Abstract: A method and apparatus for estimating elevation angle when using a broad search beam such as a cosecant-squared beam is provided. The range of a target detected during a search with a broad beam covering a broad angular search area is determined. Based on the determined range, consecutive beams are transmitted at increasing search elevation angles in the broad angular search area. Echo signals of the consecutive beams are used to determine an elevation angle estimate for the target.

Abstract: A first Kalman filter estimates true measures of yaw rate and vehicle speed from associated noisy measures thereof generated by respective sensors in a host vehicle, and a second Kalman filter estimates therefrom parameters of a clothoid model of road curvature. Measures of range, range rate, and azimuth angle from a target state estimation subsystem, e.g. a radar system, are processed by an extended Kalman filter to provide an unconstrained estimate of the state of a target vehicle. Associated road constrained target state estimates are generated for one or more roadway lanes, and are compared—either individually or in combination—with the unconstrained estimate. If a constrained target state estimate corresponds to the unconstrained estimate, then the state of the target vehicle is generated by fusing the unconstrained and constrained estimates; and otherwise is given by the unconstrained estimate alone.

Abstract: The invention concerns a passive radar receiver with an array of antennas for a OFDM received signal comprising frames of symbols each emitted on coded orthogonal carriers. After formatting received signals into digital symbols, dummy signals from dummy OFDM emitters at different distances from and in different directions relative to the receiver are generated and added to the signals picked up by the antennas. The modified received signals are filtered by means of inverse covariance matrices in order to eliminate at least unwanted zero Doppler effect signals and to provide an isotropic reception diagram without blind sector of direct path being generated and by detecting mobile targets along the direct path.

Abstract: A system and method for rapidly determining the source of an incoming projectile applies controlled, active RF energy source(s) to illuminate a target area/projectile, and exploits Doppler induced frequency shifts from multiple receivers to develop a vector solution. The preferred solution applies continuous wave (CW) RF illuminators to flood a local region with a controlled source of radio frequency energy and one or more displaced receiver elements. The system operates multi-statically and as an incoming projectile enters the illuminated region, reflected energy from one or more illuminators is detected by one or more displaced RF receivers. Doppler shifts imparted on the reflected signals are detected by the receivers as the projectile moves through the region. Appropriate processing of the receiver outputs generates Doppler time-frequency profiles that are used to derive an estimate of the projectile flight vector in 3-space (x,y,z).

Abstract: A method for determining position and velocity of targets from signals scattered by the targets using a first and a second station each including a transmitter/receiver of electromagnetic or acoustic signals. First, mono-static measurements are carried out from each station, and also a bi-static measurement between the stations. The two mono-static measurements are used to calculate a number of target candidates with 2-dimensional position and 2-dimensional velocity. These target candidates are tested against the result of the bi-static measurement and the target candidates which are found in all measurements with suitable error margins are retained.

Abstract: A method of detecting moving objects and of estimating their velocity and position in SAR images includes the steps of generating a sequence of single-look SAR images which have the same polarization, are successive in time, and have a look center frequency which varies from one image to the next; detecting candidates for moving objects in the single-look SAR images of the sequence by searching for regions with a course of intensity that deviates from the environment; estimating the velocity of the detected candidates; and verifying the detected candidates as moving objects. The estimation of one or more velocity components of a detected candidate takes place jointly with the estimation of one or more position components of the candidate.

Abstract: A radar device having means for generating a carrier-frequency signal, means for shaping pulses, means for generating modulated radar pulses from the carrier-frequency signal, means for emitting modulated signals as radar pulses, means for receiving radar pulses and means for processing the received radar pulses. The means for receiving the radar pulses have an array including a plurality of antennas, the means for processing the radar pulses have means for dividing the signal power over at least two different reception branches. Means are provided for generating different directional characteristics in the various reception branches.

