Abstract: A driving lane detection device of the present disclosure includes: an object detector, a vehicle detector, and a driving lane detector. The object detector generates object data relating to a distance and direction from the vehicle to an object and a movement direction of the object based on one or more reflection waves that are a radar signal transmitted by a radar device and reflected by the one or more object. The vehicle detector detects each object as at least one of a parallel-running vehicle running in a same direction as the vehicle or an oncoming vehicle running in an opposite direction to the vehicle, based on the object data. The driving lane detector detects a driving lane based on the distance and direction from the vehicle to at least one of the detected parallel-running and the detected oncoming vehicles and lane information on at least one of lane widths and a number of lanes of a road on which the vehicle is running.

Abstract: A false target distinguishing apparatus includes an image matching unit configured to match coordinate information about an acquired two-dimensional image with coordinate information about an acquired three-dimensional image, a target mapping unit configured to map sensed target information to a matching image matched with the coordinate information, a region-of-interest extraction unit configured to select a target mapped to the matching image as a region of interest and to extract the selected region of interest, and a determination unit configured to perform false target classification/learning by determining whether the extracted region of interest is a false target.

Abstract: A rear pre-crash safety system of a vehicle comprising a judgement logic adapted to issue at least one collision warning signal in response to a detected radar signal reflected by an object approaching the vehicle from behind depending on a radar cross section, RCS, of the approaching object and depending on a velocity of the approaching object relative to the respective vehicle.

Abstract: A system and method to generate a family of orthogonal signals for a code division multiple access (CDMA) radar system involve selecting a first signal of the family of orthogonal signals for transmission by one of a plurality of transmitters of the radar system. The method includes using an algorithm to determine a second signal of the family of orthogonal signals. The algorithm uses cross-correlation values between candidate signals for consideration as the second signal of the family of orthogonal signals and the first signal. The method also includes transmitting the first signal of the family of orthogonal signals and the second signal of the family of orthogonal signals simultaneously from two different transmitters, and obtaining and processing reflections resulting from transmission of the first signal of the family of orthogonal signals and the second signal of the family of orthogonal signals.

Abstract: A method is provided for mounting a plurality of radar units to a vehicle. The method involves determining, for each radar unit, a measured pitch direction and a measured yaw direction based on data obtained using a photogrammetry system. The method also involves determining yaw angles between at least two of the radar units based on at least one of the measured yaw directions. The method also involves determining, for each radar unit, a pitch offset and a yaw offset. The method also involves adjusting at least one of the radar units based on at least one of the determined pitch offsets and at least one of the determined yaw offsets. Also provided is a device for performing the method.

Abstract: A communication unit, such as a radar unit (500) includes a plurality of cascaded millimetre wave, mmW, transceiver, TRx, circuit, each comprising at least one phase shift circuit (616) and each coupled to respective antennas; and a signal processor circuit (552) operably coupled to the plurality of cascaded mmW TRx circuits and configured to process transmit and receive signals of the plurality of cascaded mmW TRx circuits.

Abstract: Techniques are disclosed for systems and methods to provide relatively accurate position data from a plurality of separate position sensors. A system includes a logic device configured to first and second position sensors each coupled to a mobile structure at respective first and second locations. The logic device is configured to receive position data corresponding to a position of the mobile structure from the position sensors, determine weighting factors corresponding to the received position data, and determine a measured position for the mobile structure based, at least in part, on the received position data and the determined weighting factors.

Abstract: A target detection apparatus includes a target detection section, a following section, a reception tendency determination section, and a target determination section. The reception tendency determination section determines a tendency of received electrical power of a reflected wave from the objective target relative to a distance from the vehicle to the objective target on the basis of a result of following the objective target by the following section. The target determination section determines the objective target as a high target allowing the vehicle to pass under, when the reception tendency determination section determines that the received electrical power has a tendency to be constant regardless of the distance to the objective target.

Abstract: Systems, vehicles, and techniques are provided to classify reflection detection points in a sensing system. A reflection detection point can be classified as an apparent reflection or a physical reflection. In some embodiments, a beamforming map can be generated using a response function of an antenna array and data representative of electromagnetic signals received at the antenna array. Multiple reflection detection points can be detected using at least the beamforming map. A second beamforming distribution map also can be generated, using at least the data and a second response function of the array of antennas. The second response function includes minima at respective reflection points. A ratio between (i) a first amplitude of a reflection detection point in the second beamforming map and (ii) a second amplitude of the reflection point in the first beamforming map permits classifying the reflection detection point as an apparent reflection or a physical reflection.

