A velocity measurement signal transmission and receiving method for an intelligent driving system includes generating a plurality of chirp signals for measuring moving velocities of one or more moving targets (301); and transmitting the plurality of chirp signals in a time-division multiplexing (TDM) repetition cycle by using M antennas (302), where the TDM repetition cycle includes one single-antenna transmit mode sub-cycle and L consecutive multi-antenna transmit mode sub-cycles.

A velocity measurement signal transmission and receiving method for an intelligent driving system includes generating a plurality of chirp signals for measuring moving velocities of one or more moving targets (301); and transmitting the plurality of chirp signals in a time-division multiplexing (TDM) repetition cycle by using M antennas (302), where the TDM repetition cycle includes one single-antenna transmit mode sub-cycle and L consecutive multi-antenna transmit mode sub-cycles.

An object detection apparatus is mounted to a vehicle and detects an object by a reflected wave of a probe wave. The object detection apparatus calculates a relative velocity of the object to the vehicle, estimates an azimuth of the object relative to the vehicle, and corrects the estimated azimuth. The object detection apparatus generates a velocity-azimuth curve that indicates a relationship between the relative velocity of the object and the azimuth of the object that is calculated based on a theoretical mounting angle of the object detection apparatus, supplies a weight to an azimuth error that is an error between the velocity-azimuth curve and the estimated azimuth, based on the estimated azimuth, and calculates a correction value of the estimated azimuth by calculating, as an actual mounting angle deviation of the object detection apparatus, a weighted average value of the azimuth error to which the weight is supplied.

An object detection apparatus is mounted to a vehicle and detects an object by a reflected wave of a probe wave. The object detection apparatus calculates a relative velocity of the object to the vehicle, estimates an azimuth of the object relative to the vehicle, and corrects the estimated azimuth. The object detection apparatus generates a velocity-azimuth curve that indicates a relationship between the relative velocity of the object and the azimuth of the object that is calculated based on a theoretical mounting angle of the object detection apparatus, supplies a weight to an azimuth error that is an error between the velocity-azimuth curve and the estimated azimuth, based on the estimated azimuth, and calculates a correction value of the estimated azimuth by calculating, as an actual mounting angle deviation of the object detection apparatus, a weighted average value of the azimuth error to which the weight is supplied.

Methods and systems for real-time detection and reporting of trains is described. A system includes two train detection units (TDUs) for each railroad track intersecting a municipality boundary. Each TDU including a proximity sensor to sense a presence of an object on the railroad track, a camera to capture an image of a detected object when the object is within a detection zone, a radar to measure speed when the detected object is classified as a train, and a processor to classify the detected object, generate a timestamp corresponding to when the train entered and exited the detection zone, and determine a train length from the speed and time delta between entrance timestamp and exit timestamp. A train detection controller to receive at least the train length and a TDU identification from one of the two TDUs, and determine estimated time of arrivals for the train at different municipality locations.

Systems and methods for coordinating and controlling vehicles, for example heavy trucks, to follow closely behind each other, or linking to form a platoon. In one aspect, on-board controllers in each vehicle interact with vehicular sensors to monitor and control, for example, gear ratios on vehicles. A front vehicle can shift a gear which, via a vehicle-to-vehicle communication link, can cause a rear vehicle to shift gears. To maintain a gap, vehicles may shift gears at various relative positions based on a grade of a road.

Systems and methods for coordinating and controlling vehicles, for example heavy trucks, to follow closely behind each other, or linking to form a platoon. In one aspect, on-board controllers in each vehicle interact with vehicular sensors to monitor and control, for example, gear ratios on vehicles. A front vehicle can shift a gear which, via a vehicle-to-vehicle communication link, can cause a rear vehicle to shift gears. To maintain a gap, vehicles may shift gears at various relative positions based on a grade of a road.

A monitoring device configured to provide regulation monitoring of speed and proximity of vehicles that are adjacent to and/or passing a vehicle that is protected by regulations such as but not limited to an emergency vehicle. The present invention includes a central processing unit having the electronics to store, receive, transmit and manipulate data. The monitoring device includes a plurality of proximity sensors present on the perimeter of the vehicle that measure the distance of nearby vehicles. A speed detection module is mounted to the vehicle and is configured to measure and detect the speed of passing vehicles. A capture module is activated by the central processing unit ensuing a vehicle being detected that has violated the speed and/or proximity set points. A transceiver module will transmit data of a violating vehicle wherein the data includes date, time, license plate picture thereof.

A monitoring device configured to provide regulation monitoring of speed and proximity of vehicles that are adjacent to and/or passing a vehicle that is protected by regulations such as but not limited to an emergency vehicle. The present invention includes a central processing unit having the electronics to store, receive, transmit and manipulate data. The monitoring device includes a plurality of proximity sensors present on the perimeter of the vehicle that measure the distance of nearby vehicles. A speed detection module is mounted to the vehicle and is configured to measure and detect the speed of passing vehicles. A capture module is activated by the central processing unit ensuing a vehicle being detected that has violated the speed and/or proximity set points. A transceiver module will transmit data of a violating vehicle wherein the data includes date, time, license plate picture thereof.

A first method includes receiving a first reflected radar signal from a target in a first field of view and receiving a second reflected radar signal from a target in a second field of view offset from the first field of view by a predetermined distance; transforming the first and second reflected radar signals to obtain first and second sets of frequency coefficients, from which a frequency-dependent phase difference is obtained; and calculating a time-delay from the slope of the frequency dependence. A second method includes obtaining summed difference values between the first and second radar responses, where each of the summed difference values corresponds to different time shifts between the first and second radar response, and deriving from the summed difference values a time-delay associated with the target's motion from the first field of view to the second field of view. A third method combines the time-delays or associated speeds obtained from independent estimators.