Radar system for an anti-collision system for a vehicle

• US 4,148,028 A
• Filed: 08/02/1977
• Issued: 04/03/1979
• Est. Priority Date: 08/03/1976
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Fujiki, Norio
• Primary Examiner(s): Wilbur, Maynard R.
• Assistant Examiner(s): Berger, Richard E.
• Application Number:
  US05/821,227
• Time in Patent Office: 609 Days
• Field of Search: 343/7 VM, 343/112 CA
• US Class Current: 342/70
• CPC Class Codes: G01S 13/50 Systems of measurement based on relative movement of target
• CPC Class Codes: G01S 13/92 for velocity measurement
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction

Abstract

A pair of antennas mounted on a vehicle receive an echo wave reflected from an obstacle to produce a pair of Doppler signals, the variation of the phase difference of which is used to indicate the direction of the relative movement of the obstacle. The phase difference also represents the difference in propagation lines and is proportional to the relative angular displacement of the obstacle so the rate of variation of relative angular displacement is detectable because the increase and decrease of phase difference negate each other.

Claims

1. A Doppler radar system for an anti-collision system of a vehicle, comprising:

first means for transmitting an electromagnetic wave in a direction of movement of said vehicle and for receiving a corresponding echo wave reflected from a target at first and second points spaced from each other to produce first and second Doppler signals in accordance with said reflected echo wave, said first and second points being positioned respectively on port and starboard sides of said vehicle, said first Doppler signal having a frequency proportional to the relative velocity between said target and said first point, said second Doppler signal having a frequency proportional to the relative velocity between said target and said second point;

second means responsive to said first means for producing a first signal indicative of a difference in phase between said first and second Doppler signals, the magnitude of said first signal increasing when the frequency increase rate of said second Doppler signal is greater than that of said first Doppler signal and decreasing when the frequency increase rate of said second Doppler signal is less than that of said first Doppler signal;

third means responsive to said second means for producing a first pulse signal each time the magnitude of said first signal increases and a second pulse signal each time the magnitude of said first signal decreases, said first and second pulse signals being produced separately;

fourth means for permitting respectively the transmission of said first and second pulse signals for a predetermined period of time;

fifth means for up counting said first pulse signals and for down counting said second pulse signals; and

sixth means for producing an alarm signal in accordance with the number of pulses stored in said fifth means.

2. A Doppler radar system for an anti-collision system of a vehicle as claimed in claim 1, wherein said first means comprises:

electromagnetic wave generating means for generating said electromagnetic wave;

a Doppler signal generator;

two transmitting and receiving antennas positioned respectively at said first and second points for transmitting said electromagnetic wave supplied thereto and receiving said echo wave;

first switch means for selectively connecting either one of said antennas to said electromagnetic wave generating means and said Doppler signal generator in response to a switching signal;

two low frequency signal separators for passing therethrough only a relatively low frequency component of an input signal thereto, each of said low frequency separators including a holding circuit for holding a level of an input signal supplied thereto until a succeeding input signal is supplied thereto;

second switch means for selectively supplying said Doppler signal generator to either one of said two low frequency signal separators in response to said switching signal; and

a switching signal generator for producing said switching signal with a frequency which is lower than that of said electromagnetic wave and higher than that of said Doppler signals.

3. A Doppler radar system for an anti-collision system of a vehicle as claimed in claim 1, wherein said first signal has a wavelength which represents the period of time during which said difference in phase between said pair of Doppler signals varies from 0 to 2π

radians or from 2π

radians to 0.

4. A Doppler radar system as claimed in claim 1, wherein said third means comprises:

a differentiation circuit for differentiating an analog signal supplied from said second means to produce a pulse train signal having a negative value when the magnitude of said supplied analog signal drops after an increase and a pulse train signal having a positive value when the magnitude of said supplied analog signal rises after a decrease; and

first and second comparators responsive to said differentiation circuit, said first comparator producing an output pulse signal when the negative value of said pulse signal applied from said differentiation circuit is below a first predetermined value, said second comparator producing an output pulse signal when the positive value of said pulse signal applied from said differentiation circuit is above a second predetermined value.

5. A Doppler radar system as claimed in claim 4, wherein said fourth means comprises:

first and second gate circuits responsive respectively to said first and second comparators; and

a timer circuit for providing a predetermined period of time, the output of said timer circuit being fed to said first and second gate circuits for enabling respectively the first and second gate circuits for said predetermined period of time.

6. A Doppler radar system as claimed in claim 1, wherein said fifth means comprises:

an up-down counter, an ADD line input and a SUBTRACT line input of which are responsive respectively to said first and second pulse signals applied from said fourth means;

means for presetting a predetermined number into said up-down counter each time the number stored in said up-down counter is refreshed;

said up-down counter producing an output signal by adding the number of pulses fed to said ADD line input to said predetermined number and subtracting the number of pulses fed to said SUBTRACT line input from said predetermined number so that the output signal of said up-down counter indicates a number equal to the numerical difference of pulses between said first and second pulses;

a latch responsive to the output signal of said up-down counter for storing the output signal for a predetermined period of time; and

a timer circuit responsive to said latch for providing said predetermined period of time.

7. A Doppler radar system as claimed in claim 1, wherein said sixth means comprises:

a first comparator for producing an output signal when the number of pulses applied from said fifth means exceeds a first predetermined value;

a second comparator for producing an output signal when the number of pulses applied from said fifth means is below a second predetermined value which is greater than said first predetermined value; and

gate means responsive to the output signals of said first and second comparators for producing an output signal when both of the output signals are simultaneously fed thereto.

8. A Doppler radar system for an anti-collision system of a vehicle as claimed in claim 1, wherein said second means comprises:

a pair of A-D converters which convert said first and second Doppler signals into a pair of digital signals respectively;

a difference detector connected to said pair of A-D converters, for detecting the difference in phase of said pair of digital signals to produce a single digital signal in response to said difference in phase; and

a D-A converter connected to said difference detector, for producing a single analog signal in response to said single digital signal obtained by said difference detector.

9. A Doppler radar system for an anti-collision system of a vehicle as claimed in claim 4, wherein said A-D converters are a pair of comparators each of which produces a first logic signal when the magnitude of said Doppler signal is over a predetermined value and which produces a second logic signal when the magnitude of said Doppler signal is less than said predetermined value.

10. A Doppler radar system for an anti-collision system of a vehicle as claimed in claim 4, wherein said difference detector is a pulse width modulation signal generator for producing a pulse width modulation signal proportional to the difference in phase between said pair of digital signals.

11. A Doppler radar system for an anti-collision system of a vehicle as claimed in claim 4, wherein said difference detector is a flip-flop circuit producing a pulse of which width is proportional to the difference in phase between said pair of digital signals.

12. A Doppler radar system for an anti-collision system of a vehicle as claimed in claim 4, wherein said difference detector is an EXCLUSIVE OR gate for producing a pulse the width of which is proportional to the difference in phase between said pair of digital signals.

13. A Doppler radar system for an anti-collision system of a vehicle as claimed in claim 4, wherein said D-A converter is a low pass filter for producing said single analog signal.