Abstract: A host vehicle includes a plurality of sensors communicably coupled to the host vehicle. Additionally, the host vehicle includes processing circuitry configured to map-match a location of the host vehicle in response to approaching a traffic intersection, receive traffic intersection information from the plurality of sensors in response to approaching the traffic intersection, the plurality of sensors having a predetermined field of view corresponding to a host vehicle field of view, estimate a driver field of view based on the host vehicle field of view, determine whether navigating through the traffic intersection is safe based on the driver field of view, and modify driver operation in response to a determination that navigation through the traffic intersection is not safe based on the driver field of view.

Abstract: A method of determining a driving lane of an autonomous vehicle is provided. The method includes classifying, by an autonomous driving logic of an electronic control unit (ECU), at least one object sensed in front of the autonomous vehicle as a stationary object or a moving object. A clustering group is generated by clustering the stationary object and a boundary of an entire driving road is determined based on a position of a moving object approaching the subject vehicle among the moving objects and the clustering group. Additionally, the method includes comparing positions of a plurality of lanes based on lane widths of the lanes for travel of the subject vehicle with the boundary of the entire driving road and determining a driving lane of the subject vehicle.

Abstract: Systems and apparatuses for generating customized driving assistance outputs are provided. The system may collect initial sensor data from a rotating mobile device. The system may analyze the initial sensor data to determine whether to collect additional sensor data. Based on analysis of the initial sensor data and the additional sensor data, the system may determine a customized driving assistance output. The system may determine one or more notification outputs and one or more instruction outputs for the driver based on the customized driving assistance output. The system may update an aggregate driving output based on whether or not the instruction output was completed, as determined from subsequent sensor data.

Abstract: A detection system includes a ranging-sensor and a controller-circuit. The ranging-sensor is configured to detect objects proximate to a host-vehicle. The controller-circuit is in communication with the ranging-sensor. The controller-circuit is configured to determine that a trailer is being towed by the host-vehicle and determine a trailer-distance between the host-vehicle and a front of the trailer based on a distance to a first-group of objects detected by the ranging-sensor. The first-group is characterized by a first-distance indicated by the ranging-sensor. The controller-circuit determines an axle-distance between the front of the trailer and a trailer-axle based on a second-group of objects. The second-group is characterized by a second-distance indicated by the ranging-sensor. The controller-circuit determines a trailer-length based on the trailer-distance and the axle-distance.

Abstract: Examples disclosed herein relate to an Intelligent Metamaterial (“iMTM”) radar for target identification. The iMTM radar has an iMTM antenna module to radiate a transmission signal with an iMTM antenna structure and generate radar data capturing a surrounding environment. An iMTM interface module detects and identifies a target in the surrounding environment from the radar data and controls the iMTM antenna module.

Abstract: A frequency-modulated continuous wave (FMCW) coded aperture radar (CAR) implemented on an integrated circuit (IC) to step through a range of frequencies in each sweep and a method of assembling the FMCW CAR implemented on an IC are described. The CAR implemented on the IC includes an antenna element to transmit or receive at a given time duration, a transmit channel to process a signal for transmission, the transmit channel including a transmit switch configured to change a state of a transmit phase shifter between two states based on a first code, and a receive channel to process a received signal, the receive channel including a receive switch configured to change a state of a receive phase shifter between two states based on a second code. A switch controller controls the first code and the second code and controls the first code to remain constant within the sweep.

Abstract: A radar detection system for activation of a powered closure member of a vehicle and corresponding method are provided. The system includes a radar sensor assembly having a radar transmit antenna for transmitting radar waves and a radar receive antenna for receiving the radar waves after reflection from an object in a detection zone. The radar sensor assembly outputs a sensor signal corresponding to the motion of the object in the detection zone. An electronic control unit is coupled to the radar sensor assembly and includes a data acquisition module to receive the sensor signal and a plurality of analysis modules to analyze the sensor signal to detect extracted features and determine whether extracted features are within predetermined thresholds representing a valid activation gesture. The electronic control unit initiates movement of the closure member in response to the extracted features being within the predetermined thresholds representing the valid activation gesture.

