Stationary on-road object detection method for use with radar

• US 6,812,882 B2
• Filed: 11/19/2002
• Issued: 11/02/2004
• Est. Priority Date: 03/19/2001
• Status: Expired due to Fees

• Current Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Original Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Inventors: Ono, Daisaku
• Primary Examiner(s): Sotomayor, John B.
• Application Number:
  US10/276,832
• Publication Number:
  US 20030076255A1
• Time in Patent Office: 714 Days
• Field of Search: 342/70, 342/71, 342/72, 342/114, 342/115, 340/903, 340/435, 340/436, 701/301
• US Class Current: 342/70
• CPC Class Codes: G01S 13/34 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
• CPC Class Codes: G01S 13/536 using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/462 using multipath signals
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control

Abstract

A method capable of determining whether a target detected by a radar is a stationary on-road object or not is disclosed, wherein a fluctuation in the reception level of a reflected wave from a target is obtained in relation to the distance of the target, a difference in reception level between a maximum point and a minimum point is obtained from the fluctuation of the reception level, and when the obtained difference is larger than a predetermined threshold value, it is determined that the target is a stationary on-road object. Further, slope over the distance between the maximum point and the minimum point is obtained, and when the obtained slope is greater than a predetermined threshold value, it is determined that the target is a stationary on-road object. Further, the distance between maximum points or between minimum points is obtained, and when the obtained distance is smaller than a predetermined threshold value, it is determined that the target is a stationary on-road object.

Claims

1. A stationary on-road object detection method for a radar, wherein a fluctuation in the reception level of a reflected wave from a target is obtained in relation to the distance of said target, a maximum point and a minimum point are obtained from the fluctuation of said reception level, it is determined whether there is more than one maximum point or minimum point, and if there is more than one maximum point or minimum point, the distance between said maximum points or between said minimum points is obtained, and wherein when said obtained distance is smaller than a predetermined threshold value, it is determined that said target is a stationary on-road object.

3. A stationary on-road object detection method for a radar as claimed in claim 1 or 2, wherein, for said reception level, a filter constant is varied in accordance with relative velocity or actual vehicle speed.

2. A stationary on-road object detection method for a radar, as

wherein a fluctuation in the reception level of a reflected wave from a target is obtained in relation to the distance of said target, a maximum point and a minimum point are obtained from the fluctuation of said reception level, and a difference in reception level between said maximum point and said minimum point is obtained;

wherein when said obtained difference is larger than a predetermined threshold value and the slope over the distance between said maximum point and said minimum point is not greater than a predetermined threshold value, then it is determined whether there is more than one maximum points or minimum points, and if there is more than one maximum point or minimum point, the distance between said maximum points or between said minimum points is obtained; and

wherein when said obtained distance is smaller than a predetermined threshold value, it is determined that said target is a stationary on-road object.