Abstract: An autonomous travelling vehicle that autonomously travels based on surrounding information includes an information processing unit that processes surrounding information obtained, a control unit that controls driving of the autonomous travelling vehicle based on the surrounding information, a surrounding information acquisition sensor that obtains surrounding information for the travelling direction of the car body, and a blind area determining unit that determines a blind area around the car body not covered by the surrounding information acquisition sensor. When the autonomous travelling vehicle travels in a blind area at the start of travel, the control unit controls the autonomous travelling vehicle so as to travel at a speed lower than a preset normal speed.

Abstract: Systems, methods, and apparatus are provided for automated identification of baseline data and changes in state in a wireless communications spectrum, by identifying sources of signal emission in the spectrum by automatically detecting signals, analyzing signals, comparing signal data to historical and reference data, creating corresponding signal profiles, and determining information about the baseline data and changes in state based upon the measured and analyzed data in near real time, which is stored on each apparatus or device and/or on a remote server computer that aggregates data from each apparatus or device.

Abstract: Methods and systems are provided for controlling a radar system of a vehicle. One or more transmitters are configured to transmit radar signals. A plurality of antennas or arrays are configured to operate at a common frequency and a method and system for generating random frame intervals and receiving the radar signals in response to the random frame intervals.

Abstract: A machine learning module may generate a probability distribution from training data including labeled modeling data correlated with reflection data. Modeling data may include data from a LIDAR system, camera, and/or a GPS for a target environment/object. Reflection data may be collected from the same environment/object by a radar and/or an ultrasonic system. The probability distribution may assign reflection coefficients for radar and/or ultrasonic systems conditioned on values for modeling data. A mapping module may create a reflection model to overlay a virtual environment assembled from a second set of modeling data by applying the second set to the probability distribution to assign reflection values to surfaces within the virtual environment. Additionally, a test bench may evaluate an algorithm, for processing reflection data to generate control signals to an autonomous vehicle, with simulated reflection data from a virtual sensor engaging reflection values assigned within the virtual environment.

Abstract: A target determination apparatus mounted in a vehicle includes a first relative speed acquisition device configured to acquire a relative speed of a target forward of the vehicle with respect to the vehicle as a first relative speed using a millimeter-wave radar, a second relative speed acquisition device configured to acquire a relative speed of the target with respect to the vehicle as a second relative speed using a lidar, and a determination device configured to, in a case where the difference between the first relative speed and the second relative speed exceeds a threshold, determine the target as an upper structure located above the height of the vehicle.

Abstract: A method and apparatus for detecting static objects and broadside objects in a vehicular radar system is presented. Detection data within a field of view for a host vehicle is acquired. A histogram process is used to determine a presence of at least one of a static object and a broadside vehicle. The histogram process includes generating ratios of a relative velocity of an object (Vr) to host velocity (Vh) from acquired detection data and determining a number of detections which occur at an angle ? corresponding to an intersection of two lines with a first line represented by Vr/Vh=0 and a region of a second line within the FOV along which Vr/Vh?0. The detections are filtered to identify only those detection points at a first and second predetermined values of ?, wherein the identified detections indicate a presence of a static object and/or a broadside vehicle.

Abstract: Systems, methods, and apparatus for geolocating a signal emitting device are disclosed. A monitoring array comprises at least four monitoring units. A distance ratio between the at least four monitoring units relative to a midpoint is determined. The at least four monitoring units are operable to scan independently for a signal of interest. The at least four monitoring units are operable to calculate times of arrival and angles of arrival for the signal of interest. Each of the at least four monitoring units is operable to measure the signal of interest and transmit a formatted message to other monitoring units within the monitoring array. Each of the at least four monitoring units is operable to determine a location of the signal emitting device from which the signal of interest is emitted based on calculations and measurements relating to the signal of interest.

Abstract: A control system 9 according to the present invention is mounted on a moving object. The control system 9 includes: an observing device 92 which transmits observation result data indicating an observation result of surroundings of the moving object; a first control instruction device 91 which transmits first control data indicating the control contents determined based on the observation result data; a movement control device 93 which controls movement of the moving object; and a relay device 95 which relays the first control data transmitted from the first control instruction device 91, to the movement control device 93. When a second control instruction device 94 which transmits second control data indicating the control contents determined based on the observation result data is provided to the control system 9, the relay device 95 transmits the second control data instead of the first control data, to the movement control device 93.