Abstract: A radar system includes a plurality of radiating elements configured to radiate electromagnetic energy and a plurality of feed waveguides defining a common plane and configured to guide electromagnetic energy to the plurality of radiating elements. The radar system also includes a plurality of waveguides arranged as a dividing network. The dividing network is also configured to split the electromagnetic energy from the source among the plurality of feed waveguides, such that each feed waveguide receives a respective portion of the electromagnetic energy. Additionally, the dividing network is configured to adjust a phase of the electromagnetic energy received by each waveguide. The splitting and adjusting of the dividing network may be based on differences in width between the waveguides of the dividing network and the feed waveguides. The dividing network of waveguides is located in the common plane of the feed waveguides.

Abstract: Example embodiments described herein involve determining three dimensional data representative of an environment for an autonomous vehicle using radar. An example embodiment involves receiving radar reflection signals at a radar unit coupled to a vehicle and determining an azimuth angle and a distance for surfaces in the environment causing the radar reflection signals. The embodiment further involves determining an elevation angle for the surfaces causing the radar reflection signals based on phase information of the radar reflection signals and controlling the vehicle based at least in part on the azimuth angle, the distance, and the elevation angle for the surfaces causing the plurality of radar reflection signals. In some instances, the radar unit is configured to receive radar reflection signals using a staggered linear array with one or multiple radiating elements offset in the array.

Abstract: In one embodiment, example systems and methods relate to a manner of providing lane curvature estimations. As vehicles travel, lane curvature estimates for lane segments as provided by the vehicle lane curvature estimation systems are collected. The estimated lane curvatures and the actual paths of the vehicles as they traveled in the lane segments are used as training data for a model that can both determine if a lane curvature estimate for a lane segment is likely incorrect and provide a correct lane curvature estimate. When a vehicle later travels such a lane segment, the model can be used to provide the vehicle with a correct lane curvature estimate. The correct estimate can be used by the vehicle in place of an estimate generated by the existing lane curvature estimation system of the vehicle.

Abstract: An electric vehicle (EV) can include a VIC in operable communication with the EV main computer and the EV infotainment system. The VIC can include a processor, a memory in operable communication with the processor, and a computer-readable medium in operable communication with the processor and having software, such as a hypervisor, stored thereon. The VIC can be configured to have internet connectivity.

Abstract: A vision system for a vehicle towing a trailer includes a camera disposed at a rear portion of the trailer and viewing rearward of the trailer. A trailer antenna is disposed at the trailer and in data communication with the camera, and a vehicle antenna is disposed at the vehicle and in data communication with a control unit disposed at the vehicle. The trailer antenna is operable to transmit signals representative of image data captured by the camera toward a road surface along which the vehicle and trailer are traveling so that the transmitted signals reflect off of the road surface and toward the vehicle antenna disposed at the vehicle. The vehicle antenna receives the reflected RF signals and communicates data to the control unit that are representative of the received reflected signals.

Abstract: It is estimated whether or not each of landmarks is an object to be noted for travel assist control by using an estimation line EL set in the reference frame. The estimation line EL is set to be substantially parallel to a borderline BL. The borderline BL is a line a line which separates a drivable area and an undrivable area of a vehicle. It is estimated that the landmark located on a center line CL side is the object to be noted for travel assist control. It is estimated that the landmark located on a borderline BL side is not the object to be noted for travel assist control.

Abstract: Techniques and devices for access to high frame-rate radar data via a circular buffer are described. In some implementations, a radar sensor collects radar data regarding objects detected by a radar field and stores the data to a circular buffer. A data manager monitors the circular buffer and processes data requests from multiple applications. Through use of the described techniques and devices, the multiple applications can efficiently access the requested radar frame data from the circular buffer, reducing both memory requirements and processor resource usage associated with providing the requested data.

Abstract: A traffic control system for controlling a traffic of cooperative and uncooperative vehicles determines delays on each segment of the roads of the network based on the current state of the flow of the traffic and determines flows of the cooperative and uncooperative vehicles that satisfy a Nash equilibrium for the cooperative vehicles having a common objective and the uncooperative vehicles having individual objectives. The system determines, for the cooperative vehicles, costs of segments of the roads that correspond to the Nash equilibrium and determines routes for the cooperative vehicles based on the current locations and target locations of the cooperative vehicles, and the costs of the segments of the roads in the network determined for the cooperative vehicles. The routes are transmitted to corresponding cooperative vehicles.

Abstract: A method for adaptive cruise control of a host vehicle (2): A host vehicle (2) includes at least one acceleration device (8), at least one retardation device (10), a control unit (14) for acting upon the acceleration device (8) and the retardation device (10), a calculating unit (16) for determining at least one parameter related to a lead vehicle (6) and a distance sensor (12) for determining a distance from the host vehicle to the lead vehicle (6).

