door-mounted
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/36—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith
    • H01Q1/38—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith formed by a conductive layer on an insulating support
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/42—Housings not intimately mechanically associated with radiating elements, e.g. radome
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q13/00—Waveguide horns or mouths; Slot antennas; Leaky-waveguide antennas; Equivalent structures causing radiation along the transmission path of a guided wave
    • H01Q13/10—Resonant slot antennas
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q13/00—Waveguide horns or mouths; Slot antennas; Leaky-waveguide antennas; Equivalent structures causing radiation along the transmission path of a guided wave
    • H01Q13/10—Resonant slot antennas
    • H01Q13/18—Resonant slot antennas the slot being backed by, or formed in boundary wall of, a resonant cavity ; Open cavity antennas
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/0006—Particular feeding systems
    • H01Q21/0037—Particular feeding systems linear waveguide fed arrays
    • H01Q21/0043—Slotted waveguides
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/0006—Particular feeding systems
    • H01Q21/0075—Stripline fed arrays
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/0087—Apparatus or processes specially adapted for manufacturing antenna arrays
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
    • H01Q21/061—Two dimensional planar arrays
    • H01Q21/065—Patch antenna array
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q25/00—Antennas or antenna systems providing at least two radiating patterns
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/24—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the orientation by switching energy from one active radiating element to another, e.g. for beam switching
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
    • H01Q3/30—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array
    • H01Q3/34—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array by electrical means
    • H01Q3/40—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array by electrical means with phasing matrix
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/081—Lane monitoring; Lane Keeping Systems using distance control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/088—Lane monitoring; Lane Keeping Systems using transmission control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4043—Lateral speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/803—Relative lateral speed
    • 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
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • G01S13/726—Multiple target tracking
    • 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
    • G01S2013/0236—Special technical features
    • G01S2013/0245—Radar with phased array antenna
    • 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
    • G01S2013/9315—Monitoring blind spots
    • 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
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the 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
    • 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
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the 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
    • 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
    • G01S2013/9327—Sensor installation details
    • G01S2013/93274—Sensor installation details on the side of the 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
    • 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
    • G01S2013/9327—Sensor installation details
    • G01S2013/93275—Sensor installation details in the bumper area
    • 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
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
    • G01S7/038—Feedthrough nulling circuits
    • 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
    • G01S7/288—Coherent receivers
    • 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
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • 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
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/356—Receivers involving particularities of FFT processing
    • 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
    • G01S7/4008—Means for monitoring or calibrating of parts of a radar system of transmitters

Abstract

In accordance with the present invention, an adaptive cruise control system includes a radio frequency (RF) transmit receive (TR) sensor module (or more simply 'sensor') disposed such that a detection zone is deployed in front of a vehicle. The sensor includes a sensor antenna system which comprises a transmit antenna for emitting or transmitting an RF signal and a receive antenna for receiving portions of the transmitted RF signal which are intercepted by one or more objects within a field of view of the transmit antenna and reflected back toward the receive antenna.
PCT/US2001/025594 2000-08-16 2001-08-16 Safe distance algorithm for adaptive cruise control WO2002014098A2 (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
US09/931,630 US6748312B2 (en) 2000-08-16 2001-08-16 Safe distance algorithm for adaptive cruise control
DE60122168T DE60122168T2 (en) 2000-08-16 2001-08-16 SAFETY DISTANCE ALGORITHM FOR A VEHICLE SPEED CONTROL SYSTEM
JP2002519214A JP2004505844A (en) 2000-08-16 2001-08-16 Safe distance algorithm for adaptive cruise control
AU2001284953A AU2001284953A1 (en) 2000-08-16 2001-08-16 Safe distance algorithm for adaptive cruise control
PCT/US2001/025594 WO2002014098A2 (en) 2000-08-16 2001-08-16 Safe distance algorithm for adaptive cruise control
KR1020037002234A KR100713387B1 (en) 2000-08-16 2001-08-16 Safe distance algorithm for adaptive cruise control
EP01964056A EP1309464B1 (en) 2000-08-16 2001-08-16 Safe distance algorithm for adaptive cruise control

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US22616000P 2000-08-16 2000-08-16
US60/226,160 2000-08-16
PCT/US2001/025594 WO2002014098A2 (en) 2000-08-16 2001-08-16 Safe distance algorithm for adaptive cruise control

