WO1980001782A1 - Anti-collision vehicular radar system - Google Patents

Anti-collision vehicular radar system Download PDF

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Publication number
WO1980001782A1
WO1980001782A1 PCT/US1980/000186 US8000186W WO8001782A1 WO 1980001782 A1 WO1980001782 A1 WO 1980001782A1 US 8000186 W US8000186 W US 8000186W WO 8001782 A1 WO8001782 A1 WO 8001782A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
range gate
path
range
distance
Prior art date
Application number
PCT/US1980/000186
Other languages
French (fr)
Inventor
J Sims
J Flannery
Original Assignee
Collision Avoidance Systems
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Collision Avoidance Systems filed Critical Collision Avoidance Systems
Priority to DE8080900616T priority Critical patent/DE3069479D1/en
Publication of WO1980001782A1 publication Critical patent/WO1980001782A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/422—Simultaneous measurement of distance and other co-ordinates sequential lobing, e.g. conical scan
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—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
    • G01S7/0231—Avoidance by polarisation multiplex
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/93185—Controlling the brakes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/024—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using polarisation effects
    • G01S7/025—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using polarisation effects involving the transmission of linearly polarised waves

Definitions

  • the present invention relates in general to an anti-collision vehicular radar system which incorporates a microprocessor.
  • the system provides a warning of a potential collision of the vehicle with other vehicles or objects in the path of the vehicle and automatic braking.
  • the present invention utilized a pulsed radar system with overlapped antenna beams for off-axis object discrimination which determines the pattern of the change in relative velocity of the vehicle and the object which is detected by its radar to provide signals which are processed by a microprocessor and associated digital circuitry to determine whether the detected object is a potential obstruction which must be avoided by braking or maneuvering of the vehicle.
  • OMPI . ⁇ f ftN A Ti ig to provide reliable warning of an impending collision in sufficient time to allow the vehicle driver to take action to avoid the collision and/or to activate automatic braking.
  • Other objects of the present invention are to provide a reliable collision avoidance system which significantly reduces the problems of false target response, multipath signal cancellation, and blinding from other radar equipped vehicles.
  • Another feature of this invention is the ability to space the vehicles at a safe distance dictated by the groun speed of the vehicles.
  • Another feature of the invention is the ability to lock up the brakes until a predetermined code is entered on the keyboard attached to the microprocessor.
  • a key switch can be used for this purpose to prevent releasing of the brakes until a matching key is inserted in the lock.
  • Fig. 1 is a block diagram of the system of this invention.
  • Fig. 2 is a block diagram of the digital signal processor.
  • Fig. 3 is a logic diagram of a portion of the digital signal processor.
  • Fig. 4 is a logic diagram of the digital filter portion of the digital signal processor.
  • Fig. 5 is a flow diagram for the processing of received range gated signals in the microprocessor.
  • the system operates with a pulsed radar at 24 GHz, polarized at an angle of 45°, in conjunction with a micro ⁇ processor.
  • the block diagram contained in Fig. 1 illustrates the operation.
  • a system pulse commands the radar to transmit a pulse on one of two transmitting antennas and sets the time for the receiver to view the window of one of 32 range gates, each 10 feet in length.
  • Each pulse approximately 20 nanoseconds wide, is directed by means of a diode switch to the appropriate antenna.
  • the two antennas are boresighted either side of the center line, for instance 3°.
  • the Gunn oscillator radar transmitter is pulsed from a drive connected to the vehicle transmission that gives a pulse ever 1/8 inch of travel.
  • This pulse triggers the Gunn oscillator at a peak power of 10 watts at a pulse width of 20 nanoseconds.
  • the transmit antennas are strobed alternately, by the switch so that a complete cycle of two scans is completed for every quarter inch of travel.
  • the trigger pulse is preferably jittered by an amount sufficient to cause the radar of another similarly equipped vehicle to only infrequently provide a pulse in the 32 range gate interval.
  • the received signal for each 10 foot range gate is a binary bit representing the energy reflected from all objects within that range gate. These signals are stored in memory and compared with the next scan that occurs during the period in which the vehicle tranverses 10 feet as measured by the speedometer sensor. The measurement of distance by pulse pick up on the speedometer cable
  • ⁇ fi ⁇ fATlCg ⁇ ' need not be precise, only consistent, for control of the microprocessor.
  • the detection of velocity changes is made by measuring the number of received pulses from a target in a range gate.
  • One method for signal analysis is to acquire the numbe of received pulses from each of the 32 different range gates, store the data in the memory, and then compare the new data from the next scan with corresponding previously acquired data.
  • Velocities are expressed as a percent of vehicle speed. Use of the change in velocity of the perceived objects relative to that of the vehicle as a control criterion makes actual velocities of objects and the vehicle unimportant.
  • Variations in speed are compared with values similar to those shown in Table I which shows the apparent velocity of the vehicle with respect to a non-moving target expresse as percent of the velocity of the vehicle as a function of distance to the target and the displacement of the target from the center line (or line of travel) of the vehicle.
  • Table I shows the apparent velocity of the vehicle with respect to a non-moving target expresse as percent of the velocity of the vehicle as a function of distance to the target and the displacement of the target from the center line (or line of travel) of the vehicle.
  • the information of Table I is effectively stored in the microprocessor memory.
  • a stationary object, dead ahead will show no variation in observed speed (a fixed pulse count of 960 pulses per 10 foot range gate will be detected) and may represent a potential collision hazard depending upon the range and closing rate.