Abstract: An estimation apparatus of the present disclosure includes a same-object point information acquiring section, a candidate estimating section, and a direction estimating section. The candidate estimating section estimates, as a candidate direction, a direction that is matched with an arbitrary horizontal direction upon determining that the relative speeds gradually decrease along the arbitrary horizontal direction. The candidate estimating section estimates, as the candidate direction, an opposite direction of the arbitrary horizontal direction upon determining that the relative speeds gradually increases along the arbitrary horizontal direction. The direction estimating section estimates a moving direction of the same object based on the candidate direction.

Abstract: The present disclosure provides a method and a vehicle control system for controlling an autonomous vehicle. The method comprises utilizing the sensor group of said vehicle to acquire data related to said vehicle, wherein said data includes the speed of said vehicle, the speed of another object ahead of said vehicle, and the distance between said vehicle and another object, determining the crash probability between said vehicle and another object according to the data related to said vehicle, calculating the total magnitude of value according to said crash probability on the basis of the prospect theory, wherein said total magnitude of value indicates the balance between the value of crash risk reduction and the value of user comfort loss, and calculating the brake force according to said total magnitude of value.

Abstract: An apparatus includes a reflector system having a support, a reflector and a spring structure for scanning motion of the reflector in two orthogonal oscillation modes. A frequency response peaks at a natural resonant frequency with an initial bandwidth. A first transducer structure provides mechanical actuation of the reflector; a second transducer structure generates sense signals representing mechanical motion of the reflector. A feedback circuit receives from the second transducer structure a sense signal and generates to the first transducer structure a drive signal. The feedback circuit is adjusts amplitude and frequency of the drive signal to a non-linear vibration range where a frequency shift at the peak frequency is at least ten times the initial bandwidth, varies the amplitude of the drive signal in proportion to a waveform of a modulation signal, and sets frequency of the modulation signal component smaller than the frequency shift at the peak frequency.

Abstract: A method for detecting vulnerable road users (VRUs) using wireless signals includes receiving, by a wireless receiver, wireless signals from mobile devices and determining received signal strength indication (RSSI) levels of the wireless signals. The wireless signals and the RSSI levels of the wireless signals received by the wireless receiver are analyzed so as to determine at least one location of the VRUs. A notification is issued to the vehicle or a driver of the vehicle based on the at least one determined location of the VRUs.

Abstract: A vehicle control system includes a preceding vehicle selector that selects a pair of preceding vehicles, a target pair recognizer that executes a pairing process of storing a distance between a first target and a second target belonging to the respective preceding vehicles as an offset, and an intervehicular distance setter that sets both of a distance between an own vehicle and a first target as an intervehicular distance when the first target and the second target are detected as a target pair, and a distance corrected based on the offset as an intervehicular distance when the first target out of the target pair is not detected. The target pair recognizer stores a history of determination parameters including at least one of changes in relative distance, relative speed, and lateral deviation amount between the first and second targets.

Abstract: An obstacle determination device mounted on a mining work machine determines whether the state of the mining work machine is a state immediately after progressing or a normal travel state; selects, as a distance threshold provided to determine a non-obstacle, a starting distance threshold if in the state immediately after starting, or a normal distance threshold if in the normal travel state; extracts obstacle candidates on the basis of the result of comparison of the distance at which an obstacle candidate was initially detected with the distance threshold; selects a starting reflection intensity threshold if the state immediately after starting, or a normal reflection intensity threshold if in the normal travel state; excludes non-obstacles on the basis of the result of comparison of the reception strength of the reflection wave of the remaining obstacle candidates with the reflection intensity threshold; and outputs the remaining obstacle candidates as obstacles.

Abstract: An identified destination roadway lane from a plurality of roadway lanes that is separated from a current roadway lane of a vehicle by at least one roadway lane is received. Upon determining that a blind spot of the vehicle extending across the destination roadway lane and a roadway lane between the destination lane and a current roadway lane is free of objects, a means for providing an alert is actuated.

Abstract: An activity recognition system for identification of an activity of a subject includes a transmitter configured to transmit a radio wave, a receiver configured to receive the radio wave by an array antenna, a feature quantity extracting part configured to extract a feature quantity from a signal received by the array antenna, and an identifying part configured to identify the activity based on the feature quantity, wherein the feature quantity extracting part is configured to calculate a first feature quantity that represents a change of the signal by using a signal received at an observation start time point as a reference signal and to calculate a second feature quantity that represents a change of the signal by using an immediately preceding signal as a reference signal, and the identifying part is configured to identify the activity based on the first feature quantity and the second feature quantity.