Publications (2)

Publication Number Publication Date
WO2002014098A2 WO2002014098A2 (en) 2002-02-21
WO2002014098A3 true WO2002014098A3 (en) 2002-07-11

Family

ID=72717625

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2001/025594 WO2002014098A2 (en) 2000-08-16 2001-08-16 Safe distance algorithm for adaptive cruise control

Country Status (7)

Country Link
US (1) US6748312B2 (en)
EP (1) EP1309464B1 (en)
JP (1) JP2004505844A (en)
KR (1) KR100713387B1 (en)
AU (1) AU2001284953A1 (en)
DE (1) DE60122168T2 (en)
WO (1) WO2002014098A2 (en)

Families Citing this family (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3395623B2 (en) * 1998-01-19 2003-04-14 株式会社日立製作所 Vehicle travel control device
US10240935B2 (en) * 1998-10-22 2019-03-26 American Vehicular Sciences Llc Vehicle software upgrade techniques
US6707419B2 (en) * 2000-08-16 2004-03-16 Raytheon Company Radar transmitter circuitry and techniques
ES2391556T3 (en) * 2002-05-03 2012-11-27 Donnelly Corporation Object detection system for vehicles
GB0229515D0 (en) * 2002-12-19 2003-01-22 Trw Ltd Improvements in radar apparatus
KR100513523B1 (en) * 2003-05-29 2005-09-07 현대자동차주식회사 Autonomous intelligent cruise control device
DE10332777B3 (en) * 2003-07-17 2005-03-10 Deutsch Zentr Luft & Raumfahrt A method of aligning a vehicle-mounted directional antenna of a satellite signal receiver with a communications satellite
US6950733B2 (en) * 2003-08-06 2005-09-27 Ford Global Technologies, Llc Method of controlling an external object sensor for an automotive vehicle
US7092815B2 (en) 2003-12-17 2006-08-15 Vrbia, Inc. Traffic control systems for vehicle spacing to dissipate traffic gridlock
WO2005103939A1 (en) 2004-03-25 2005-11-03 Bell Helicopter Textron Inc Control system for vehicles
US7480570B2 (en) * 2004-10-18 2009-01-20 Ford Global Technologies Llc Feature target selection for countermeasure performance within a vehicle
US7720580B2 (en) 2004-12-23 2010-05-18 Donnelly Corporation Object detection system for vehicle
WO2007042988A2 (en) * 2005-10-07 2007-04-19 Eaton Corporation Adaptive cruise control for heavy-duty vehicles
JP5168518B2 (en) * 2007-11-26 2013-03-21 株式会社エクォス・リサーチ Vehicle control device
US20090254260A1 (en) * 2008-04-07 2009-10-08 Axel Nix Full speed range adaptive cruise control system
US20090310237A1 (en) * 2008-06-16 2009-12-17 Gm Global Technology Operations, Inc. Lane change aid side-mirror system
EP2179892A1 (en) 2008-10-24 2010-04-28 Magna Electronics Europe GmbH & Co. KG Method for automatic calibration of a virtual camera
US8964032B2 (en) 2009-01-30 2015-02-24 Magna Electronics Inc. Rear illumination system
US9150155B2 (en) 2010-01-13 2015-10-06 Magna Electronics Inc. Vehicular camera and method for periodic calibration of vehicular camera
US8493196B2 (en) * 2010-11-15 2013-07-23 Bendix Commercial Vehicle Systems Llc ACB following distance alert and warning adjustment as a function of forward vehicle size and host vehicle mass
US8681016B2 (en) * 2011-02-25 2014-03-25 Volkswagen Ag Driver assistance system
US10205476B2 (en) * 2014-02-14 2019-02-12 Continental Teves Ag & Co. Ohg Vehicle-to-X communication system, vehicle, and method for transmitting vehicle-to-X messages
US9393963B2 (en) 2014-09-19 2016-07-19 Paccar Inc Predictive cruise control system with advanced operator control and feedback
CN104977571B (en) * 2015-06-25 2017-06-20 西安电子科技大学 Range ambiguity clutter suppression method based on pitching frequency diversity STAP
US11228700B2 (en) 2015-10-07 2022-01-18 Magna Electronics Inc. Vehicle vision system camera with adaptive field of view
CN106114435B (en) * 2016-03-06 2018-07-31 广州万粤知识产权运营有限公司 Based on the electric power system that GPRS and micropower are wireless
JP6223607B1 (en) 2016-04-20 2017-11-01 三菱電機株式会社 Peripheral recognition device, peripheral recognition method, and peripheral recognition program
US10300859B2 (en) 2016-06-10 2019-05-28 Magna Electronics Inc. Multi-sensor interior mirror device with image adjustment
CN107640090A (en) * 2016-07-22 2018-01-30 中兴通讯股份有限公司 A kind of traffic safety control method and device
JP6380919B2 (en) * 2016-09-01 2018-08-29 マツダ株式会社 Vehicle control device
DE102017201693A1 (en) * 2017-02-02 2018-08-02 Robert Bosch Gmbh Method and device for influencing a longitudinal distance control system of a single-track motor vehicle
US10882523B2 (en) * 2018-02-12 2021-01-05 Harley-Davidson Motor Company Group, LLC Motorcycle adaptive cruise control target tracking
US20190315345A1 (en) * 2018-04-16 2019-10-17 David E. Newman Blind spot potential-hazard avoidance system
CN111114340B (en) * 2018-10-31 2021-11-02 宝沃汽车（中国）有限公司 Safety control method and device for vehicle and vehicle
US10816635B1 (en) 2018-12-20 2020-10-27 Autonomous Roadway Intelligence, Llc Autonomous vehicle localization system
JP2020166582A (en) * 2019-03-29 2020-10-08 ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ Control device and control method for controlling operation of motorcycle
US10713950B1 (en) 2019-06-13 2020-07-14 Autonomous Roadway Intelligence, Llc Rapid wireless communication for vehicle collision mitigation