Abstract: A driving assist apparatus of a vehicle of the invention sets a predicted route predicted for the vehicle to move and performs an attention operation to a driver when a time predicted for the vehicle to reach a point where a moving object crosses the predicted route is smaller than or equal to a threshold time. The apparatus predicts a radius of a route predicted for the vehicle to move as a left turn radius when the vehicle turns left and sets a route curved along an arc having the left turn radius as the predicted route. The apparatus predicts the radius of the route predicted for the vehicle to move as a right turn radius when the vehicle turns right and sets the route curved along the arc having the right turn radius as the predicted route.

Abstract: Apparatus and methods for identifying a wireless signal-emitting device are disclosed. The apparatus is configured to sense and measure wireless communication signals from signal-emitting devices in a spectrum. The apparatus is operable to automatically detect a signal of interest from the wireless signal-emitting device and create a signal profile of the signal of interest; compare the signal profile with stored device signal profiles for identification of the wireless signal-emitting device; and calculate signal degradation data for the signal of interest based on information associated with the signal of interest in a static database including noise figure parameters of a wireless signal-emitting device outputting the signal of interest. The signal profile of the signal of interest, profile comparison result, and signal degradation data are stored in the apparatus.

Abstract: An information processing apparatus of a vehicle obtains a sensing result from a sensor that senses the path of travel, and receives a result of sensing the path of travel of the vehicle from an external device such as another vehicle. It is determined whether the state of the vehicle at a specific point in time is a first state in which the sensing result obtained from the sensor meets a predetermined condition. If the state of the vehicle is determined to be the first state, first information for controlling the movement of the vehicle is generated based on the sensing result obtained from the sensor. If the state of the vehicle is determined not to be the first state, the first information is generated based on the sensing result received from the external device. Then, the first information is output.

Abstract: A mirror assembly is coupled to a vehicle and includes a light detection and ranging (LIDAR) sensor, a mirror, and a metallized cover. A conductive mirror base is coupled to the LIDAR sensor, mirror, and metallized cover to form the mirror assembly. The mirror and metallized cover are each grounded to the conductive mirror base where the mirror and metallized cover each help to shield the LIDAR sensor from electromagnetic interference.

Abstract: In one embodiment, a headlight control subsystem optimizes headlamps associated with a vehicle. In operation, the headlight control subsystem receives image data and performs image detection operations that identify one or more objects included in the image. The headlight control subsystem then performs lighting calculations that determine characteristics of vehicle headlights that optimally illuminates the identified objects. Subsequently, the headlight control subsystem configures the headlamps to emit the vehicle headlights, thereby illuminating the object. Notably, in low light conditions, because the headlight control system expands the effective view of the driver through the windshield, the headlight control system increases the ability of the driver to comprehend environmental hazards and perform corrective action.

Abstract: Devices and methods enable optimizing a signal of interest based on identifying and analyzing the signal of interest based on radio frequency energy measurements. Signal data is compared with stored data to identify the signal of interest. Signal degradation data is calculated based on noise figure parameters, hardware parameters and environment parameters. The signal of interest is optimized based on the signal degradation data. Terrain data may also be used for optimizing the signal of interest.

Abstract: A method for tracking objects in three dimensions in a radar system is provided that includes receiving spherical coordinates of an estimated location of each object of a plurality of detected objects, a range rate of each object, and variances for the spherical coordinates and the range rate of each object, determining whether or not each object is currently being tracked, updating a tracking vector for an object based on the object spherical coordinates, range rate, and variances when the object is currently being tracked, and initializing a tracking vector for an object when the object is not currently being tracked, wherein a tracking vector for an object is a process state vector for an extended Kalman filter designed to track an object, elements of the tracking vector including Cartesian coordinates of the object location, the object velocity in three directions, and the object acceleration in three directions.

Abstract: A diagnostic apparatus includes an obtaining unit for obtaining horizontal misalignment information indicative of whether there is horizontal misalignment in a probing beam. The diagnostic apparatus includes a diagnostic unit for diagnosing whether there is vertical misalignment. The vertical misalignment is misalignment of the probing beam with respect to a designed beam axis position in a vertical direction. The vertical direction corresponds to a height direction of the vehicle. The diagnostic apparatus includes a determining unit for determining, based on the horizontal misalignment information, whether the diagnostic unit executes diagnosis of the vertical misalignment. The determining unit causes the diagnostic unit to execute diagnosis of the vertical misalignment upon the horizontal misalignment information representing that there is no horizontal misalignment.