Abstract: A reflected energy detecting device includes a transmitter for transmitting an electromagnetic signal and a receiver for receiving a reflected electromagnetic signal. An antenna may be operatively connected with the transmitter and the receiver for radiating the electromagnetic signal and capturing the reflected electromagnetic signal and the antenna may be movable. A main controller may be provided for controlling operation of the transmitter and the receiver and the movement of the antenna and the reflected energy detecting device may further include at least one platform. The at least one platform may support a remote reflector that is dimensioned and configured to redirect the transmitted electromagnetic signal in a desired direction and a platform controller that is configured to communicate with the main controller and to maintain alignment between the remote reflector and the antenna.

Abstract: A sensor front end that is able to discriminate objects based on their range from the sensor and to derive bearing information therefrom. The sensor system may include a signal source for generating source signal; an antenna system for transmitting the source signal to and receiving a reflected signal from the object; wherein the antenna system is configured for introducing a phase shift into either the source signal or the reflected signal to create a plurality of signal patterns; and an information processor programmed to receive the reflected signal and to determine bearing information for the object based on position and phase information in the plurality of signal patterns.

Abstract: A vehicle radar system extracts peak frequencies fbu and fbd of respective beat signals B1 to B9 representing the frequency difference between a transmission signal fs and a plurality of received signals fr1 to fr9. The phase difference of respective beat signals B1 to B9 at the peak frequencies fbu and fbd is converted into a frequency signal. In the case of reflection from a close range road surface or raindrops, the phase difference of each beat signal is irregular. The peak frequency intensity of a converted frequency signal is small. This system compares the peak frequency intensity of the converted frequency signal with predetermined criterion intensity. Then, the system identifies an objective with a close range road surface or raindrops when the peak frequency intensity of the converted frequency signal is not larger than the predetermined criterion intensity.

Abstract: An automobile radar which serves to provide data for cruise control or other systems in a host vehicle, comprising means for measuring radar boresight misalignment by detecting the presence of apparent variations in the spacing of stationary objects from the direction of motion of the host vehicle and utilizing such detection to compensate for any misalignment.

Abstract: A method, used in locating a mobile transmitter, includes providing a set of cross-correlation values, wherein each cross-correlation value is associated with a corresponding TDOA and/or FDOA estimate and is produced by cross-correlating a reference signal with a cooperating signal. The reference signal comprises a copy of a signal transmitted by the mobile transmitter as received at a first antenna and the cooperating signal comprises a copy of the same signal as received at a second antenna. The method further includes determining a most likely range of TDOA and/or FDOA estimates, and then identifying an optimal cross-correlation value within a subset of cross-correlation values corresponding to the most likely range of TDOA and/or FDOA estimates. The TDOA and/or FDOA value corresponding to the optimal cross-correlation value is then employed in calculating the location of the mobile transmitter.

Abstract: Disclosed is a radar apparatus which receives a transmitted signal reflected from an object by switching between a plurality of antennas, wherein the plurality of antennas are divided into a plurality of groups, and at least one of the plurality of antennas contained in each of the groups is a common antenna.

Abstract: In the on-vehicle radar apparatus of the present invention, the vertical scanning width of the radar beam is narrowed, before the horizontal scanning, thereby avoiding unnecessary data processing and improving the data processing efficiently. Further, the S/N ratio of the target detection signal is increased, thereby stabilizing the distance detection and its accuracy. The vertical scanning antenna is a single travelling wave excitation antenna (TWEA) constructed by a plurality of antenna elements. At the same time, the horizontal scanning antenna is a multi-channel antenna wherein a plurality of TWEAs is assigned to a plurality of horizontal directions. The horizontal scanning angle is arbitrarily widened by increasing the number of TWEAs.

Abstract: The invention concerns a passive radar receiver with an array of antennas for a OFDM received signal comprising frames of symbols each emitted on coded orthogonal carriers. After formatting received signals into digital symbols, dummy signals from dummy OFDM emitters at different distances from and in different directions relative to the receiver are generated and added to the signals picked up by the antennas. The modified received signals are filtered by means of inverse covariance matrices in order to eliminate at least unwanted zero Doppler effect signals and to provide an isotropic reception diagram without blind sector of direct path being generated and by detecting mobile targets along the direct path.

