Radar detection method and apparatus

• US 6,864,831 B2
• Filed: 08/26/2002
• Issued: 03/08/2005
• Est. Priority Date: 08/16/2000
• Status: Expired due to Term

• Current Assignee: Valeo Radar Systems, Inc. (Valeo SE)
• Original Assignee: Raytheon Company (Rtx Corporation)
• Inventors: Pleva, Joseph S., Woodington, Walter Gordon, Russell, Mark E., Delcheccolo, Michael Joseph, Van Rees, H. Barteld
• Primary Examiner(s): Tarcza, Thomas H.
• Assistant Examiner(s): ALSOMIRI, ISAM A
• Application Number:
  US10/229,256
• Publication Number:
  US 20030001772A1
• Time in Patent Office: 925 Days
• Field of Search: 342 70- 72, 342/90, 342/95, 342/96, 342/195, 342/196, 342/160
• US Class Current: 342/70
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/081 using distance control
• CPC Class Codes: B60T 2201/088 using transmission control
• CPC Class Codes: B60W 2530/10 Weight
• CPC Class Codes: B60W 2554/4043 Lateral speed
• CPC Class Codes: B60W 2554/803 Relative lateral speed
• CPC Class Codes: G01S 13/003 Bistatic radar systems; Multistatic radar systems
• CPC Class Codes: G01S 13/04 Systems determining presence of a target based on relative movement of target G01S13/56
• CPC Class Codes: G01S 13/282 using a frequency modulated carrier wave G01S13/286 takes precedence
• CPC Class Codes: G01S 13/343 using sawtooth modulation
• CPC Class Codes: G01S 13/346 using noise modulation
• CPC Class Codes: G01S 13/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S13/46
• CPC Class Codes: G01S 13/48 using multiple beams at emission or reception
• CPC Class Codes: G01S 13/584 adapted for simultaneous range and velocity measurements
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/878 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S13/874 takes precedence
• CPC Class Codes: G01S 13/931 : of land vehicles
• CPC Class Codes: G01S 2013/0245 : Radar with phased array antenna
• CPC Class Codes: G01S 2013/9315 : Monitoring blind spots
• 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 2013/93272 : in the back of the vehicles
• CPC Class Codes: G01S 2013/93274 : on the side of the vehicles
• CPC Class Codes: G01S 2013/93275 : in the bumper area
• CPC Class Codes: G01S 7/023 : Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques auxiliary means for detecting or identifying radar signals or the like G01S7/021; means for anti-jamming G01S7/36
• CPC Class Codes: G01S 7/0232 : Avoidance by frequency multiplex
• CPC Class Codes: G01S 7/032 : Constructional details for solid-state radar subsystems
• CPC Class Codes: G01S 7/038 : Feedthrough nulling circuits
• CPC Class Codes: G01S 7/06 : Cathode-ray tube displays or other two dimensional or three-dimensional displays
• CPC Class Codes: G01S 7/288 : Coherent receivers
• CPC Class Codes: G01S 7/352 : Receivers
• CPC Class Codes: G01S 7/354 : Extracting wanted echo-signals Doppler systems G01S13/50
• CPC Class Codes: G01S 7/356 : involving particularities of FFT processing
• CPC Class Codes: G01S 7/4004 : of parts of a radar system
• CPC Class Codes: G01S 7/4008 : of transmitters
• CPC Class Codes: G01S 7/4021 : of receivers
• 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 1/3258 : using the gutter of the vehicle; Means for clamping a whip aerial on the edge of a part of the vehicle
• CPC Class Codes: H01Q 1/3283 : side-mounted antennas, e.g. bumper-mounted, door-mounted mounted on windscreens H01Q1/1271
• CPC Class Codes: H01Q 1/38 : formed by a conductive layer on an insulating support patch antennas H01Q9/0407; microstrip dipole antennas H01Q9/065; microstrip slot antennas H01Q13/106; transmission line microstrip antennas H01Q13/206; manufacturing reflecting surfaces using insulating material for supporting the reflecting surface H01Q15/142
• CPC Class Codes: H01Q 1/42 : Housings not intimately mechanically associated with radiating elements, e.g. radome
• CPC Class Codes: H01Q 13/10 : Resonant slot antennas
• CPC Class Codes: H01Q 13/18 : the slot being backed by, or formed in boundary wall of, a resonant cavity longitudinally slotted cylinder H01Q13/12 ; Open cavity antennas
• CPC Class Codes: H01Q 21/0043 : Slotted waveguides combination with horns H01Q13/0233
• CPC Class Codes: H01Q 21/0075 : Stripline fed arrays H01Q21/065 takes precedence
• CPC Class Codes: H01Q 21/0087 : Apparatus or processes specially adapted for manufacturing antenna arrays manufacturing waveguides H01P11/00
• CPC Class Codes: H01Q 21/065 : Patch antenna array
• CPC Class Codes: H01Q 25/00 : Antennas or antenna systems providing at least two radiating patterns arrangements for changing or varying the orientation or the shape of the directional pattern H01Q3/00
• CPC Class Codes: H01Q 3/24 : varying the orientation by switching energy from one active radiating element to another, e.g. for beam switching
• CPC Class Codes: H01Q 3/40 : with phasing matrix