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0484995A2 (en) * 1990-11-05 1992-05-13 General Motors Corporation Method of controlling the speed of a vehicle
US5517197A (en) * 1994-10-24 1996-05-14 Rockwell International Corporation Modular radar architecture film (FM/CW or pulse) for automobile collision avoidance applications
US5627510A (en) * 1994-09-12 1997-05-06 Yuan; Zhiping Vehicular safety distance alarm system
EP0784213A2 (en) * 1996-01-13 1997-07-16 Daimler-Benz Aerospace Aktiengesellschaft Method for determining the distance and/or differential velocity between a radar sensor and one or a plurality of objects and device for carrying out the method
US5929802A (en) * 1997-11-21 1999-07-27 Raytheon Company Automotive forward looking sensor application
EP0982173A2 (en) * 1998-08-27 2000-03-01 Eaton Corporation Method for determination of an optimum vehicle cruise separation distance

Family Cites Families (147)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3697985A (en) * 1970-09-23 1972-10-10 Bendix Corp Rear end warning system for automobiles
US4143370A (en) * 1972-05-20 1979-03-06 Toyota Kogyo Kabushiki Kaisha Vehicle collision anticipating method and device
JPS4996428A (en) * 1973-01-20 1974-09-12
US3935559A (en) * 1973-05-31 1976-01-27 Electronic Machine Control (Sales) Limited Transporter systems
US3978481A (en) * 1974-06-17 1976-08-31 Merlin A. Pierson Anti-collision vehicular radar system
US3940696A (en) * 1974-11-18 1976-02-24 General Motors Corporation High frequency, short pulse, band limited radar pulse generator for ultrashort range radar systems
US3974501A (en) 1974-12-26 1976-08-10 Rca Corporation Dual-mode adaptive parameter processor for continuous wave radar ranging systems
DE2514868C3 (en) * 1975-04-04 1979-05-17 Standard Elektrik Lorenz Ag, 7000 Stuttgart FM beat-back reflector locator for simultaneous distance and speed measurement
US4003049A (en) * 1975-07-03 1977-01-11 Rca Corporation Dual mode automobile collision avoidance radar
US4008475A (en) * 1975-11-12 1977-02-15 Rca Corporation Stabilizing and calibration circuit for FM-CW radar ranging systems
US4035797A (en) * 1975-11-14 1977-07-12 General Motors Corporation Polarized radar system for providing target identification and discrimination
JPS5442733A (en) * 1977-09-12 1979-04-04 Nissan Motor Co Ltd Alarm system for vehicle
US4308536A (en) * 1979-02-26 1981-12-29 Collision Avoidance Systems Anti-collision vehicular radar system
US4348675A (en) * 1979-05-23 1982-09-07 Honda Giken Kogyo Kabushiki Kaisha FM-CW Radar system for use in an automotive vehicle
JPS5618774A (en) * 1979-07-24 1981-02-21 Honda Motor Co Ltd Radar apparatus for automobile
GB2104333B (en) * 1981-06-19 1985-10-02 Nissan Motor Moving object detection and discrimination
US4409899A (en) 1981-07-27 1983-10-18 The United States Of America As Represented By The Secretary Of The Air Force Acoustic amplitude-doppler target ranging system
JPS5869285U (en) * 1981-10-31 1983-05-11 日産自動車株式会社 Vehicle notification device
JPS59180956U (en) * 1983-05-23 1984-12-03 日産自動車株式会社 Vehicle running control device
US4803488A (en) 1984-02-10 1989-02-07 Steven F. Sommers Driver alerting device
JPS6130428A (en) * 1984-07-20 1986-02-12 Nissan Motor Co Ltd Controller for vehicle travelling
DE3481488D1 (en) 1984-10-17 1990-04-12 Xeltron Sa METHOD AND DEVICE FOR SORTING ITEMS.
US4673937A (en) * 1985-07-24 1987-06-16 Davis John W Automotive collision avoidance and/or air bag deployment radar
US5715044A (en) 1987-08-14 1998-02-03 Boeing North American, Inc. Laser radar
