Radar system and method of operating same

• US 6,011,507 A
• Filed: 11/12/1996
• Issued: 01/04/2000
• Est. Priority Date: 11/12/1996
• Status: Expired due to Term

• Current Assignee: Valeo Radar Systems, Inc. (Valeo SE)
• Original Assignee: Raytheon Company (Rtx Corporation)
• Inventors: Curran, Anthony, Crain, Arthur, Potts, Steven L.
• Primary Examiner(s): Pihulic, Daniel T.
• Application Number:
  US08/745,530
• Time in Patent Office: 1,148 Days
• Field of Search: 342/70, 342/71, 342/72, 342/111, 342/108, 342/116, 342/129, 342/145, 342/196, 701/96, 701/301
• US Class Current: 342/70
• CPC Class Codes: G01S 13/34 using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
• 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 13/48 using multiple beams at emission or reception
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 7/354 Extracting wanted echo-signals Doppler systems G01S13/50
• CPC Class Codes: G01S 7/356 involving particularities of FFT processing

Abstract

A method of operating a radar system, including the steps of digitally sampling a received signal at a predetermined sampling rate, to periodically provide a set of selected samples, the set of selected samples including positive going ramp samples, negative going ramp samples and CW burst samples and performing a first fast Fourier transform (FFT) on the positive going ramp samples, performing a second fast Fourier transform on the negative going ramp samples and performing a third fast Fourier transform on the CW burst samples is described. Utilizing the subsequent radar operations the method further includes the steps of tracking each resulting signal from the first fast Fourier transform performing steps, tracking each resulting signal from the second fast Fourier transform performing steps and tracking each resulting signal from the third fast Fourier transform performing steps and associating any resulting signals from the tracking steps to periodically provide output signals indicative of other vehicles.

Claims

1. A method of operating a radar receiver comprising the steps of:

(a) sampling received signals at a predetermined sampling rate to periodically provide a set of selected samples, the set of selected samples including positive going ramp samples, negative going ramp samples and CW burst samples;

(b) performing a first fast Fourier transform on the positive going ramp samples, performing a second fast Fourier transform on the negative going ramp samples and performing a third fast Fourier transform on the CW burst samples;

(c) tracking one or more signals provided from the first fast Fourier transform performing step, wherein each of the one or more signals provided from the first fast Fourier transform performing step represents a corresponding target and said tracking step provides range, range rate, and acceleration of each corresponding target;

(d) tracking one or more signals provided from the second fast Fourier transform performing step wherein each of the one or more signals provided from the second fast Fourier transform performing step represents a corresponding target and said tracking step provides range, range rate, and acceleration of each corresponding target;

(e) tracking one or more signals provided from the third fast Fourier transform performing step wherein each of the one or more signals provided from the third fast Fourier transform performing step represents a corresponding target and said tracking step provides range, range rate, and acceleration of each corresponding target; and

(f) associating the signals from the tracking steps in a track combiner to periodically provide output signals corresponding to track states of each of the corresponding targets.

2. The method as recited in claim 1 further comprising the steps of:

(g) providing the radar receiver with an antenna having multiple antenna beams; and

(h) repeating steps (a)-(f) for received signals from each of the multiple antenna beams.

13. The method as recited in claim 1 wherein the associating step comprises the steps of:

determining a first frequency, frequency rate and frequency acceleration of a target during a first instance of time;

predicting frequency, frequency rate and frequency acceleration of said target during a second instance of time;

determining a second frequency, frequency rate and frequency acceleration of a target during a second instance of time; and

matching the estimated frequency, frequency rate and frequency acceleration of said target during a second instance of time with the second frequency, frequency rate and frequency acceleration of a target during a second instance of time to provide a track state.

14. The method as recited in claim 13 wherein the matching step comprises the steps of:

defining a frequency search window of a region a target frequency under track will most likely be found;

defining an order in which target frequencies under track will attempt to match with determined frequencies;

matching the predicted frequency with a determined frequency when the predicted frequency and the determined frequency are within the frequency search window.

15. The method as recited in claim 14 wherein the defining an order step comprises the steps of:

providing a track state file for each one of the track states of each of the corresponding targets; and

dating each track state at a time of creation and starting with the oldest track file.

