WO2007020704A1 - 目標物検出方法及び目標物検出装置 - Google Patents
目標物検出方法及び目標物検出装置 Download PDFInfo
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- WO2007020704A1 WO2007020704A1 PCT/JP2005/015120 JP2005015120W WO2007020704A1 WO 2007020704 A1 WO2007020704 A1 WO 2007020704A1 JP 2005015120 W JP2005015120 W JP 2005015120W WO 2007020704 A1 WO2007020704 A1 WO 2007020704A1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
- G01S13/426—Scanning radar, e.g. 3D radar
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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
- G01S13/88—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
- G01S7/35—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
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/356—Receivers involving particularities of FFT processing
Definitions
- the present invention relates to a method for detecting the target motion parameters (position, relative distance, relative speed, etc.) that exist remotely using pulse radar and pulsed radar waves, and is a particularly inexpensive device.
- the present invention relates to a technique for detecting a motion specification of a target existing in a wide range of distances from a short distance to a long distance.
- a low-load signal can be substituted for a signal processing method that requires a high-performance processing circuit as used in conventional radar technology.
- simplification of antenna configuration and low output are required.
- a radar mounted on a vehicle is intended to improve traveling safety by detecting obstacles in traveling and avoiding danger. In some cases, it is necessary to accurately execute critical processes related to human life. Therefore, even though cost reduction is required, it is not acceptable to sacrifice the ability to detect the target. Specifically, it is required to detect a relatively wide and angular target having a relative distance in the range of Om to about 200 m within a few milliseconds with a resolution of about lm.
- Known radar systems include: pulse system, pulse compression system (spectral diffusion radar), FMCW system, dual frequency CW system, etc., but pulse system and pulse compression system are available.
- pulse system spectral diffusion radar
- FMCW system FMCW system
- dual frequency CW system etc.
- pulse system and pulse compression system are available.
- a radar system of the type requires a wide band of 150 MHz.
- the computational load of correlation processing is large and high.
- Fast signal processing is required.
- these methods are disadvantageous in reducing manufacturing costs.
- FMCW Frequency Modulated Continuous Wave
- two-frequency CW method two-frequency CW method
- multi-frequency CW method can obtain a desired distance resolution by relatively low-speed signal processing. Therefore, these methods have the advantage of satisfying the demands for reducing manufacturing costs and increasing resolution at the same time, so they are considered to be promising as automotive radar systems! / Speak.
- an on-vehicle radar to detect a target existing at a wide angle, such as a preceding vehicle traveling in a plurality of lanes.
- an antenna system for mechanically driving an aperture antenna a multi-beam antenna system, a phased array system with an array antenna, a DBF (Digital Beam Forming) system, and the like are known.
- the mechanical drive system requires a long and long observation time for observing the reflection source in the wide area! / Covered area, and it is difficult to improve the response performance.
- a multi-beam antenna system that irradiates transmission beams in multiple directions at the same time, and a phased array system that has an array antenna that changes the beam scanning direction in a short time using electrical phase control.
- the antenna mechanism is too complex, so it is not suitable for mass production.
- the DBF method realizes beam forming by digital signal processing, and has an advantage of excellent processing adaptability, expandability, and high resolution.
- in-vehicle radars are required to detect obstacles in a wide coverage area in a short time (ideally several milliseconds). For this reason, a beam called a wide-angle beam or a fan beam A wide combination of beam and DBF is advantageous as an automotive radar system.
- the wide-angle beam is a beam having a beam width that is wide enough to irradiate the entire required coverage with a single pulse.
- a beam with a wide beam width that can simultaneously cover the required coverage is transmitted, and the echo of the transmitted beam is captured by the array antenna, and then captured by the DBF method.
- the output signal of each element antenna of the array antenna is digitally processed to form a beam in any direction (for example, Patent Document 1 and Patent Document 2).
- the combination of the wide-angle beam and the DBF method can be combined with the FMCW method, dual-frequency CW method, and multi-frequency CW method, together with the radar principle.
- the wide-angle transmission beam most of the problems that arise in providing a practical automotive radar are solved.
- Patent Document 1 US Pat. No. 5,497,161
- Patent Document 2 Japanese Patent No. 3622565
- pulse radar uses a method of ensuring the SZN ratio by integrating the received signal obtained as pulse echoes in the time axis direction or over multiple pulses.