IT1222297B (en) * 1988-01-18 1990-09-05 Paolo Alberto Paoletti FOG RADAR FOR VEHICLES
US4901083A (en) * 1988-06-20 1990-02-13 Delco Electronics Corporation Near obstacle detection system
US4970653A (en) * 1989-04-06 1990-11-13 General Motors Corporation Vision method of detecting lane boundaries and obstacles
GB2232841B (en) 1989-05-19 1994-01-26 Quantel Ltd An amplification circuit with temperature compensation
US5189426A (en) * 1991-05-06 1993-02-23 Ivhs Technologies, Inc. Doppler frequency spectrum de-emphasis for automotive collision avoidance radar system
US5014200A (en) * 1990-02-20 1991-05-07 General Motors Corporation Adaptive cruise system
US5023617A (en) * 1990-02-20 1991-06-11 General Motors Corporation Vehicle forward sensor antenna steering system
US5008678A (en) 1990-03-02 1991-04-16 Hughes Aircraft Company Electronically scanning vehicle radar sensor
US4994809A (en) * 1990-03-07 1991-02-19 Hughes Aircraft Company Polystatic correlating radar
CA2222637C (en) * 1990-07-13 1999-12-14 Zdenek Adler Monostatic radar system having a one-port impedance matching device
US5134411A (en) * 1990-07-13 1992-07-28 General Microwave Corporation Near range obstacle detection and ranging aid
US5249157A (en) 1990-08-22 1993-09-28 Kollmorgen Corporation Collision avoidance system
US5115245A (en) * 1990-09-04 1992-05-19 Hughes Aircraft Company Single substrate microwave radar transceiver including flip-chip integrated circuits
US5390118A (en) * 1990-10-03 1995-02-14 Aisin Seiki Kabushiki Kaisha Automatic lateral guidance control system
US5613039A (en) 1991-01-31 1997-03-18 Ail Systems, Inc. Apparatus and method for motion detection and tracking of objects in a region for collision avoidance utilizing a real-time adaptive probabilistic neural network
DE4104792A1 (en) 1991-02-16 1992-08-20 Bosch Gmbh Robert FMCW RADAR SYSTEM WITH LINEAR FREQUENCY MODULATION
US5268692A (en) * 1991-03-14 1993-12-07 Grosch Theodore O Safe stopping distance detector, antenna and method
US5394292A (en) 1991-04-30 1995-02-28 Tsuden Kabushiki Kaisha Electronic car bumper
US5512901A (en) 1991-09-30 1996-04-30 Trw Inc. Built-in radiation structure for a millimeter wave radar sensor
US5508706A (en) * 1991-09-30 1996-04-16 Trw Inc. Radar signal processor
US5315303A (en) * 1991-09-30 1994-05-24 Trw Inc. Compact, flexible and integrated millimeter wave radar sensor
US5138321A (en) 1991-10-15 1992-08-11 International Business Machines Corporation Method for distributed data association and multi-target tracking
IL100175A (en) * 1991-11-27 1994-11-11 State Of Isreal Ministry Of De Collision warning apparatus for a vehicle
US5235316A (en) * 1991-12-20 1993-08-10 Qualizza Gregory K Vehicle collision avoidance system
DE4200694B4 (en) * 1992-01-14 2004-04-29 Robert Bosch Gmbh Method for speed and distance control of a vehicle
JP3330624B2 (en) * 1992-01-29 2002-09-30 マツダ株式会社 Vehicle obstacle detection device
US5249027A (en) * 1992-03-16 1993-09-28 Rockwell International Corporation Inter-vehicle distance measuring system
JP3183966B2 (en) * 1992-04-20 2001-07-09 マツダ株式会社 Vehicle travel control device
GB9209974D0 (en) * 1992-05-08 1992-06-24 Philips Electronics Uk Ltd Vehicular cruise control system and radar system therefor
FR2754604B1 (en) 1992-06-05 1999-04-09 Thomson Csf DEVICE FOR LINEARIZING A FREQUENCY MODULATION RAMP AND ITS APPLICATION TO A RADIO-ALTIMETER
US5351044A (en) * 1992-08-12 1994-09-27 Rockwell International Corporation Vehicle lane position detection system
KR100254143B1 (en) 1992-08-14 2000-04-15 존 리 올즈 Smart blind spot sensor