Abstract: There is provided a radar device. An extracting unit extracts history peak signals according to estimated peak signals, from a difference frequency between a transmission signal and a reception signal obtained by receiving a reflected wave of a transmission wave based on the transmission signal from a target, in a first period and a second period. An estimating unit estimates current peak signals as the estimated peak signals based on extracted previous peak signals. A pairing unit pairs the history peak signal of the first period and the history peak signal of the second period. A re-pairing unit re-pairs the paired history peak signals, based on peak signals existing in a predetermined range including the paired history peak signals. An information generating unit generates information on the target based on a result of the pairing and a result of the re-pairing.

Abstract: Disclosed are an apparatus and a method for recognizing a position of a vehicle.

Abstract: There is provided a radar device. A transmitting unit transmits first and second transmission signals generated based on first and second parameters for computing relative velocities in first and second detection velocity ranges, respectively. The second detection velocity range is narrower than the first detection velocity range. A receiving unit receives the reflected waves of the first and second transmission signals from a target as first and second reception signals, respectively. A velocity measuring unit computes first and second relative velocities in the first and second detection velocity ranges based on the first and second reception signals, respectively and obtains the velocity measurement result of the relative velocity of the target based on the combination of the first and second relative velocities.

Abstract: Systems and methods are disclosed for providing at least one report relating to a wireless communications spectrum. At least one device is operable for wideband scan; to detect and measure at least one signal transmitted from at least one signal emitting device autonomously, thereby creating signal data; to analyze the signal data in near real-time, thereby creating analyzed data; generate the at least one report in near real-time; and to communicate at least a portion of the at least one report over a network to at least one remote device.

Abstract: A position determining device and an operating method thereof are disclosed. According to the present invention, a position of a neighboring vehicle is determined by using the differences of the receiving time and strengths between two sensing signals received from two ultrasound sensors installed in a vehicle. Therefore, it is possible to estimate a position and a moving path for neighboring vehicles while driving a vehicle.

Abstract: A method detecting a floor obstacle using a laser range finder according to the present invention includes the following steps: (a) generating normal floor characteristic data with regard to a flat normal driving surface having no floor obstacle; (b) registering the normal floor characteristic data on a pre-registered one-class classification method; (c) obtaining sensing value of the laser range finder according to the driving of a mobile robot; (d) generating sensing value-floor characteristic data with respect to the sensing value; and (e) determining whether the sensing value indicates a normal driving surface or a floor obstacle by applying the sensing value-floor characteristic data to the one-class classification method. Therefore, an obstacle including a relatively small floor obstacle existing on the driving path of a mobile robot can be detected more effectively using a laser range finder, thereby providing more stably an area where the mobile robot can travel.

Abstract: A gesture recognition system is shown using a 77 GHz FMCW radar system. The signature of a gesturing hand is measured to construct an energy distribution in velocity space over time. A gesturing hand is fundamentally a dynamical system with unobservable “state” (i.e. the type of the gesture) which determines the sequence of associated observable velocity-energy distributions, therefore a Hidden Markov Model is used to for gesture recognition. A method for reducing the length of the feature vectors by a factor of 12 is also shown, by re-parameterizing the feature vectors in terms of a sum of Gaussians without decreasing the recognition performance.

Abstract: Apparatuses, systems and methods for communicating between a first device and a second device are provided. Distance control circuitry including at least one transceiver is used to transmit and receive distance control signals and to detect a distance between the first device and a remote object based on a transmitted distance control signal and a received distance control signal reflected by the remote object. Communication circuitry coupled to the transceiver is used to modulate user data of the first device onto a transmitted distance control signal and/or to extract user data from a distance control signal received from the second device.

Abstract: A vehicle control system includes a set of radars, with each radar of the set including a depth setting which controls a corresponding range of the radar. The corresponding range of at least one radar may be adjusted based on contextual information, as determined by the vehicle when the vehicle is in use.

Abstract: A method of detecting direction errors of an object, applied to an in-vehicle radar apparatus, whereby in a first step, relative speeds of an object reflecting a continuous wave are obtained by executing frequency analysis of signals acquired by transmitting and receiving the continuous wave. In a second step estimated directions, which are values of estimated directions in which the object is present, are calculated for each of respective frequency bins in which the presence of the object has been confirmed by the frequency analysis executed in the first step. In a third step a theoretical curve is calculated which expresses a relationship between relative speed of a stationary object and directions in which the stationary object is present, with respect to the own vehicle. In a fourth step, the direction errors are obtained as errors of the estimated directions with respect to the theoretical curve.