Abstract: In a boundary line recognition apparatus, based on luminance levels of an image captured by a camera, candidate edge points of a boundary line sectioning a travel road are extracted, and a candidate line of the boundary line is extracted. An apparent width of the candidate line on an image is calculated, from a width of the candidate line in a horizontal direction of the image and an angle of the candidate line relative to a vertical direction of the image. A probability of a candidate line being a boundary line is calculated to be higher, as a degree of the candidate line having characteristics as a boundary line is higher. The calculated probabilities are integrated in respect of a plurality of characteristics to recognize a boundary line. The characteristics include a ratio of the calculated apparent width to an image blur degree is larger than a predetermined value.

Abstract: An autonomous vehicle generates segmentation scenes based upon lidar data generated by a lidar sensor system of the autonomous vehicle. The lidar data includes points indicative of positions of objects in a driving environment of the autonomous vehicle. The segmentation scenes comprise regions that are indicative of the objects in the driving environment. The autonomous vehicle generates scores for each segmentation scene based upon characteristics of each segmentation scenes and selects a segmentation scene based upon the scores. The autonomous vehicle then operates based upon the segmentation scene.

Abstract: An object-classification system for an automated vehicle includes an object-detector and a controller. The object-detector may be a camera, radar, lidar or any combination thereof. The object-detector detects an object proximate to a host-vehicle. The controller is in communication with the object-detector. The controller is configured to determine a density of the object based on a motion-characteristic of the object caused by air-movement proximate to the object, and operate the host-vehicle to avoid striking the object with the host-vehicle when the density of the object is classified as dense.

Abstract: A vehicle control device includes a mid-term trajectory generation unit and a short-term trajectory generation unit, one of which generates a travel trajectory on which a vehicle can travel without interfering with an obstacle. The mid-term trajectory generation unit or the short-term trajectory generation unit: generates a travel route that passes through a second potential-travelling region which is obtained by subtracting obstacle regions, indicating obstacles, from a vehicle first potential-travelling region that is defined by the road environment; and generates the travel trajectory on the basis of the generated travel route.

Abstract: A radar system includes a controller that receives radar data from a first radar sensor and a second radar sensor mounted to a vehicle. The controller determines, based on fields of view of both the first radar sensor and the second radar sensor, reduced fields of view that overlay a travel path of the vehicle. The reduced fields of view are enabled by reflecting portions of transmitted radar signals away from both the first radar sensor and the second radar sensor, thereby inhibiting detections of objects outside of the travel path of the vehicle. The controller determines whether a stationary object is detected by both the first radar sensor and the second radar sensor in the reduced fields of view while the vehicle is stationary.

Abstract: A position detecting device used for positional adjustment of a radar sensor serving as an object detector mounted in a vehicle includes a connecting structure connected to the radar sensor, and a position reference holder that is supported by the connecting structure in a state in which a biasing force toward an initial position is applied, that is displaced against the biasing force in a state in which the connecting structure is connected to the radar sensor and that is pushed against a position reference of the radar sensor in a floating support state.

Abstract: A method of remotely controlling access to a resource comprising: transmitting a plurality of signals wherein each signal is transmitted using a different antenna from a plurality of antennas, detecting a received signal at a remote key, performing angle-of-arrival analysis on the received signal; and transmitting an authorisation message from the remote key if the received signal comprises a plurality of signal components with a predetermined characteristic.

Abstract: A vehicle control device includes an imaging unit that images surroundings of an own-vehicle, a detector that detects a state of an external appearance of an oncoming vehicle facing the own-vehicle in a tunnel on the basis of an image captured by the imaging unit, and a determiner that determines whether or not the state of the external appearance of the oncoming vehicle satisfies a predetermined condition on the basis of the state of the external appearance of the oncoming vehicle detected by the detector and determines that the outside of the tunnel toward which the own-vehicle is traveling has bad weather if the state of the external appearance of the oncoming vehicle satisfies the predetermined condition.

Abstract: A radar signal processing device capable of performing a highly accurate object identification is obtained. A first feature quantity related to a relative distance and a relative speed to an object, the direction and the reflection intensity of the object, which are extracted by a first feature quantity extraction block, is made identical in time series in a data storage processing block; a second feature quantity is extracted by a second feature quantity extraction block; one in which an instant score is accumulated in a cycle direction to the distribution of the second feature quantity related to a predetermined category calculated by an attribution degree calculation block is calculated as an accumulation score by an accumulation/instant score calculation block; and a category of the object is determined by an object determination block on the basis of the accumulation score calculated by the accumulation/instant score calculation block.

