Detection of angular displacement to an object from the moving vehicle

• US 4,110,754 A
• Filed: 05/27/1977
• Issued: 08/29/1978
• Est. Priority Date: 05/29/1976
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Endo, Hiroshi
• Primary Examiner(s): Buczinski, S. C.
• Application Number:
  US05/801,315
• Time in Patent Office: 459 Days
• Field of Search: 343/9, 343/17.2 R, 343/17.5, 343/16 R, 343/7 UM
• US Class Current: 342/147
• CPC Class Codes: G01S 13/348 using square or rectangular modulation, e.g. diplex radar for ranging over short distances
• CPC Class Codes: G01S 13/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S13/46
• CPC Class Codes: G01S 13/48 using multiple beams at emission or reception
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles

Abstract

A pair of first and second antennas is mounted at the front end of a roadway vehicle. A first sequence of recurring bursts of energy at two different frequencies is transmitted from the first antenna and a second sequence of similar bursts of energy is transmitted from the second antenna at alternate intervals with the bursts of energy transmitted from the first antenna. The signals transmitted from the first and second antennas are reflected from an object and received respectively by the first and second antennas and sampled at appropriate intervals to derive a first set of two Doppler signals from the signal received by the first antenna and a second set of two Doppler signals from the second antenna. The relative phase between the Doppler signals derived from the first antenna and the relative phase between those derived from the second antenna are detected by first and second phase detectors, respectively. The outputs from the phase detectors are subtracted from each other to utilize the difference therebetween as an input data to a microcomputer to determine the angular displacement of the object from the center axis of the vehicle.

Claims

1. A method for determining the angular displacement of an object in front of a motor vehicle from the center axis of said vehicle, comprising the steps of:

transmitting a first sequence of alternately occurring bursts of energy at first and second frequencies from a first antenna and a second sequence of alternately occurring bursts of energy at first and second frequencies from a second antenna at alternate intervals with the bursts of said first sequence, said first and second antennas being mounted equally spaced from said center axis of said vehicle;

receiving the signals reflected from said object;

deriving first and second Doppler signals from the received signals resulting from the reflection of the bursts transmitted from said first antenna and deriving third and fourth Doppler signals from the received signal resulting from the reflection of the bursts transmitted from said second antenna;

generating a first signal representing the phase difference between said first and second Doppler signals and a second signal representing the phase difference between said third and fourth Doppler signals; and

computing said angular displacement using said first and second phase difference representative signals.

2. A method as claimed in claim 1, wherein the step of transmission comprises generating a sequence of alternately occurring bursts of oscillation at first and second frequencies and alternately feeding said sequence of bursts to said first and second antennas.

3. A method as claimed in claim 2, wherein the step of derivation comprises providing the interaction between the generated oscillation and the received signals, sampling the signal resulting from said interaction at timed intervals for presentation to different paths, and shaping the sampled signals on the different paths into sinusoidal waveforms.

4. A method as claimed in claim 1, wherein said bursts at said first and second frequencies are transmitted consecutively, and said reflected signal is received while said bursts are transmitted.

5. A method as claimed in claim 1, wherein said bursts at said first and second frequencies are separately transmitted in sequence, and said reflected signal is received after each of said separate bursts is transmitted.

6. A method as claimed in claim 1, wherein the step of generating said first and second phase difference representative signals comprises:

generating clock pulses;

counting said clock pulses during the interval from the instant when said first Doppler signal crosses its zero voltage level in a specified direction to the instant when said second Doppler signal crosses its zero voltage level in the same direction to provide a first count;

counting said clock pulses during the interval from the instant when said second Doppler signal crosses said zero voltage level to the instant when said first Doppler signal subsequently crosses its zero voltage level in the same direction as said specified direction to provide a second count;

counting said clock pulses during the interval from the instant when said third Doppler signal crosses its zero voltage level in a specified direction to the instant when said fourth Doppler signal crosses its zero voltage level in the same direction to provide a third count; and

counting said clock pulses during the interval from the instant when said fourth Doppler signal crosses said zero voltage level to the instant when said third Doppler signal subsequently crosses its zero voltage level in the same direction as said specified direction,

representing said first phase difference signal by 2π

a₁ /(a₁ + b₁), where a₁ and b₁ represent said first and second counts, respectively; and

representing said second phase difference signal by 2π

a₂ /(a₂ + b₂), where a₂ and b₂ represent said third and fourth counts, respectively.

7. A method as claimed in claim 6, wherein the step of computation comprises calculating the following formulae:

##EQU14## when |Δ

φ

₁ - Δ

φ

₂ | is smaller than π

radian, or ##EQU15## when |Δ

φ

₁ - Δ

φ

₂ | is greater than π

radian.

where, Δ

φ

₁ = 2π

a₁ /(a₁ + b₁)