Abstract: A system and method of operating an audio visual system generating an immersive virtual experience may include generating, by a head-mounted audio visual device, a virtual world immersive experience within a virtual space while physically moving within a physical space, displaying, by the head-mounted audio visual device within the virtual space, a visual target marker indicating a target location in the physical space, receiving, by the head-mounted audio visual device, a teleport control signal, and moving a virtual location of the head-mounted audio visual device within the virtual space from a first virtual location to a second virtual location in response to receiving the teleport control signal.

Abstract: Methods and systems are provided for selectively analyzing radar signals of a radar system of a vehicle. A receiver is configured to receive a plurality of radar signals of a radar system of a vehicle. The interface is configured to obtain data from one or more sensors of the vehicle having a modality that is different from the radar system. The processor is coupled to the receiver and to the interface, and is configured to selectively analyze the plurality of radar signals based upon the data.

Abstract: A radar device for a vehicle, according to an embodiment of the present invention, comprises: a case; a first printed circuit board (PCB) that is accommodated in the case and has a plurality of antenna arrays and an integrated circuit (IC) chip that are formed thereon, wherein the IC chip is connected to the plurality of antenna arrays; and a radome that is coupled to the case and covers the first printed circuit board, wherein the radome includes: a cover facing the first printed circuit board; a first wall connected to the cover surface; and a second wall connected to the cover and facing the first wall, wherein the internal angle between the cover and the first wall and the internal angle between the cover and the second wall are formed to be greater than 90° and less than 180°.

Abstract: Various technologies pertaining to motion compensation for radar systems using FM waveforms are described herein. A waveform generator outputs a parametrized, pulsed FM waveform to a radar antenna, whereupon the radar antenna emits pulsed electromagnetic (EM) radiation into a target area based upon the parametrized FM waveform. The parametrized FM waveform compensates for motion of a radar platform that includes the antenna. The parametrized FM waveform compensates for inter-pulse Doppler effects by introducing a time delay to a reference FM waveform, and compensates for intra-pulse Doppler effects by time dilating, or frequency-scaling, pulses of the reference waveform. The parametrized FM waveform can be generated by modifying the reference waveform based on first and second parameters, where the parameters are based upon motion of the radar platform and changes in echo return delay times from one pulse to another.

Abstract: There is provided a radar device. A transmission unit includes a transmission antenna for transmitting a signal of a first frequency and a signal of a second frequency. A reception unit includes a first receiving antenna and a second receiving antenna for receiving a first signal obtained by bouncing the signal of the first frequency off a target, and a second signal obtained by bouncing the signal of the second frequency off the target. A control unit determines folding of a first phase difference, based on the first phase difference between the first signal received by the first receiving antenna and the first signal received by the second receiving antenna, a second phase difference between the second signal received by the first receiving antenna and the second signal received by the second receiving antenna, and a difference between the first phase difference and the second phase difference.

Abstract: A driver assistance system includes an image sensor and a radar mounted to a vehicle and each having a sensing field oriented toward the outside of the vehicle. A controller processes the image data acquired by the camera and the radar data acquired by the radar, detects a stationary obstacle ahead of the vehicle on the basis of the image data or radar data, determines a monitoring range around a location of the stationary obstacle on the basis of the radar data, identifies an object present within the monitoring range on the basis of the radar data, and determines the object as a pedestrian on the basis of a speed of the object toward a road along which the vehicle travels.

Abstract: A method for operating a plurality of radar sensors (2, 2a-2h) in a motor vehicle (1, 1?), wherein at least one operational parameter of the radar sensors (2, 2a-2h) can be changed, wherein driving situation data describing a current driving situation of the motor vehicle (1, 1?) are analyzed in order to determine a requirements profile for the sensor data of the radar sensors (2, 2a-2h) and wherein the operational parameters of the radar sensors (2, 2a-2h) are adapted to the requirements profile taking into consideration at least the detection properties of all radar sensors (2, 2a-2h).

Abstract: The target detecting device comprises a radar sensor, an imaging sensor, and an ECU. The target detected by the radar sensor is selected under certain conditions, for example, i) a reception intensity of the reflected radar waves is equal to or more than a predetermined value, or ii) the target is moving, to be outputted externally. When a stopped vehicle is detected on a road by the sensor, and a target, for example a pedestrian, present behind the stopped vehicle is detected from the image acquired by the imaging sensor by performing image recognition using predetermined patterns of a target, the ECU makes the selection condition less restrictive than the selection condition for targets other than the target present behind the stopped vehicle, or unconditionally selects the target present behind the stopped vehicle.

