US 11,885,902 B2
Vehicle radar system
Katsuhiko Kondo, Nisshin (JP); Yusuke Akamine, Nisshin (JP); and Yasuyuki Miyake, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Jul. 16, 2020, as Appl. No. 16/931,350.
Application 16/931,350 is a continuation of application No. PCT/JP2019/001103, filed on Jan. 16, 2019.
Claims priority of application No. 2018-006386 (JP), filed on Jan. 18, 2018.
Prior Publication US 2020/0346653 A1, Nov. 5, 2020
Int. Cl. G01S 7/02 (2006.01); G01S 13/08 (2006.01); G01S 13/931 (2020.01)
CPC G01S 7/02 (2013.01) [G01S 13/08 (2013.01); G01S 13/931 (2013.01); B60W 2420/52 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A vehicle radar system that is installed in a vehicle, the system comprising:
at least one radar configured to observe areas around the vehicle and different from each other;
a detection section configured to detect a plurality of observation points from observation data obtained by the radar;
an extraction section configured to extract at least one observation point pair from the plurality of observation points detected by the detection section, the at least one observation point pair being a pair of the observation points located in the same direction with reference to the radar;
a pair determination section configured to determine each observation point of the at least one observation point pair extracted by the extraction section further from the radar to be a mirror ghost observation point indicating a mirror ghost of a target, and determines each observation point of the at least one observation point pair nearer to the radar to be a reflection surface observation point indicating a reflection surface reflecting reflected waves from the target; and
a target position determination section configured to calculate a surface direction of the reflection surface on a bird's eye view of the vehicle from above the vehicle, from the reflection surface observation point of the at least one observation point pair and observation points around the reflection surface observation point, and determine a position of the target from the calculated surface direction and the at least one observation point pair.