US5517196A (en) 1992-08-14 1996-05-14 Pakett; Allan G. Smart blind spot sensor with object ranging
US5280288A (en) * 1992-08-14 1994-01-18 Vorad Safety Systems, Inc. Interference avoidance system for vehicular radar system
US5302956A (en) * 1992-08-14 1994-04-12 Vorad Safety Systems, Inc. Multi-frequency, multi-target vehicular radar system using digital signal processing
US5583495A (en) * 1992-09-02 1996-12-10 Ben Lulu; Dani Vehicle alarm system
JP3164439B2 (en) * 1992-10-21 2001-05-08 マツダ株式会社 Obstacle detection device for vehicles
US5978736A (en) * 1992-11-20 1999-11-02 Gec-Marconi Avionics (Holdings) Ltd. Vehicle obstruction detection system
US5339075A (en) * 1992-11-24 1994-08-16 Terrill Abst Vehicular collision avoidance apparatus
DE4337872C2 (en) * 1992-12-22 1998-04-30 Mitsubishi Electric Corp Distance measuring device and vehicle speed control device for maintaining an inter-vehicle distance
JPH06247183A (en) * 1993-02-26 1994-09-06 Isuzu Motors Ltd Vehicle speed control device
DE4407757A1 (en) 1993-03-08 1994-09-15 Mazda Motor Device for detecting obstacles for a vehicle
DE4313568C1 (en) * 1993-04-26 1994-06-16 Daimler Benz Ag Guiding motor vehicle driver when changing traffic lanes - using radar devices to detect velocity and spacing of vehicles in next lane and indicate when lane changing is possible
US5410745A (en) 1993-05-20 1995-04-25 Motorola, Inc. Detector and video amplifier
US5325097A (en) * 1993-06-01 1994-06-28 Delco Electronics Corporation Multimode radar for road vehicle blind-zone target discrimination
US5414643A (en) 1993-06-14 1995-05-09 Hughes Aircraft Company Method and apparatus for continuous time representation of multiple hypothesis tracking data
JP3233739B2 (en) * 1993-06-30 2001-11-26 マツダ株式会社 Car driving control device
FR2709834B1 (en) 1993-09-10 1995-11-10 Framatome Sa Method and device for detecting and locating obstacles in the environment of a vehicle.
JP2799375B2 (en) * 1993-09-30 1998-09-17 本田技研工業株式会社 Anti-collision device
US5396252A (en) 1993-09-30 1995-03-07 United Technologies Corporation Multiple target discrimination
US5493302A (en) * 1993-10-01 1996-02-20 Woll; Jerry Autonomous cruise control
US5454442A (en) * 1993-11-01 1995-10-03 General Motors Corporation Adaptive cruise control
GB2283631B (en) 1993-11-06 1998-04-29 Roke Manor Research Radar apparatus
US5633642A (en) 1993-11-23 1997-05-27 Siemens Aktiengesellschaft Radar method and device for carrying out the method
JP3106045B2 (en) * 1993-11-25 2000-11-06 株式会社デンソー Radar equipment
US5467072A (en) * 1994-03-11 1995-11-14 Piccard Enterprises, Inc. Phased array based radar system for vehicular collision avoidance
US5451960A (en) 1994-06-10 1995-09-19 Unisys Corporation Method of optimizing the allocation of sensors to targets
US5486832A (en) * 1994-07-01 1996-01-23 Hughes Missile Systems Company RF sensor and radar for automotive speed and collision avoidance applications
US5481268A (en) * 1994-07-20 1996-01-02 Rockwell International Corporation Doppler radar system for automotive vehicles
US5485159A (en) * 1994-08-24 1996-01-16 Delco Electronics Corporation Apparatus and method to detect radar radome obstruction
US5530447A (en) 1995-01-13 1996-06-25 Delco Electronics Corp. Blind-zone target discrimination method and system for road vehicle radar
DE19537129A1 (en) 1994-10-05 1996-04-11 Mazda Motor Obstacle detecting system for cars
JPH08122060A (en) * 1994-10-21 1996-05-17 Mitsubishi Electric Corp Vehicle surrounding monitoring system
JP3302848B2 (en) * 1994-11-17 2002-07-15 本田技研工業株式会社 In-vehicle radar device
