Angular shift determining apparatus for determining angular shift of central axis of radar used in automotive obstacle detection system

• US 6,025,797 A
• Filed: 07/22/1998
• Issued: 02/15/2000
• Est. Priority Date: 07/22/1997
• Status: Expired due to Term

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Shirai, Noriaki, Kawai, Nobuharu
• Primary Examiner(s): Gregory, Bernarr E.
• Application Number:
  US09/120,232
• Time in Patent Office: 573 Days
• Field of Search: 701/301, 701/1, 701/36, 701/45, 701/70, 701/300, 342/27, 342/28, 342/29, 342/41, 342/61, 342/70, 342/71, 342/72, 342/175, 342/192, 342/193, 342/194, 342/195, 342/196, 342/197
• US Class Current: 342/70
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2710/0605 Throttle position
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: G01S 17/931 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 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 7/4026 Antenna boresight
• CPC Class Codes: G01S 7/403 in azimuth, i.e. in the horizontal plane
• CPC Class Codes: G01S 7/4052 by simulation of echoes
• CPC Class Codes: G01S 7/4091 during normal radar operation
• CPC Class Codes: G01S 7/415 Identification of targets based on measurements of movement associated with the target
• CPC Class Codes: G01S 7/52004 Means for monitoring or calibrating short-range imaging G01S7/5205

Abstract

An angular shift determining apparatus is provided which may be employed in an automotive obstacle detection system designed to determine a distance to and angular direction of a target tracked by a radar. The angular shift determining apparatus determines an angular shift of the central axis of radiation of radar waves from the longitudinal center line of a vehicle equipped with the obstacle detection system based on a relative position of the target and removes from the determined angular shift an error component produced when a preceding vehicle traveling with a lateral offset from the system vehicle is tracked as the target and an error component produced when a stationary object located on a curved road is tracked by the radar as the target to mathematically project an actual angular shift of the central axis of radiation of radar waves.

Claims

1. An angular shift determining apparatus for determining an angular shift of a central axis of radar wave radiation from a radar device used in an automotive obstacle detection system designed to determine a distance to and angular direction of a target tracked by the radar device comprising:

an object identifying circuit that determines a relative position and a relative speed of the target with respect to a system vehicle equipped with the automotive obstacle detection system in cycles based on the distance to and the angular direction of the target determined by the automotive obstacle detection system and that determines whether the target is a moving object or a stationary object based on the relative speed of the target; and

an angular shift determining circuit that determines the angular shift of the central axis of radar wave radiation from a longitudinal center line of the system vehicle based on an angular component of the relative position of the moving object as represented by polar coordinates, said angular shift determining circuit also determining an offset of a distribution of relative positions of the moving object, determined by said object identifying circuit in cycles for a preselected period of time when the system vehicle is substantially traveling straight, from the central axis of radar wave radiation in a width-wise direction of the system vehicle to determine an error component of the angular shift of the central axis of radar wave radiation caused by a lateral offset of the moving object from the longitudinal center line of the system vehicle to correct the angular shift of central axis of radar waver radiation by removing the error component therefrom.

2. An angular shift determining apparatus as set forth in claim 1, wherein said angular shift determining circuit determines an inclination of the distribution of the relative positions of the moving object to the central axis of radar waver radiation to define the inclination as the angular shift of the central axis of radar wave radiation.

3. An angular shift determining apparatus as set forth in claim 2, wherein said angular shift determining circuit represents the distribution of the relative positions of the moving object with an approximate line to define an angle between the approximate line and the central axis of radar wave radiation as the angular shift of the central axis of radar wave radiation from the longitudinal center line of the system vehicle.

4. An angular shift determining apparatus as set forth in claim 3, wherein said angular shift determining circuit defines the approximate line using the method of least squares.

5. An angular shift determining apparatus as set forth in claim 2, wherein said angular shift determining circuit sections the distribution of the relative positions of the moving object into at least two areas based on components of the relative positions of the moving object in a direction of the longitudinal center line of the system vehicle to determine major points of the at least two areas, respectively, said angular shift determining circuit determining the inclination of the distribution of the relative positions of the moving object based on the major points.