Abstract: A forward facing camera module is configured to, based on an image including a predetermined field of view (FOV) in front of the vehicle: determine a first distance between the vehicle and a first cyclist. A blind zone radar sensor module is configured to: determine a second distance between the vehicle and a second cyclist within a predetermined area on a side of the vehicle based on radar signals transmitted within the predetermined area. A first and second distance modules are configured to generate first and second signals when the first and second distances are decreasing, respectively. An output control module is configured to, when at least one of the first signal and the second signal is generated while a turn light for the side of the vehicle is activated, selectively generate at least one of an audible output and a visual output within a passenger compartment of the vehicle.

Abstract: A vehicle as a moving body is provided with an imaging device as first object detecting means and a radar apparatus as second object detecting means. The object recognition apparatus is provided with axis displacement learning means for learning an axis displacement of the reference axis X1 of the first object detecting means; axis displacement determining means for performing, based on an object detecting result of the first object detecting means and the second object detecting means, an axis displacement determination process for determining whether or not an axis displacement has occurred in the reference axis of the second object detecting means; and disabling means for disabling, based on a learning result of the axis displacement by the axis displacement learning means, information about an axis displacement of the second object detecting means acquired by the axis displacement determination process.

Abstract: The disclosure relates to an assistance device for loading a motor vehicle, having at least one detection device by means of which an item that is to be loaded into the motor vehicle is detectable, and having a door opening device by means of which at least one access opening to a cargo area of the motor vehicle is releasable in accordance with this detection of the item. The disclosure further relates to a method for operating an assistance device.

Abstract: A technique for monitoring a blind spot zone of a motor vehicle is described. According to one aspect, a device comprises at least one sensor or an interface of the at least one sensor, which is designed for detecting objects in the blind spot zone of the motor vehicle; an actuating unit which is designed for setting a turn-signal lamp; and a signal transmitter which is designed for outputting, in the motor vehicle, a first signal for confirming the set turn-signal lamp, and outputting a second signal, which differs from the first signal, from the same signal medium as the first signal, if the at least one sensor detects an object in the blind spot zone of the motor vehicle.

Abstract: A vehicle computer is programmed to receive reflections of radio-magnetic beams transmitted by an antenna mounted to a vehicle body, and, when it is determined that the vehicle is moving, determine whether the vehicle body has changed shape based on the received reflections and a predetermined base reflection pattern. The computer is further programmed to generate a second base reflection pattern based at least on the received reflections and the predetermined base reflection pattern. The computer can then use the received reflections as vehicle sensor data.

Abstract: A vehicle telematics device communicates with one or more proximity devices removably attached to a vehicle. The vehicle telematics device detects a direction change of the vehicle and signals for corresponding proximity devices to wake thereby causing the proximity devices to detect proximity of the vehicle with one or more other objects and wirelessly transmit proximity data. The telematics device wirelessly receives the proximity data from the proximity devices and notifies an operator of the vehicle of the close proximity condition between the vehicle and the one or more objects. Notably, the proximity data (including determined close proximity conditions) can be shared with a third party such as an insurance provider, which can adjust insurance rates based on the proximity data.

Abstract: The present disclosure relates to a radar apparatus and an antenna system for the radar apparatus. A first transmitting antenna group and a first receiving antenna group are constituted by elongating some of a plurality of transmitting antennas and a plurality of receiving antennas in a first direction of vertical directions, a second transmitting antenna group and a second receiving antenna group are constituted by elongating the other antennas in a second direction opposite to the first direction, transmitting antennas to transmit transmission signals and receiving antennas to receive reflection signals reflected from an object are appropriately selected, thereby being able to improve horizontal and vertical angular resolving power in both of mid/long-range sensing and short-range sensing.

Abstract: An evacuation travel assist apparatus includes a stop lane determination section that determines a stop lane and an evacuation place in the stop lane in which an own vehicle should be urgently stopped when the vehicle drive is detected to be in a state of being not able to drive the own vehicle properly, and a transverse position determination section that determines, as a stop transverse position, a position in a transverse direction of the evacuation place in the stop lane so as to ensure a space for the vehicle driver and passengers to get in and out of the own vehicle safely at a side of the own vehicle.

