Abstract: An inventive frequency modulated continuous wave (FMCW) radar system realizes both of a quick detection of higher relative speed provisional target and a sure detection of smaller relative speed provisional target. The number of detection cycles used for a paring validity check (a test to see if a detected target or a pair of frequencies is an actual target or a pair for an actual target) is set in response to the relative velocity.

Abstract: A radar system is capable of transmitting necessary information through a very small amount of data from a radar device to a host device via a bus with a limited bandwidth. A radar sensor generates a beat signal between a transmission signal and a reflected signal from a target. A signal processor determines a spectrum of the beat signal and compresses the data indicating the spectrum. The resultant compressed data is transmitted to the host device via a bus. The host device decompresses the received data thereby reproducing the spectrum data. The host device then detects the target on the basis of the reproduced spectrum data.

Abstract: The present invention relates to a radar system having means (12) for producing a code, means (18) for modulating a transmission signal in a transmit branch, using the code, means (32) for delaying the code, means (20) for modulating a signal in a receive branch, using the delayed code, and means (26) for mixing a reference signal with a receiving signal, the modulation of one of the signals being performed by an amplitude modulation (ASK; “amplitude shift keying”) and the modulation of the other signal by a phase modulation (PSK; “phase shift keying”). Furthermore, a radar system is proposed in which blanking of phase transitions is provided. The present invention also relates to methods which may advantageously be carried out, using the radar systems according to the present invention.

Abstract: Apparatus for and methods of obtaining positional information about one or more objects in a detection field are disclosed. An array including a transmitting element and a plurality of receiving elements is provided. In one aspect a truncated cross-correlation function is applied to determine the interval between signals received by a plurality of the receiving elements, thereby to determine an angular position of an object. In another aspect a warning zone is defined and it is determined whether an object is within the warning zone. Also disclosed are techniques for stretching received signals, and techniques for obtaining positional information relating to an object using non-Doppler radar. Various implementations, modifications and applications of the techniques described are disclosed. Typical applications of the techniques described are with vehicles.

Abstract: A method that can locate the center of a target even when the target is a large vehicle, and that, when a plurality of beams are reflected, determines whether the reflected beams are from the same target or not, wherein, of peaks generated based on a radar signal reflected from the target, peaks whose frequencies are substantially the same and whose reception levels are not smaller than a predetermined value are selected and, when a plurality of such peaks are selected, a center angle between the angles of the leftmost and rightmost peaks is obtained, and the thus obtained center angle is taken as an angle representing the target. Further, the plurality of peaks are paired up to detect a distance, relative velocity, and displacement length for each of reflecting points on the target, and when the differences in these values are all within respectively predetermined values, the plurality of peaks are determined as being peaks representing the same target.

Abstract: By changing the direction of a detection radio-wave beam within a detection-angle range and by detecting reflected-signal intensities, wherein each of the reflected-signal intensities is detected for each predetermined unit angle, moving averages of the reflected-signal intensities are calculated by using an angular width predetermined for a given distance as an average width. Thus, data of a reflected-signal-intensity distribution is obtained. Accordingly, the direction of a target is detected by finding the direction of the highest reflected-signal intensity.

Abstract: A sensor front end is disclosed that is able to discriminate objects based on their range from the sensor. The sensor includes an antenna that transmits a sensor signal and, if an object is present receives a reflected signal therefrom. A pulsed oscillator provides a pulsed first signal having a first frequency and phase, and wherein the pulsed oscillator provides the pulsed first signal for a predetermined pulse duration and with a predetermined pulse repetition frequency. The pulsed oscillator provides the pulsed first signal to a first input port of a dual mode mixer that is further coupled to the antenna via a second port. The dual mode mixer transmits a portion of the pulsed first signal from the first input port to the second port and thus to the antenna to be transmitted as the sensor signal. In addition, the dual mode mixer uses a portion of the first signal to mix with the received reflected signal. The dual mode mixer then provides a mixed signal as an output at a third port.