6. An angular shift determining apparatus as set forth in claim 5, wherein said angular shift determining circuit defines an average of the relative positions of the moving object within each of the areas as the major point thereof.

7. An angular shift determining apparatus as set forth in claim 2, wherein said angular shift determining circuit sections the distribution of the relative positions of the moving object into a first and a second area, the first area being defined by the whole of the distribution, the second area being defined by one of a portion of the distribution where components of the relative positions of the moving object in a direction of the longitudinal center line of the system vehicle are closer to the system vehicle than an average of the relative positions of the moving object within the whole of the distribution and a portion of the distribution where components of the relative positions of the moving object in the direction of the longitudinal center line of the system vehicle are farther from the system vehicle than the average of the relative positions of the moving object within the whole of the distribution, said angular shift determining circuit determining major points of the first and second areas to determine the inclination of the distribution to the central axis of radar waver radiation based on the major points.

8. An angular shift determining apparatus as set forth in claim 2, wherein said angular shift determining circuit sections the distribution of the relative positions of the moving object into a first and a second area, the first area being defined by a portion of the distribution where components of the relative positions of the moving object in a direction of the longitudinal center line of the system vehicle are closer to the system vehicle than an average of the relative positions of the moving object within the whole of the distribution, the second area being defined by a portion of the distribution where components of the relative positions of the moving object in the direction of the longitudinal center line of the system vehicle are farther from the system vehicle than the average of the relative positions of the moving object within the whole of the distribution, said angular shift determining circuit determining major points of the first and second areas to determine the inclination of the distribution to the central axis of radar waver radiation based on the major points.

9. An angular shift determining apparatus as set forth in claim 1, wherein the angular shift determining circuit determines the angular shift of the central axis of radar wave radiation only when the moving object is located away from the system vehicle by a distance which is greater than a given value.

10. An angular shift determining apparatus as set forth in claim 1, wherein said angular shift determining circuit determines whether the system vehicle is traveling on a curved road or not, when it is determined that the system vehicle is traveling on the curved road, said angular shift determining circuit determining a radius of curvature of the curved road to determine a second error component of the angular shift of the central axis of radar wave radiation caused by the traveling of the system vehicle on the curved road to correct the angular shift of central axis of radar waver radiation by removing the second error component therefrom.

11. An angular shift determining apparatus as set forth in claim 10, wherein said angular shift determining circuit determines whether the system vehicle is traveling on the curved road or not based on a steered angle of the system vehicle.

12. An angular shift determining apparatus for determining an angular shift of a central axis of radar wave radiation from a radar device used in an automotive obstacle detection system designed to determine a distance to and angular direction of a target tracked by the radar device comprising:

an object identifying circuit that determines a relative position and a relative speed of the target to a system vehicle equipped with the automotive obstacle detection system in cycles based on the distance to and the angular direction of the target determined by the automotive obstacle detection system and that determines whether the target is a moving object or a stationary object based on the relative speed of the target; and

an angular shift determining circuit that determines the angular shift of the central axis of radar wave radiation from a longitudinal center line of the system vehicle based on a direction of the relative speed of the target determined as the stationary object, when the system vehicle is traveling on a curve in a road, said angular shift determining circuit also determining the degree of the curve to determine an error component of the angular shift of the central axis of radar wave radiation caused by the traveling of the system vehicle on the curve to correct the angular shift of central axis of radar waver radiation by removing the error component therefrom.

13. An angular shift determining apparatus for determining an angular shift of a central axis of radar wave radiation from a radar device used in an automotive obstacle detection system designed to determine a distance to and angular direction of a target tracked by the radar device comprising:

an object identifying circuit that determines a relative position and a relative speed of each target traced by the radar device to a system vehicle equipped with the automotive obstacle detection system in cycles based on the distance to and the angular direction of the target determined by the automotive obstacle detection system and that determines whether the target is a moving object or a stationary object based on the relative speed of the target; and