  • An object not directly in the path of the vehicle will show a variation in observed speed in the 10" range intervals. The object is not being approached directly, and thus the rate of closure changes.
  • the successive distance differences are shorter than those along the straight ahead path. For example, an object displaced 20 feet on either side of the center line will show an observed variation of 99.6 percent (a pulse count of 964) at a range of 320 feet. The same object at 160 feet, assuming a straight line of travel of the vehicle will show a variation of 98.4 percent (pulse count 975) ; at 80 feet, 93.7 percent (pulse count 1024) .
  • a second processing provided by the circuitry is the VELOCITY OF OBSERVED OBJECTS
  • Target Discrimination One critical problem in the design of a collision avoidance radar is that of identifying the objects along the roadside and overhead as being different from objects in the roadway ahead of a vehicle. Stationary objects directly ahead will appear as signal at the same velocity as the vehicle. The closing speed will equal the vehicle speed. Moving object ' s will appear as a signal at a different velocity; a higher velocity for objects approaching the vehicle, a lower velocity for objects being overtaken by the .vehicle. Stationary objects to one side or overhead will return echoes of reduced speed (higher pulse count) due to the changing angle of observation as can be seen in Table I. The reduction of closing will be proportional to the sine ⁇ of the angle of observation.
  • False targets that is, objects which do not pose a threat of collision — are examined and rejected as follows.
  • the radar has three antennas, two are boresighted 3° to either side of the center line of the vehicle; the receive antenna is aligned with the center line of the vehicle. Fifty feet ahead of the transmitter, the half power points of the beam is 8.5 feet in diameter. At 320 feet ahead, it is 56 feet in diameter. By angling each transmit antenna 3° off center, at 320 feet the overlap is 17.5 feet.
  • a target appearing in both beams is a target on a collision course. Objects with sufficient reflectivit within the cone will return echoes. Side lobes may illuminate targets outside the cone.
  • the microprocessor software establishes a virtual cylinder of a constant diameter extending along
  • OMPI the line of travel. Objects outside this cylinder do not pose a threat of collision.
  • the microprocessor discrim ⁇ inates between these objects in the beam overlap region by effectively comparing relative speeds established during successive field scans with information similar to those -- shown in Table 1. It further compares the presence in one beam of an echo and not in the other to flag the target as non-hostile.
  • the signal in both beams and a constant relative velocity in all .ranges indicates a collision course with the target.
  • the radar observes an object in the 32nd range gate at 99.1 percent of vehicle speed (a count of 969) . It could be a stationary object 30 feet from the line of travel of the radar equipped vehicle or it could be another slowly moving vehicle dead ahead. If, after the 5th gate transition, the relative speed is determined to be 98.1 percent, and the object reflects energy from only one beam, then the microprocessor will identify the object as harmless to the vehicle's direction of travel as it is indeed 30 feet away from the center line.
  • Objects having relative velocities above 100 percent are oncoming traffic. Objects moving away from the vehicle are not observed by the microprocessor because they are moving negatively through the range gates.
  • closing speeds of 120 M.P.H. could represent two vehicles approaching each other at 60 M.P.H.
  • the values in Table I are utilized to indicate an impending collision or passing in an adjacent lane. For instance, an observed closing speed of 118.9 M.P.H. (count of 484) in the 32nd range gate and 116.64 M.P.H. (count of 494) in the 18th range gate would indicate two vehicles passing within 30 feet of each other. Successive scans would verify this situation, showing reduced relative velocity. However, if successive scans indicated a constant relative velocity, a head-on collision would be imminent and braking and/or warning would be initiated.
  • Multipath Cancellation - Multipath signal cancel ⁇ lation causes unpredictable and critical loss of braking at certain times when such braking was essential to avoid a collision.
  • Multipath cancellation is caused by microwave energy bouncing off the road or other surfaces and uniting in and out of phase with the direct path energy. Received microwave energy can either be cancelled with a loss of all information or received with a buildup of power.
  • the system of this invention solves this problem simply by using its memory storage. The information from each successive range gate is recorded, is indexed by one, and then compared. If a true target has been identified in a range gate and disappears on the next scan, the micro ⁇ processor assumes that the object is still there until a subsequent scan proves otherwise. This procedure minimizes the effect of multipath signal cancellation.
  • Blinding - Blinding can occur theoretically from such vehicles approaching from ahead or from echoes of transmission from such vehicles traveling in the same direction.
  • two or more vehicles must have the same pulse timing.
  • Interfering pulses occur in a random manner and their duration is less than 1 percent of the time during which the 32 range gates are active.
  • the polarization at 45° reduces the signal strength from oncoming vehicles to approximately the same strength as reflected signals from vehicles traveling in the same direction. Because of these factors, the probability of interference being perceived by the microprocessor is extremely low.
  • the anti-collision vehicular radar system 10 of this invention is shown in block diagram form in Fig. 1.
  • the radar portion of the system 10 comprises a pulsed trans ⁇ mitter 11 whose output pulses are successively switched by waveguide switch 12 to the transmit antennas 13 and 14.
  • the transmit antennas 13 and 14 provide antenna beams A and B respectively which make an angle of approximately 3° with respect to the center line 15 of the vehicle. Each antenna beam width is 10° wide.
  • the pulsed radar source 11 is pulsed by a pulse generator 16 to provide a transmit pulse of approximately 20 nanoseconds which gives a range resolution of approximately 10 feet.