Abstract: The invention is a method and apparatus for determining the shape and location of objects by trilateration based on the output of a plurality of range sensors. The range measurements from a plurality of sensors are correlated with each other to identify one or more potential objects. With respect to each potential object, it is assumed that the object can be one of a finite number of possible predefined shapes. For each potential object, a metric is calculated for each of the predefined shapes using the set of range measurements upon which the potential object is based defining the likelihood that the set of readings correspond to an actual object of that predefined shape. Each potential object is then assumed to have the predefined shape that yielded the lowest metric (i.e., that yielded the metric that indicates the highest likelihood that the object has the corresponding shape). The list of potential objects is then ordered according by their calculated metrics from lowest to highest.

Abstract: An object recognition system including a radar, an image sensor and a controller is provided. The radar determines the position of an object, and the image sensor captures an image of the object. The controller sets a processing area within the image captured by the image sensor based on the position of the object determined by the radar and a predetermined size for the object to be recognized. The controller extracts horizontal and vertical edges from the processing area, and preferably judges whether each of the extracted edges belongs to the object based on characteristics of the object to be recognized. The controller then recognizes the outline of the object based on the edges judged to belong to the object. The object can be recognized by determining upper, lower, left and right ends of the object. On the other hand, the controller recognizes lane lines defining the lane in which the vehicle mounting the system of the invention is running.

Abstract: The invention detects a ghost occurring due to mispairing, reflections from a wall, or the like, and improves the ability of a radar to track targets when actual relative velocity changes by more than a certain value. If a stationary target is present within a prescribed region centered about a moving target, the stationary target is excluded from output data by determining it as being a target resulting from mispairing due to the detection of guardrail posts or similar structures. Further, a moving target that is expected to collide with an eligible target is also excluded from the output data by determining it as being a target resulting from mispairing due to the detection of a target having many reflecting points. For a moving target showing an unlikely relative velocity, pairing with some other peak is attempted by determining the moving target as being a target resulting from mispairing due to the detection of a plurality of moving targets moving in the same direction.

Abstract: Driving assistance device for a motor vehicle, including at least one emitter of radiation toward the front of the vehicle, a receiver of part of this radiation reflected by a target vehicle, and control and calculation means for influencing the acceleration and braking of the following vehicle in accordance with information coming from the unit comprising the emitter and the receiver and in accordance with data pertaining to the following vehicle. At least the emitter is mounted so as to be rotatable in terms of the azimuth and means for driving the emitter in rotation are provided in order to modify the azimuth of the beam of the emitter in accordance with the curvature of the road. This beam advantageously turns by the same angle as that of the beam of an adaptive lighting system.

Abstract: When a new target is detected, if it is determined that the distance difference between the newly detected target and the previously detected target is within a predetermined range, the difference between the relative velocity of the newly detected target and the relative velocity of the previously detected target is obtained to determine whether the difference is greater than a predetermined value &Dgr;Va, and when the difference is greater than the predetermined value, it is determined that the new target is a target obtained as a result of mispairing.

Abstract: A police radar and/or laser detector senses radiant electromagnetic signals (e.g. radar, laser) characteristic of a police traffic surveillance device and responds thereto with a displayed and/or audible alert. During periods when no alert is necessary, the detector senses and displays, in numeric or bar graph form, vehicle parameters, such as sound pressure level and acceleration. In addition, calculations based on acceleration provide 0-60 m.p.h. time and quarter mile time. Thereby, the detector enhances information available to the driver without the inconvenience, expense, and clutter of multiple displays.

Abstract: A radar based sensor detection system comprises a microwave source operative to provide a continuous wave signal at an output. A pulse-former is coupled to the output of the source and is operative to provide at an output a variable length pulse that increases the transmitted energy of the radar system according to the range of object detection. A modulator is coupled to the output of the pulse-former for providing a modulated pulse signal. A transmit receive switch coupled to the output of the modulator is selectively operative between a first transmit position and a second receive position. A transmit channel coupled to the transmit receive switch transmits the pulse signal when the switch is operated in the transmit position. A receiving channel coupled to the transmit receive switch receives the modulator signal when the switch is operated in the receive position.

Abstract: A device which can accurately detect even objects in very close proximity to a vehicle and at the same time can reliably detect more distant objects has means (MM) that can execute a selection of those reception pulses (EI) whose chronological offset in comparison to the respective transmission pulses (SI) emitted is of such a magnitude that these reception signals (EI) result exclusively from reflections against objects from a selected distance range correlating to the chronological offset. Means (DG) are also provided that permit the transmission pulse power to be increased and decreased as the distance range rises and falls.

