To provide a radar module used for a speed measuring device or the like, in which dispersion of intensity distribution of electromagnetic waves emitted from the radar module via a lens is small, the radar module using a substrate with a plane antenna formed on a surface of the substrate includes: a lens having one end face that is plane and another end face that is spherical. In the radar module, a plane side of the lens is disposed to contact the plane antenna, and a spherical side of the lens is disposed in a remote field of the plane antenna.

To provide a radar module used for a speed measuring device or the like, in which dispersion of intensity distribution of electromagnetic waves emitted from the radar module via a lens is small, the radar module using a substrate with a plane antenna formed on a surface of the substrate includes: a lens having one end face that is plane and another end face that is spherical. In the radar module, a plane side of the lens is disposed to contact the plane antenna, and a spherical side of the lens is disposed in a remote field of the plane antenna.

A speed sensor which aligns a normal direction of one patch antenna which is disposed on a mounted board, and an optical axis of a dielectric lens uses a frame for inclining a sensor module, in order to obtain a component cos θ in a traveling direction when the speed sensor is installed on a horizontally vertical surface of an automobile or a railway car. When beams are condensed by using the one patch antenna and the cannonball-shaped dielectric lens, the dielectric lens is inclined and a bottom surface portion of the lens is cut with a plane parallel with a surface of the antenna-mounted board. The one patch antenna is configured by one patch and a GND electrode and the gain center of radiation characteristics is a normal direction of the antenna board. However, the radiation characteristics have a substantially hemisphere surface wave shape.

A speed sensor which aligns a normal direction of one patch antenna which is disposed on a mounted board, and an optical axis of a dielectric lens uses a frame for inclining a sensor module, in order to obtain a component cos θ in a traveling direction when the speed sensor is installed on a horizontally vertical surface of an automobile or a railway car. When beams are condensed by using the one patch antenna and the cannonball-shaped dielectric lens, the dielectric lens is inclined and a bottom surface portion of the lens is cut with a plane parallel with a surface of the antenna-mounted board. The one patch antenna is configured by one patch and a GND electrode and the gain center of radiation characteristics is a normal direction of the antenna board. However, the radiation characteristics have a substantially hemisphere surface wave shape.

In an object tracking device, a candidate generator is configured to, given P=Kmax−Kmin+1 that defines a range of foldings of velocity by phase rotation from Kmin.sup.th to Kmax.sup.th foldings, calculate P velocity estimates for each of initial observation points. The candidate generator sets the number of foldings Kmin and the number of foldings Kmax such that Kmin<0 and |Kmin|>|Kmax| when an absolute value of an observation angle representing a direction of the observation point is equal to or less than a first threshold value, and Kmax>0 and |Kmin|<|Kmax| when the absolute value of the observation angle is greater than a second threshold. A velocity determiner is configured to, for each set of candidate targets, select one of the candidate targets belonging to the set of candidate targets, thereby determining the velocity of a target associated with the initial observation point.

In an object tracking device, a candidate generator is configured to, given P=Kmax−Kmin+1 that defines a range of foldings of velocity by phase rotation from Kmin.sup.th to Kmax.sup.th foldings, calculate P velocity estimates for each of initial observation points. The candidate generator sets the number of foldings Kmin and the number of foldings Kmax such that Kmin<0 and |Kmin|>|Kmax| when an absolute value of an observation angle representing a direction of the observation point is equal to or less than a first threshold value, and Kmax>0 and |Kmin|<|Kmax| when the absolute value of the observation angle is greater than a second threshold. A velocity determiner is configured to, for each set of candidate targets, select one of the candidate targets belonging to the set of candidate targets, thereby determining the velocity of a target associated with the initial observation point.

A method for determining a movement vector of a motor vehicle includes: determining, via a radar system of the vehicle, at two successive instants, positions, relative to the vehicle, of elements of an environment of the vehicle that are static relative to the environment, associating the positions determined at these two successive instants with each other in such a way as to form different pairs of positions each grouping together the preceding position and the subsequent position of a given element of the environment, and determining the movement vector of the vehicle by linear regression, based on the pairs of positions thus formed.

A method for determining a movement vector of a motor vehicle includes: determining, via a radar system of the vehicle, at two successive instants, positions, relative to the vehicle, of elements of an environment of the vehicle that are static relative to the environment, associating the positions determined at these two successive instants with each other in such a way as to form different pairs of positions each grouping together the preceding position and the subsequent position of a given element of the environment, and determining the movement vector of the vehicle by linear regression, based on the pairs of positions thus formed.

Multiple exemplary systems for preventing jackknifing are disclosed. The systems comprise an electric motor for extending a shaft into a fifth wheel coupling when a tractor trailer is traveling at above a predetermined speed in a forward direction, physically preventing the tractor trailer from jackknifing. In order to avoid dependence on integration with a tractor, sensors on a trailer are used to determine speed without communication with the tractor or any instruments therein, via reception of one or more waves. When the trailer is determined to be traveling at below the predetermined speed in a forward direction, or at any speed in a backward direction, the shaft is retracted to allow the trailer to freely rotate with respect, to the tractor.

Embodiments of the present disclosure provide a method, an apparatus, a device, and a medium for determining an angle of yaw, relating to a field of automatic driving. The method includes: obtaining, during a vehicle being driving straightly on a straight road, data of each obstacle in an environment located by the vehicle, the data of each obstacle being detected by a millimeter wave radar sensor located in the vehicle, at least one metal obstacle being provided on the straight road; recognizing the metal obstacle based on the data of each obstacle, and obtaining a metal obstacle line by fitting positions of the metal obstacle at different time points; and determining an angle between the metal obstacle line and a direction of a vehicle body as an angle of yaw between the millimeter wave radar sensor and the vehicle body.