Abstract: A disambiguating system for disambiguating between ambiguous detections is provided. The system includes a plurality of modules, wherein each module is configured to disambiguate between ambiguous detections by selecting, as a true detection, one candidate detection in a set of ambiguous detections and wherein each module is configured to apply a different selection technique. The system includes: one or more modules configured to select as the true detection, the candidate detection whose associated position is closer to a position indicated by other data and one or more modules configured to select as the true detection, the candidate detection with the highest probability of being true based on other sensor data.

Abstract: Systems, methods and apparatus for automatic alarm management in a radio-frequency (RF) environment are disclosed. An apparatus calculates a power distribution by frequency of the RF environment in real time or near real time, including a first derivative and a second derivative of FFT data of the RF environment. The apparatus then creates a baseline based on the power distribution by frequency of the RF environment in a period of time, identifies at least one alarm situation based on a multiplicity of alarm triggering conditions by comparing the power distribution in real time or near real time to the baseline of the RF environment, identifies at least one signal based on the first derivative and the second derivative of FFT data in the at least one alarm situation, and sends at least one alarm comprising details of the at least one signal identified in the at least one alarm situation.

Abstract: A method for calibrating a sensor of a motor vehicle includes, while the motor vehicle is moved relative to an object, continuously receiving a reception signal by a computing device from two reception devices of the sensor, the reception signal describing a sensor signal that is emitted by the sensor and reflected at the object. A measurement angle between the sensor and the object is determined based on a phase difference between the reception signals. A relative orientation between the sensor and the object is determined continuously based on the reception signals, and a reference time at which the relative orientation corresponds to a predetermined reference orientation for which a reference angle between the sensor and the object is known is determined by the computing device. The measurement angle is determined for the reference time, and the sensor is calibrated based on a comparison between the measurement angle for the reference time and the reference angle.

Abstract: A virtual lane generating method and device is provided. The virtual lane generating method includes determining validity of lane detection information extracted from an image in front a vehicle, and generating a virtual lane based on an object included in the image, in response to a determination that the lane detection information is not valid.

Abstract: A receiving circuit uses a weight set by calibration to weight signals incident to receiving elements. A storing unit stores a measured value of a mode vector reflecting characteristics of the receiving circuit in an error-free state of the weight for the receiving circuit characteristics and further correlates and stores an incident signal angle estimated by an estimating unit, and for the error-free state, a calculation result of an evaluation value by an evaluation function capable of calculating the evaluation value, which varies according to the incident signal angle and error. A detecting unit calculates the evaluation value based on the stored measured value of the mode vector and the evaluation function and detects an occurrence of the error based on comparison of the calculated evaluation value and the stored evaluation value, when the estimated incident signal angle corresponds to a value close to the stored incident signal angle.

Abstract: A robot cleaner includes a cleaner main body, a driver to move the cleaner main body, a sensor to sense an obstacle, and a sensor driver to rotate the sensor so that the sensor reciprocates in left and right directions within a predetermined angle range about a reference direction. In addition, a processor controls the driver to adjust a traveling direction of the cleaner main body based on the sensing result of the sensor, and to change the reference direction with a rotation direction if the cleaner main body is rotated.

Abstract: A method of measuring an azimuth of a target by a scanning radar includes (a) establishing a radar scanning model, including (a1) selecting an antenna pattern, (a2) setting a set of radar parameters, (a3) creating reflected signals simulation curve, (a4) sampling the reflected signals simulation curve to create a plurality of sets of simulation data, each set is consisted of successive samples, and (a5) normalizing each sample of each set of simulation data to create a plurality sets of records of normalized simulation data; (b) obtaining normalized scanning data; (c) comparing records of normalized simulation data with the normalized scanning data; and (d) obtaining an azimuth of the target.

Abstract: In a vehicle control apparatus, a gradient calculator calculates a gradient difference between a reference gradient of a reference road section of an own vehicle and a target gradient of an objective road section of an image-detected object. A corrector corrects, based on the calculated gradient difference, second location information about the image-detected object measured by an imaging device to thereby correct a second distance of the image-detected object relative to the own vehicle. A determiner determines whether a radar-based object is identical with the image-detected object in accordance with first location information about the image-detected object measured by a radar device and the corrected second location information about the image-detected object.