Abstract: The present invention relates to a radar device and, particularly, to a radar device mounted on a vehicle to be used for a collision alarm and the like. The invention provides a radar device that has a unit for removing the FMAM noise without lowering the signal detection sensitivity. The radar device transmits a frequency modulation signal by switching the frequency modulation signal with a first switching signal, receives a signal reflected from a target object, switches the reception signal with a second switching signal, mixes the switched reception signal with the transmission signal, and further mixes the mixed signals with a third switching signal thereby to obtain a beat signal. The radar device obtains a distance to the target object and a relative speed of the target object from the beat signal.

Abstract: A transmission wave is applied to a predetermined range in a width-wise direction of a vehicle. Objects ahead of the vehicle are recognized on the basis of reflected waves resulting from reflections of the transmission wave. Calculation is made as to a position of each of the objects and also a lane-sameness probability for each of the objects that the object and the subject vehicle are on a same lane. Object information pieces corresponding to the respective objects represent the calculated positions of the objects and the calculated lane-sameness probabilities for the objects. In cases where at least two objects become substantially equal in position, the two objects are recognized as a single object. One is selected from the two objects which relates to a calculated lane-sameness probability equal to or higher than a predetermined value. The single object takes over an object information piece corresponding to the selected object.

Abstract: An improved vehicle radar system and control aids the vehicle driver during both parking and back-up maneuvers. The radar system is equipped with both long range and short range radar detection antennas, an RF switch for selecting the active antenna, and a range bin having a depth that is adjustable “on the fly”. The back-up aid function is provided by activating the RF switch to select the long range antenna and setting the range bin to a relatively large depth to cover the long range in a short time. The parking aid function is provided by activating the RF switch to select the short range antenna, and setting the range bin to a relatively short depth to achieve high close range accuracy.

Abstract: Stationary objects are determined from objects detected by a radar device mounted on a vehicle. Objects detected with a dispersion in the level of the reception of a reflected wave at a relative distance in a range of 20 m to 100 m that is equal to or smaller than a first threshold value, are extracted from the extracted objects, and objects existing on a predicted course for the vehicle is extracted from the extracted objects. Further, it is determined if one of the extracted objects detected with rate of decrease in level of reception at a relative distance in a range of 10 m to 20 m is equal to or larger than a second threshold value and with a level of reception equal to or smaller than a third threshold value is an object which provides no hindrance even if the vehicle passes over the object. A warning or an automatic braking is discontinued or moderated based on the type of object.

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: 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: A radar detection process includes computing a derivative of an FFT output signal to detect an object within a specified detection zone. In one embodiment, a zero crossing in the second derivative of the FFT output signal indicates the presence of an object. The range of the object is determined as a function of the frequency at which the zero crossing occurs. Also described is a detection table containing indicators of the presence or absence of an object within a respective radar beam and processing cycle. At least two such indicators are combined in order to detect the presence of an object within the detection zone.

Abstract: A misalignment detection system (12) for steering systems of an automotive vehicle (10) includes a logic device (14) coupled to a vehicle speed sensor (18) and a steering wheel angle sensor (20). The logic device is also coupled to a memory (16) that is used to store a steering wheel ratio map and a historic steering wheel angle or a wheel angle value derived from an automobile manufacturer's wheel alignment specification. The logic device (14) compares the signal from the steering wheel angle sensor (20) with the stored value of either the historic steering wheel angle or the value derived from the manufacturer's alignment specifications at a given vehicle speed to determine error. An indicator (28) may provide an indication to the vehicle operator to signal the presence of the misalignment condition of the steering system.

Abstract: In a vehicle operation assist control system for assisting a vehicle operator to operate a vehicle, a distance to the obstacle and a width of the obstacle are detected by a radar or the like, and, when an obstacle is detected, the system determines an evasion path and accordingly modifies the map information available to the system. Therefore, the system, being aware of the situation, would not interfere with the vehicle operator taking an evasive action. The evasive path may be defined as a curvature which changes as a sinusoidal mathematical function of the position of the vehicle along the path. The control system may be based on a yaw rate control or a vehicle side slip angle control.

Abstract: A device for adjusting a beam system is proposed including a base having at least one beam source, and at least three supporting elements, which fix the base to a carrier, each length of the at least three supporting elements being capable of being changed selectively and independently of one another in order to change the distance of the at least one beam source from a focusing arrangement, and in order to change the alignment of the at least one beam source in relation to the focusing arrangement.

