Radar beam scanning method, on-vehicle radar apparatus and radar scanning computer program

• US 6,856,277 B2
• Filed: 09/08/2003
• Issued: 02/15/2005
• Est. Priority Date: 09/09/2002
• Status: Expired due to Fees

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Katayama, Tetsuya, Tanaka, Yuichi
• Primary Examiner(s): Sotomayor, John B.
• Application Number:
  US10/656,328
• Publication Number:
  US 20040145513A1
• Time in Patent Office: 526 Days
• Field of Search: 342 70- 72, 342/74, 342/75, 342 81- 83, 342/85, 342/107, 342113-115, 342/123, 342/139, 342/140, 342146-148, 342/157, 342/158, 340/435, 340/436, 340/903, 701/301
• US Class Current: 342/70
• CPC Class Codes: G01S 13/345 using triangular modulation
• CPC Class Codes: G01S 13/426 Scanning radar, e.g. 3D radar G01S13/66 takes precedence
• CPC Class Codes: G01S 13/66 Radar-tracking systems; Analogous systems
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 7/032 Constructional details for solid-state radar subsystems
• CPC Class Codes: G01S 7/35 Details of non-pulse systems
• CPC Class Codes: G01S 7/4026 Antenna boresight
• CPC Class Codes: G01S 7/4034 in elevation, i.e. in the vertical plane
• CPC Class Codes: G01S 7/4056 specially adapted to FMCW
• CPC Class Codes: G01S 7/4091 during normal radar operation
• CPC Class Codes: H01Q 1/3233 particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
• CPC Class Codes: H01Q 3/04 for varying one co-ordinate of the orientation

Abstract

In the on-vehicle radar apparatus of the present invention, the vertical scanning width of the radar beam is narrowed, before the horizontal scanning, thereby avoiding unnecessary data processing and improving the data processing efficiently. Further, the S/N ratio of the target detection signal is increased, thereby stabilizing the distance detection and its accuracy. The vertical scanning antenna is a single travelling wave excitation antenna (TWEA) constructed by a plurality of antenna elements. At the same time, the horizontal scanning antenna is a multi-channel antenna wherein a plurality of TWEAs is assigned to a plurality of horizontal directions. The horizontal scanning angle is arbitrarily widened by increasing the number of TWEAs.

Claims

1. A radar beam scanning method for scanning a radar beam for tracing a moving target, comprising the steps of:

radiating a radar beam scanned along a second direction;

measuring an intensity distribution along said second direction of said radar beam reflected by said moving target;

estimating an angle along said second direction of said moving target;

setting up said radar beam to the estimated angle;

scanning along a first direction perpendicular to said second direction.

2. An on-vehicle radar apparatus for scanning a radar beam for tracing a moving target, comprising:

intensity distribution acquiring means for acquiring an intensity distribution along a second direction of said radar beam reflected by said moving target;

tilt angle setting-up means for setting up a tilt angle of said moving target on the basis of said intensity distribution; and

radar operating means for scanning along a first direction perpendicular to said second direction and for at least detecting distances between one or more moving target and said on-vehicle radar apparatus.

3. The on-vehicle radar apparatus according to claim 2, which further comprises a second antenna for scanning along a second direction including a travelling wave excitation antenna for transmitting said radar beam toward said moving target,

wherein said tilt angle setting-up means changes frequency of said radar beam.

4. The on-vehicle radar apparatus according to claim 2, which further comprises a first antenna for scanning along a first direction including a plurality of travelling wave excitation antennas each of which tilt angle along said second direction is different with each other for receiving said radar beam reflected by said moving target,

wherein said tilt angle setting up means selects one or more travelling wave excitation antennas of which tilt angle are within a prescribed range around said tilt angle of said moving target.

5. The on-vehicle radar apparatus according to claim 4, wherein said travelling wave excitation antennas are constructed by a plurality of antenna elements along said second direction,

wherein each of said tilt angles of said travelling wave excitation antennas is decided by changing distances between said antenna elements per travelling wave excitation antenna.

6. The on-vehicle radar apparatus according to claim 4, which further comprises target angle shifting means for shifting along said second direction said tilt angles of said travelling wave excitation antennas.

7. The on-vehicle radar apparatus according to claim 4, wherein said intensity distribution acquiring means acquires said intensity distribution by using a first antenna.

8. The on-vehicle radar apparatus according to claim 2, wherein said tilt angle setting up means sets up a target angle for a most distant moving target on the basis of said distances detected by said radar operating means.

9. The on-vehicle radar apparatus according to claim 2, which further comprises relative speed detecting means for detecting relative speeds between said on-vehicle radar apparatus and moving &

not-moving targets,

wherein said tilt angle set-up means sets up a tilt angle only for one of said moving target.

10. The on-vehicle radar apparatus according to claim 2, wherein said first direction is the horizontal direction and said second direction is the vertical direction.

11. The on-vehicle radar apparatus according to claim 2, which further comprises:

angle range calculating means for calculating an angle range along said second direction perpendicular to a first direction within which said moving target exists; and

size estimating means for estimating a size of said moving target by using said angle range calculating means and radar operating means.

12. The on-vehicle radar apparatus according to claim 11, wherein said size estimating means estimates a height of said moving target by using said angle range calculating means and radar operating means.

13. The on-vehicle radar apparatus according to claim 11, wherein:

said radar operating means calculates a distance between said moving target and on-vehicle radar apparatus and an angle range along said first direction; and

said size estimating means estimates a projected area of said moving target on the basis of said distance, angle range along said first and second directions.

14. The on-vehicle radar apparatus according to claim 2, wherein said radar operating means scans along a first direction perpendicular to said second direction said radar beam of frequency-modulated continuous wave and generates information about said moving target.

15. A computer program for scanning a radar beam for tracing a moving target, comprising the subroutines of:

radiating a radar beam scanned along a second direction;

measuring an intensity distribution along said second direction of said radar beam reflected by said moving target;

estimating an angle along said second direction of said moving target;

setting up said radar beam to the estimated angle;

scanning along a first direction perpendicular to said second direction.