FM-CW radar system

• US 5,619,208 A
• Filed: 01/24/1996
• Issued: 04/08/1997
• Est. Priority Date: 01/24/1995
• Status: Expired due to Term

• Current Assignee: Nippondenso Co., Ltd. (DENSO Corporation)
• Original Assignee: Nippondenso Co., Ltd. (DENSO Corporation)
• Inventors: Hazumi, Hiroshi, Tamatsu, Yukimasa, Nakatani, Hiroto
• Primary Examiner(s): Sotomayor, John B.
• Application Number:
  US08/590,829
• Time in Patent Office: 440 Days
• Field of Search: 342/70, 342/71, 342/72, 342/87, 342/99, 342/111, 342/115, 342/116, 342/128, 342/192, 342/196, 342/200
• US Class Current: 342/70
• CPC Class Codes: G01S 13/345 using triangular modulation
• CPC Class Codes: G01S 13/584 adapted for simultaneous range and velocity measurements
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 7/4004 of parts of a radar system

Abstract

In an FM-CW radar system, a beat signal is frequency-analyzed for selecting ascending-side beat frequencies and descending-side beat frequencies for a plurality of targets. By pairing the ascending-side and descending-side beat frequencies one by one from each side, all possible combinations thereof are prepared. Based on these beat frequency combinations, beat frequency combinations after a given time are predicted, respectively. If an ascending-side beat frequency and a descending-side beat frequency of the predicted beat frequency combination are found in ascending-side beat frequencies and descending-side beat frequencies of a beat signal selected after the given time, respectively, or in the neighborhood of them, respectively, the predicted beat frequency combination of the found ascending-side and descending-side beat frequencies is set as a correct beat frequency combination. A further correct beat frequency combination/combinations can be set in the same manner. Based on these correct beat frequency combinations, information about the targets can be correctly achieved.

Claims

1. An FM-CW radar system comprising:

transmission signal generating means for generating a transmission signal which is frequency-modulated by a modulating signal having a waveform including an ascending portion and a descending portion;

transmitter-receiver means for transmitting said transmission signal as a radio wave and receiving said radio wave reflected back thereto so as to produce a received signal;

mixing means for mixing said transmission signal and said received signal to produce a beat signal;

beat frequency selecting means for selecting ascending-side and descending-side beat frequencies at regions of said beat signal corresponding to said ascending portion and said descending portion of said modulating signal;

beat frequency predicting means for pairing said ascending-side and descending-side beat frequencies one by one from each side so as to provide first beat frequency combinations and predicting second beat frequency combinations indicative of said first beat frequency combinations after a given time based on said first beat frequency combinations, respectively, said ascending-side and descending-side beat frequencies representing a plurality of targets which reflect back said radio wave to said transmitter-receiver means;

setting means for setting such second beat frequency combinations as correct beat frequency combinations, said second beat frequency combinations, set by said setting means, each having the ascending-side beat frequency and the descending-side beat frequency which fall in a given range of one of ascending-side beat frequencies and a given range of one of descending-side beat frequencies, respectively, of a beat signal selected by said beat frequency selecting means after said given time; and

deriving means for deriving information about the corresponding targets based on said correct beat frequency combinations set by said setting means.

2. The FM-CW radar system according to claim 1, wherein said beat frequency predicting means predicts said second beat frequency combinations based on third beat frequency combinations which are selected from said first beat frequency combinations.

3. The FM-CW radar system according to claim 2, wherein the waveform of said modulating signal further includes a constant portion in addition to said ascending and descending portions, wherein said beat frequency predicting means derives first relative velocities of said targets based on constant-side beat frequencies at a region of the beat signal corresponding to said constant portion of said modulating signal, said beat frequency predicting means further deriving second relative velocities based on said first beat frequency combinations, wherein said beat frequency predicting means compares said second relative velocities with said first relative velocities, respectively, for selecting such second relative velocities each of which substantially matches one of said first relative velocities, and wherein said beat frequency predicting means derives said third beat frequency combinations from said second relative velocities selected by said beat frequency predicting means.

4. The FM-CW radar system according to claim 1, wherein the waveform of said modulating signal further includes a constant portion in addition to said ascending and descending portions, wherein said information about the corresponding targets includes first relative velocities of said targets, wherein said beat frequency predicting means further derives second relative velocities of said targets based on constant-side beat frequencies at a region of the beat signal corresponding to said constant portion of said modulating signal, and wherein said setting means compares said first relative velocities with said second relative velocities, respectively, for selecting such first relative velocities each substantially matching one of said second relative velocities as information of the corresponding targets.

5. An FM-CW radar system comprising:

transmission signal generating means for generating a transmission signal which is frequency-modulated by a modulating signal having a waveform including an ascending portion and a descending portion;

transmitter-receiver means for transmitting said transmission signal as a radio wave and receiving said radio wave reflected back thereto so as to produce a received signal;

mixing means for mixing said transmission signal and said received signal to produce a beat signal;

beat frequency selecting means for selecting ascending-side and descending-side beat frequencies at regions of said beat signal corresponding to said ascending portion and said descending portion of said modulating signal;

target information predicting means for pairing said ascending-side and descending-side beat frequencies one by one from each side so as to provide beat frequency combinations, said ascending-side and descending-side beat frequencies representing a plurality of targets which reflect back said radio wave to said transmitter-receiver means, said target information predicting means deriving first values, each representing one of a first relative velocity and a distance of the target, from said beat frequency combinations, said target information predicting means predicting second values indicative of said first values after a given time based on said first values, respectively; and

setting means for setting such second values as correct values indicative of the corresponding targets, said second values, set by said setting means, each falling in a given range of one of said first values derived by said target information predicting means after said given time.