  • the pulsed radar source 11 is a Gunn type pulsed oscillator having approximately 10 watts peak power and a frequency of 17 GHz.
  • the pulse generator 16 is mechanically connected to the vehicle transmission 17 in a manner which produces one output pulse from the pulse generator from every 1/8 inch of travel of the vehicle.
  • the design of such a pulse generator is well known to those skilled in the art and typically comprises a disc which is mechanically rotated by the vehicle transmission.
  • the disc is interposed between at least one light source and at least one photodetector to energize the photo- detector as transparent spots in the disc allow light to impinge upon the detector to produce the pulses which energize the radar source.
  • the waveguide 12 is caused to switch the pulsed radar alternately between antennas 13 and 14 by a signal received from the binary latch 18 which in turn is actuated by a signal from the digital signal processor 19 which signal occurs shortly after the last range gate of interest which will be explained in detail subsequently.
  • the receiver antenna 20 has its boresight aligned with the axis of the vehicle to provide a beam C directed along the path of travel of the vehicle.
  • the receiver circuitry is conventional in that the antenna 20 provides a signal to a ferrite circulator 21 to which is added
  • the digital signal processor 19 is provided with a timing pulse by the pulse generator 16 and provides processed
  • the microprocessor 20 responds to these processed digital signals from processor 19 to provide an audible alarm signal when the system 10 indicates that there is a target or object located in the path of travel of the vehicle
  • the transmitting antennas 13 and 14 and receiving antenna 20 are planar printed circuit types which are commercially available. Horn type antennas are
  • the block diagram of Fig. 2 shows the radar 24 of Fig. 1 feeding information to 32 range gates 2 of the digital signal processor 19.
  • the radar and all other elements of the system are operated from a tach disc
  • clock (pulse generator) 16 which controls another clock 42 which produces shift pulses to a 32 bit shift register 31.
  • the tach disc clock 16 provides a pulse which fires the radar transmitter 11, it also starts the clock 42 and shifts a true bit down the shift register
  • Each one of the 32 filters 37 has a flag output line R ] _, R2/---R32- Each flag output line becomes TRUE whenever a target is present in that particular range. All 32 lines R_, R2--- R 32 9° to a microprocessor 20 where the number of pulse generator 16 pulses in each range interval are counted during the time that is range flag input is TRUE. In the microprocessor the count in each range interval is processed to provide target information as described in more detail subsequently.
  • Microprocessor 20 also receives wheel angle infor ⁇ mation from an input 25 and brake pedal 26 operation as well as information from a table memory 27 which will be described subsequently.
  • the microprocessor 20 has two outputs, an alarm output 28 and a brake output 29.
  • the microprocessor 20 processes the information from the 32 flags and in the event of imminent collision can give either/or an audible alarm or application of the brakes.
  • the table memory 27 contains information which is used in conjunction with wheel angle 25 information to determine how far the range is useful when negotiating a curve.
  • the receiving antenna boresight crosses the center line of the road at a range dependent on the sharpness of the curve and information beyond that range is not used in the detection system.
  • the received information is stored in a table and the wheel angle information provides an address in that table which directs the computer to ignore all data beyond the range gate where the boresight crosses the center line of the road.
  • the wheel angle information may be used to increase the shift frequency of oscillator 42 (as by a voltage controlled oscillator) to thereby reduce the distance over which each range gate receives radar signals so that the 32 range gates cover the lesser total distance to the curving road center line.
  • each individual flag is handled in the processor to determine whether that flag is up or down.
  • a range count is started to accumulate pulses from the system clock 16 in a range counter register in the microprocessor, which corresponds to that particular range, and continues to accumulate counts until the flag goes down at which point the range count stops.
  • the information from the range counter is transferred to a temporary store. The number which is accumulated in the range counter register will be a function of the velocity of the target which was detected in that range.
  • the accumulation of clock pulses will correspond to the number of pulses generated by the tach disc as the vehicle passes through that range.
  • the count is 960 pulses or one every eighth of an inch of forward motion regardless of the velocity of the vehicle.
  • a target is within the beam overlap region and falls within one of the beam overlap region and falls within one of the range gates, it will be in one of five "threat" statuses with respect to the vehicle. If the target is stationary and on axis with the path of travel of the vehicle, the number of counts (transmitter pulses) detected in each range gate will be invariant (a constant nominal count of 960 for the assumed operating conditions) and the range gate in which the target signal occurs moves in toward the vehicle. If the target has motion of its own toward the vehicle, the count in each range gate is less than nominal 960 and if on axis the count is invariant. If the target is moving at the same speed and
  • the range gate in which the target occurs will tend to accumulate a count tending toward infinity. If the target is moving slower than and in the same direction as the vehicle, the count in each range gate is greater than the nominal 960 and if on axis, the count will be invariant. If the target is moving faster than the vehicle and in the same direction as the vehicle, the target moves out in the range gates and is not a 'threat.
  • the microprocessor takes the count for each range gate whose flag is "true” as stated previously and mades the necessary storage and comparisons to determine the "status" of each target.
  • the foregoing has been concerned with the processing of the date for individual range gates.
  • the next step in the process is to identify targets and to track the targets through the range gates as a means of determining whether the apparent target is a threat or not and whether or not it is necessary to sound an alarm.
  • a target appearing in a range gate is presented to the micro- processor as a "true" signal output of the digital filter corresponding to that range gate.
  • Clock pulses presented as another input to the microprocessor allows the micro ⁇ processor to obtain a count corresponding to the passage of the target through the range gate. If the target is a "new" target, the microprocessor establishes the target as an "item" in a section allocated to an item of microprocessor memory.