Abstract: Remote object detection in an automotive vehicle includes an ultrasonic sensor for emitting ultrasonic bursts from an ultrasonic transducer at a standard rate. At least one object is tracked which reflects the ultrasonic bursts to the sensor. The transducer is adaptively set to emit ultrasonic bursts at a reduced rate which is less than the standard rate based on a result of the object tracking. In one embodiment, the ultrasonic bursts are set at the reduced rate when the tracked object is maintaining a stable relative position. The stable relative position may be comprised of the tracked object having a relative velocity less than a threshold. In another embodiment, extrinsic ultrasonic bursts originating from the tracked object and subsequent echoes between the automotive vehicle and the tracked object can be used by the vehicle to monitor the tracked object while emission of bursts from the vehicle are switched off.

Abstract: The present disclosure provides a V2X antenna and a V2X antenna system. The V2X (Vehicle-to-Everything) antenna system includes: a first antenna arranged in a front surface of an interior of a vehicle, wherein the first antenna is configured to communicate at least one of a V2X signal or an LTE (Long Term Evolution) signal; a second antenna arranged in a rear surface of a roof of the vehicle, wherein the second antenna is configured to communicate at least one of the V2X signal or the LTE signal; and a tuner module configured to perform diversity communication in response to at least one of the V2X signal or the LTE signal received from the first antenna and the second antenna.

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: There is provided a radar device. A transmitting unit transmits a first transmission signal generated based on a first parameter for computing a relative velocity or a distance in a first detection range, and a second transmission signal generated based on a second parameter for computing a relative velocity or a distance in a second detection range narrower than the first detection range. A receiving unit receives first and second reception signals from a target. A measuring unit computes a first relative velocity or a first distance in the first detection range based on the first reception signals, and compute a second relative velocity or a second distance in the second detection range based on the second reception signals, and selects any one of the first and second relative velocities, or any one of the first and second distances, as the result of measurement.

Abstract: Described herein is a LIDAR device that may include a transmitter, first and second receivers, and a rotating platform. The transmitter may be configured to emit light having a vertical beam width. The first receiver may be configured to detect light at a first resolution while scanning the environment with a first FOV and the second receiver may be configured to detect light at a second resolution while scanning the environment with a second FOV. In this arrangement, the first resolution may be higher than the second resolution, the first FOV may be at least partially different from the second FOV, and the vertical beam width may encompass at least a vertical extent of the first and second FOVs. Further, the rotating platform may be configured to rotate about an axis such that the transmitter and first and second receivers each move based on the rotation.

Abstract: A system and method for mitigating interference in a frequency-modulated continuous-wave radar processing system is defined. Random inter-pulse jitter is implemented in a transmitted radar signal to prevent identification of false tracks due to interfering radar signals. Random intra-pulse jitter of time and/or frequency is implanted to create spreading of false targets and provide a method to distinguish false targets from true targets. Adjacent sensors in a multi-sensor radar system are alternatingly configured to transmit either upward ramping or downward ramping frequencies to mitigate interference between adjacent sensors in the same radar system.

Abstract: A surveillance apparatus for determining a position of an object in a field of view, comprising a radar sensor having at least on transmitting antenna configured to transmit electromagnetic radiation and a plurality of receiving antennas configured to receive electromagnetic radiation, wherein the receiving antennas form a virtual antenna array, and a processing unit connected to the radar sensor to receive signals from the receiving antennas corresponding to the received electromagnetic radiation, wherein the processing unit is configured to determine a correlation matrix on the basis of the received signals, and wherein the processing unit is configured to determine a direction of a position of the object in the field of view with respect to the radar sensor on the basis of the correlation matrix for a defined distance of the object from the radar sensor.

Abstract: A radar apparatus generates a spectrum distribution where frequencies in a beat signal are associated with intensities of respective frequency components. Based on a plurality of spectrum distributions generated over a predetermined number of measurement cycles prescribed in advance, the radar apparatus generates a reflection intensity distribution where frequencies are associated with road surface reflection intensities of the radar wave from a road surface at each frequency. In the reflection intensity distribution, the radar apparatus detects an intensity peak indicating a frequency that maximizes the road surface reflection intensity. Based on the detected intensity peak, the radar apparatus determines at least whether or not the radar apparatus is in an axis deviation state that is taken as a state where a reference axis of the radar apparatus has an inclination of not less than a prescribed angle in a vehicle height direction relative to a horizontal axis prescribed to a vehicle.