Radar method and device for carrying out the method

• US 5,633,642 A
• Filed: 05/22/1996
• Issued: 05/27/1997
• Est. Priority Date: 11/23/1993
• Status: Expired due to Fees

• Current Assignee: Siemens AG
• Original Assignee: Siemens AG
• Inventors: Schindler, Wolfgang, Hoss, Alfred
• Primary Examiner(s): Sotomayor, John B.
• Application Number:
  US08/651,564
• Time in Patent Office: 370 Days
• Field of Search: 342/70, 342/71, 342/72, 342/196
• US Class Current: 342/70
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2050/0052 Filtering, filters
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: G01S 13/345 using triangular modulation
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 7/4039 of sensor or antenna obstruction, e.g. dirt- or ice-coating
• CPC Class Codes: G01S 7/4056 specially adapted to FMCW

Abstract

A radar method and a device for carrying out the method include estimating an azimuth angle of each target object from determined variables of distance or range, relative speed and relative acceleration after Kalman filtering and separating out target objects having a physically impossible behavior (tracking and prediction). That is used to determine which target objects are located on a roadway occupied by a vehicle and which are the most dangerous thereof. Indication, warning or action thresholds are determined as a function of driving behavior of the driver, road conditions and weather conditions. Indication, warning or action signals (in the brakes, throttle valve or gear shift of the vehicle) result if the thresholds are exceeded or undershot by the range, the relative speed and the relative acceleration.

Claims

1. A radar method for vehicles employing at least one radar beam, which comprises:

determining object frequencies assigned to target objects per measurement cycle from maxima contained in a frequency spectra derived from the object frequencies in a digital signal processor, by;

separately subjecting digitized and recorded samples received during two modulation phases in each modulation cycle of mixed signals formed from transmitted and received signals to a fast Fourier transformation in successive measurement cycles per radar beam,

and including a modulation cycle formed from a rising and a falling modulation phase of the radar signal and a subsequent evaluation pause for received echo signals in each measurement cycle,

storing the object frequencies over a number of measurement cycles,

forming object tracks separated according to rising and falling modulation phases from the stored object frequencies for each target object,

describing a previous time-domain behavior of the object frequencies with the object tracks,

forming estimated values for the object frequencies to be expected in the next measurement cycle from a previous behavior of the object tracks,

calculating an error from the object frequencies and from the estimated values obtained from the object tracks, assigning object frequency pairs having the respectively smallest error to one another after the calculation of the error, and calculating correct values for a distance and a relative speed of at least one target object from the pairs,

determining and storing a data set containing distance and relative speed data for at least one target object,

filtering the distance and relative speed data,

determining a turn radius and a speed of the vehicle,

determining which target objects are located in a lane occupied by the vehicle by using the distance and the relative speed of the target object, as well as the speed and turn radius of the vehicle, and determining at least the most dangerous target object therefrom, and

alerting a driver of the vehicle if a predetermined indication threshold for the distance and the relative speed is exceeded.

2. The radar method according to claim 1, which comprises alerting the driver of the vehicle if the predetermined indication threshold for the distance and the relative speed is undershot.

3. The radar method according to claim 1, which comprises filtering the distance and the relative speed data with Kalman filtering.

4. The radar method according to claim 1, which comprises filtering the distance and the relative speed data with α

-β

filtering.

5. The radar method according to claim 1, which comprises filtering the distance and the relative speed data with α

-β

-γ

filtering.

6. The radar method according to claim 1, which comprises determining a relative acceleration of the target object from the estimated values of the object frequency pairs, by exhibiting relative acceleration with the data set of the target object, filtering the relative acceleration, taking the relative acceleration into account in determining if a target object is located in the lane occupied by the vehicle, and providing an indication threshold for the relative acceleration.

7. The radar method according to claim 1, which comprises establishing warning and action thresholds for the distance and for the relative acceleration, and taking actions regarding vehicle functions if the thresholds are exceeded or undershot.

