Doppler-effect vehicle ground speed detecting apparatus with means for adjusting frequency of generated wave

• US 5,287,329 A
• Filed: 04/19/1993
• Issued: 02/15/1994
• Est. Priority Date: 05/13/1992
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Ikeda, Shinji
• Primary Examiner(s): Hellner, Mark
• Application Number:
  US08/047,280
• Time in Patent Office: 302 Days
• Field of Search: 367/90, 367/91, 342/70
• US Class Current: 367/91
• CPC Class Codes: B60T 8/171 Detecting parameters used in the regulation; Measuring values used in the regulation
• CPC Class Codes: G01S 15/107 using frequency agility of carrier wave
• CPC Class Codes: G01S 15/60 wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track

Abstract

An apparatus for detecting a vehicle ground speed, including a transmitter for transmitting a wave towards a ground surface, and a receiver for receiving a portion of the transmitted wave reflected by the ground surface. The apparatus produces an output indicative of the vehicle ground speed, according to a Doppler effect on the basis of the frequencies of the transmitted wave and the reflected wave, and further includes a device for changing the frequency of the transmitted wave so that the sensitivity of the receiver is held within a predetermined optimum range. The device is adapted to restrict or inhibit a change in the frequency of the transmitted wave due to deterioration of the condition of the ground surface which causes the receiver sensitivity to be lowered.

Claims

1. A Doppler-effect speed detecting apparatus for detecting a ground speed of a motor vehicle, including (a) a transmitter for transmitting a wave towards a ground surface, (b) a receiver for receiving a portion of the transmitted wave which is reflected by the ground surface, (c) output means for producing an output indicative of the ground speed of the vehicle, according to a Doppler effect on the basis of a frequency of said transmitted wave as transmitted from said transmitter and a frequency of the reflected wave as received by said receiver, and (d) frequency changing means for changing the frequency of said transmitted wave so that a sensitivity of said receiver is held within a predetermined optimum range, wherein the improvement comprises:

said frequency changing means including restricting means for restricting a change in the frequency of said transmitted wave due to deterioration of a condition of said ground surface which causes said sensitivity to be lowered.

2. A Doppler-effect speed detecting apparatus according to claim 1, wherein said frequency changing means detects the frequency of said reflected wave on the basis of an output signal of said receiver, and changes the frequency of said transmitted wave on the basis of the detected frequency of said reflected wave so that the detected frequency of said reflected wave is held within a predetermined optimum range, said restricting means of said frequency changing means comparing a magnitude of said output signal of said receiver with a predetermined threshold value or not, for thereby determining whether the condition of said ground surface is deteriorated to such an extent that causes the sensitivity of said receiver to be outside a permissible range, said restricting means inhibiting a change of the frequency of the transmitted wave on the basis of said detected frequency of said reflected wave while said ground surface condition is deteriorated.

3. A Doppler-effect speed detecting apparatus according to claim 2, wherein said restricting means compares said magnitude of said output signal of said receiver with a predetermined threshold value, to thereby determine whether the condition of said ground surface is deteriorated to said extent.

4. A Doppler-effect speed detecting apparatus according to claim 2, wherein said frequency changing means includes means for determining whether said detected frequency of said reflected wave is held within said predetermined optimum range.

5. A Doppler-effect speed detecting apparatus according to claim 2, wherein said predetermined optimum range of said detected frequency of said reflected wave is defined by an upper limit and a lower limit.

6. A Doppler-effect speed detecting apparatus according to claim 5, wherein said frequency changing means includes means for changing the frequency of said transmitted wave in increments or decrements of a predetermined amount while said detected frequency of said reflected wave is outside said predetermined optimum range, so that the changed frequency of said transmitted wave eventually falls within said predetermined optimum range.

7. A Doppler-effect speed detecting apparatus according to claim 2, wherein said predetermined optimum range of said detected frequency of said reflected wave consists of an optimum frequency value of said reflected wave.

8. A Doppler-effect speed detecting apparatus according to claim 1, wherein said frequency changing means includes means for obtaining an estimated speed of said vehicle on the basis of rotating speeds of wheels of said vehicle, said restricting means of said frequency changing means including means for obtaining an estimated frequency of said reflected wave on the basis of said estimated speed of the vehicle, which estimated frequency is expected to be received by said receiver provided that said estimated speed of the vehicle coincides with an actual ground speed of the vehicle and that said ground surface condition is not deteriorated, said frequency changing means changing the frequency of said transmitted wave so that said estimated frequency of said reflected wave is held within a predetermined optimum range.

9. A Doppler-effect speed detecting apparatus according to claim 8, wherein said predetermined optimum range is defined by an upper limit and a lower limit.

10. A Doppler-effect speed detecting apparatus according to claim 8, wherein said predetermined optimum range consists of an optimum frequency value of said reflected wave.