- signal integration processing In order to perform integration processing with force, it is necessary to collect the signals to be accumulated over multiple observation periods, so observation values cannot be obtained until the observation period necessary for signal collection elapses, and the response Performance will deteriorate.
- Pulse transmission power Transmit pulse echoes in the first range cell after the first time.
- 1st signal integration that receives and generates a signal based on the received echo, integrates the first number of the generated signals, and outputs the integration result as the first range cell integration signal Process,
- Norse transmission power Receives echoes of transmission pulses in the second range cell after a second time different from the first time, generates a signal based on the received echo, and generates the first of the generated signals.
- It has a target detection step of detecting a target based on the first and second range cell integration signals.
- the range cell is a section in which echoes of transmitted pulses are received, and is an observation period subdivided by a predetermined time width.
- the range sense is another range gate (distance gate) or sometimes called a range bin.
- each echo reflected by a reflection source at a different distance will have variations in arrival time due to path length differences.
- a radar receiving antenna first converts an echo having a variation in arrival time into an analog received signal that is temporally continuous.
- the temporally continuous analog reception signal is sampled at predetermined intervals and converted into a digital signal.
- Reflectors at different distances are represented as digital signals in different sampling intervals.
- Each of these sampling sections is a range cell. That is, both the first range cell and the second range cell are sections for temporally dividing one analog reception signal that is temporally continuous.
- the invention's effect [0020] As a result, for echoes with short radio wave propagation paths and sufficient strength and SZN ratio, the response time to obtain the observation results can be reduced by reducing the number of observations to collect the signals used for integration. On the other hand, for ecos with long propagation paths of radio waves and insufficient strength and SZN ratio, increasing the number of observations used for integration calculation ensures a sufficient SZN ratio for obtaining observation results. It becomes possible.
- the number of observations for acquiring the signal used for the integration processing of the echo from the distant reflection source force is the number of observations for acquiring the signal used for the integration processing of the echo from the nearby reflection source. It is not limited to the structure which increases more. For example, based on the observation results so far, through the prediction processing and tracking processing performed in the past, it is possible that there is a large reflectance and a reflection source in a certain range of the observation coverage. In this case, it is possible to adopt the t ⁇ ⁇ configuration in which the number of observations is reduced for the range cell including the reflection source echo and the number of observations is increased for the range cells before and after that range cell.
- FIG. 1 is a block diagram of a target object detection device according to a first embodiment of the present invention.
- FIG. 2 is a diagram showing the relationship between transmission pulses and echoes in the first embodiment of the present invention.
- FIG. 3 is an explanatory diagram of a frequency modulation method according to the first embodiment of the present invention.
- FIG. 4 is a diagram for explaining a pulsing method according to the first embodiment of the present invention.
- FIG. 5 is a diagram illustrating the configuration of an array antenna according to the first embodiment of the present invention.
- FIG. 6 is a timing chart of element switching according to the first embodiment of the present invention.
- FIG. 7 is an explanatory diagram of the range cell according to the first embodiment of the present invention.
- FIG. 8 is an explanatory diagram of frequency analysis processing according to the first embodiment of the present invention.
- FIG. 1 is a block diagram showing a configuration of a target object detection apparatus according to Embodiment 1 of the present invention.
- the target detection apparatus 1 shown in the figure is an apparatus that observes a target using the FMCW radar system, and includes a pulse transmission unit 2, a reception unit 5, a signal integration unit 6, and a target detection unit 7. .
- the pulse transmitter 2 is a part that generates a transmission signal subjected to frequency modulation, pulsates the generated transmission signal, and outputs a transmission pulse 3. As shown in FIG. 2, a part of the transmission pulse 3 is reflected by a reflection source existing outside the target detection device 1 and returns to the target detection device 1 again as an echo 4.
- the feature of the target detection apparatus 1 is that a signal integration unit 6 is provided between the target detection unit 7 and the reception unit 5.
- the signal integrating unit 6 is a part that improves the SZN ratio of the signal output from the receiving unit 5 and inputs a signal resulting from the improvement to the target detection unit 7.
- the signal accumulating unit 6 can improve the detection accuracy of a target that cannot be obtained a strong echo because it exists at a distance, for example.
- the pulse transmitter 2 includes a reference signal generator 11, a transmission signal modulator 12, a pulse generator 13, and a transmission antenna 14.
- the reference signal generator 11 of the pulse transmission unit 2 generates a reference signal 100 accompanied by frequency modulation with a predetermined period by a voltage controlled oscillator (Voltage Controlled Os dilator).
