Method and apparatus for rejecting rain clutter in a radar system

• US 6,127,965 A
• Filed: 07/23/1998
• Issued: 10/03/2000
• Est. Priority Date: 07/23/1998
• Status: Expired due to Term

• Current Assignee: Bendix Commercial Vehicle Systems LLC (Estate of Heinz Hermann Thiele)
• Original Assignee: Eaton Vorad Technologies, LLC
• Inventors: Stone, Robert E., Bohley, Eric P., Schlichtig, Roger J., McDade, James C.
• Primary Examiner(s): Gregory, Bernarr E.
• Application Number:
  US09/122,479
• Time in Patent Office: 803 Days
• Field of Search: 342/24, 342/27, 342/28, 342/29, 342/41, 342/61-65, 342/71-72, 342/104, 342/105, 342/109, 342/112, 342/115, 342/118, 342/119, 342/128-132, 342/159, 342/175 , 342/192-197
• US Class Current: 342/159
• CPC Class Codes: G01S 13/325 using transmission of coded signals, e.g. P.S.K. signals
• 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 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9315 Monitoring blind spots
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles
• CPC Class Codes: G01S 7/415 Identification of targets based on measurements of movement associated with the target

Abstract

A method and apparatus for detecting the presence of objects in a vehicle operator'"'"'s blind spots. The apparatus comprises a side-facing Doppler radar system using continuous wave (CW) transmission with frequency modulation (FM) operation from a frequency modulation switching technique. The radar system determines the presence, range and closing rate of detected targets. The radar system detects targets even when operated in adverse weather conditions and will not generate false warnings due to rain clutter caused by wet roads and other wet surroundings. The radar system uses ranging techniques to reject false targets that are detected outside of a predetermined target detection zone. In accordance with the present invention, the radar system indicates that a target is detected if and only if any part of the target is within the detection zone and it: (1) remains in front of the antenna for at least TH1 seconds; (2) is at a range between Range_min and Range_max ; and (3) is moving faster than Closing-Speed_min relative to the antenna. By rejecting targets that are closer than Range_min feet to the antenna, false alarms due to rain clutter are dramatically reduced. Also, by rejecting targets that are further than Range_max feet from the antenna, the radar system reduces false alarms caused by wet foliage and other wet "non-road" surroundings. In one embodiment, the radar system uses a patch array antenna oriented into a diamond-shape configuration to effectively create a natural linear amplitude taper that aids in rejecting clutter caused by wet road surfaces.

Claims

1. A side-looking radar system for detecting presence of an object in the blind spot of a host vehicle upon which the radar system is mounted, wherein the object has an associated range and closing rate, comprising:

(a) a radar transceiver for transmitting radar signals and for detecting reflected signals of the transmitted radar signals that are reflected off an object;

(b) a processor block, coupled to the transceiver, for controlling timing of the signals transmitted by the transceiver, and for processing the reflected signals received by the transceiver, wherein the processor block determines a presence, range and closing rate of the object from which the reflected signals are reflected, and wherein the processor block determines whether the object is within a predetermined detection zone, wherein the predetermined detection zone has a first bounded range that is greater than a minimum range of the radar system and a second bounded range that is less than a maximum range of the radar system, and wherein the processor block also determines whether the object remains within the detection zone for a predetermined minimum period of time; and

(c) an indicator, coupled to the processor block, the indicator receiving from the processor block an indication that the object remains within the detection zone for the predetermined minimum period of time, wherein the indicator warns an operator of the host vehicle that the object is present within the detection zone.

2. The side-looking radar system of claim 1, wherein the radar transceiver includes:

(a) an antenna;

(b) an antenna driver, coupled to the antenna for controlling transmissions from the antenna; and

(c) an antenna receiver, coupled to the antenna, for processing the reflected signals, wherein the antenna receiver down-converts the reflected signals into baseband signals for further processing by the processor block.

3. The side-looking radar system of claim 2, wherein the antenna driver comprises a voltage regulator.

4. The side-looking radar system of claim 2, wherein the antenna driver supplies a modulated frequency control voltage signal to the antenna thereby modulating the transmitted radar signals such that they are transmitted at two or more frequencies.