  • the range gate and count in that range are stored as "first" data under that item.
  • the microprocessor on the basis of the "first" data makes a prediction of a range gate or gates and/or the count in each gate. This prediction is compared with a subsequently received range gate number and count. If this subsequent range gate number and count compares to the prediction it is assumed that the target is the same as has been observed previously, and the data is added as "second" data for the item which has already been allocated a region of memory and a new prediction is generated, and so on to provide a table of range gate numbers and corresponding counts from which the decision is made as to the character of the target in accordance with the target status analysis of the preceding paragraph.
  • a "second” item is established in a portion of the micro ⁇ processor memory and used for prediction and analysis of data associated with it to determine its status as a threat or as harmless. -Where an item has been established, the data provided on the item is used to calculate a so-called panic point (range gate number) for that target as to when the last minute decision can be made as to whether to sound an alarm or provide braking.
  • panic point range gate number
  • this table (derived from the data of Table I) for a stationary object shows the variation or the change in the count from the count of first observation (assumed to be a count of 960 at 320 feet and zero feet off axis) that will be obtained for different amounts of feet off axis at different ranges. For example, at one foot off axis, it will be noted that there is essentially no variation at all as the target gets closer. However, at twenty feet off axis the CHANGE IN COUNT
  • the pulse generator 16 of Fig. 1 also provides an
  • the INDEX pulse to the Digital Signal Processor 19 shown in logic diagram form in Fig. 3 each time that the radar transmits to initiate the processor 19 for the reception and storage of the first and successive range echoes.
  • the INDEX pulse then, occurs each time the radar is operated or 960 times for each 10 feet of travel.
  • Arrival of the INDEX pulse sets a SCAN flip flop 40. Before the flip flop 40 is set, a LOAD/SHIFT signal on line 41 to a serial connection of eight 4-bit shift registers 31, typically type 74S195, causes a "true" bit to be loaded into the first position of the register 31* and zeros loaded into all other 31 positions. During loading, shifting of registers 31 is inhibited.
  • the register 31 When SCAN flip flop 40 becomes set, the register 31 begins to shift by- pulses from the 48 MHz clock 42, thereby advancing the "true" bit one stage at a time down the 32 stages. In doing so, the shift register 31 outputs sequentially enables each one of a corresponding set of gates 33, typically type 74S00, at 20 nanosecond - intervals (corresponding to a 10 foot range gate) . These gates receive, as their second input, the echo video signal 34 from the radar.
  • This video signal which is reflected from the area ahead of the vehicle is then gated by the 32 gates 33 corresponding to 32 ten foot intervals.
  • the outputs of each gate sets a corresponding latch of the latches 35, typically type 74329 circuits.
  • a one- shot multivibrator 43 a type 74123, is fired to send a pulse which resets the SCAN flip flop 40.
  • outputs LI through L32 denote the presence or absence of targets as a binary 1 or 0 in each of the 32 range intervals.
  • each range interval of latches 35 are transferred into corres ⁇ ponding latches 37 (typically 7475 latches) just before
  • the latches 35 are cleared by a CLEAR pulse from the microprocessor 20 through inverter 44. Therefore, when data on the next scan is received in the latches 35, the date on the previous scan is being stored in the latches 37.
  • Latches 37 and gates 38 operating in conjunction with the outputs of latches 35 comprise the comparators 36 . of Fig. 2.
  • the third input of the gates 38 is obtained from one
  • second type 74123 one shot MV 39 which transfers the data stored in latch 35 to the latch 37 to be used on the next scan.
  • each digital filter 45' of the 32 digital filters 45 input signals to each digital filter 45' of the 32 digital filters 45.
  • the purpose of the digital filter 45' is to establish a FLAG output signal which is
  • OMPI system pulses (clock pulses) from pulse generator 39.
  • the FLAG output signal goes down when the number of RANGE signals fall below the predetermined number.
  • the digital filter 45' shown in Fig. 4 has two inputs, a clock input 46 and a range input 47.
  • the range input signal is RANGE (meaning the output of a gate 38 will go from logic 1 to logic 0 when a target is discovered in both beams A and B) .
  • An inverter 48 feeds one gate.49 whereas RANGE feeds a second gate 50 directly.
  • the gate 50 output operates the "down" count of a counter 51.
  • an RC network 52 causes the flag latch 53 to be reset and also resets the up/down counter 51.
  • the flag latch 53 consists of two
  • NAND gates 54 and 55 When there is a RANGE signal in the output of particular RANGE gate 38 to which the filter 45' is connected, the RANGE signal on line 47 and clcok pulses on line 46 cause the up/down counter 51 to count up. The counter 5 will continue to count up until a CARRY output occurs. CARRY output operates the NAND gate 55 to "set" the flag latch 53-. CARRY also closes the -NAND gate 49 so that further upcounting cannot occur. However, the up/down counter 51 in the absence of a
  • BORROW comes up and “resets” the flag latch 53 and also closes the gate 50 so that no further down counting can occur. As long as there is a count in the counter 74193 (i.e., when it is counting down or up after reaching its maximum count) , the output flag will be “true”, but as soon as it is counted all the way down to the bottom, a BORROW output is generated the flag output will go “false” and remain “false” until the maximum count is again readied.
  • the multi-vibrator 39 provides an output signal END to the microprocessor to indicate that data is ready to -be read into, the microprocessor, to interrupt any processing which is taking place, and to cause the 32
  • FLAG bits from digital filter 45 to be applied as an input to the microprocessor.
