System and method for determining absolute vehicle height and ground speed

• US 5,696,515 A
• Filed: 01/31/1996
• Issued: 12/09/1997
• Est. Priority Date: 01/31/1996
• Status: Expired due to Fees

• Current Assignee: Visteon Global Technologies Incorporated (Visteon Corporation)
• Original Assignee: Ford Motor Company
• Inventors: Zyren, James Gerard, Roddewig, Robbin Edwin
• Primary Examiner(s): Sotomayor, John B.
• Application Number:
  US08/590,700
• Time in Patent Office: 678 Days
• Field of Search: 342/104, 342/109, 342/111, 342/112, 342/123, 342/127, 342/70, 342/71, 342/72
• US Class Current: 342/104
• CPC Class Codes: B60G 17/0165 to an external condition, e.g. rough road surface, side wind
• CPC Class Codes: B60G 17/019 characterised by the type of sensor or the arrangement thereof B60G17/01941 takes precedence
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/252 vertical
• CPC Class Codes: B60G 2400/82 Ground surface
• CPC Class Codes: B60G 2401/15 Doppler effect
• CPC Class Codes: B60G 2500/30 Height or ground clearance
• CPC Class Codes: G01S 13/003 Bistatic radar systems; Multistatic radar systems
• CPC Class Codes: G01S 13/36 with phase comparison between the received signal and the contemporaneously transmitted signal
• CPC Class Codes: G01S 13/584 adapted for simultaneous range and velocity measurements
• CPC Class Codes: G01S 13/60 wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track G01S13/64 takes precedence
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 7/4004 of parts of a radar system

Abstract

A system and method for determining absolute vehicle height and ground speed. As disclosed, a millimeter wave radar system for determining selected boundary distances is implemented based upon a generation of a modulated millimeter wave signal which is envelope detected and thereafter phase detected to determine the selected boundary distance on a continuous real-time basis. To similarly determine absolute vehicle speed on a continuous real-time basis, a method is disclosed for use in cooperation with an on-board microcomputer, the height sensing system described above, and a passive speed sensor aperture which is affixed to the chassis and directed toward the ground at some angle theta. In operation, a portion of the RF signal radiated by the height sensor is backscattered toward the passive speed sensor aperture. The Doppler Shift of this signal caused by vehicle motion is determined. Information derived from the height sensor subsystem is then used to correct errors in vehicle speed computation due to vertical chassis motion and road surface aberrations.

Claims

1. For use in a vehicle moving over a road surface, a millimeter wave radar system for determining the distance from the chassis of the vehicle to the road surface, the system comprising:

a primary oscillator for generating a first millimeter wave signal having a first carrier frequency;

a secondary oscillator for generating a second signal having a second frequency;

an amplitude modulator in electrical communication with said primary and secondary oscillators for mixing said first and second signals to generate a modulated RF signal;

a first directive aperture affixed to said chassis and in electrical communication with said amplitude modulator for radiating said modulated RF signal toward said road surface;

a second directive aperture affixed to said chassis for receiving said modulated RF signal as reflected from said road surface;

a demodulator in electrical communication with said second aperture for demodulating said reflected modulated RF signal to generate a demodulated RF signal having said second frequency; and

a phase detector in electrical communication with said demodulator and said secondary oscillator for comparing the phases of said second signal and said demodulated RF signal to determine the phase offset between said second signal and said demodulated RF signal, wherein the distance from the chassis of the vehicle to the road surface may be determined on a continuous real-time basis by reference to said determined phase offset.

2. A system as in claim 1, wherein said phase detector generates an electrical output signal corresponding to the phase offset.

3. A system as in claim 2, wherein said electrical signal comprises sine and cosine analog voltage outputs.

4. A system as in claim 3, further comprising:

an analog to digital converter in electrical communication with said phase detector; and

a microcomputer in electrical communication with said analog to digital converter for determining the arc tangent of the ratio of said sine and cosine phase detector outputs.

5. A system as in claim 4, wherein said microcomputer is further adapted to determine the sum of the squares of said sine and cosine phase detector outputs as a measure of signal power.

6. A system as in claim 1, further comprising an Automatic Gain Controller (AGC) in electrical communication with said primary oscillator for adjusting the power of said first signal on a continuous real-time basis to ensure the minimum amount of power is radiated and reduce the possibility of vehicle-to-vehicle interference.

7. A system as in claim 1, wherein said demodulator comprises a biased diode square-law detector.

8. A system as in claim 1, wherein said primary oscillator and said amplitude modulator are disposed in a single GaAs Monolithic Millimeter Wave Integrated Circuit (MMIC).

9. A system as in claim 1, wherein said demodulator is disposed in a GaAs Monolithic Millimeter Wave Integrated Circuit (MMIC).

10. For use in a vehicle moving over a road surface, a method of determining the distance from the chassis of the vehicle to the road surface, the method comprising:

generating a first millimeter wave signal having a first carrier frequency;

generating a second signal having a second frequency;

mixing said first and second signals to generate a modulated RF signal;

radiating said modulated RF signal from said chassis toward said road surface;

receiving said modulated RF signal at the chassis as reflected from said road surface;

demodulating said reflected modulated RF signal to generate a demodulated RF signal having said second frequency;

comparing the phases of said second signal and said demodulated RF signal to determine the phase offset between said second signal and said demodulated RF signal; and

determining the distance from the chassis of the vehicle to the road surface as a function of the phase offset.

11. The method of claim 10, further including adjusting the power of said first signal on a continuous real-time basis to ensure that the minimum amount of power is radiated.

12. The method of claim 10, wherein said second frequency has a wavelength proportional to the length of suspension travel of the chassis over the road surface.

13. The method of claim 10, wherein said modulated RF signal is radiated substantially vertically from said chassis to said road surface.

14. The method of claim 10 further comprising generating an electrical output signal corresponding to the phase offset.

15. For use in a vehicle moving over a road surface, a method of determining vehicle speed on a continuous real-time basis, the method comprising:

radiating an RF signal having a frequency F₀ towards said road surface from an active aperture affixed to said chassis and oriented substantially perpendicular to said road surface;

receiving the RF signal as reflected from said road surface with a passive aperture affixed to said chassis and oriented at an angle phi relative to said road surface;

determining the Doppler Shifted frequency (F¹) of said reflected RF signal as caused by vehicle movement over the road surface;

determining the distance from the chassis of the vehicle to the road surface as the vehicle moves over the road surface;

determining the error in the Doppler Shifted frequency (F¹) caused by the change in the distance from the chassis to the road surface as the vehicle moves over the road surface;

correcting the Doppler Shifted frequency (F¹) as a function of the error to generate a true Doppler Shifted frequency (F₂); and

determining the vehicle speed in accordance with the formula;

##EQU8## where C =speed of light =3E8 m/s.

16. The method of claim 15, wherein determining the distance from the chassis to the road surface as the vehicle moves over the road surface comprises:

generating a first millimeter wave signal having a first carrier frequency;

generating a second signal having a second frequency;

mixing said first and second signals to generate a modulated RF signal;

radiating said modulated RF signal from said chassis toward said road surface;

receiving said modulated RF signal as reflected from said road surface;

demodulating said reflected modulated RF signal to generate a demodulated RF signal having said second frequency;

comparing the phases of said second signal and said demodulated RF signal to determine the phase offset between said second signal and said demodulated RF signal; and

determining the distance from the chassis of the vehicle to the road surface as a function of the phase offset.