8. The radar method according to claim 7, which comprises taking actions regarding at least one vehicle function selected from the group consisting of braking, an engine throttle valve and gearshifting of the vehicle if the thresholds are exceeded or undershot.

9. The radar method according to claim 1, which comprises forming target object tracks for the distance, relative speed and relative acceleration for each target object, and no longer tracking target objects having a physically impossible behavior or disappearing target objects.

10. The radar method according to claim 1, which comprises estimating an azimuth angle of the target object from the distance, relative speed and relative acceleration, amplitudes of the object frequencies and beam number.

11. The radar method according to claim 1, which comprises taking the relative speed and the azimuth angle into account to check if the target object is located in the lane occupied by the vehicle.

12. The radar method according to claim 1, which comprises forming mean values of noise elements of the frequency spectrum formed during each Fourier transformation, subtracting the mean values from the amplitudes of the frequency spectrum, predetermining a threshold located above a remaining noise level, and further processing all maxima located above the threshold having been assigned as target objects rather than as noise.

13. The radar method according to claim 1, which comprises carrying out at least two modulation cycles in each measurement cycle, and further processing mean values of the object frequencies calculated from the modulation cycles as object frequencies of the measurement cycle.

14. The radar method according to claim 13, which comprises setting a different modulation shift for the modulation cycles per measurement cycle.

15. The radar method according to claim 13, which comprises setting a different modulation duration for the modulation cycles per measurement cycle.

16. The radar method according to claim 1, which comprises determining and storing a data set for each target object, containing at least the following data being updated after every measurement cycle if they are not constant:

distance, relative speed, relative acceleration, amplitude, chosen safety distance, tracking time or tracking counter, prediction time or prediction counter, and object status.

17. The radar method according to claim 1, which comprises adaptively deducing a driving style of the driver from steering movements, vehicle accelerations and braking decelerations initiated by the driver of the vehicle, and forming indication, warning or action thresholds for the distance, relative speed and relative acceleration corresponding thereto, initiating indication or warning signals, or operating brakes, engine throttle valve or gear shift of the vehicle if the thresholds are exceeded or undershot by dangerous or most dangerous target objects.

18. The radar method according to claim 1, which comprises comparing a noise level in the radar signals with predetermined limits for a functional check of a front end of the radar.

19. The radar method according to claim 1, which comprises feeding signals from a simulated target object into the radar signals and checking the correct processing of the signals for a functional check of the radar method.

20. A radar device for vehicles employing at least one radar beam, comprising:

a digital signal processor producing triangular-waveform digital modulation signals;

an interface module having a D/A converter converting the digital modulation signals into analog signals;

a radar front end processing the analog signals to form modulated radar signals;

at least one antenna transmitting and receiving the modulated radar signals;

a mixing and filtering device for producing mixed signals from the transmitted and received signals;

said interface module having an A/D converter converting the mixed signals into digital signals and supplying the digital signals to said signal processor for further processing;

a sensor interface for supplying signals to said signal processor;

an interface unit for supplying control signals from said signal processor to other units of the vehicle;

a control line connected from said signal processor to said radar front end for carrying digital control signals from said signal processor to control said at least one transmitting and receiving antenna; and

an indication or warning device being controlled by control signals from said signal processor.

21. The device according to claim 20, wherein said indication or warning device is a visual device.

22. The device according to claim 20, wherein said indication or warning device is an audible device.

23. The device according to claim 20, including buffer memories connected between said signal processor and said interface module for the signals supplied from and to said signal processor, and a controller being separate from said signal processor, said controller controlling a radar method and a functional check, and said signal processor carrying out data processing.

24. The device according to claim 20, including another signal line connected from said radar front end to said signal processor, for reporting digital fault messages or cleaning request signals for a cover of said at least one antenna from said radar front end to said signal processor.

25. The device according to claim 20, including a recording device for storing data output from said signal processor for subsequent call-up.