  • a computer output line CLEAR clears the contents from the latches 35 to put them into condition for receiving signals from the next transmitted radar pulse.
  • FIG. 5 presents in flow diagram form the explanation of the manner in which target signals are processed in the microprocessor which has been previously presented.
  • the programing of the microprocessor provides that the processing contained with dashed line 59 be performed for each of the 32 range gate outputs Rl, R2... R32.
  • the flow diagram shows that the count and range information is processed by programing the computer to establish an identity for each target (an item) , to predict a "panic point" range gate at which an alarm or braking is to occur, to store and process for each item the sequence of range gates and the count in each range gate to make the decisions with respect to whether the item is a threat or not and at what point action must be taken, if any, to avoid a collision, prediction of the next gate in which the item should appear to distinguish the item from other targets for which different items should-be established.

Abstract

Anti-collision vehicular radar system which provides a warning of a potential collision of the vehicle with other vehicles or objects in the path of the vehicle and automatic braking. The invention utilizes a pulsed radar system (24) with overlapped antenna beams (13, 14, A, B) for off-axis object discrimination. The invention determines the pattern of change in relative velocity of the vehicle and the object which is detected by its radar to provide signals which are processed by circuitry to determine whether the detected object is a potential obstruction which must be avoided by braking or maneuvering of the vehicle. Each time the vehicle travels a predetermined, incremental distance, the radar (26) is pulsed (16). Circuitry (19) is provided which detects reflections from objects in 32 range gate intervals 10 feet in length, for example, extending in front of the vehicle. The received signal for each 10 foot range gate is a binary bit representing the presence of one or more objects within that range gate. The number of radar pulses emitted during the time a detected object remains in a single range gate interval represent the relative speed between the object and vehicle; and the relative speed of an object is stored for each range gate interval through which it passes. Variations in relative speed are compared with pre-stored values (27) which relate to apparent velocity of the vehicle with respect to a non-moving object as a function of the distance to the target and the displacement of the object from the line of travel of the vehicle. An object dead ahead will show no variation in observed relative speed and may represent a potential collision hazard, while an object not directly in the path of the vehicle will show a characteristic variation in observed speed as it passes through the range gate intervals.

Description

DESCRIPTION
ANTI-COLLISION VEHICULAR RADAR SYSTEM'
Field of the Invention
The present invention relates in general to an anti-collision vehicular radar system which incorporates a microprocessor. The system provides a warning of a potential collision of the vehicle with other vehicles or objects in the path of the vehicle and automatic braking. More particularly, the present invention utilized a pulsed radar system with overlapped antenna beams for off-axis object discrimination which determines the pattern of the change in relative velocity of the vehicle and the object which is detected by its radar to provide signals which are processed by a microprocessor and associated digital circuitry to determine whether the detected object is a potential obstruction which must be avoided by braking or maneuvering of the vehicle.
Background of the Invention
Many radar systems for the prevention of vehicular collisions with objects in the path of travel of the vehicle have been designed and to a large extent have been moderately successful in warning the driver or automatically braking the vehicle to prevent collisions. The report,
"Analysis of Problems in the Application of Radar Sensors to Automotive Collision Prevention", by R. A. Chandler et al, Institute of Telecommunication Sciences, March 1975, distributed by the National Technical Information Service of the U. S. Department of Commerce, discloses some of the problems with existing systems. Prior art systems have a number of problems among which are the high false alarm rate generated by the detection of non- hazardous targets, the loss of target because of multipath signal cancellation, and blinding which is caused by other vehicles having a radar system similar to that of the driven vehicle. The radar system of this invention is directed towards the solution of these and other problems. It is therefore a primary object of this invention
OMPI . ϊfftNATi ig to provide reliable warning of an impending collision in sufficient time to allow the vehicle driver to take action to avoid the collision and/or to activate automatic braking. Other objects of the present invention are to provide a reliable collision avoidance system which significantly reduces the problems of false target response, multipath signal cancellation, and blinding from other radar equipped vehicles.
It is a further object of this invention to provide a system which is lightweight, of small size, and relatively inexpensive in comparison with prior art warning systems and easily installed in a vehicle.
Another feature of this invention is the ability to space the vehicles at a safe distance dictated by the groun speed of the vehicles.
Another feature of the invention is the ability to lock up the brakes until a predetermined code is entered on the keyboard attached to the microprocessor. Alternately, a key switch can be used for this purpose to prevent releasing of the brakes until a matching key is inserted in the lock.
Among the features of this invention which causes it to achieve the above-stated objects are the use of pulsed radar in conjunction with a target discriminating antenna system, and digital processing of the range gated received signals by a microprocessor and associated digital circuitry
These and other objects and features of this invention will become apparent from the following detailed description of the invention when read in conjunction with the following figures.
Fig. 1 is a block diagram of the system of this invention.
Fig. 2 is a block diagram of the digital signal processor. Fig. 3 is a logic diagram of a portion of the digital signal processor.
Fig. 4 is a logic diagram of the digital filter portion of the digital signal processor. Fig. 5 is a flow diagram for the processing of received range gated signals in the microprocessor.
Summary of the Invention
This system will be described with specific values for the frequency, the number of range gates, the width of the range gates, the- number of pulses per range gate, the beam width and overlap and boresight angle and the amount of travel of vehicle between successive radar pulses. However, it should be understood that these and other values are only illustrative.