an angular shift determining circuit that determines an angular shift of the central axis of radar wave radiation from a longitudinal center line of the system vehicle as a first angular shift based on the relative position of the target determined as the moving object, said angular shift determining circuit also determining an offset of a distribution of relative positions of the moving object, determined by said object identifying circuit in cycles for a preselected period of time when the system vehicle is substantially traveling straight, from the central axis of radar wave radiation in a width-wise direction of the system vehicle to determine a first error component included in the first angular shift caused by a lateral offset of the moving object from the longitudinal center line of the system vehicle to remove the first error component from the first angular shift to determine a first error-removed angular shift, said angular shift determining circuit determining an angular shift of the central axis of radar wave radiation as a second angular shift based on a direction of the relative speed of the target determined as the stationary object, when the system vehicle is traveling on a curve in a road, said angular shift determining circuit also determining the degree of the curve to remove an error component caused by the traveling of the system vehicle on the curve from the second angular shift to determine a second error-removed angular shift, said angular shift determining circuit mathematically projecting an actual angular shift of the central axis of radar wave radiation based on the first and second error-removed angular shifts.

14. An angular shift determining apparatus as set forth in claim 13, wherein said angular shift determining circuit determines whether the system vehicle is traveling on the curved road or not based on a steered angle of the system vehicle.

15. An angular shift determining apparatus as set forth in claim 13, wherein said angular shift determining circuit determines whether the system vehicle is traveling on the curved road or not based on a relative locus of the target determined as the stationary object with respect to the system vehicle.

16. An angular shift determining apparatus as set forth in claim 13, further comprising an angular direction correcting circuit that corrects the angular direction of the target determined by the automotive obstacle detection system based on the actual angular shift of the central axis of radar wave radiation mathematically projected by said angular shift determining circuit.

17. An angular shift determining apparatus as set forth in claim 16, wherein said angular shift determining circuit determines the first and second error-removed angular shifts in cycles for a preselected period of time to determine a first and a second average angular shift, said angular shift determining circuit mathematically projecting the actual angular shift of the central axis of radar wave radiation based on the first and second average angular shifts.

18. An angular shift determining apparatus as set forth in claim 16, wherein said angular shift determining circuit mathematically projects the actual angular shift of the central axis of radar wave radiation based a value derived by a weighted averaging operation on the first and second error-removed angular shifts.

19. An automotive obstacle detection apparatus comprising:

a radar device that transmits a radar wave over a given detection range across a central axis at given angular intervals;

a distance determining circuit that determines a distance to a target within the given detection range based on a time interval between transmission of the radar wave and reception of the radar wave reflected from the given detection range;

a storage device that stores a relation between the distance to the target determined by said distance determining circuit and an angular direction of the radar wave transmitted by said radar wave;

an object identifying circuit that determines a relative position and a relative speed of the target to a subject vehicle equipped with the obstacle detection apparatus in cycles based on the distance to and the angular direction of the target stored in said storage device and that determines whether the target is a moving object or a stationary object based on the relative speed of the target;

an angular shift determining circuit that determines an angular shift of the central axis of radar wave radiation from a longitudinal center line of the subject vehicle based on the relative position of the moving object, said angular shift determining circuit also determining an offset of a distribution of relative positions of the moving object, determined by said object identifying circuit in cycles for a preselected period of time when the subject vehicle is substantially traveling straight, from the central axis of radar wave radiation in a width-wise direction of the subject vehicle to determine an error component of the angular shift of the central axis of radar wave radiation caused by a lateral offset of the moving object from the longitudinal center line of the system vehicle to mathematically project an actual angular shift of central axis of radar waver radiation by removing the error component therefrom; and

an angular direction correcting circuit that corrects the angular direction of the target by modifying the relation between the distance to the target and the angular direction of the radar wave transmitted by said radar wave stored in said storage device so as to eliminate the actual angular shift of the central axis of radar waver radiation.

20. An automotive obstacle detection apparatus as set forth in claim 19, further comprising a coordinate transformation circuit that subjects the distance to and the angular direction of the target to a given operation to determine a position of the target on a rectangular coordinate plane, and wherein said angular direction correcting circuit modifies the given operation of said coordinate transformation circuit so as to eliminate the actual angular shift of the central axis of radar waver radiation to correct the angular direction of the target.