16. The method as recited in claim 1 comprising the steps of:

designating one of the output signals corresponding to track states of each of the corresponding targets as a primary target; and

associating the remaining signals from the tracking step in order with respect to the remaining signals distance in frequency from the frequency of the primary target.

17. The method as recited in claim 16 wherein the associating step comprises the steps of:

defining a frequency search window of a region a target frequency under track will most likely be found; and

matching a predicted frequency with a determined frequency when the predicted frequency and the determined frequency are within the frequency search window.

18. The method as recited in claim 17 comprising the step of:

increasing the size of the frequency search window when a predicted frequency and a determined frequency are not found within the frequency search window.

19. The method as recited in claim 2 comprising the steps of:

providing angle information of a target when the target is detectable by more than one beam.

20. The method as recited in claim 2 comprising the steps of:

updating a track state of a corresponding target in one beam from a track state of a corresponding target in another beam.

3. A radar receiver comprising:

(a) means for sampling received signals at a predetermined sampling rate for periodically providing a set of selected samples, the set of selected samples comprising positive going ramp samples, negative going ramp samples and CW burst samples;

(b) fast Fourier transform means for performing a first fast Fourier transform on the positive going ramp samples, for performing a second fast Fourier transform on the negative going ramp samples and for performing a third fast Fourier transform on the CW burst samples;

(c) means for tracking one or more signals provided by the fast Fourier transform means wherein each of the one or more signals provided from the fast Fourier transform means represents a corresponding target and said means for tracking provides range, range rate, and acceleration of each corresponding target; and

(d) means for associating the signals provided from the means for tracking to periodically provide output signals corresponding to track states of the corresponding targets.

4. The radar receiver as recited in claim 3 further comprising an antenna system having a plurality of beams and wherein the set of selected samples comprises positive going ramp samples, negative going ramp samples and CW burst samples associated with each of the plurality of beams.

5. A frequency modulated continuous wave radar system comprising:

(a) means for periodically transmitting a signal having a positive going frequency ramp portion, a negative going frequency ramp portion and a continuous wave burst portion;

(b) means for receiving one or more signals returned from one or more targets;

(c) means for sampling the received signal at a predetermined sampling rate and for periodically providing a set of selected samples, the set of selected samples comprising positive going ramp samples, negative going ramp samples and CW burst samples;

(c) a fast Fourier transform processor for performing a first fast Fourier transform on the positive going ramp samples, a second fast Fourier transform on the negative going ramp samples and a third fast Fourier transform on the CW burst samples;

(d) a target tracker for tracking each resulting signal provided by the fast Fourier transform processor; and

(e) a track combiner to associate any resulting signals provided by the target tracker to periodically provide output signals corresponding to track states of each of the corresponding targets.

6. A radar system comprising:

means for decoupling range and range rate information from multiple objects along a roadway;

means for assigning a priority to each of the multiple objects;

means for identifying and verifying the presence of a moving object among the multiple objects and for changing the priority of the multiple objects based upon the presence of the moving object; and

means for tracking the multiple objects.

7. The radar system recited in claim 6 comprising:

means for resolving target information to predict when objects will become closer than 5.5 meters.

8. The radar system recited in claim 6 comprising:

means for accurately resolving object information to predict object locations.

9. The radar system recited in claim 6 comprising:

means for sorting object information to distinguish a primary object from all other objects along the roadway.

10. A method of target tracking comprising the steps of:

(a) tracking, in a frequency space, at least one target in a field of view;

(b) determining frequency, frequency rate and frequency acceleration values for each of the at least one target in the frequency space;

(c) processing the frequency, frequency rate and frequency acceleration values for each of the at least one targets to decouple the range and range rate information in frequency space;

(d) transforming the frequency, frequency rate and frequency acceleration values in the frequency space to equivalent range and range rate values in a time space for each of the at least one targets in the field of view; and

(e) comparing the range and range rate values of each of the at least one targets to primary target range and range rate threshold requirement values.

11. The method of claim 10 further comprising the step of selecting one of the at least one targets as a primary target based upon the results of the comparison step.

12. The method of claim 11 further comprising the steps of:

tracking the primary target in a reduced view tracker; and

tracking any other targets within a predetermined range and angle of the pi target in the reduced view tracker.