Abstract: A sensor front end for an electronic radar sensor is disclosed that provides for a lower parts count while providing technical functionality by using multifunction parts, i.e., parts that are used both in transmitting and receiving. The sensor front end includes a continuous wave signal source that functions as a signal source when the front end is transmitting a signal and as a local oscillator when the front end is receiving a signal. The sensor front end also includes a tri-mode mixer that functions as a phase-modulator and transmit switch when the front end is transmitting a signal and as a mixer/down-converter when the front end is receiving a signal. The sensor front end further includes a common aperture antenna that acts as both a transmitting antenna for transmitting a sensor signal and for receiving a reflected signal from a object.

Abstract: In order to magnetically shield the transmission line which connects the external connector mounted on the outer housing with the internal circuit and also to make it possible to freely mount the external connector without being limited by the position of the internal circuit, an outer housing 60 consists of an outer housing main body 61 and a shielding layer 62 applied to the inner-periphery surface of the outer housing 60. An transmission line 73 extends from the internal circuit through the outer-periphery side of the shielding layer 62 of the outer housing 60 along the shielding layer 62 to the desired position, where the external connector 70 is placed.

Abstract: A radar device set on an automobile includes a transmitter for transmitting forward a beam of electromagnetic waves, a receiver for receiving reflected waves of the transmitted beam from a vehicle traveling in front, a measuring device for measuring a distance to the vehicle in front based on outputs from the receiver and a command outputting device for outputting a specified command signal when the distance measured by the measuring device is decreasing and reaches a threshold distance below which the measuring device becomes incapable of measuring the distance from the outputs from the receiver, and a beam adjusting device for changing either the elevation angle of the beam or its angular range of vision in response to the command signal.

Abstract: In a target merging process in a radar ranging device, determination of continuity is accurately performed and output processing of newly appearing targets is performed rapidly. The current target position (data prior to merging) is calculated (S1), and a predicted position is calculated (S2). The continuity of targets whose previous position and current position satisfy predetermined conditions (S3 to S5) is determined (S6 to S7). After the data prior to merging is stored in a buffer (S9), the merging process is performed. By storing the data prior to merging in the buffer, continuity is determined for each detected target and, therefore, even if the position of a target changes after merging, subsequent determination of continuity can be performed accurately.

Abstract: A flexible wave guide joint is located between a transceiver and oscillating antenna in a vehicular collision warning system. The flexible joint includes a multiple portion wave guide feed. One portion of the wave guide feed is fixed in position and coupled to the transceiver while another portion of the wave guide feed is coupled to the moving antenna. The wave guide feed portions are separated by an air gap to permit oscillation of the antenna relative to the transceiver.

Abstract: A scan type radar device capable of detecting a lateral position of a target even if a peak showing the lateral position of the target irregularly fluctuates in the lateral direction as well as reducing the mis-pairing. The former is achievable by changing a reference value of the lateral fluctuation of the target when all the past and present target data fluctuate to an extent exceeding the reference value. The latter is achievable by forecasting a representative peak position at this time in both of up-beat and down-beat from the peak position data at the preceding time and carrying out the past-correspondence grouping of the up-beat and the down-beat at this time in the vicinity of the position of the representative peak forecast this time; the pairing being carried out by using the representative peak calculated by the past-correspondence grouping.

Abstract: A method capable of determining whether a target detected by a radar is a stationary on-road object or not is disclosed, wherein a fluctuation in the reception level of a reflected wave from a target is obtained in relation to the distance of the target, a difference in reception level between a maximum point and a minimum point is obtained from the fluctuation of the reception level, and when the obtained difference is larger than a predetermined threshold value, it is determined that the target is a stationary on-road object. Further, slope over the distance between the maximum point and the minimum point is obtained, and when the obtained slope is greater than a predetermined threshold value, it is determined that the target is a stationary on-road object. Further, the distance between maximum points or between minimum points is obtained, and when the obtained distance is smaller than a predetermined threshold value, it is determined that the target is a stationary on-road object.