Δ

φ

₂ = 2π

a₂ /(a₂ + b₂)

c = velocity of wave propagation

l = distance between the center axis of said vehicle and each of said first and second antennas

f₁ = said first frequency

f₂ = said second frequency

8. Apparatus for determining the angular displacement of an object in front of a roadway vehicle from the center axis of the vehicle, comprising:

first and second antennas mounted at the front end of said vehicle equally spaced from said center axis of said vehicle;

means for generating a sequence of alternately occurring bursts of oscillation at first and second frequencies;

means for alternately feeding said sequence of bursts to said first and second antennas such that a first sequence of alternately occurring bursts of oscillation at said frequencies is transmitted from said first antenna and a second sequence of alternately occurring bursts of oscillation at said frequencies is transmitted from said second antenna at alternate intervals with the bursts of said first sequence;

a mixer for providing the interaction between local oscillation from said generating means and return signals received at said first and second antennas as a result of said transmitted bursts being reflected from said object;

means for deriving from the output from said mixer first and second Doppler signals respectively representative of Doppler shifts resulting respectively from the reflection of the bursts at said first and second frequencies transmitted from said first antenna, and third and fourth Doppler signals respectively representative of Doppler shifts resulting repsectively from the reflection of the bursts at said first and second frequencies transmitted from said second antenna;

means for generating a first signal representative of the difference in phase between said first and second Doppler signals;

means for generating a second signal representative of the difference in phase between said third and fourth Doppler signals; and

computing means programmed to process said first and second phase difference representative signals to obtain said angular displacement.

9. Apparatus as claimed in claim 8, comprising timing pulse generating means for providing first timing pulses and second timing pulses with a duration twice that of said first timing pulses, and wherein said burst oscillation generating means includes a voltage-controlled semiconductor microwave oscillator responsive to the voltage level of said first timing pulses, and said feeding means includes first and second gate-controlled switching devices alternately responsive to the different voltage levels of said second timing pulses for coupling the output from said microwave oscillator to said first and second antennas, respectively.

10. Apparatus as claimed in claim 9, wherein said Doppler signal deriving means comprising means for generating a set of first, second, third and fourth trains of successively occuring sampling pulses in response to the transmission of each burst from said antennas, a set of first, second, third and fourth sample-and-hold circuits for sampling the output of said mixer in response to said first, second, third and fourth sampling pulses, respectively, and lowpass filter means connected to each of said sample-and-hold circuits for generating a sinusoidal waveform to represent each of said Doppler signals.

11. Apparatus as claimed in claim 9, further comprising means for generating third timing pulses at a frequency twice that of said first timing pulses with a duration smaller than that of said first timing pulses, and a pulse modulator for modulating the output from said microwave oscillator in response to said third timing pulses, whereby the signal transmitted from said first antenna is a first sequence of multiburst signals and the singal transmitted from said second antenna is a second sequence of multiburst signals occurring alternately with the multibrust signals of the first sequence, each of said multiburst signals representing two separate bursts of energy at said first and second frequencies.

12. Apparatus as claimed in claim 11, wherein said Doppler signal deriving means comprises means for generating fourth timing pulses in response to the return signals received at said first and second antennas, a bistable device responsive to the leading edge of the third timing pulses to assume a first stable state and responsive to the leading edge of said fourth timing pulses to assume a second stable state, means for generating fifth timing pulses each occuring at a delayed point in time from the instant said bistable device assumes said second stable state so that each of the delayed pulses occurs at substantially at the midway of the duration of each output from said first mixer, a set of first, second, third and fourth sample-and-hold circuits successively responsive to said delayed pulses for sampling the output from said first mixer, and lowpass filter means connected to each of said sample-and-hold circuits for shaping the output therefrom into a sinusoidal waveform to represent each of said Doppler signals.

13. Apparatus as claimed in claim 12, wherein said fourth timing pulse generating means comprises a phase shifter for shifting the phase of local oscillation from said microwave oscillator by a predetermined amount, a second mixer for providing the interaction between the phase-shifted local oscillation and the return signals received at said first and second antennas, and first and second limiters for providing amplification of the outputs from said first and second mixers respectively so that the amplified output is at one of two discrete levels, the output from said limiters being applied to one input of said bistable device.

14. Apparatus as claimed in claim 8, wherein said means for generating first phase difference representative signal comprises a set of first and second means for shaping the first and second Doppler signals into a first and second rectangular pulses, a set of first and second differentiators for differentiating the output from said first and second shaping means respectively, a bistable device responsive to the output from said first differentiator to assume a first stable and responsive to the output from said second differentiator to assume a second stable state, a set of first and second gate circuits respectively responsive to said bistable device being in said first and second stable states, a clock pulse generating source for supplying clock pulses to said gate circuits, a set of first and second counters for counting said clock pulses when said gate circuits are enabled in response to the stable states of said bistable device to provide first and second count outputs respectively, and means for calculating 2π

a₁ /(a₁ + b₁), where a₁ and b₁ represent said first and second count outputs respectively, and wherein said means for generating second phase difference representative signal comprises a set of first and second means for shaping the third and fourth Doppler signals into a third and fourth rectangular pulses, a set of third and fourth differentiators for differentiating the output from said third and fourth shaping means respectively, a second bistable device responsive to the output from said third differentiator to assume a first stable state and responsive to the output from said fourth differentiator to assume a second stable state, a set of third and fourth gate circuits respectively responsive to said bistable device being in said first and second stable state for passing said clock pulses to their respective outputs, a set of third and fourth counters for counting siad clock pulses passed through said third and fourth gate circuits to provide third and fourth count outputs respectively, and means for calculating 2π

a₂ /(a₂ + b₂), where a₂ and b₂ represent said third and fourth count outputs respectively.