Abstract: A lock controller has main apparatus provided to a lockable door and a detector for detecting an approaching or retreating target object. The detector includes an oscillator device for generating a transmission wave, a branching device for branching the transmission wave, a transmission device for transmitting the transmission wave into space as electromagnetic waves, a reception device for receiving the transmission wave reflected by the target object, a mixer for mixing a reception signal received by the reception device and a branched signal branched by the branching device to output a mixed signal, and a judging device for switching on a detection output indicating the target object approaching and retreating based on an increase and a decrease of the mixed signal outputted from the mixer. A detection distance is set within ¼ wavelength of frequency effective for the detection.

Abstract: A radar is provided which transmits a radar wave whose frequency is so modulated as to rise, fall, and be kept constant cyclically. The radar uses beat signals produced by the radar wave and radar echoes received by two antennas to produce radar data on a target. When it is impossible to pair frequency peaks of the beat signals in a modulated frequency-rising and -falling ranges, the radar determines that the frequency peaks have arisen from different objects so that they overlap each other and uses frequency peaks of the beat signals in a constant modulated frequency range to acquire the radar data.

Abstract: An average power value of a peak pair corresponding to a subjective target objective is converted into a radar cross section, to calculate a normalized average power value NP and a standard deviation DP representing a temporal dispersion of a power difference between peak pairs. When the value NP is larger than an automotive vehicle discriminating threshold THnp, the attribute of the subjective target objective is set to “automotive vehicle.” When the value NP is not larger than the threshold THnp and the deviation DP is larger than a human objective discriminating threshold THdp, the attribute of the subjective target objective is set to “non-vehicle objective: human objective.” Furthermore, when the value NP is not larger than the threshold THnp and the deviation DP is not larger than the threshold THdp, the attribute of the subjective target objective is set to “non-vehicle objective: non-human.

Abstract: A radar system achieves adjustment of a time-change characteristic of a frequency-modulating voltage signal to a voltage-controlled oscillator for determining a transmitting signal such that the time-change characteristic of the frequency-modulating voltage signal is changed by a minute amount and the frequency spectrum of a beat signal is determined. The adjustment is performed so that the shape of a bulge in signal intensity included in the frequency spectrum is the sharpest.

Abstract: A path in three-dimensions for an object in flight is determined according to a radar signal reflected by the object. The radar signal is transmitted at an offset angle from horizontal sufficient to capture the object within the transmitted radar signal. The transmitted radar signal is reflected by the object to form a reflected radar signal containing an indication of a position of the object. The reflected radar signal is received and used to determine two-dimensional position information for the object by detection of the indication of the position of the object in the received radar signal. Position information is derived in three-dimensions from the position information in two-dimensions. The path information representative of the path for the object is obtained from the position information in three-dimensions based on an optimization of a curvature of said path information.

Abstract: Disclosed is a radar apparatus equipped with a function for detecting an FM-AM conversion noise peak. When the direction of radiation is swept, any peak whose level remains substantially unchanged is judged to be a peak due to FM-AM conversion noise. Further, when FM modulation is stopped, any peak appearing in a region not lower than 50 kHz is judged to be a noise peak.

Abstract: Emitter target range and heading are estimated from bearing measurements enhancing bearings-only estimator convergence to a target track, and permitting optimization of an observer position relative to the target at the end of the total bearing measurement period. One or more estimates of the target range, speed and heading made from bearing measurements before an observer maneuver are used to determine the most appropriate observer maneuver giving complete bearings-only target-motion-analysis observability. A set of parameters characterizing a set of potential emitter signal sources is generated based on measured emitter characteristics. A most probable set of emitter platforms is identified and the emitter operating mode and corresponding platform set are associated with a kinematic regime set. A specific speed or discrete set of speeds best adapted to a set of all possible platform missions, emitter speed as a continuous function of emitter range, and emitter range are all determined.