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: An FM-CW radar system comprises a modulating signal generating means for changing a modulating signal to be applied to a FM-CW wave, a calculating means for calculating a distance or relative velocity with respect to a target object by performing processing for detection by fast-Fourier transforming a beat signal occurring between a transmitted signal and a received signal, and a control means for determining a detection range based on the calculated distance, and for performing control to change the modulating signal, wherein the modulating signal is changed by changing one parameter selected from among a modulation frequency, a triangular wave frequency, and a transmit wave center frequency. The detection range is set to a distance obtained by adding a prescribed distance to the shortest distance detected, or to a distance obtained by subtracting a prescribed distance from the distance of a fixed object.

Abstract: In automatic vehicular velocity controlling apparatus and method for automotive vehicle, a target vehicular velocity to maintain a predetermined inter-vehicle distance between a preceding vehicle which is running ahead of the vehicle is set as a first set vehicular velocity and a vehicular velocity of the vehicle (host vehicle) is controlled to give one of the first set vehicular velocity and a second set vehicular velocity by a manual setting through a set switch and an accelerate switch or coast switch if the preceding vehicle is present and is controlled to maintain the vehicular velocity at the second set vehicular velocity if no preceding vehicle is present. Then, when the set vehicular velocity is modified through the above-described accelerate switch or coast switch, a vehicular velocity variation rate is determined in accordance with a deviation between the actual vehicular velocity and a newly set vehicular velocity after the modification of the vehicular occupant's vehicular velocity.

Abstract: The occurrence of an axis displacement in a horizontal direction in a vehicle-to-vehicle distance controlling radar is detected, the amount of the axis displacement is determined, and an azimuth angle is corrected using the thus determined amount of the axis displacement. The frequency with which vehicle-to-vehicle distance control is released or re-set is measured and, if the frequency is higher than a threshold, it is determined that the axis is displaced. The amount of the axis displacement is determined from the angle of the locus of a stationary target. The azimuth angle of the target is corrected using the thus determined axis displacement angle.

Abstract: The invention is a method and apparatus for determining the locations of a plurality of actual objects based on the output of a plurality of range sensors. A multiplicity of range measurements are obtained from a plurality of sensors, each sensor capable of providing a multiplicity of range measurements. The range measurements from the plurality of sensors are correlated with each other to generate a list of potential objects and to order that list of potential objects from highest to lowest likelihood of being an actual object. The order may be based upon a cumulative error of the individual sensor measurements upon which the potential object is based. The ordered list of potential objects is then pared down to a smaller list of actual objects by assuming that the potential object highest in the ordered list as an actual object, and then removing from the list all other lower-ordered potential objects that are based on any of the range measurements upon which the selected object is based.

Abstract: The antenna of a side-looking pre-crash sensor (12) is aimed, either electronically or mechanically, in correlation with the travel velocity of a host vehicle (10). As the forward travel velocity of the host increases, the antenna beam (16) remains aimed laterally, but in an increasingly forward direction.

Abstract: The present invention is an emergency apparatus deployment system and method. The emergency apparatus, such as an airbag, is pre-deployed or, in the case of a braking system, simply activated based on information determined by impulse radio radar means relating to the distance and closure between two objects, such as between an automobile and a tree or between two automobiles. Upon information that a collision between two objects is imminent, the emergency apparatus, for example, an airbag, is deployed immediately prior to the collision.

Abstract: A signal processing method is particularly for use in object detection systems which allows a sensed target signal to be “held” once it has raised above a detection-threshold. The method involves reducing the detection-threshold values of the detection-threshold function within the target region. This method is useful for such applications as automotive radar sensors, airbag deployment systems, communication systems demodulation, security sensor systems, sanitary flushing systems and lighting systems.

Abstract: A modulation signal generation circuit performs frequency modulation of a VCO with a triangular wave for operation as an FM-CW radar. A signal processing circuit gives a modulation signal for detection generated from the modulation signal generation circuit to the VCO. A high-frequency signal subjected to frequency modulation in the VCO is transmitted as a radio wave from a transmission antenna and is reflected on a target and the reflected radio wave is received at a reception antenna. The reception signal and the high-frequency signal are mixed by a mixer to provide a beat signal and frequency shift corresponding to a voltage V1 is detected from the frequency of the beat signal. If the voltage V1 of the modulation signal for detection is switched, the frequency shift corresponding to different voltage V1 can be provided and the frequency modulation characteristic can be detected.