The system operates with a pulsed radar at 24 GHz, polarized at an angle of 45°, in conjunction with a micro¬ processor. The block diagram contained in Fig. 1 illustrates the operation. A system pulse commands the radar to transmit a pulse on one of two transmitting antennas and sets the time for the receiver to view the window of one of 32 range gates, each 10 feet in length. Each pulse, approximately 20 nanoseconds wide, is directed by means of a diode switch to the appropriate antenna. The two antennas are boresighted either side of the center line, for instance 3°. The Gunn oscillator radar transmitter is pulsed from a drive connected to the vehicle transmission that gives a pulse ever 1/8 inch of travel. This pulse triggers the Gunn oscillator at a peak power of 10 watts at a pulse width of 20 nanoseconds. The transmit antennas are strobed alternately, by the switch so that a complete cycle of two scans is completed for every quarter inch of travel. The trigger pulse is preferably jittered by an amount sufficient to cause the radar of another similarly equipped vehicle to only infrequently provide a pulse in the 32 range gate interval.
The received signal for each 10 foot range gate is a binary bit representing the energy reflected from all objects within that range gate. These signals are stored in memory and compared with the next scan that occurs during the period in which the vehicle tranverses 10 feet as measured by the speedometer sensor. The measurement of distance by pulse pick up on the speedometer cable
OMPI
^fiϊfATlCg^' need not be precise, only consistent, for control of the microprocessor. The detection of velocity changes is made by measuring the number of received pulses from a target in a range gate. One method for signal analysis is to acquire the numbe of received pulses from each of the 32 different range gates, store the data in the memory, and then compare the new data from the next scan with corresponding previously acquired data. Velocities are expressed as a percent of vehicle speed. Use of the change in velocity of the perceived objects relative to that of the vehicle as a control criterion makes actual velocities of objects and the vehicle unimportant.
Variations in speed are compared with values similar to those shown in Table I which shows the apparent velocity of the vehicle with respect to a non-moving target expresse as percent of the velocity of the vehicle as a function of distance to the target and the displacement of the target from the center line (or line of travel) of the vehicle. The information of Table I is effectively stored in the microprocessor memory. A stationary object, dead ahead, will show no variation in observed speed (a fixed pulse count of 960 pulses per 10 foot range gate will be detected) and may represent a potential collision hazard depending upon the range and closing rate. An object not directly in the path of the vehicle will show a variation in observed speed in the 10" range intervals. The object is not being approached directly, and thus the rate of closure changes. The successive distance differences are shorter than those along the straight ahead path. For example, an object displaced 20 feet on either side of the center line will show an observed variation of 99.6 percent (a pulse count of 964) at a range of 320 feet. The same object at 160 feet, assuming a straight line of travel of the vehicle will show a variation of 98.4 percent (pulse count 975) ; at 80 feet, 93.7 percent (pulse count 1024) .
A second processing provided by the circuitry is the VELOCITY OF OBSERVED OBJECTS
(Expressed as a percent of the velocity of the vehicle)
320
R 300
A 280
N 260
G 240
E 220
200
I 180
160
N
140
F 120
100
E
80
E
60
T
40
20
Figure imgf000007_0001
10 15 20 25 30
DISPLACEMENT FROM CENTER LINE IN FEET
TABLE I
comparison of the returned echoes from the alternate scans. The presence of a target in the same range gate on the left scan and the right scan and providing signal strength on each scan above a predetermined value indicates a target on the center line of travel. A target in one scan and not the other indicates a target off the center line of vehicle travel.
1. Target Discrimination - One critical problem in the design of a collision avoidance radar is that of identifying the objects along the roadside and overhead as being different from objects in the roadway ahead of a vehicle. Stationary objects directly ahead will appear as signal at the same velocity as the vehicle. The closing speed will equal the vehicle speed. Moving object's will appear as a signal at a different velocity; a higher velocity for objects approaching the vehicle, a lower velocity for objects being overtaken by the .vehicle. Stationary objects to one side or overhead will return echoes of reduced speed (higher pulse count) due to the changing angle of observation as can be seen in Table I. The reduction of closing will be proportional to the sine^ of the angle of observation.
False targets — that is, objects which do not pose a threat of collision — are examined and rejected as follows. The radar has three antennas, two are boresighted 3° to either side of the center line of the vehicle; the receive antenna is aligned with the center line of the vehicle. Fifty feet ahead of the transmitter, the half power points of the beam is 8.5 feet in diameter. At 320 feet ahead, it is 56 feet in diameter. By angling each transmit antenna 3° off center, at 320 feet the overlap is 17.5 feet. A target appearing in both beams is a target on a collision course. Objects with sufficient reflectivit within the cone will return echoes. Side lobes may illuminate targets outside the cone.
In order to eliminate response to observed but false targets, the microprocessor software establishes a virtual cylinder of a constant diameter extending along
OMPI the line of travel. Objects outside this cylinder do not pose a threat of collision. The microprocessor discrim¬ inates between these objects in the beam overlap region by effectively comparing relative speeds established during successive field scans with information similar to those -- shown in Table 1. It further compares the presence in one beam of an echo and not in the other to flag the target as non-hostile. The signal in both beams and a constant relative velocity in all .ranges indicates a collision course with the target.
Suppose, for instance, the radar observes an object in the 32nd range gate at 99.1 percent of vehicle speed (a count of 969) . It could be a stationary object 30 feet from the line of travel of the radar equipped vehicle or it could be another slowly moving vehicle dead ahead. If, after the 5th gate transition, the relative speed is determined to be 98.1 percent, and the object reflects energy from only one beam, then the microprocessor will identify the object as harmless to the vehicle's direction of travel as it is indeed 30 feet away from the center line.