5. The side-looking radar system of claim 4, wherein the transmitted radar signals are radio frequency (RF) signals transmitted at two transmit frequencies, f1 and f2, and wherein f1 and f2 are centered around a center frequency, f_c.

6. The side-looking radar system of claim 5, wherein f1 and f2 are spaced apart by approximately 2.5 MHz.

7. The side-looking radar system of claim 5, wherein the center frequency f_c is approximately 24.725 GHz.

8. The side-looking radar system of claim 5, wherein the center frequency f_c is approximately 76.5 GHz.

9. The side-looking radar system of claim 4, wherein the frequency control voltage signal has a frequency of approximately 9.7656 kHz.

10. The side-looking radar system of claim 4, wherein the antenna receiver includes analog circuitry that amplifies, filters, and de-multiplexes the baseband signals.

11. The side-looking radar system of claim 10, wherein the analog circuitry includes sampling means for time de-multiplexing reflected signals received by the antenna.

12. The side-looking radar system of claim 11, wherein the sampling means includes a pre-amplifier coupled to two analog signal switches, two low pass filter capacitors coupled to the analog switches, and two output amplifiers coupled to the low pass filter capacitors.

13. The side-looking radar system of claim 12, wherein the analog switches are controlled by two paired switch timing control signals.

14. The side-looking radar system of claim 13, wherein the paired switch timing control signals are time-synchronized to the frequency control voltage signal.

15. The side-looking radar system of claim 14, wherein the analog switches time de-multiplex the down-converted reflected signals into baseband signals for further processing by the processor block.

16. The side-looking radar system of claim 2, wherein the antenna comprises a patch array antenna oriented into a diamond-shape configuration to effectively create a natural linear amplitude taper that aids in rejecting clutter caused by wet road surfaces.

17. The side-looking radar system of claim 16, wherein the antenna comprises a square patch array antenna having N by N patch elements.

18. The side-looking radar system of claim 17, wherein the antenna comprises a 6 by 6 patch array antenna.

19. The side-looking radar system of claim 18, wherein the antenna comprises a 16 by 16 patch array antenna.

20. The side-looking radar system of claim 1, wherein the processor block includes:

(a) an analog-to-digital (A/D) converter coupled to the radar transceiver, wherein the A/D converter converts the reflected signals received by the radar transceiver into a digital data stream;

(b) a processor module application specific integrated circuit (PM ASIC), coupled to the A/D converter and the radar transceiver, wherein the PM ASIC provides timing information to the transceiver, and wherein the PM ASIC conditions the digital data stream to produce sample point blocks;

(c) a random access memory (RAM), coupled to the PM ASIC, for storing the sample point blocks received from the PM ASIC; and

(d) a digital signal processor (DSP), coupled to the PM ASIC and the RAM, for performing digital signal processing operations on the sample point blocks stored in the RAM.

21. The side-looking radar system of claim 20, wherein the A/D converter comprises an 18-bit stereo A/D converter integrated circuit.

22. The side-looking radar system of claim 20, wherein the PM ASIC modulates the transmitted radar signals such that they are transmitted at two frequencies, f1 and f2.

23. The side-looking radar system of claim 22, wherein the PM ASIC conditions the digital data stream by associating a first sample point block with the transmit radar signal frequency f1, and wherein the PM ASIC associates a second sample point block with the transmit radar signal frequency f2.

24. The side-looking radar system of claim 23, wherein the PM ASIC stores the first sample point block in a first circular buffer in the RAM, and wherein the PM ASIC stores the second sample point block in a second circular buffer in the RAM.

25. The side-looking radar system of claim 24, wherein the DSP performs a fast Fourier Transform (FFT) operation on the first and second sample point blocks stored in the RAM thereby converting the sample point data from a time domain into a frequency domain.

26. The side-looking radar system of claim 25, wherein the FFT operation is performed on a 512-sample point block.

27. The side-looking radar system of claim 25, wherein the DSP determines the presence, range and closing rate of the object from the frequency domain data resulting from the FFT operation.

28. The side-looking radar system of claim 1, wherein the first bounded range is approximately 2 feet.

29. The side-looking radar system of claim 1, wherein the second bounded range is approximately 12 feet.

30. The side-looking radar system of claim 1, wherein the indicator provides an audible warning to the operator when the object is within the detection zone.