Abstract: A vehicle control apparatus includes an obstruction detection unit for measuring a headway distance until an existing ahead of the vehicle by means of a radar device, a unit for performing vehicle control or alarm control on the basis of the headway distance, a unit for detecting detection performance of the obstruction detection means in a vehicle in which the obstruction detection unit is used to perform two or more controls containing the vehicle control or alarm control, and a unit for controlling to stop operation of the vehicle control or alarm control in accordance with the detection performance individually.

Abstract: A radar field-of-view enhancement method particularly adapted for vehicle radar detection systems having a specified detection zone. In accordance with the invention, a pair of discrete radar beams are employed having differing arc widths. Return signals from the discrete beams are compared and related to the area of a desired detection zone. This approach increases the reliability of detection in the detection zone while minimizing false alarms and missed detection areas. The beams are alternately switched on using discrete sources or by implementing a discrete phase shifting element interposed between the sources.

Abstract: A radar system includes a detection-control circuit for transmitting and receiving the beam of a millimeter-wave signal for detecting a relative position and a relative speed to a target, and a scanning unit for scanning the direction of the beam over a predetermined range. The state of the scanning unit can be switched between a resting state wherein scanning is stopped and the beam is directed towards the center of the scanning range while the detection-control circuit continues detection control, and a scanning state wherein the direction of the beam is scanned over a predetermined range.

Abstract: A scanning radar system accurately determines the lateral position of a target regardless of the heading of the target.

Abstract: A method for detecting a target located above a road by using a camera and a radar system, wherein when it is determined that the target captured by the camera is the same target that has been captured by the radar, and when it is determined from an image captured by the camera that the target is at a height higher than road level, the method determines that the target is a stationary object located above the road. Further, when it is determined that the distance to the target captured by the camera or the radar is decreasing, and that the reception level from the target captured by the radar is also decreasing, the method determines that the target is a stationary object located above the road.

Abstract: An actuator, a vehicle mounted radar device, and an automobile drive control system that employ a non-contact type potentiometer to detect a rotation angle of a rotary shaft. The non-contact type potentiometer includes a pair of planar magnets disposed opposite and parallel with respect to each other on a U-shaped magnetic yoke, the polarities of the magnets being arranged such that approximately parallel magnetic fields are formed around a magnetic detection element that is retained on a support shaft connected to a rotary shaft on an actuator, and can freely rotate relative to the stationary member. By rotating the rotary shaft on the actuator, a change in the output from the magnetic detection element occurs, thus allowing a rotation angle of the rotary shaft to be detected.

Abstract: In apparatus and method for automatically controlling a vehicular velocity of an automotive vehicle maintaining an inter-vehicle distance to a preceding vehicle, a follow-up run controller determines whether such a follow-up run control as to control the vehicular velocity should be released or not according to a vehicular motion when a shift lever of an automatic transmission shift mechanism (or of a continuously variable transmission) is operated to shift a drive (D) range to a gear maintaining range (such as a second-speed range or third- speed range). If the shift operation occurs from the drive range to the 2nd-speed range during the follow-up run control, the engine speed N2nd in the second-speed range is estimated. If the engine speed N2nd is equal to or lower than a predetermined threshold value NTH, the follow-up run control is continued. If the engine speed N2nd is in excess of the predetermined threshold value NTH, the follow-up run control is released.

Abstract: A radar detection process includes computing a derivative of an FFT output signal to detect an object within a specified detection zone. In one embodiment, a zero crossing in the second derivative of the FFT output signal indicates the presence of an object. The range of the object is determined as a function of the frequency at which the zero crossing occurs. Also described is a detection table containing indicators of the presence or absence of an object within a respective radar beam and processing cycle. At least two such indicators are combined in order to detect the presence of an object within the detection zone.

Abstract: A stationary object detection method for a scanning radar wherein, of peaks generated based on a radar signal reflected from a target, peaks having substantially the same frequency are grouped together, and a decision is made as to whether or not the frequency of the grouped peaks is equal to/higher than a predetermined value, and wherein if the peak frequency is equal to or higher than the predetermined value, then a decision is made as to whether or not the number of grouped peaks is equal to or greater than a predetermined number and, if the number of peaks is equal to or greater than the predetermined number, it is decided that the target is an overhead bridge candidate or an overhead bridge.