Abstract: In a radar apparatus for automobiles for transmitting a radio wave, receiving a radio wave reflected from an object and measuring a rate of the object, a digital signal processor has at least two operation modes, a normal operation mode and a low energy consumption mode, and has a function of switching between the operation modes of the digital signal processor in accordance with a signal supplied from a counter (judgement unit) for judging whether a received signal satisfies predetermined conditions. The radar apparatus can reduce consumption power when necessary.

Abstract: Disclosed is a transmit-receive FM-CW radar apparatus which switches between transmission and reception by time division control, wherein amplifiers capable of controlling gain are provided in a transmitter signal path and a receiver signal path, respectively, and wherein the gain in the leading edge portion of a receive timing interval or the gain in the trailing edge portion of a transmit timing interval is suppressed by controlling the gain of the amplifier provided in the receiver signal path or the gain of the amplifier provided in the transmitter signal path, respectively.

Abstract: A vehicle radar system extracts peak frequencies fbu and fbd of respective beat signals B1 to B9 representing the frequency difference between a transmission signal fs and a plurality of received signals fr1 to fr9. The phase difference of respective beat signals B1 to B9 at the peak frequencies fbu and fbd is converted into a frequency signal. In the case of reflection from a close range road surface or raindrops, the phase difference of each beat signal is irregular. The peak frequency intensity of a converted frequency signal is small. This system compares the peak frequency intensity of the converted frequency signal with predetermined criterion intensity. Then, the system identifies an objective with a close range road surface or raindrops when the peak frequency intensity of the converted frequency signal is not larger than the predetermined criterion intensity.

Abstract: A transmit-receive FM-CW radar apparatus according to one mode of the invention comprises: a mixer for downconverting an IF signal; a switch provided on the input side of the mixer; and a switch controller for controlling the switch on and off in different modes and selecting the IF signal in the different modes for supply to said mixer. A transmit-receive FM-CW radar apparatus according to another mode of the invention comprises: a mixer for downconverting an IF signal; a switch for turning on and off a local signal to be supplied to the mixer; and a switch controller for controlling the switch on and off in different modes and selecting the local signal in the different modes for supply to the mixer.

Abstract: A plurality of roadside wireless devices are provided on a roadside of an entry of a toll area. A first roadside wireless device, which communicates with a vehicle-mounted device over wireless communication, sends unique information obtained from the vehicle-mounted device to a second roadside wireless device located, downstream to the first roadside wireless device, along a moving direction of the vehicle. The second roadside wireless device checks if unique information on the vehicle-mounted device obtained from the vehicle-mounted device matches the unique information on vehicle-mounted device notified from the first roadside wireless device to judge if the moving direction is a direction of entry into a toll area and charges the vehicle-mounted device for toll only when it is judged that the moving direction is the direction of entry into the toll area.

Abstract: Disclosed is a radar apparatus equipped with a function for detecting an abnormality of modulation width. Distance rt2 at time t2 is calculated from the values of the distance Rt1 and the relative velocity Vt1 measured at time t1 and the elapsed time t2−t1, and the difference relative to the actual measured value Rt2 is compared with a threshold value C1. If the difference relative to the actual measured value exceeds the threshold value C1, the modulation width is judged to be abnormal.

Abstract: To realize a monopulse radar system wherein the velocity of a mobile body, distance between an obstacle and the mobile body and relative velocity can be detected and simultaneously, the direction of the obstacle can be detected, in a monopulse radar system wherein an azimuth is detected depending upon amplitude difference or phase difference between signals respectively received by plural receiving antennas, an array antenna composed of plural antenna elements is used for each transmitting antenna and each receiving antenna, at least one of the transmitting antenna and the receiving antenna is provided with an antenna switch for switching an antenna beam shape to a short angle/long distance or a wide angle/short distance and a switch control device that controls the switching of the antenna switch is provided.