JP3302849B2 (en) * 1994-11-28 2002-07-15 本田技研工業株式会社 Automotive radar module
JP3550829B2 (en) 1995-01-24 2004-08-04 株式会社デンソー FM-CW radar device
US5839534A (en) * 1995-03-01 1998-11-24 Eaton Vorad Technologies, Llc System and method for intelligent cruise control using standard engine control modes
JP3132361B2 (en) * 1995-03-17 2001-02-05 トヨタ自動車株式会社 Automotive radar equipment
US5767793A (en) * 1995-04-21 1998-06-16 Trw Inc. Compact vehicle based rear and side obstacle detection system including multiple antennae
US5525995A (en) 1995-06-07 1996-06-11 Loral Federal Systems Company Doppler detection system for determining initial position of a maneuvering target
JP4082725B2 (en) * 1995-07-01 2008-04-30 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング Monostatic FMCW radar sensor
US5629241A (en) * 1995-07-07 1997-05-13 Hughes Aircraft Company Microwave/millimeter wave circuit structure with discrete flip-chip mounted elements, and method of fabricating the same
CA2231147C (en) 1995-09-07 2001-08-07 Siemens Aktiengesellschaft Apparatus for distance measurement
US5805103A (en) * 1995-09-27 1998-09-08 Mazda Motor Corporation Method of and system for monitoring preceding vehicles
JP3627389B2 (en) 1995-09-28 2005-03-09 株式会社デンソー Radar equipment
US5777563A (en) * 1995-10-10 1998-07-07 Chrysler Corporation Method and assembly for object detection by a vehicle
DE69611278T2 (en) * 1995-11-10 2001-05-23 Toyota Motor Co Ltd Radar device for detecting the direction of the center of a target
US5675345A (en) 1995-11-21 1997-10-07 Raytheon Company Compact antenna with folded substrate
JP3127351B2 (en) * 1995-11-24 2001-01-22 本田技研工業株式会社 Auto cruise equipment for vehicles
JP3491418B2 (en) * 1995-12-01 2004-01-26 株式会社デンソー FMCW radar equipment
US5654715A (en) * 1995-12-15 1997-08-05 Honda Giken Kogyo Kabushiki Kaisha Vehicle-surroundings monitoring apparatus
JP3487054B2 (en) * 1995-12-26 2004-01-13 株式会社デンソー Obstacle warning device for vehicles
JP3726923B2 (en) * 1996-04-10 2005-12-14 富士重工業株式会社 Vehicle driving support device
US5719580A (en) 1996-06-06 1998-02-17 Trw Inc. Method and apparatus for digital compensation of VCO nonlinearity in a radar system
JP3143063B2 (en) * 1996-06-07 2001-03-07 株式会社日立製作所 Travel control device for moving objects
DE19632889A1 (en) 1996-08-16 1998-02-19 Bosch Gmbh Robert Radar system with continuous wave frequency modulated transmission
JP3229215B2 (en) * 1996-09-04 2001-11-19 株式会社日立製作所 Automatic traveling device
DE19637245C2 (en) 1996-09-13 2000-02-24 Bosch Gmbh Robert Method and device for regulating the speed of a vehicle
US6011507A (en) 1996-11-12 2000-01-04 Raytheon Company Radar system and method of operating same
JPH10147197A (en) * 1996-11-19 1998-06-02 Unisia Jecs Corp Obstruction detecting device
DE19648203C2 (en) * 1996-11-21 1999-06-10 Bosch Gmbh Robert Multi-beam automotive radar system
DE19650863C1 (en) * 1996-12-07 1998-04-16 Bosch Gmbh Robert Method of detecting distance sensor vertical adjustment error
US5999119A (en) 1996-12-18 1999-12-07 Raytheon Company CW radar range measuring system with improved range resolution
JP3477015B2 (en) * 1996-12-25 2003-12-10 トヨタ自動車株式会社 Inter-vehicle distance control device
US5923280A (en) * 1997-01-17 1999-07-13 Automotive Systems Laboratory, Inc. Vehicle collision radar with randomized FSK wave form
KR19980072993A (en) * 1997-03-10 1998-11-05 김영귀 Car's automatic driving system
JP3726441B2 (en) * 1997-03-18 2005-12-14 株式会社デンソー Radar equipment
JP3799724B2 (en) * 1997-03-27 2006-07-19 株式会社デンソー Aperture antenna and radar device
US5959572A (en) * 1997-03-31 1999-09-28 Nissan Motor Co., Ltd. Vehicle follow-up control apparatus