- the target detection device 1 employs the FMCW radar system.
- the reference signal generator 1 uses the frequency increase process, which is the process of increasing the frequency, and the frequency decrease, as the frequency modulation method of the reference signal 100.
- the reference signal 100 is subjected to frequency modulation having a frequency decreasing process.
- FIG. 3 is a diagram showing the time variation of the frequency of the reference signal 100 generated by the reference signal generator 11.
- the straight line 100-1 and the straight line 100-2 represent the frequency transition of the reference signal 100.
- the straight line 100-1 corresponds to the first frequency modulation period (frequency increase period) in which the frequency increases linearly.
- the straight line 100-2 corresponds to the second frequency modulation period (frequency decrease period) in which the frequency decreases linearly.
- the reference signal generator 11 performs frequency modulation by sequentially repeating the first frequency modulation period and the second frequency modulation period.
- the lengths of the first frequency modulation period and the second frequency modulation period are both T, and the frequency sweep width (the upper limit of the frequency to be modulated) And the lower limit) is B.
- each period of the frequency increasing process and the frequency decreasing process in the reference signal generator 11 is referred to as a frequency change period.
- the transmission signal converter 12 converts the frequency of the reference signal 100 by a transmission signal 101 of RF (Radio Frequency) band. Furthermore, the pulse generator 13 filters the transmission signal 101 at the pulse transmission interval T.
- RF Radio Frequency
- a pulse signal 102 is generated and output to the transmission antenna 14.
- the relationship between the pulse signal 102 and the transmission signal 101 is as shown in FIG.
- the straight lines indicated by reference numerals 101-1 and 102-1 represent the frequency transition of the transmission signal 101.
- the trapezoids 102-1 to 102-11 in bold letters correspond to the pulse signal 102 obtained by pulsing the transmission signal 101. In this way, a part of the transmission signal 101 which is a continuous signal is pulsed to become a pulse signal 102.
- the transmission signal 101 is an RF band signal and has a different baseband (minimum frequency) from the reference signal 100 shown in FIG.
- the time interval for outputting the pulse signal 102 is a pulse repetition interval (Pulse Repetition).
- the pulse generator 13 outputs a switching signal 200 synchronized with PRI. This switching signal 200 is used for reception switching in later processing.
- the transmission antenna 14 radiates the Knoll signal 102 output from the pulse transmission unit 2 to the outside as a transmission pulse 3 using a wide-angle beam. As a result, the entire observation request coverage of the target object detection apparatus 1 is irradiated by only one pulse transmission.
- the receiving unit 5 is a part that detects and receives the echo 4 of the transmission pulse 3, and generates and outputs a signal based on the received echo 4, and includes an array antenna 15, a switching unit 16, and a received signal change.
- a converter 17, an AZD converter 18, and a frequency analyzer 19 are provided.
- the array antenna 15 includes element antennas having an element interval d and the number N (N> 1). Each element antenna constituting the array antenna 15 receives the echo 4 at each position and outputs an analog reception signal 105 based on the received echo 4.
- each element antenna constituting the array antenna 15 is described with an element number n consisting of 0 to N ⁇ 1.
- the wavelength of the echo 4 is the wavelength and the incident angle of the echo 4 with respect to the array antenna 15 on the aperture plane is 0, as shown in FIG.
- the phase difference ⁇ given by equation (1) is generated between the adjacent element antennas.
- the switching unit 16 includes input terminals equal to the number N of element antennas of the array antenna 15, and each input terminal is connected to any one of the element antennas 0 to N-1 in the array antenna. In addition, one output terminal is provided. Based on the timing chart shown in Fig. 6, every time the switching signal 200 is input from the pulse generator 13, the input terminal connected to the output terminal is switched selectively. Then, the reception signal 105 having any input terminal power is output as the reception signal 106.
- the reception signal 105 from the element antenna n + 1 is output as the reception signal 106.
- the number of element antennas is N, when n is equal to N ⁇ 1, when a new switching signal 200 is input to the switching unit 16, the reception signal 105 from the element antenna 0 is output as the reception signal 106. Will do.
- Only one digital signal processing system can be used, and these circuits can be configured to be used in a time-sharing manner.
