# US 2015/0309172 A1 · Radar apparatus

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- Number: US 2015/0309172 A1
- Document ID: US20150309172A1
- Status: Published application
- Kind: A1
- Application number: 14/692,144
- Filed: 2015-04-21
- Published: 2015-10-29
- Earliest claimed: 2014-04-25
- Assignees: Fujitsu Ten Limited
- Applicants: Fujitsu Ten Limited
- Inventors: Shota MORI; Hiroyuki ISHIMORI
- Web page: https://patentgrep.com/patent/US20150309172A1

## CPC

- G01S 13/931: of land vehicles
- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- G01S 7/41: using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S 13/345: {using triangular modulation}
- B60W 30/095: Predicting travel path or likelihood of collision
- B60W 2420/408: Radar; Laser, e.g. lidar
- G01S 7/415: {Identification of targets based on measurements of movement associated with the target}
- G01S 2013/93185: {Controlling the brakes}
- G01S 2013/9319: {Controlling the accelerator}
- G01S 2013/932: {using own vehicle data, e.g. ground speed, steering wheel direction}
- G01S 2013/9321: {Velocity regulation, e.g. cruise control}
- G01S 2013/93271: {in the front of the vehicles}
- 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
- 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

## Abstract

A radar apparatus is configured to derive information of a target in a vicinity of a host vehicle. The radar apparatus comprising a signal processor configured to: determine whether or not the target is a standstill object having an absolute speed less than a predetermined speed, determine whether or not the target determined as the standstill object is an upper object overhead of the host vehicle and with which the host vehicle cannot collide, and determine whether or not an environment for deriving target information is an adverse environment based on a frequency of determining existence of the upper object that also is the standstill object.

## Claims

### Claim 1

A radar apparatus configured to derive information of a target in a vicinity of a host vehicle, the radar apparatus comprising a signal processor configured to:
determine whether or not the target is a standstill object having an absolute speed less than a predetermined speed,
determine whether or not the target determined as the standstill object is an upper object overhead of the host vehicle and with which the host vehicle cannot collide, and
determine whether or not an environment for deriving target information is an adverse environment based on a frequency of determining existence of the upper object that also is the standstill object.

### Claim 2 (depends on 1)

The radar apparatus according to claim 1, wherein
in a case where a particular object is determined to be (1) the standstill object closest to the apparatus and (2) the upper object, the signal processor determines the particular object to be suitable for use in determining whether or not a deriving environment of the target information is the adverse environment.

### Claim 3 (depends on 1)

The radar apparatus according to claim 1, wherein
the signal processor includes a counter configured to vary a value by a predetermined amount when the upper object is determined to exist within a predetermined distance, and determines that the deriving environment of the target information is the adverse environment when the value of the counter reaches a predetermined value.

### Claim 4 (depends on 3)

The radar apparatus according to claim 3, wherein
in a case where the upper object is not determined to exist within the predetermined distance, the signal processor sets the value of the counter to an initial value.

### Claim 5 (depends on 3)

The radar apparatus according to claim 3, wherein
the signal processor sets the value of the counter to the predetermined value when the upper object is determined to exist within the predetermined distance after the value of the counter has been set to the initial value from the predetermined value.

### Claim 6

A vehicle control system comprising:
a radar apparatus configured to derive information of a target in a vicinity of a host vehicle, the radar apparatus including a signal processor configured to:
(a) determine whether or not the target is a standstill object having an absolute speed less than a predetermined speed,
(b) determine whether or not the target determined as the standstill object is an upper object overhead of the host vehicle and with which the host vehicle cannot collide, and
(c) determine whether or not an environment for deriving target information is an adverse environment based on a frequency of determining existence of the upper object that also is the standstill object; and
a control apparatus configured to control the host vehicle based on target information on a periphery of the vehicle derived by the radar apparatus.

### Claim 7

A signal processing method of deriving information of a target in a vicinity of a host vehicle, the signal processing method comprising:
determining, with a signal processor, whether or not the target is a standstill object having an absolute speed less than a predetermined speed;
determining, with the signal processor, whether or not the target determined as the standstill object is an upper object overhead of the host vehicle and with which the host vehicle cannot collide, and
determining, with the signal processor, whether or not an environment for deriving target information is an adverse environment based on a frequency of determining existence of the upper object that also is the standstill object.

### Claim 8 (depends on 7)

The method according to claim 7, wherein
in a case where a particular object is determined to be (1) the standstill object closest to the host vehicle and (2) the upper object, determining, with the signal processor, the particular object to be suitable for use in determining whether or not a deriving environment of the target information is the adverse environment.

### Claim 9 (depends on 7)

The method according to claim 7, wherein
the step of determining whether the environment is the adverse environment includes varying a value of a counter by a predetermined amount when the upper object is determined to exist within a predetermined distance, and determining that the deriving environment of the target information is the adverse environment when the value of the counter reaches a predetermined value.

### Claim 10 (depends on 9)

The method according to claim 9, wherein
in a case where the upper object is not determined to exist within the predetermined distance, the value of the counter is set to an initial value.

### Claim 11 (depends on 9)

The method according to claim 9, wherein
the value of the counter is set to the predetermined value when the upper object is determined to exist within the predetermined distance after the value of the counter has been set to the initial value from the predetermined value.