# US 10,871,557 B2 · Velocity detection apparatus

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- Number: US 10,871,557 B2
- Document ID: US10871557B2
- Status: Granted
- Kind: B2
- Application number: 16/302,256
- Filed: 2017-05-18
- Published: 2019-04-25
- Granted: 2020-12-22
- Earliest claimed: 2016-05-18
- Assignees: Denso Corporation
- Applicants: Denso Corporation
- Inventors: Takuya Takayama
- Web page: https://patentgrep.com/patent/US10871557B2

## CPC

- G01S 13/58: Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S 13/10: using transmission of interrupted, pulse modulated waves (determination of distance by phase measurement G01S13/32)
- 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
- G01S 13/345: {using triangular modulation}
- G01S 13/582: {adapted for simultaneous range and velocity measurements}
- G01S 13/584: {adapted for simultaneous range and velocity measurements}
- G01S 13/93: for anti-collision purposes
- G01S 13/931: of land vehicles
- G01S 2013/932: {using own vehicle data, e.g. ground speed, steering wheel direction}
- G01S 2013/93271: {in the front of the vehicles}
- G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08)
- 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
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

A velocity detection apparatus includes a velocity detection section, a candidate detection section, a range setting section, and a selection section. The range setting section sets an observation range of the relative velocity with respect to a range which corresponds to the vehicle velocity detected by the velocity detection section and is less than twice a Nyquist velocity corresponding to a repetition period of the pulses. The selection section selects, as the relative velocity, a candidate which falls within the observation range set by the range setting section out of candidates for the relative velocity detected by the candidate detection section.

## Claims

### Claim 1

A velocity detection apparatus which detects a relative velocity of a target with respect to a vehicle, which is equipped with an in-vehicle radar, from a reception signal received by the in-vehicle radar, the in-vehicle radar transmitting a radar wave based on a transmission signal which is modulated into a pulse form having a certain width and is repeated with a certain period and receiving a reflected wave from the target which has reflected the radar wave, the velocity detection apparatus comprising:
a velocity detection section configured to detect a vehicle velocity of the vehicle;
a candidate detection section configured to detect a candidate for the relative velocity corresponding to a phase difference between a plurality of pulses contained in the reception signal;
a range setting section configured to set an observation range of the relative velocity to a range which corresponds to the vehicle velocity detected by the velocity detection section, the observation range being set to a range less than twice a Nyquist velocity corresponding to a repetition period of the pulses; and
a selection section configured to select, as the relative velocity, a candidate which falls within the observation range set by the range setting section out of candidates for the relative velocity detected by the candidate detection section.

### Claim 2 (depends on 1)

The velocity detection apparatus according to claim 1, wherein the range setting section is configured to set the observation range so that the observation range is narrower than a preset reference range or the observation range is narrower as the vehicle velocity is smaller, when the vehicle velocity detected by the velocity detection section is smaller than a preset velocity threshold.

### Claim 3 (depends on 1)

The velocity detection apparatus according to claim 1, wherein the range setting section is configured to set an upper limit value of the observation range to be smaller as the vehicle velocity detected by the velocity detection section is larger.

### Claim 4 (depends on 1)

The velocity detection apparatus according to claim 1, wherein the range setting section is configured to set the observation range so that the observation range includes the relative velocity which is equal to a value obtained by adding a negative sign to the vehicle velocity.