Abstract

A radar detection process includes computing a derivative of an FFT output signal to detect an object within a specified detection zone. In one embodiment, a zero crossing in the second derivative of the FFT output signal indicates the presence of an object. The range of the object is determined as a function of the frequency at which the zero crossing occurs. Also described is a detection table containing indicators of the presence or absence of an object within a respective radar beam and processing cycle. At least two such indicators are combined in order to detect the presence of an object within the detection zone.

Claims

1. A method for detecting an object with a radar system comprising:

generating a detection table including a plurality of indicators comprising processed radar data from at least two major cycles, with each major cycle having a plurality of minor cycles, each one of the plurality of indicators indicative of the presence of the object, and selected ones of the plurality of indicators indicative of the presence of the object within an equivalent azimuth angle and within equivalent predetermined minimum and maximum ranges corresponding to a predetermined detection zone;

combining at least two of the plurality of indicators to confirm the presence of the object and to provide combined indicators; and

providing an object detection message if the combined indicators are indicative of the presence of the object.

2. The method of claim 1 wherein each one of the plurality of indicators contained in the detection table is associated with a respective radar beam and with a respective major cycle.

3. The method of claim 2 wherein at least two of the combined indicators are associated with different radar beams.

4. The method of claim 2 wherein at least two of the combined indicators are associated with different major cycles.

5. The method of claim 1, wherein each of the plurality of indicators is associated with a zero crossing of a derivative of an FFT output signal.

6. The method of claim 1, wherein each of the plurality of indicators is associated with a coverage zone associated with a side object detection system adapted for use on an automobile.

7. The method of claim 1, wherein a minor cycle corresponds to processing performed on a respective radar beam associated with a respective azimuth angle and a major cycle corresponds to a plurality of minor cycles associated with a respective plurality of radar beams, wherein each of the plurality of radar beams is associated with a different azimuth angle.

8. A radar system for detecting an object, comprising:

a memory in which is stored a detection table including a plurality of indicators, comprising processed radar data from at least two major cycles, with each major cycle having a plurality of minor cycles, each one of the plurality of indicators indicative of the presence of the object, and selected ones of the plurality of indicators indicative of the presence of the object within an equivalent azimuth angle and within equivalent predetermined minimum and maximum ranges corresponding to a predetermined detection zone; and

a processor for combining at least two of the plurality of the indicators in the detection table to confirm the presence of the object and to provide combined indicators, and for providing an object detection message if the combined indicators are indicative of the presence of the object.

9. The radar system of claim 8 wherein each one of the plurality of indicators contained in the detection table is associated with a respective radar beam and with a respective major cycle.

10. The radar system of claim 9 wherein at least two of the combined indicators are associated with different radar beams.

11. The radar system of claim 9 wherein at least two of the combined indicators are associated with different major cycles.

12. The radar system of claim 8, wherein each of the plurality of indicators is associated with a zero crossing of a derivative of an FFT output signal.

13. The radar system of claim 8, wherein each of the plurality of indicators is associated with a coverage zone associated with a side object detection system adapted for use on an automobile.

14. The method of claim 8, wherein a minor cycle corresponds to processing performed on a respective radar beam associated with a respective azimuth angle and a major cycle corresponds to a plurality of minor cycles associated with a respective plurality of radar beams, wherein each of the plurality of radar beams is associated with a different azimuth angle.

15. A method for detecting an object with a radar system comprising:

generating a detection table having a plurality of indicators comprising processed radar data from at least two major cycles, with each major cycle having a plurality of minor cycles, each one of the plurality of indicators indicative of the presence of the object;

combining at least two of the plurality of indicators included in the detection table to confirm the presence of the object and to provide combined indicators, the at least two of the plurality of indicators associated with at least two different major cycles and at least two different minor cycles; and

providing an object detection message if the combined indicators are indicative of the presence of the object.

16. The method of claim 15, wherein each one of the plurality of indicators contained in the detection table is associated with a respective radar beam.

17. The method of claim 15, wherein each one of the plurality of indicators is associated with a detection zone associated with a side object detection system adapted for use on an automobile.

18. The method of claim 15, wherein a minor cycle corresponds to processing performed on a respective radar beam associated with a respective azimuth angle.