Radar apparatus for detecting a direction of a center of a target

• US 5,734,344 A
• Filed: 10/29/1996
• Issued: 03/31/1998
• Est. Priority Date: 11/10/1995
• Status: Expired

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Yamada, Yukinori
• Primary Examiner(s): Pihulic, Daniel T.
• Application Number:
  US08/741,206
• Time in Patent Office: 518 Days
• Field of Search: 342/70, 342/71, 342/72, 342/147, 342/107, 340/903
• US Class Current: 342/72
• CPC Class Codes: G01S 13/345 using triangular modulation
• CPC Class Codes: G01S 13/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S13/46
• CPC Class Codes: G01S 13/424 Stacked beam radar
• 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 7/032 Constructional details for solid-state radar subsystems
• CPC Class Codes: G01S 7/2883 using FFT processing
• CPC Class Codes: G01S 7/411 Identification of targets based on measurements of radar reflectivity G01S7/415 takes precedence

Abstract

A radar apparatus of an automotive vehicle includes a radar unit which radiates an electromagnetic wave to a target in a forward direction of the vehicle and receives reflection beams from the target to detect the target. A scanning control unit performs a beam scanning of the radar unit to the target so that the reflection beams during the beam scanning are received. A center direction determining unit detects a distribution pattern of the received reflection beams with respect to respective scanning angles of the radar unit, performs a similarity approximation of the distribution pattern by using an antenna directional gain pattern of the radar unit to produce an approximated distribution pattern, and determines a direction of a center of the target based on a peak of the approximated distribution pattern.

Claims

1. A radar apparatus of an automotive vehicle, comprising:

radar means for radiating an electromagnetic wave to a target in a forward direction of the vehicle and for receiving reflection beams from the target to detect the target;

scanning control means for performing a beam scanning of the radar means to the target so that the reflection beams during the beam scanning are received; and

center direction determining means for detecting a distribution pattern of the received reflection beams with respect to respective scanning angles of the radar means, for performing a similarity approximation of the distribution pattern by using an antenna directional gain pattern of the radar means to produce an approximated distribution pattern, and for determining a direction of a center of the target based on a peak of the approximated distribution pattern.

2. The radar apparatus according to claim 1, further comprising:

correcting means for determining a corrected center scanning angle from a reference range value corresponding to a beam scanning range of the radar means for a width of the target, and from a scanning angle of the radar means corresponding to a mid-point of lower and upper limits of the scanning angle in the distribution pattern, when the vehicle is running along a curved path and the beam scanning range is below the reference range value.

3. The radar apparatus according to claim 2, wherein said correcting means includes:

means for detecting whether the vehicle is running along a curved path, by comparing a radius of curvature of a present path along which the vehicle is presently running with a predetermined reference value, said radius of curvature being determined by using a measured yaw rate and a measured vehicle speed.

4. The radar apparatus according to claim 2, wherein said correcting means includes:

means for detecting whether a beam radiation axis of the radar means directed to the target is slanting with respect to the forward direction of the vehicle.

5. The radar apparatus according to claim 1, wherein, when the vehicle is not running along a curved path, said center direction determining means generates a signal indicating the direction of the center of the target for a center scanning angle of the radar means.

6. The radar apparatus according to claim 1, wherein, when a beam radiation axis of the radar means directed to the target is not slanting with respect to the forward direction of the vehicle, said center direction determining means generates a signal indicating the direction of the center of the target for a center scanning angle of the radar means.

7. The radar apparatus according to claim 1, further comprising:

alarm means for providing a warning of a dangerous condition of the vehicle to a vehicle operator when the vehicle is detected to be in the dangerous condition with respect to the target, based a relative distance of the target and a relative velocity of the target.

8. The radar apparatus according to claim 1, wherein said radar apparatus includes a yaw rate sensor connected to an electronic control unit, said yaw rate sensor measuring a yaw rate of the vehicle and supplying the measured yaw rate to the electronic control unit.

9. The radar apparatus according to claim 1, wherein said radar apparatus includes a vehicle speed sensor connected to an electronic control unit, said vehicle speed sensor measuring a vehicle speed of the vehicle and supplying the measured vehicle speed to the electronic control unit.

10. The radar apparatus according to claim 1, wherein said radar means is a frequency-modulation-continuous-wave radar unit which radiates an extremely-high-frequency electromagnetic wave.