6. The FM-CW radar system according to claim 5, wherein each of said first values represents the first relative velocity, wherein the waveform of said modulating signal further includes a constant portion in addition to said ascending and descending portions, wherein said target information predicting means derives second relative velocities of said targets based on constant-side beat frequencies at a region of the beat signal corresponding to said constant portion of said modulating signal, and wherein said setting means compares said second values, set by said setting means, with said second relative velocities, respectively, for selecting such second values each substantially matching one of said second relative velocities as finally correct relative velocities of the corresponding targets.

7. An FM-CW radar system comprising:

transmission signal generating means for generating a transmission signal which is frequency-modulated by a modulating signal having a waveform including a constant portion, an ascending portion and a descending portion;

transmitter-receiver means for transmitting said transmission signal as a radio wave and receiving said radio wave reflected back thereto so as to produce a received signal;

mixing means for mixing said transmission signal and said received signal to produce a beat signal;

beat frequency selecting means for selecting constant-side, ascending-side and descending-side beat frequencies at regions of said beat signal corresponding to said constant portion, said ascending portion and said descending portion of said modulating signal;

first deriving means for deriving a first relative velocity from each of said constant-side beat frequencies, said constant-side, ascending-side and descending-side beat frequencies representing a plurality of targets which reflect back said radio wave to said transmitter-receiver means;

second deriving means for pairing said ascending-side and descending-side beat frequencies one by one from each side so as to provide beat frequency combinations and deriving a second relative velocity from each of said beat frequency combinations; and

setting means for setting such second relative velocities as correct relative velocities indicative of the corresponding targets, said second relative velocities, set by said setting means, each substantially matching one of said first relative velocities.

8. The FM-CW radar system according to claim 7, further comprising third deriving means for deriving a third relative velocity from each of said second relative velocities set by said setting means, said third relative velocities indicative of the corresponding second relative velocities after a given time, respectively, and wherein said setting means sets such third relative velocities as finally correct relative velocities, said third relative velocities, set by said setting means, each falling in a given range of one of said second relative velocities set by said setting means after said given time.

9. An FM-CW radar system comprising:

transmission signal generating means for generating a transmission signal which is frequency-modulated by a modulating signal having a waveform including a constant portion, an ascending portion and a descending portion;

transmitter-receiver means for transmitting said transmission signal as a radio wave and receiving said radio wave reflected back thereto so as to produce a received signal;

mixing means for mixing said transmission signal and said received signal to produce a beat signal;

beat frequency selecting means for selecting constant-side, ascending-side and descending-side beat frequencies at regions of said beat signal corresponding to said constant portion, said ascending portion and said descending portion of said modulating signal;

first deriving means for deriving a first relative velocity from each of said constant-side beat frequencies, said constant-side, ascending-side and descending-side beat frequencies representing a plurality of targets which reflect back said radio wave to said transmitter-receiver means;

second deriving means for pairing said ascending-side and descending-side beat frequencies one by one from each side so as to provide beat frequency combinations and deriving a second relative velocity from each of said beat frequency combinations;

first setting means for setting as first beat frequency combinations such beat frequency combinations each of which renders the corresponding second relative velocity derived by said second deriving means substantially match one of said first relative velocities;

beat frequency predicting means for predicting second beat frequency combinations indicative of said first beat frequency combinations after a given time based on said first beat frequency combinations, respectively;

second setting means for setting such second beat frequency combinations as third beat frequency combinations, said second beat frequency combinations, set by said second setting means, each having the ascending-side beat frequency and the descending-side beat frequency which fall in a given range of one of ascending-side beat frequencies and a given range of one of descending-side beat frequencies, respectively, of said first beat frequency combinations set by said first setting means after said given time; and

deriving means for deriving information about the corresponding targets based on said third beat frequency combinations set by said second setting means.

10. An FM-CW radar system comprising:

transmission signal generating means for generating a transmission signal which is frequency-modulated by a modulating signal having a waveform including a constant portion, an ascending portion and a descending portion;

transmitter-receiver means for transmitting said transmission signal as a radio wave and receiving said radio wave reflected back thereto so as to produce a received signal;

mixing means for mixing said transmission signal and said received signal to produce a beat signal;

beat frequency selecting means for selecting constant-side, ascending-side and descending-side beat frequencies at regions of said beat signal corresponding to said constant portion, said ascending portion and said descending portion of said modulating signal;

beat frequency predicting means for pairing said ascending-side and descending-side beat frequencies one by one from each side so as to provide first beat frequency combinations and predicting second beat frequency combinations indicative of said first beat frequency combinations after a given time based on said first beat frequency combinations, respectively, said constant-side, ascending-side and descending-side beat frequencies representing a plurality of targets which reflect back said radio wave to said transmitter-receiver means;

first setting means for setting such second beat frequency combinations as third beat frequency combinations, said second beat frequency combinations, set by said first setting means, each having the ascending-side beat frequency and the descending-side beat frequency which fall in a given range of one of ascending-side beat frequencies and a given range of one of descending-side beat frequencies, respectively, of a beat signal selected by said beat frequency selecting means after said given time;

first deriving means for deriving a first relative velocity from each of said constant-side beat frequencies;

second deriving means for deriving a second relative velocity from each of said third beat frequency combinations; and

second setting means for setting as correct relative velocities such second relative velocities each of which substantially matches one of said first relative velocities.