Abstract: One of the objects of the present invention is to reduce the size of a radar device mounted on a vehicle body. To achieve the object, one aspect of the invention provides a radar device, which is mounted on a vehicle body and detects a target present in a moving direction of the vehicle body, with (1) a transmitting antenna for transmitting a mm-Wave that forms an electric field having a width equivalent to the width of the vehicle body at a position away in a moving direction of the vehicle body by a distance corresponding to the most-approached distance defined between the vehicle body and the target and (2) two receiving antennas for receiving the reflected mm-Waves at mutually different positions.

Abstract: In the on-vehicle radar apparatus of the present invention, the vertical scanning width of the radar beam is narrowed, before the horizontal scanning, thereby avoiding unnecessary data processing and improving the data processing efficiently. Further, the SIN ratio of the target detection signal is increased, thereby stabilizing the distance detection and its accuracy. The vertical scanning antenna is a single travelling wave excitation antenna (TWEA) constructed by a plurality of antenna elements. At the same time, the horizontal scanning antenna is a multi-channel antenna wherein a plurality of TWEAs is assigned to a plurality of horizontal directions. The horizontal scanning angle is arbitrarily widened by increasing the number of TWEAs.

Abstract: A vehicle-mounted radar apparatus which periodically derives and registers successive momentary position values for a target object such as a preceding vehicle based on received reflected radio waves and derives final lateral position data by smoothing the momentary position data, judges when a degree of scattering of the registered momentary position values exceeds a first predetermined level and in that case derives corrected position data based on differences between envelope curve line values which are generated based on local extreme values of the momentary position data, and performs smoothing of the corrected position data instead of the momentary position data, to obtain the final lateral position data. If the target object is not estimated to be located directly ahead of the host vehicle along a straight route, the corrected position data are adjusted in accordance with relative positions and orientations of the target object and host vehicle.

Abstract: The present invention relates to a method for determining position and velocity of targets from signals scattered by the targets. One uses a first and a second station comprising transmitter/receiver (s1,s2) of electromagnetic or acoustic signals and carries out mono-static measurements (M1,M2) from each station, and also a bi-static measurement between the stations (B12), and calculates first through the two mono-static measurements a number of target candidates with 2-dimensional position and 2-dimensional velocity, whereupon these are tested against the result of the bi-static measurement and the target candidates which are found In all measurements with suitable error margins are retained.

Abstract: The present invention relates to a radar device having means (10) for generating a carrier-frequency signal, means (12, 12a, 12b, 13, 13a, 13b) for shaping pulses, means (14, 14a, 14b, 15, 15a, 15b) for generating modulated radar pulses from the carrier-frequency signal, means (16, 18a, 18b, 18c, 18d) for emitting modulated signals as radar pulses, means (18a, 18b, 18c, 18d) for receiving radar pulses, and means (20) for processing the received radar pulses, the means for receiving the radar pulses having an array including a plurality of antennas (18a, 18b, 18c, 18d), the means (20) for processing the radar pulses having means for dividing the signal power over at least two different reception branches (24, 26), and means (28a, 28b, 28c, 28d, 30a, 30b, 30c, 30d, 42) being provided for generating different directional characteristics (32, 34) in the various reception branches (24, 26). The invention also relates to a method for operating a radar device.

Abstract: A method of estimating emitter range and heading from bearing measurements without requiring observer heading change or observer acceleration during the bearing measurement collection period. Emitter signal characteristics are measured and a set of parameters characterizing a specific emitter as a signal source are generated based on the measured characteristics. Based on the emitter characterization and an emitter-platform association data base, a most probable platform including the emitter is identified and the emitter operating mode and corresponding specific platform are associated with a particular kinematic regime.

