Process and system for determining the position and orientation of a vehicle, and applications

• US 5,424,747 A
• Filed: 12/16/1993
• Issued: 06/13/1995
• Est. Priority Date: 04/17/1992
• Status: Expired due to Fees

• Current Assignee: Thomson-CSF
• Original Assignee: Thomson-CSF
• Inventors: Souchay, Philippe, Chazelas, Jean
• Primary Examiner(s): Hellner, Mark
• Application Number:
  US08/167,830
• Time in Patent Office: 544 Days
• Field of Search: 342/70, 342/71, 342/72, 342/125, 342/146
• US Class Current: 342/70
• CPC Class Codes: G01S 1/14 using amplitude comparison of signals transmitted simultaneously from antennas or antenna systems having differently oriented overlapping directivity-characteristics
• CPC Class Codes: G01S 13/74 Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
• CPC Class Codes: G01S 13/767 Responders; Transponders teaching or practice apparatus for gun-aiming or gun-laying using reflecting targets or active targets F41G3/26
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication

Abstract

The present invention relates to a process and a system for determining the position and orientation of a mobile, and to applications thereof.

In order to ascertain both the position and orientation of a mobile, the invention proposes an interrogation/response process whose particular feature is to supply, to a given interrogation, two responses which are distinguished on the one hand, by different modulating frequencies and, on the other hand, by the fact that they are transmitted according to two patterns which differ in aim relative to one another. It is then possible, simply by measuring the angular deviation of either one of the two responses, and simply by measuring the ratio of the amplitudes of the two responses received, to deduce on the one hand the angular position φ and on the other hand the orientation θ of the mobile.

The applications in the automobile sector are numerous (anticollision, control of road traffic and of compliance with the highway code, automatic toll points, etc.).

Claims

1. Process for determining the position and orientation of a vehicle, comprising the steps of:

transmitting, from a radar containing two channels for reception and for processing, an interrogation signal with a given frequency f;

retransmitting, from said vehicle, at least two response signals formed by modulating said interrogation signal received by the vehicle respectively by a modulating frequency F₁ and by a modulating frequency F₂ which differs from F₁, the two response signals being retransmitted according to two respective transmission patterns D₁ and D₂ which differ in aim relative to one another by an angle α

, and each relative to the direction of orientation YY'"'"' of the vehicle by an angle γ

₁ and γ

₂ respectively, at least two of the three angles α

, γ

₁ and γ

₂ being supplied to the radar;

measuring, from the reception channels, the angular deviation of either of the two response signals and deducing therefrom the angular position φ

of the vehicle relative to the radar;

measuring the ratio of the amplitudes of the two response signals received on one of the reception channels;

deducing therefrom, based on the angles supplied and on the shape of the patterns D₁ and D₂, the orientation e of the vehicle relative to the radar.

2. Process according to claim 1, wherein said modulating frequency F₁ and F₂ are chosen such that the frequencies of said response signals are outside the spectrum of the fixed echoes received by the radar.

3. Process according to claim 1, wherein said transmission patterns D₁ and D₂ are symmetric relative to said direction of orientation YY'"'"' of the vehicle.

4. Process according to claim 1, wherein said transmission patterns D₁ and D₂ are identical.

5. Process according to claim 1, wherein said modulating frequencies F₁ and F₂ are supplied to the radar so that it can, by measuring the frequencies of the response signals received, deduce therefrom the velocity of the vehicle.

6. Process according to claim 1, wherein said response signals furthermore include encoded information and wherein the process provides for an additional step for decoding this information at the radar.

7. Process according to claim 1, wherein the interrogation signal furthermore includes encoded information, and wherein the process provides for an additional step for decoding this information at the vehicle.

8. System for determining the position and orientation of a vehicle comprising:

a radar employing two channels for reception and for processing, called the sum channel and difference channel, and means for emitting an interrogation signal at a given frequency f;

at least one first and one second device, which are placed on said vehicle, each including means for modulating the received interrogation signal by a modulating frequency F₁ for the first device, and F₂ which differs from F₁ for the second device, and means for transmitting the modulated signal as response signal, the two response signals leaving the first and the second devices being transmitted according to two respective transmission patterns D₁ and D₂ which differ in aim relative to one another by an angle α

, and each relative to the direction or orientation YY'"'"' of the vehicle by an angle γ

₁ and γ

₂ respectively;

means for measuring, from the two channels, the angular deviation of either of the two response signals in order to deduce therefrom the angular position φ

of the vehicle relative to the radar;

means for computing the ratio of the amplitudes of the two response signals received on the sum channel;

a module for determining the orientation θ

of the vehicle based on computing said ratio.

9. System for determining the position and orientation of a vehicle according to claim 8, wherein the modulating means comprises a mixer, and wherein each of the first and second devices furthermore includes a filter at the output of said mixer so as to retain a single frequency.

10. System for determining the position and orientation of a vehicle according to claim 8, wherein the modulating means comprises a radiating element to which are applied, by way of a generator, a signal with frequency F₁ for the first device and F₂ for the second device, this radiating element causing a reflector surface constituting said transmission means to undergo a mechanical displacement.

11. System for determining the position and orientation of a vehicle according to claim 8, wherein the first and/or second device furthermore possesses an encoder for sending encoded information in the response signal, and a system for managing the encoded information, and in that the radar includes at least one decoder.

12. System for determining the position and orientation of a wherein according to claim 8, wherein the radar furthermore includes an encoder for encoding the information in the interrogation signal, and wherein the first and/or second device possesses a decoder (20) for decoding this information.

13. System for determining the position and orientation of a vehicle according to claim 8, wherein said measuring means comprises, in each processing channel:

of a receiver;

of a filter at the output of said receiver, centered on one or the other of the modulating frequencies F₁ and F₂, and of a module receiving the outputs from the two filters and computing the angular position φ

.

14. Application of the system according to claim 8 to the control and regulation of road-vehicle traffic, wherein the radar (23) is placed on the road verge and wherein each vehicle is fitted with the first and second devices (25).

15. Application of the system according to claim 8 to an anti-collision device for vehicles, wherein each vehicle includes said radar at its front, and said first and second devices at its rear.

16. Application of the system according to claim 11 to automatic toll points for vehicles on a motorway, further comprising a decoder located on a vehicle fitted with the two devices which are connected to said decoder, said decoder receivinq from the radar an interrogation signal containing encoded information and decoding the interrogation signal and supplying the information to a management system, wherein the management system controls the encoder of the vehicle in order to send, in the response signals, encoded information relating to the point at which the vehicle joined the motorway and to the code of the driver'"'"'s bank card, and wherein the decoder of the radar decodes the information contained in the response signals in order to supply it to a module for computing the charge to be paid and to a banking center which debits the bank card.