GB2327821B (en) * 1997-05-17 1999-12-01 Bosch Gmbh Robert Method and device for detecting an imminent or possible collision
US6026347A (en) 1997-05-30 2000-02-15 Raytheon Company Obstacle avoidance processing method for vehicles using an automated highway system
ATE274707T1 (en) 1997-06-27 2004-09-15 Eads Deutschland Gmbh LEVEL MEASUREMENT RADAR DEVICE
JP3684776B2 (en) * 1997-07-23 2005-08-17 株式会社デンソー Obstacle recognition device for vehicles
US5905472A (en) * 1997-08-06 1999-05-18 Raytheon Company Microwave antenna having wide angle scanning capability
GB2328819A (en) 1997-08-30 1999-03-03 Ford Motor Co Antenna cluster for vehicle collision warning system
US5926126A (en) 1997-09-08 1999-07-20 Ford Global Technologies, Inc. Method and system for detecting an in-path target obstacle in front of a vehicle
DE19741631B4 (en) 1997-09-20 2013-08-14 Volkswagen Ag Method and device for avoiding and / or minimizing conflict situations in road traffic
JPH11133143A (en) 1997-10-31 1999-05-21 Toyota Motor Corp Radar device
DE69834355T2 (en) * 1997-11-21 2007-04-19 Raytheon Company, Waltham Forward-facing sensor for motor vehicles
US6114985A (en) 1997-11-21 2000-09-05 Raytheon Company Automotive forward looking sensor test station
US5959570A (en) 1997-11-21 1999-09-28 Raytheon Company Automotive forward looking sensor blockage detection system and related techniques
JP2930236B1 (en) 1998-01-26 1999-08-03 本田技研工業株式会社 Radar equipment
US6069581A (en) 1998-02-20 2000-05-30 Amerigon High performance vehicle radar system
US6091355A (en) 1998-07-21 2000-07-18 Speed Products, Inc. Doppler radar speed measuring unit
US6268803B1 (en) 1998-08-06 2001-07-31 Altra Technologies Incorporated System and method of avoiding collisions
EP0978729A3 (en) 1998-08-07 2002-03-20 Hitachi, Ltd. High-frequency transmitter-receiving apparatus for such an application as vehicle-onboard radar system
US6130607A (en) 1998-10-19 2000-10-10 Eaton Corporation Back-up protection sensor for a vehicle
DE19855400A1 (en) 1998-12-01 2000-06-15 Bosch Gmbh Robert Method and device for determining a future course range of a vehicle
US6114910A (en) 1998-12-14 2000-09-05 Raytheon Company Temperature compensated amplifier and operating method
JP3713995B2 (en) * 1999-01-29 2005-11-09 日産自動車株式会社 Vehicle travel control device
US6307622B1 (en) 1999-02-17 2001-10-23 Infineon Technologies North America Corp. Correlation based optical ranging and proximity detector
JP5063851B2 (en) 2000-08-16 2012-10-31 ヴァレオ・レイダー・システムズ・インコーポレーテッド Proximity object detection system
WO2002021156A2 (en) 2000-09-08 2002-03-14 Raytheon Company Path prediction system and method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0484995A2 (en) * 1990-11-05 1992-05-13 General Motors Corporation Method of controlling the speed of a vehicle
US5627510A (en) * 1994-09-12 1997-05-06 Yuan; Zhiping Vehicular safety distance alarm system
US5517197A (en) * 1994-10-24 1996-05-14 Rockwell International Corporation Modular radar architecture film (FM/CW or pulse) for automobile collision avoidance applications
EP0784213A2 (en) * 1996-01-13 1997-07-16 Daimler-Benz Aerospace Aktiengesellschaft Method for determining the distance and/or differential velocity between a radar sensor and one or a plurality of objects and device for carrying out the method
US5929802A (en) * 1997-11-21 1999-07-27 Raytheon Company Automotive forward looking sensor application
EP0982173A2 (en) * 1998-08-27 2000-03-01 Eaton Corporation Method for determination of an optimum vehicle cruise separation distance