Abstract: A radar comprising transmitter means for generating bursts of radar pulses, each scan of a radar consisting of a number (Nb) of bursts, the method comprises, for each scan k:

Abstract: An automobile radar which serves to provide data for cruise control or other systems in a host vehicle, comprising means for measuring radar boresight misalignment by detecting the presence of apparent variations in the spacing of stationary objects from the direction of motion of the host vehicle and utilising such detection to compensate for any misalignment.

Abstract: When a reflective wave reflected from a preceding object is received, the reflective wave being of an original radar beam scanned at a variable vertical angle, the vertical angle is detected, an absolute speed of the preceding object is calculated based on a vehicle speed and a relative speed calculated from the reflective wave, and accordingly a driving environment is determined based on the vertical angle and the absolute speed.

Abstract: An outdoor microwave transceiver intrusion detector that alternately transmits pulses of RF energy at two different frequencies and uses range and direction of travel information derived from the phase of the two Doppler responses to optimize the signal processing and apply range dependent thresholds. The time delay between the onset of the transmitted pulse and the sample of the Doppler response is controlled to provide an accurate range cutoff. The two frequencies are selected so that the difference in phase of the Doppler response at the two frequencies increases from zero to ninety degrees as the target goes from the Transceiver to the maximum range. Digital signal processing is used to measure the difference in phase of the two Doppler responses and translate this information into location of the target. The location information is used to create a number of range bins.

Abstract: As to a beat signal of a received wave, for instance, a plurality of FFT-based frequency spectra of every FM rise zone are accumulated in an accumulation unit. A judgment unit judges a valley section from the plurality of frequency spectra accumulated. A peak frequency extraction unit acquires, as beat frequencies of different targets, respective beat frequencies of peak sections located at both sides of the valley sections judged.

Abstract: A method for tracking a target vehicle through a curve in a roadway is disclosed. The method includes measuring an azimuth angle between the target vehicle and a host vehicle, calculating a relative velocity between the target vehicle and the host vehicle, developing a theoretical relationship, wherein the relationship is a function of the measured azimuth angle and the measured relative velocity, and comparing the developed theoretical relationship with measured relationship between the azimuth angle and the relative velocity. Further, the target vehicle is determined to be in the same lane or path of the host vehicle by evaluating how well the developed theoretical relationship fits the with the measured azimuth angle and calculated relative velocity. Therefore, the present invention determines the path of a target vehicle without relying on inaccurate conventional methods based on the yaw rate of the host vehicle.

Abstract: A vehicle-mounted radar apparatus which periodically derives and registers successive momentary position values for a target object such as a preceding vehicle based on received reflected radio waves and derives final lateral position data by smoothing the momentary position data, judges when a degree of scattering of the registered momentary position values exceeds a first predetermined level and in that case derives corrected position data based on differences between envelope curve line values which are generated based on local extreme values of the momentary position data, and performs smoothing of the corrected position data instead of the momentary position data, to obtain the final lateral position data. If the target object is not estimated to be located directly ahead of the host vehicle along a straight route, the corrected position data are adjusted in accordance with relative positions and orientations of the target object and host vehicle.

Abstract: A system and method (32) for measuring line-of-sight angular rates for all-weather precision guidance of distributed projectiles (16) and a guidance system (10) based thereon. In accordance with the novel method (32) for measuring line-of-sight angular rates, first the range rates of the target (14) relative to at least two projectiles (16) is determined, as well as the position and velocity of each projectile (16). Then, the line-of-sight angular rate of the target (14) relative to at least one projectile (16) is computed from the range rates, positions, and velocities. In the illustrative embodiment, the range rate of the target (14) relative to a projectile (16) is determined based on a monostatic target Doppler measurement, a monostatic projectile Doppler measurement, a bistatic Doppler measurement of the target (14) by the projectile (16), and the carrier frequency of a data link (26) between the projectile and the shipboard system.