- a configuration for processing signals received from an array antenna having a plurality of element antennas in a time-sharing manner as described above is disclosed in, for example, U.S. Pat. This is a well-known technology in this technical field, and is disclosed in the publications such as Gazette and U.S. Pat.No. 3,916,407 “Doppler Navigation System With Angle And Radial Velocity”. Details Description of is omitted.
- the switching unit 16 From the point in time when the switching unit 16 is connected to the element antenna 0, it is connected to the element antenna 0 again via the element antennas 1, 2,...
- the period up to the time point is called the scan period
- the variable m (m is an integer greater than or equal to 0) represents the number of scan periods from the start of the frequency modulation process of either the frequency increase period or the frequency decrease period.
- the received signal conversion 17 mixes (mixes) the transmission signal 101 and the analog received signal 106 output from the transmission signal conversion 12 to generate and output a difference signal 107 between them. Since the target detection apparatus 1 employs the FMCW method, the difference signal 107 is also called a beat signal. In this way, the analog reception signal 106 that is consequently in the RF band is down-converted to the difference signal 107 in the video signal band.
- the AZD converter 18 samples the difference signal 107 for each sampling interval having a predetermined time width, and outputs a digital difference signal 108.
- the sampling interval in A / D change 18 after pulse transmission is treated as a range cell.
- the number of samplings “k” performed before each range cell is started after the pulse transmission is called the range cell number.
- the range cell number of the first range cell is 0 because it has been sampled once!
- the target detection apparatus 1 employs a method of transmitting the transmission pulse 3 by the wide-angle beam and receiving the echo 4, the entire coverage is irradiated by one transmission pulse. However, since multiple reflection sources with different distances may exist in the coverage area, as shown in Fig. 7, even if the transmission pulse 3 is irradiated only once, the distance from the target detection device 1 Echoes from different sources will be detected in different range cells.
- the range cell number (elapsed time from the transmission pulse) of the echo of each pulse can determine the distance to the reflection source.
- the speed of the reflection source can also be calculated from the relationship between the frequency of the echo and the frequency of the transmitted pulse.
- Nord Radar it is necessary to complete the target detection process with each pulse transmission / reception process, and the pulse transmission / reception process and the signal process must be executed at almost the same calculation speed. For this reason, an extremely high-speed signal processing circuit is required. . Also, if the pulse width and sampling period are shortened, the calculation load for signal processing increases.
- the target object detection apparatus 1 uses the transmission pulse 3 obtained by pulsing the continuous reference signal 100 subjected to frequency modulation as shown in FIG. Therefore, it is possible to use the principle of the CW method instead of the pulse method. In other words, instead of performing all signal processing by individual pulse transmission and reception, the reflection source is detected based on the relationship between the frequency modulation of the transmitted wave and the frequency of the received echo. As a result, the computation load of signal processing can be reduced, and the circuit scale can be reduced and the cost can be reduced.
- the target is detected through signal processing by the FMCW method.
- the difference signal 108 of the frequency increase period in the range cell of the element antenna number n and range cell number k selected by the switching unit 16 is the reflection source (direction is ⁇ and ⁇ ).
- Equation (2) the difference signal 108 in the frequency falling period is expressed by Equation (3).
- T T X ⁇ , ie, scan s s PRI
- the frequency for variable n is expressed as the sum of the beat frequency for variable m and the frequency depending on the incident direction. If there are multiple targets, it is expressed as a linear sum for each target.
- the frequency analyzer 19 performs frequency analysis on the digital difference signal 108 expressed by the equations (2) and (3) obtained from the echo 4 as a signal based on the echo 4 of the transmission pulse 3, and the analysis result and Output the frequency signal 109. For this purpose, Fourier transform is performed on the digital difference signal 108 obtained from the range cell of the range cell number k obtained from the element antenna of the element number n in M (M> 1) scan periods, and the equation (3), Generate a frequency signal as shown in Eq. (4).
- the frequency signal is a plurality of difference signals X (k, m, n) during the frequency increase period or a plurality of difference signals X during the frequency decrease period. Use (k, m, n) to find up dn
- the frequency signal is a signal based on echoes received over a plurality of pulse reception sections. If the target can be detected using the frequency signals extracted from a plurality of pulse reception sections in this way, it is not necessary to perform high-speed signal processing corresponding to the speed of pulse transmission / reception.
- Equations (4) and (5) can be expressed as follows: individual difference signal X (k, m, n) or difference signal X (k, m, n) up dn is multiplied by a predetermined multiplier exp [— j ⁇ 2 ⁇ (mZM) m ⁇ ] is multiplied and added.