Also Published As

Publication number Publication date
AU2001284953A1 (en) 2002-02-25
JP2004505844A (en) 2004-02-26
US20020072843A1 (en) 2002-06-13
US6748312B2 (en) 2004-06-08
KR20030022409A (en) 2003-03-15
DE60122168D1 (en) 2006-09-21
EP1309464B1 (en) 2006-08-09
DE60122168T2 (en) 2007-08-23
EP1309464A2 (en) 2003-05-14
WO2002014098A2 (en) 2002-02-21
KR100713387B1 (en) 2007-05-04

Similar Documents

Publication Publication Date Title
WO2002014098A3 (en) Safe distance algorithm for adaptive cruise control
US6169770B1 (en) Preemptive processor for mode S squitter message reception
US6708100B2 (en) Safe distance algorithm for adaptive cruise control
US8405541B2 (en) Multi-range radar system
CA2388893A1 (en) A system for measuring the amount of crop to be harvested
KR960702623A (en) AIRPORT SURFACE VEHICLE IDENTIFICATION
MXPA02011008A (en) Vehicle surveillance system.
CA2141548A1 (en) Interference Avoidance System for Vehicular Radar System
WO2005041425A3 (en) Full-duplex radio frequency echo cancellation
EP0496610A3 (en) Interrogating station for identification purposes, with separate transmitting and receiving antennae
WO2000016234A8 (en) Radio frequency tag system
TR199701318T1 (en) Airport surface detection radar.
CA2488028A1 (en) Sensor for transmitting and receiving electromagnetic signals
CA2245740A1 (en) Sensor for remote detection of objects
EP0994562A3 (en) Device for suppression of radio interference caused by vehicles
US20200132802A1 (en) Vehicular radar system with vehicle to infrastructure communication
AU2001266527A1 (en) Device for monitoring an area
CA2340978A1 (en) Interrogation system and communication system
DK0407300T3 (en) Electronic anti-collision device installed in a vehicle
EP1095828A3 (en) Intruder detection system for a motor vehicle
JP2002174677A (en) Radar apparatus
WO1982002776A1 (en) Radar sensing system
JP3165580B2 (en) Secondary radar system
JPH05297130A (en) Secondary monitoring radar device
KR100255171B1 (en) Car radar reflection device

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A2

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT TZ UA UG UZ VN YU ZA ZW

AL Designated countries for regional patents

Kind code of ref document: A2

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
AK Designated states

Kind code of ref document: A3

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT TZ UA UG UZ VN YU ZA ZW

AL Designated countries for regional patents

Kind code of ref document: A3

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

WWE Wipo information: entry into national phase

Ref document number: 1020037002234

Country of ref document: KR

WWE Wipo information: entry into national phase

Ref document number: 2002519214

Country of ref document: JP

WWE Wipo information: entry into national phase

Ref document number: 2001964056

Country of ref document: EP

WWP Wipo information: published in national office

Ref document number: 1020037002234

Country of ref document: KR

WWP Wipo information: published in national office

Ref document number: 2001964056

Country of ref document: EP

REG Reference to national code

Ref country code: DE

Ref legal event code: 8642

WWG Wipo information: grant in national office

Ref document number: 2001964056

Country of ref document: EP