Method for measuring the distance and velocity of objects

• US 5,483,242 A
• Filed: 12/14/1993
• Issued: 01/09/1996
• Est. Priority Date: 12/17/1992
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Winner, Hermann, Grein, Nicolas
• Primary Examiner(s): Sotomayor, John B.
• Application Number:
  US08/166,781
• Time in Patent Office: 756 Days
• Field of Search: 342/111, 342/112, 342/115, 342/116, 342/128, 342/129, 342/192, 342/194, 342/196, 342/105, 342/107, 342/109
• US Class Current: 342/111
• CPC Class Codes: G01S 13/345 using triangular modulation
• CPC Class Codes: G01S 13/584 adapted for simultaneous range and velocity measurements
• CPC Class Codes: G01S 7/35 Details of non-pulse systems

Abstract

In a method for measuring the distance and the velocity of objects employing electromagnetic waves, the frequency of an emitted signal is modulated. The signals received during one rise and one drop in the frequency of the emitted signal are mixed with the emitted signal. The intermediate-frequency signals resulting from the mixing are then spectrally analyzed. The distance and the velocity of at least one object are calculated from the frequency of the spectral lines of the intermediate-frequency signals during at least one rise and at least one drop in the frequency of the emitted signal.

Claims

1. A method for measuring the distance S_i and the velocity V_ri of objects employing electromagnetic waves, comprising the steps of:

a) modulating a frequency of an emitted signal;

b) receiving signals during at least one rise and at least one drop in the frequency of the emitted signal;

c) mixing the signals received in step (b) with the emitted signal to form intermediate-frequency signals;

d) spectrally analyzing the intermediate-frequency signals resulting from the mixing to determine frequencies corresponding to spectral lines; and

e) calculating the distance S_i and the velocity V_r,i of at least one of the objects from the frequencies of the spectral lines of the intermediate-frequency signals during at least one rise and at least one drop in the frequency of the emitted signal,

wherein the intermediate-frequency signals are spectrally analyzed within a frequency range of approximately 0 to 300 kHz.

2. The method of claim 1 wherein the step of spectrally analyzing includes a rapid Fourier transformation.

3. The method of claim 1 wherein the step of calculating includes the sub-step of solving the following system of equations for the distance s_i and the velocity V_r,i of n objects:

f₁,i =|a₁ ·

s_i +b·

v_r,i |

f₂,i =|a₂ ·

s_i +b·

v_r,i |wherein

a₁ =2f_H,1 /(T·

c),

a₂ =2f_H,2 /(T·

c),

b =2f_t /c,

n is a whole number,

f₁,i is an intermediate frequency during one rise in frequency,

f₂,i is an intermediate frequency during one drop in frequency,

f_h,1 is a frequency deviation during one rise in frequency,

f_H,2 is a frequency deviation during one drop in frequency,

T is the duration of one of the rise and the drop,

f_T is a fundamental frequency of the emitted signal, and

c is the speed of light.

4. The method of claim 3 further comprising the step of selecting a correct allocation from several possible allocations between different objects and different intermediate frequencies which are considered when solving the system of equations by comparing several successive measurements.

5. The method of claim 1 wherein the step of calculating includes the sub-step of solving the following system of equations for the distance s_i and the velocity V_ri of n objects:

f_k,i =|a_k ·

s_i +b·

v_r,i |

wherein

a_k =2f_H,k /(T·

c),

b=2f_T /C,

n is a whole number,

f_k,i is an intermediate frequency in the case of a k-th ramp resulting from a reflection at an i-th object,

f_H,k is a frequency deviation during the k-th ramp,

T is the duration of one ramp,

f_T is a fundamental frequency of the emitted signal, and

c is the speed of light.