Objects having relative velocities above 100 percent are oncoming traffic. Objects moving away from the vehicle are not observed by the microprocessor because they are moving negatively through the range gates.
On narrow, two-lane roads, closing speeds of 120 M.P.H. could represent two vehicles approaching each other at 60 M.P.H. In this case, the values in Table I are utilized to indicate an impending collision or passing in an adjacent lane. For instance, an observed closing speed of 118.9 M.P.H. (count of 484) in the 32nd range gate and 116.64 M.P.H. (count of 494) in the 18th range gate would indicate two vehicles passing within 30 feet of each other. Successive scans would verify this situation, showing reduced relative velocity. However, if successive scans indicated a constant relative velocity, a head-on collision would be imminent and braking and/or warning would be initiated.
-BUREAtT OMPI
4 -fy , WIPO >, 2. Multipath Cancellation - Multipath signal cancel¬ lation causes unpredictable and critical loss of braking at certain times when such braking was essential to avoid a collision. Multipath cancellation is caused by microwave energy bouncing off the road or other surfaces and uniting in and out of phase with the direct path energy. Received microwave energy can either be cancelled with a loss of all information or received with a buildup of power. The system of this invention solves this problem simply by using its memory storage. The information from each successive range gate is recorded, is indexed by one, and then compared. If a true target has been identified in a range gate and disappears on the next scan, the micro¬ processor assumes that the object is still there until a subsequent scan proves otherwise. This procedure minimizes the effect of multipath signal cancellation.
3. Blinding - Blinding (interference with the operation of a system equipped vehicle from the radar transmission of other similarly equipped vehicles) can occur theoretically from such vehicles approaching from ahead or from echoes of transmission from such vehicles traveling in the same direction. For such blinding to occur, two or more vehicles must have the same pulse timing. Interfering pulses occur in a random manner and their duration is less than 1 percent of the time during which the 32 range gates are active. The polarization at 45° reduces the signal strength from oncoming vehicles to approximately the same strength as reflected signals from vehicles traveling in the same direction. Because of these factors, the probability of interference being perceived by the microprocessor is extremely low. When the fact that the information from about 960 pulses is averaged by the microprocessor to detect the presence or absence of a target in a particular range gate and that there are 32 range gates, it is readily apparent that the probability of interference is so low as not to be a problem. 4. Anti-theft - When the ignition switch is turned on and the motor is running, the brakes will become fully applied by command of the microprocessor until a multi- digit code is correctly entered on a keyboard 1. This feature utilizes the microprocessor and is provided to prevent theft. This feature is not necessary to the invention and may be disconnected or implemented by use of a key instead of a coded keyboard.
Detailed Description of the Invention
The anti-collision vehicular radar system 10 of this invention is shown in block diagram form in Fig. 1. The radar portion of the system 10 comprises a pulsed trans¬ mitter 11 whose output pulses are successively switched by waveguide switch 12 to the transmit antennas 13 and 14. The transmit antennas 13 and 14 provide antenna beams A and B respectively which make an angle of approximately 3° with respect to the center line 15 of the vehicle. Each antenna beam width is 10° wide. The pulsed radar source 11 is pulsed by a pulse generator 16 to provide a transmit pulse of approximately 20 nanoseconds which gives a range resolution of approximately 10 feet. Typically, the pulsed radar source 11 is a Gunn type pulsed oscillator having approximately 10 watts peak power and a frequency of 17 GHz. The pulse generator 16 is mechanically connected to the vehicle transmission 17 in a manner which produces one output pulse from the pulse generator from every 1/8 inch of travel of the vehicle. The design of such a pulse generator is well known to those skilled in the art and typically comprises a disc which is mechanically rotated by the vehicle transmission. The disc is interposed between at least one light source and at least one photodetector to energize the photo- detector as transparent spots in the disc allow light to impinge upon the detector to produce the pulses which energize the radar source. The waveguide 12 is caused to switch the pulsed radar alternately between antennas 13 and 14 by a signal received from the binary latch 18 which in turn is actuated by a signal from the digital signal processor 19 which signal occurs shortly after the last range gate of interest which will be explained in detail subsequently. 5 The receiver antenna 20 has its boresight aligned with the axis of the vehicle to provide a beam C directed along the path of travel of the vehicle. The receiver circuitry is conventional in that the antenna 20 provides a signal to a ferrite circulator 21 to which is added
10 the signal from a local oscillator 22. These signals are mixed, amplified, and detected in mixer 23 to provide a video signal input to the digital signal processor 19. The digital signal processor 19 is provided with a timing pulse by the pulse generator 16 and provides processed
15 video signals as inputs to the microprocessor 20. The microprocessor 20 responds to these processed digital signals from processor 19 to provide an audible alarm signal when the system 10 indicates that there is a target or object located in the path of travel of the vehicle
20 with which a collision is imminent unless evasive action is taken by the driver of the automobile or braking is applied. Typically, the transmitting antennas 13 and 14 and receiving antenna 20 are planar printed circuit types which are commercially available. Horn type antennas are
25 alternatives.