Abstract: An FMCW radar is provided which may be employed in automotive anti-collision or radar cruise control systems. In a distance measuring mode, only one of channels is used to sample a beat signal continuously, thereby allowing a sampling frequency to be increased up to Nc times that in an azimuth measuring mode and a sweep time in which a transmit signal sweeps in frequency upward and downward cyclically to be minimized. This causes half the sampling frequency to be higher than a frequency component arising sufficiently from a distant target present outside a preset radar range, thereby eliminating an error in detecting the distant target as being located inside the preset radar range.

Abstract: A method for determining a position of a doppler radar target in aircraft body coordinates is described. The method includes calculating values for doppler circle equations, in doppler coordinates, based upon a range to the target, a vehicle velocity, and a center frequency and bandwidth of a doppler swath filter. Further, an interferometric circle in body coordinates is calculated based upon a range to the target, and an interferometric angle. The doppler circle equations are transformed into body coordinates utilizing received pitch, roll and yaw information. Finally, an intersection of the interferometric circle equations with the transformed doppler circle equations is calculated, the intersection being the position of the target in body coordinates.

Abstract: A method for measuring the distance and speed of objects using electromagnetic waves with a motor vehicle radar system is described, electromagnetic waves being transmitted and simultaneously received, the transmitted electromagnetic waves being modulated in the shape of a ramp, at least the signals received during one rise and one drop of the frequency of the transmitted signal being mixed in each case with the transmitted signal, a number of intermediate frequency signals being formed, and the distance and speed of the object being calculated using the intermediate frequency, a weather condition in the vicinity of the motor vehicle and/or a disturbance in the motor vehicle radar system being identified on the basis of characteristic intermediate frequency signals.

Abstract: A system and method for detecting a target. The inventive method includes the steps of receiving a complex return signal of an electromagnetic pulse having a real and an imaginary component; extracting from the imaginary component information representative of the phase component of the return signal; and utilizing the phase component to detect the target. Specifically, the phase components are those found from the complex range-Doppler map. More specific embodiments further include the steps of determining a power spectral density of the phase component of the return signal; performing a cross-correlation of power spectral density of the phase component of the return signal between different antenna-subarray (quadrant channels); and averaging the cross-correlated power spectral density of the low frequency components. In an alternative embodiment, the cross-correlation is performed on the phase component of the range-Doppler map directly.

Abstract: The invention provides an object recognition apparatus that removes virtual images without detecting a roadside object. When a predetermined vehicle is currently running on a lane, a detection area, outside of the currently running lane, is designated to include a first area and an assumed ghost area therein. The first area is enclosed by a boundary of the detection area, a boundary of the assumed ghost area adjacent thereto, and a boundary on the currently running lane whose distance is traveled by the vehicle during one control cycle. The invention detects an object for the first time in the assumed ghost area, not in the first area. When the object travels with a distance and a speed of a target vehicle, it is determined to be a ghost to be deleted.

Abstract: This invention relates to an adaptive detection system and method for analyzing range-doppler-azimuth data for target detection. The detection system has a threshold calculator for calculating a threshold value that is based on the standard deviation of the range-doppler-azimuth data and a predetermined probability of detection. The detection system also has a detection module in communication with the threshold calculator to receive the threshold value. The detection module calculates an estimated target amplitude and an estimated noise floor amplitude based on the range-doppler data that is located in a detection window. The detection module detects a target when the difference between the estimated target amplitude and the estimated noise floor amplitude is larger than the threshold value.

Abstract: In a method and apparatus for controlling the distance of a vehicle to a vehicle traveling ahead, in which the distance and the relative velocity of the vehicle traveling ahead are measured and the distance, in a distance control mode, is controlled by accelerating or decelerating the vehicle to a preestablished setpoint distance, wherein the deceleration permitted by the distance control process is limited and, in situations in which the setpoint distance cannot be maintained at this limited deceleration, the transition is made from the distance control process to a process limiting the distance to a minimum distance which is smaller than the setpoint distance, and the vehicle, after reaching the minimum distance, is further decelerated, so that the distance once again increases to the setpoint distance.