31. The side-looking radar system of claim 1, wherein the indicator provides a visual warning to the operator when the object is within the detection zone.

32. A side-looking radar system for detecting objects in a blind spot of a host vehicle upon which the side-looking radar system is mounted, including:

(a) a Doppler radar circuit for;

(1) transmitting a modulated radar signal having a first and a second transmit frequency;

(2) receiving a plurality of received reflections of the transmitted radar signal that are reflected from an object proximate the host vehicle, wherein each received reflection has an amount of power associated with and corresponding to a Doppler frequency of the received reflections;

(3) detecting a Doppler frequency shift that has occurred between the transmitted radar signal and the reflected radar signal; and

(4) determining the amount of power at each Doppler frequency of the received reflections; and

(b) a controller, coupled to the Doppler radar circuit, for;

(1) determining whether the object from which the received reflections are reflected is within a predetermined detection zone proximate the host vehicle, wherein the predetermined detection zone has a first bounded range that is greater than a minimum range of the radar system and a second bounded range that is less than a maximum range of the radar system; and

(2) providing a warning to an operator of the host vehicle only if the object is detected within the detection zone, and only if the object remains within the detection zone for a predetermined minimum period of time.

33. The side-looking radar system of claim 32, wherein the controller determines whether the object is within the detection zone by ranging the object and determining whether the object is between a predetermined minimum and a predetermined maximum range from the host vehicle.

34. The side-looking radar system of claim 33, wherein the predetermined minimum range is approximately two feet, and wherein the predetermined maximum range is approximately twelve feet.

35. A method for determining whether an object detected by a side-looking radar system is within a predetermined detection zone in a blind spot of a host vehicle upon which the radar system is mounted, including the steps of:

(a) transmitting a modulated radar signal having a first and a second transmit frequency;

(b) receiving reflections of the transmitted radar signal that are reflected from an object proximate the host vehicle, wherein the object has a range relative to the host vehicle;

(c) determining the range based upon frequency characteristics of the reflected radar signals received in step (b);

(d) determining whether the object is within a predetermined detection zone proximate the host vehicle, wherein the predetermined detection zone has a first bounded range that is greater than a minimum range of the radar system and a second bounded range that is less than a maximum range of the radar system; and

(e) providing a warning to an operator of the host vehicle only if the object is detected within the detection zone, and only if the object remains within the detection zone for a predetermined minimum period of time.

36. The method of claim 35, further including the step of indicating that the object is present only if the object is within the detection zone, and not indicating that the object is present if the object is not within the detection zone.

37. The method of claim 35, wherein the step (d) of determining whether the object is within the detection zone comprises:

(a) determining whether the amount of power present in the reflected signals at a selected frequency exceeds a predetermined threshold power level;

(b) determining whether the object has been detected for longer than a predetermined time period;

(c) determining whether the object is between a predetermined minimum and maximum range from the host vehicle; and

(d) determining whether the object is moving faster than a predetermined minimum closing speed relative the host vehicle.

38. A computer program residing on a computer-readable medium and executable on a general purpose computing device, wherein the program determines whether an object detected by a side-looking radar system is within a predetermined detection zone in a blind spot of a host vehicle upon which the radar system is mounted, comprising:

(a) a first set of instructions for transmitting a modulated radar signal having a first and a second transmit frequency;

(b) a second set of instructions for receiving reflections of the transmitted radar signal that are reflected from an object proximate the host vehicle, wherein the object has a range relative to the host vehicle;

(c) a third set of instructions for determining the range based upon frequency characteristics of the reflected radar signals;

(d) a fourth set of instructions for determining whether the object is within a predetermined detection zone proximate the host vehicle, and whether the object remains within the detection zone for a predetermined minimum period of time, wherein the predetermined detection zone has a first bounded range that is greater than a minimum range of the radar system and a second bounded range that is less than a maximum range of the radar system; and

(e) a fifth set of instructions for providing a warning to an operator of the host vehicle only if the object is detected within the detection zone, and only if the object remains within the detection zone for the predetermined minimum period of time.

39. The computer program of claim 38, wherein the program is executed by a general purpose computing device within the radar system.

40. The computer program of claim 39, wherein the program is executed by a field programmable gate array device within the radar system.