US6073078A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Vehicle with millimeter-wave radar
Assignee: Komatsu Ltd
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Filing: 1997-01-29
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Granted: 2000-06-06
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Expires: 2017-01-29
Abstract
Abstract The present invention relates to a vehicle with a millimeter-wave radar capable of traveling without incurring ground clutter and without the influence of pitching of the vehicle. Accordingly, a millimeter-wave transmitting/receiving antenna (2) fixed on the front surface of the vehicle (1) has an antenna beam width (θ) of about 4 degrees, an antenna fixing height (h) measured from a ground surface of about 1 meter to 2 meters, and a horizontal angle (β) of a center (C) of the antenna beam of not less than -4 degrees. This vehicle may also be provided with a storage element (231) for storing course data (A) for the vehicle (1) in advance, an extraction element (232) for extracting a superimposed object (P3), and an identification element (233) for comparing the superimposed object (P3) with the course data (A) and identifying the superimposed object (P3).
Inventors
- 👤 Yasuo Kitahara
- 👤 Kunihiro Yamasaki
- 👤 Taku Murakami
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 16:04
CPC Classifications
G; G01; G01S; G01S13/00; G01S13/88; G01S13/93; G01S13/931; G01S7/00; G01S7/02; G01S7/03; G01S2013/9327; G01S2013/93271
Claims Analysis
Total Claims: 17
Claim 1
Independent Claim
111 words
A vehicle with a radar for detecting distance and relative velocity between the vehicle and an object comprising: a radar including a transmitting/receiving antenna; a storage element for storing course data for said vehicle with said radar; an extraction element for extracting a superimposed object from a plurality of objects detected by said radar in the course when said vehicle operates after the course data is stored; and an identification element for comparing the extracted superimposed object with the stored course data to identify the superimposed object; wherein said extraction element extracts objects detected by said radar by selecting objects having a corresponding received signal intensity greater than a predetermined threshold.
Claim 2
Dependent Claim
111 words
A vehicle with a radar for detecting distance and relative velocity between the vehicle and an object comprising: a radar including a transmitting/receiving antenna; a storage element for storing course data for said vehicle with said radar; an extraction element for extracting a superimposed object from a plurality of objects detected by said radar in the course when said vehicle operates after the course data is stored; and an identification element for comparing the extracted superimposed object with the stored course data to identify the superimposed object; wherein said extraction element extracts objects detected by said radar by selecting objects having a corresponding received signal intensity greater than a predetermined threshold.
Claim 3
Dependent Claim
17 words
A vehicle with a radar in accordance with claim 1, wherein said radar is a millimeter-wave radar.
Claim 4
Dependent Claim
19 words
A vehicle with a radar in accordance with claim 1, wherein said antenna beam width is about 4 degrees.
Claim 5
Dependent Claim
53 words
A vehicle with a radar in accordance with claim 3, wherein an antenna fixing height (h) on a surface of said vehicle measured from a ground surface is about 1 meter to about 2 meters, and a horizontal angle of a center of the antenna beam of not less than approximately -4 degrees.
Claim 6
Dependent Claim
30 words
A vehicle with a radar in accordance with claim 4, wherein said radar is fixed on a front surface of said vehicle with respect to a forward direction of travel.
Claim 7
Dependent Claim
29 words
A vehicle with a radar in accordance with claim 1, wherein said storage element stores course data for said vehicle by operating the vehicle over the course in advance.
Claim 8
Dependent Claim
158 words
A vehicle with a radar for detecting distance and relative velocity between the vehicle and an object comprising: a radar including a transmitting/receiving antenna; a pitching angle detector for detecting a pitching angle of said vehicle; a controller for receiving a detection signal from said pitching angle detector and for outputting a signal for rotating the transmitting/receiving antenna; an antenna rotator for inputting a signal from said controller and rotating the transmitting/receiving antenna in a vertical direction; a storage element for storing course data of said vehicle; an extraction element for extracting a superimposed object from a plurality of objects detected in the course when said vehicle operates after the course data is stored; and an identification element for comparing the extracted superimposed object with the stored course data and identifying the superimposed object; wherein said extraction element extracts objects detected by said radar by selecting objects having a corresponding received signal intensity greater than a predetermined threshold.
Claim 9
Dependent Claim
158 words
A vehicle with a radar for detecting distance and relative velocity between the vehicle and an object comprising: a radar including a transmitting/receiving antenna; a pitching angle detector for detecting a pitching angle of said vehicle; a controller for receiving a detection signal from said pitching angle detector and for outputting a signal for rotating the transmitting/receiving antenna; an antenna rotator for inputting a signal from said controller and rotating the transmitting/receiving antenna in a vertical direction; a storage element for storing course data of said vehicle; an extraction element for extracting a superimposed object from a plurality of objects detected in the course when said vehicle operates after the course data is stored; and an identification element for comparing the extracted superimposed object with the stored course data and identifying the superimposed object; wherein said extraction element extracts objects detected by said radar by selecting objects having a corresponding received signal intensity greater than a predetermined threshold.
Claim 10
Dependent Claim
29 words
A vehicle with a radar in accordance with claim 7, wherein said storage element stores course data for said vehicle by operating the vehicle over the course in advance.
Claim 11
Dependent Claim
17 words
A vehicle with a radar in accordance with claim 7, wherein said radar is a millimeter-wave radar.
Claim 12
Dependent Claim
19 words
A vehicle with a radar in accordance with claim 9, wherein said antenna beam width is about 4 degrees.
Claim 13
Dependent Claim
54 words
A vehicle with a radar in accordance with claim 10, wherein an antenna fixing height (h) on a front surface of said vehicle measured from a ground surface is about 1 meter to about 2 meters, and a horizontal angle of a center of the antenna beam of not less than approximately -4 degrees.
Claim 14
Dependent Claim
30 words
A vehicle with a radar in accordance with claim 11, wherein said horizontal angle of a center of the antenna beam is between approximately zero degrees and approximately -4 degrees.
Claim 15
Dependent Claim
43 words
A vehicle with a radar in accordance with claim 1, wherein said extraction element performs a frequency analysis on said received signal, and wherein said extraction element extracts a frequency component of said received signal having an intensity greater than a predetermined threshold.
Claim 16
Dependent Claim
36 words
A vehicle with a radar in accordance with claim 1, wherein said radar is adapted to detect an object having a height of approximately 1.5 meters when a distance to the object is approximately 10 meters.
Claim 17
Dependent Claim
21 words
A vehicle with a radar in accordance with claim 13, wherein said received signal intensity predetermined threshold is approximately -31 dB.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2003-06-06 | 2003-12-06 | 2004-06-06 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2007-06-06 | 2007-12-06 | 2008-06-06 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2011-06-06 | 2011-12-06 | 2012-06-06 | $7700.00 | Window Closed / Lapsed |