- the SZN ratio of the dicelle echo is not sufficient, it will contain a lot of echo (noise) frequency signals from sources other than the reflection source.
- the frequency analyzer 19 uses the vibration up f dn f in the frequency signals F (k, m, n) and F (k, m, n).
- An output frequency number whose width value is equal to or greater than a predetermined value is detected.
- This process is also known as a frequency number detection process that gives a frequency peak. As a result, frequency number m is detected during the frequency rise period, and frequency number m is detected during the frequency fall period.
- the frequency analyzer 19 performs the equation (5) during the frequency increase period. Is output for each range cell. Also, during the frequency drop period, the frequency signal 109 represented by equation (6) is output for each range cell.
- the frequency signal 109 represented by the equations (6) and (7) also includes a lot of frequency signals derived from noise.
- the first range cell with a low SZN ratio for example, a range cell with a large delay time
- the signal accumulating unit 6 sets each scan period as one observation period, and for the frequency signal F (k, m, n) of the range cell number k, F (k, m, n)
- the integration calculation is performed to obtain the second integration signal SF and output as the integration signal 111.
- SW and SW are natural numbers such that SW ⁇ sw.
- i is an identification number for identifying each of the frequency signals collected for use in the integration process. * Represents a complex conjugate.
- the SW and SW selection method is the range cell of range cell number k.
- the integrated signal 110 is obtained by integrating the frequency signals collected for the SW observation period forces.
- the integrated signal 111 integrates the frequency signals collected during the SW observation period force.
- the signal accumulating unit 6 sets the range cell number once every SW observation periods.
- Integration signal 111 is output for cell number k.
- SZN ratio of frequency signal 1 is equal to the frequency signal SZN ratio of range cell number k.
- the target detection unit 7 calculates the motion specifications of the echo reflection source based on the integration signal 110 and the integration signal 111.
- the integrated signal 110 is subjected to Fourier transformation as shown in Equation (10) to perform beam forming processing.
- the target detection unit 7 performs threshold processing on the amplitudes of the multi-beam forming signals B (k, m, ⁇ ) and ⁇ (k, m, ⁇ ) for the respective detection frequency signals to perform predetermined processing Level up p an q
- the detected frequency signal is determined to be finally detected.
- the target detection unit 7 uses the same beam direction ⁇ m during the frequency increase period and the frequency decrease period based on the principle of FMCW radar.
- Detection frequency numbers m and p at which na is detected are detected as pairing candidates, and the target distance R and relative velocity V are calculated as q
- the pairing process includes
- an echo force frequency signal is obtained by a CW radar and the SZN ratio of the frequency signal is improved.
- the number of signals collected can be easily diverted to the processing of integrating the SZN ratio of echoes of different range cells.
- the signal integration unit 6 uses the integration method based on Equation (8).
- the multi-beam forming process represented by the equation (13) is performed from the frequency signal 109 represented by the equations (6) and (7), and the integration process is performed on the result. Configurations to implement are also possible.
- gain adjustment is performed using frequency signals of different numbers of scan periods. It is a feature of the present invention that the adjustment is performed, and is not limited to a specific gain adjustment method.
- the present invention can be widely applied to the field of calculating a motion specification of a remote object or a propagation wave reflection source by transmitting a pulse wave, and is particularly suitable as a technology for an automobile-mounted radar.
Abstract
Description
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Application Number | Priority Date | Filing Date | Title |
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PCT/JP2005/015120 WO2007020704A1 (ja) | 2005-08-19 | 2005-08-19 | 目標物検出方法及び目標物検出装置 |
US11/920,857 US7656344B2 (en) | 2005-08-19 | 2005-08-19 | Target detecting method and target detecting apparatus |
DE112005003673.1T DE112005003673B4 (de) | 2005-08-19 | 2005-08-19 | Zielerfassungsverfahren und Zielerfassungsvorrichtung |
JP2007530886A JPWO2007020704A1 (ja) | 2005-08-19 | 2005-08-19 | 目標物検出方法及び目標物検出装置 |
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Also Published As
Publication number | Publication date |
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US7656344B2 (en) | 2010-02-02 |
JPWO2007020704A1 (ja) | 2009-02-19 |
DE112005003673B4 (de) | 2014-07-10 |
US20090207068A1 (en) | 2009-08-20 |
DE112005003673T5 (de) | 2008-06-12 |
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