There is provided a radar device including: a transmitter including a first antenna which, in operation, transmits a radar signal; a receiver including a second antenna which, in operation, receives an echo signal that is the radar signal reflected from an object; a stationary object boundary detector which, in operation, detects a boundary of a first region in which a stationary object exists by using the echo signal; and a stationary object boundary variations detector which, in operation, detects a second region in which temporal changes are observed in the boundary of the first region and detects a third region that is the region moving in a cross-range direction, as a first moving object.

A positive train control may comprise a plurality of different sensors coupled to a processor that determines whether there is an anomaly of a track way, and if there is, provides an alert and/or a train control action. The plural sensors may include a visual imager, an infrared imager, a radar, a doppler radar, a laser sensor, a laser ranging device, an acoustic sensor, and/or an acoustic ranging device. Data from the plural sensors is geo-tagged and time tagged. Some embodiments of the train control employ track monitors, switch monitors and/or wayside monitors, and some employ locating devices such as GPS and inertial devices.

Systems and methods for using velocity measurements to adjust Doppler filter bandwidth are provided herein. In certain embodiments, a method for adjusting bandwidth for at least one Doppler filter in a Doppler beam sharpened radar altimeter comprises receiving a velocity measurement; adjusting the bandwidth of the at least one Doppler filter based on the velocity measurement; and transmitting a radar beam, wherein the radar beam is aimed toward a surface. The method further comprises receiving at least one reflected signal, wherein the at least one reflected signal is a reflection of the radar beam being reflected off of at least one portion of the surface; and filtering the at least one reflected signal with the at least one Doppler filter to form at least one Doppler beam.

There is provided a radar device. A detecting unit is configured to detect a lateral location of a target relative to a vehicle equipped with the radar device, on the basis of reflected waves from the target. A selecting unit is configured to select a predetermined number of detection values from a detection value history including detection values of the lateral location detected by the detecting unit in chronological order. The predetermined number depends on a turning radius of the vehicle. A determining unit is configured to determine a definite value of the lateral location on the basis of the detection values selected by the selecting unit.

There is provided a radar device. A detecting unit is configured to detect a lateral location of a target relative to a vehicle equipped with the radar device, on the basis of reflected waves from the target. A selecting unit is configured to select a predetermined number of detection values from a detection value history including detection values of the lateral location detected by the detecting unit in chronological order. The predetermined number depends on a turning radius of the vehicle. A determining unit is configured to determine a definite value of the lateral location on the basis of the detection values selected by the selecting unit.

An illustrative example method is for estimating a friction characteristic of a surface beneath a vehicle that has a plurality of wheels contacting the surface. The method includes determining a wheel speed of at least one of the wheels, determining a velocity of the at least one of the wheels separately from determining the wheel speed, determining a wheel slip of the at least one of the wheels based on the determined wheel speed and the determined velocity, and determining the friction characteristic based on the determined wheel slip. Determining the velocity separately from the wheel speed is accomplished using at least one detector that provides an output corresponding to a range rate, such as a RADAR or LIDAR detector.

An object detection device is provided. The object detection device includes an acquisition unit that uses a detection result concerning a target object to acquire an attitude and a velocity of the target object, and a filter processing unit that sets a filter applied to the velocity depending on the acquired attitude of the target object to perform filter processing.

An object detection device is provided. The object detection device includes an acquisition unit that uses a detection result concerning a target object to acquire an attitude and a velocity of the target object, and a filter processing unit that sets a filter applied to the velocity depending on the acquired attitude of the target object to perform filter processing.

Disclosed are methods and systems for providing millimeter wave assisted vehicle navigation. A method may include generating a frequency-modulated continuous wave (FMCW) signal, transmitting the FMCW signal as radio waves by a plurality of radar transmitters each having a beam direction, receiving reflected radio signals by a corresponding plurality of receivers, and determining individual beam velocities of the vehicle in each of the beam directions. The method may further include combining the individual beam velocities; generating a body velocity vector based on the combined individual beam velocities; combining input from the radar signal processor and a previous known vehicle position; and based on the combined input, providing real-time position and velocity information for the vehicle.

Disclosed are methods and systems for providing millimeter wave assisted vehicle navigation. A method may include generating a frequency-modulated continuous wave (FMCW) signal, transmitting the FMCW signal as radio waves by a plurality of radar transmitters each having a beam direction, receiving reflected radio signals by a corresponding plurality of receivers, and determining individual beam velocities of the vehicle in each of the beam directions. The method may further include combining the individual beam velocities; generating a body velocity vector based on the combined individual beam velocities; combining input from the radar signal processor and a previous known vehicle position; and based on the combined input, providing real-time position and velocity information for the vehicle.