Radar apparatus for accurately detecting a path of a target vehicle which is in a lane of a vehicle

• US 5,767,803 A
• Filed: 11/22/1996
• Issued: 06/16/1998
• Est. Priority Date: 12/04/1995
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Yamada, Yukinori
• Primary Examiner(s): Carone, Michael J.
• Assistant Examiner(s): MONTGOMERY, CHRISTOPHER KEITH
• Application Number:
  US08/755,018
• Time in Patent Office: 571 Days
• Field of Search: 342/69, 342/70, 342/71, 342/72, 340/928, 340/935
• US Class Current: 342/69
• CPC Class Codes: G01S 13/426 Scanning radar, e.g. 3D radar G01S13/66 takes precedence
• CPC Class Codes: G01S 13/72 for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons

Abstract

A radar apparatus includes a radar unit which radiates a radar beam to a target in a forward direction of a vehicle and receives a reflection beam from the target to detect a target vehicle based on the received reflection beam. A scanning control unit moves a beam radiation axis of the radar unit across the target from left to right or vice versa in response to a scanning angle signal. A lane discriminating unit, having an input coupled to the radar unit and an output coupled to the scanning control unit, detects whether a path of the target vehicle is in a lane of the vehicle based on the received reflection beam. The lane discriminating unit supplies a scanning angle signal to the scanning control unit for each of a plurality of scanning angles, so that the beam radiation axis is moved for each of the plurality of scanning angles, detects a relative distance, a relative speed and a reflection beam level based on the received reflection beam after the beam radiation axis is moved, and detects whether one of a plurality of lane discriminating conditions is met by the relative distances, the relative speeds and the reflection beam levels for all the plurality of scanning angles.

Claims

1. A radar apparatus of a vehicle comprising:

radar means for radiating a radar beam to a target in a forward direction of the vehicle and for receiving a reflection beam from the target to detect a target vehicle based on the received reflection beam;

scanning control means for moving a beam radiation axis of the radar means across the target from left to right or vice versa in response to a scanning angle signal; and

lane discriminating means, having an input coupled to said radar means and an output coupled to said scanning control means, for detecting whether a path of the target vehicle is in a lane of the vehicle based on the received reflection beam, said lane discriminating means including;

first means for supplying a scanning angle signal to said scanning control means for each of a plurality of scanning angles, so that the beam radiation axis is moved for each of the plurality of scanning angles;

second means for detecting a relative distance, a relative speed and a reflection beam level based on the received reflection beam after the beam radiation axis is moved for each of the plurality of scanning angles;

third means for detecting whether one of a plurality of lane discriminating conditions is met by the relative distances, the relative speeds and the reflection beam levels for all the plurality of scanning angles.

2. The radar apparatus according to claim 1, wherein said lane discriminating means detects the presence of a target vehicle as well as the reflection beam level based on the received reflection beam with respect to each of the plurality of scanning angles.

3. The radar apparatus according to claim 1, wherein said lane discriminating means performs the detection of the path of the target vehicle only when a relative distance between the target vehicle and the vehicle is above an allowable minimum distance.

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

means for determining a scanning angle from a relative distance, a steering angle, and a vehicle speed when the vehicle is detected to be running in a curved path.

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

means for detecting whether the relative speed of the target vehicle is below a reference speed when the path of the target vehicle is detected to be in the lane of the vehicle.

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

means for setting an alarm unit of the vehicle in ON state when the path of the target vehicle is detected to be in the lane of the vehicle and a position of the vehicle is detected to be too near the target vehicle.

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

means for determining a scanning angle from a relative distance, a yaw rate, and a vehicle speed when the vehicle is detected to be running in a curved path.

8. The radar apparatus according to claim 1, wherein said third means performs the determination on the one of the lane discriminating conditions at least twice prior to the detection of the path of the target vehicle.

9. The radar apparatus according to claim 1, wherein said second means performs the detection of the relative distances, the relative speeds and the reflection beam levels for all the plurality of scanning angles at least twice prior to the detection of the path of the target vehicle.

10. The radar apparatus according to claim 1, wherein said lane discriminating means performs the detection of the path of the target vehicle when the vehicle is detected to be running in a curved path.

11. The radar apparatus according to claim 1, wherein said lane discriminating means performs a comparison between the reflection beam levels for all the plurality of scanning angles when the detection of the path of the target vehicle is performed.