21. An automotive obstacle detection apparatus as set forth in claim 19, wherein said angular shift determining circuit determines an angular shift of the central axis of radar wave radiation from the longitudinal center line of the system vehicle as a first angular shift based on the relative position of the target determined as the moving object to remove the error component caused by the lateral offset of the moving object from the longitudinal center line of the system vehicle from the first angular shift to determine a first error-removed angular shift, said angular shift determining circuit determining an angular shift of the central axis of radar wave radiation as a second angular shift based on a direction of the relative speed of the target determined as the stationary object, when the system vehicle is traveling on a curve in a road, said angular shift determining circuit also determining the degree of the curve to remove an error component caused by the traveling of the system vehicle on the curve from the second angular shift to determine a second error-removed angular shift, said angular shift determining circuit determining the actual angular shift based on the first and second error-removed angular shifts.

22. An automotive intervehicle distance control apparatus comprising:

an automotive obstacle detection apparatus including

(a) a radar device that transmits a radar wave over a given detection range across a central axis at given angular intervals,

(b) a distance/angle determining circuit that determines a distance to and an angular direction of a target within the given detection range based on a signal derived by reflection of the radar wave from the given detection range, and

(c) an object identifying circuit that determines a relative position and a relative speed of the target to a vehicle controlled by the automotive intervehicle distance control apparatus in cycles based on the distance to and the angular direction of the target and that determines whether the target is a moving object or a stationary object based on the relative speed of the target;

an angular shift determining circuit that determines an angular shift of the central axis of radar wave radiation from a longitudinal center line of the controlled vehicle based the relative position of the moving object, said angular shift determining circuit also determining an offset of a distribution of relative positions of the moving object determined by said object identifying circuit in cycles for a preselected period of time from the central axis of radar wave radiation in a width-wise direction of the controlled vehicle to determine an error component of the angular shift of the central axis of radar wave radiation caused by a lateral offset of the moving object from the longitudinal center line of the system vehicle to mathematically project an actual angular shift of central axis of radar waver radiation by removing the error component from said angular shift of the central axis of radar wave radiation;

a correcting circuit that corrects the distance to and the angular direction of the target so as to eliminate the actual angular shift of the central axis of radar wave radiation; and

an intervehicle distance control circuit that determines whether the target tracked by said radar device is a preceding vehicle traveling ahead of the controlled vehicle or not based on the distance to and the angular direction of the target corrected by said correcting circuit when an intervehicle distance control mode is entered, when it is determined that the target is the preceding vehicle, said intervehicle distance control circuit controlling speed of the controlled vehicle at a target change rate to bring a distance between the preceding vehicle and the controlled vehicle into agreement with a target distance.

23. An automotive intervehicle distance control apparatus as set forth in claim 22, wherein said angular shift determining circuit determines an angular shift of the central axis of radar wave radiation from the longitudinal center line of the system vehicle as a first angular shift based on the relative position of the target determined as the moving object to remove the error component caused by the lateral offset of the moving object from the longitudinal center line of the system vehicle from the first angular shift to determine a first error-removed angular shift, said angular shift determining circuit determining an angular shift of the central axis of radar wave radiation as a second angular shift based on a direction of the relative speed of the target determined as the stationary object, when the system vehicle is traveling on a curve in a road, said angular shift determining circuit also determining the degree of the curve to remove an error component caused by the traveling of the system vehicle on the curve from the second angular shift to determine a second error-removed angular shift, said angular shift determining circuit determining the actual angular shift based on the first and second error-removed angular shifts.

24. An automotive intervehicle distance control apparatus as set forth in claim 22, wherein said intervehicle distance control circuit changes the target change rate of the speed of the controlled vehicle according to the actual angular shift of the central axis of radar wave radiation.

25. An automotive intervehicle distance control apparatus as set forth in claim 24, wherein said intervehicle distance control circuit decreases the target change rate based on the actual angular shift of the central axis of radar wave radiation.

26. An automotive intervehicle distance control apparatus as set forth in claim 22, wherein said intervehicle distance control circuit prohibits the controlled vehicle from entering the intervehicle distance control mode when the actual angular shift of the central axis of radar wave radiation shows a given abnormal value.

27. An automotive intervehicle distance control apparatus as set forth in claim 22, wherein said intervehicle distance control circuit prohibits the controlled vehicle from entering the intervehicle distance control mode when the actual angular shift of the central axis of radar wave radiation has a change greater than a given value within a given period of time.