The block diagram of Fig. 2 shows the radar 24 of Fig. 1 feeding information to 32 range gates 2 of the digital signal processor 19. The radar and all other elements of the system are operated from a tach disc
30 clock (pulse generator) 16 which controls another clock 42 which produces shift pulses to a 32 bit shift register 31. When the tach disc clock 16 provides a pulse which fires the radar transmitter 11, it also starts the clock 42 and shifts a true bit down the shift register
35 31 to sequentially open the 32 gates 33 one by one so that the radar video signal 34 which is fed to all these gates is gated out on 32 lines 50 corresponding to 32 ranges. When a video signal greater than a threshold level from a target appears in one of the ranges, a bit comes out from the corresponding gate 33 to "set" a corresponding one of 32 latches 35; the output lines of each of latches 35 go to each of 32 signal comparators 36. For two successive signals received in a range gate after pulsing antennas A and B, the corresponding comparator provide a logical one output to a corresponding one of 32 digital filters 37. Each one of the 32 filters 37 has a flag output line R]_, R2/---R32- Each flag output line becomes TRUE whenever a target is present in that particular range. All 32 lines R_, R2---R32 9° to a microprocessor 20 where the number of pulse generator 16 pulses in each range interval are counted during the time that is range flag input is TRUE. In the microprocessor the count in each range interval is processed to provide target information as described in more detail subsequently.
Microprocessor 20 also receives wheel angle infor¬ mation from an input 25 and brake pedal 26 operation as well as information from a table memory 27 which will be described subsequently. The microprocessor 20 has two outputs, an alarm output 28 and a brake output 29. Thus the microprocessor 20 processes the information from the 32 flags and in the event of imminent collision can give either/or an audible alarm or application of the brakes. The table memory 27 contains information which is used in conjunction with wheel angle 25 information to determine how far the range is useful when negotiating a curve.
More specifically, when the automobile is on a curve the receiving antenna boresight crosses the center line of the road at a range dependent on the sharpness of the curve and information beyond that range is not used in the detection system. The received information is stored in a table and the wheel angle information provides an address in that table which directs the computer to ignore all data beyond the range gate where the boresight crosses the center line of the road. Alternatively, the wheel angle information may be used to increase the shift frequency of oscillator 42 (as by a voltage controlled oscillator) to thereby reduce the distance over which each range gate receives radar signals so that the 32 range gates cover the lesser total distance to the curving road center line.
As stated previously, there are 32 flag inputs to the microprocessor as shown on the block diagram of Fig. 2. Each individual flag is handled in the processor to determine whether that flag is up or down. When the flag goes up, a range count is started to accumulate pulses from the system clock 16 in a range counter register in the microprocessor, which corresponds to that particular range, and continues to accumulate counts until the flag goes down at which point the range count stops. When the range count stops, the information from the range counter is transferred to a temporary store. The number which is accumulated in the range counter register will be a function of the velocity of the target which was detected in that range. Nominally, for a stationary object which is dead ahead, the accumulation of clock pulses will correspond to the number of pulses generated by the tach disc as the vehicle passes through that range. In the present embodiment the count is 960 pulses or one every eighth of an inch of forward motion regardless of the velocity of the vehicle.
If a target is within the beam overlap region and falls within one of the beam overlap region and falls within one of the range gates, it will be in one of five "threat" statuses with respect to the vehicle. If the target is stationary and on axis with the path of travel of the vehicle, the number of counts (transmitter pulses) detected in each range gate will be invariant (a constant nominal count of 960 for the assumed operating conditions) and the range gate in which the target signal occurs moves in toward the vehicle. If the target has motion of its own toward the vehicle, the count in each range gate is less than nominal 960 and if on axis the count is invariant. If the target is moving at the same speed and
"gURE OMPI
.A>. WJPO in the same direction as the vehicle, the range gate in which the target occurs will tend to accumulate a count tending toward infinity. If the target is moving slower than and in the same direction as the vehicle, the count in each range gate is greater than the nominal 960 and if on axis, the count will be invariant. If the target is moving faster than the vehicle and in the same direction as the vehicle, the target moves out in the range gates and is not a 'threat. The microprocessor takes the count for each range gate whose flag is "true" as stated previously and mades the necessary storage and comparisons to determine the "status" of each target.
The foregoing has been concerned with the processing of the date for individual range gates. The next step in the process is to identify targets and to track the targets through the range gates as a means of determining whether the apparent target is a threat or not and whether or not it is necessary to sound an alarm. A target appearing in a range gate is presented to the micro- processor as a "true" signal output of the digital filter corresponding to that range gate. Clock pulses presented as another input to the microprocessor allows the micro¬ processor to obtain a count corresponding to the passage of the target through the range gate. If the target is a "new" target, the microprocessor establishes the target as an "item" in a section allocated to an item of microprocessor memory. The range gate and count in that range are stored as "first" data under that item. The microprocessor on the basis of the "first" data makes a prediction of a range gate or gates and/or the count in each gate. This prediction is compared with a subsequently received range gate number and count. If this subsequent range gate number and count compares to the prediction it is assumed that the target is the same as has been observed previously, and the data is added as "second" data for the item which has already been allocated a region of memory and a new prediction is generated, and so on to provide a table of range gate numbers and corresponding counts from which the decision is made as to the character of the target in accordance with the target status analysis of the preceding paragraph.
If from this range and count it is determined that it is not "second" data on an already established item, a "second" item is established in a portion of the micro¬ processor memory and used for prediction and analysis of data associated with it to determine its status as a threat or as harmless. -Where an item has been established, the data provided on the item is used to calculate a so-called panic point (range gate number) for that target as to when the last minute decision can be made as to whether to sound an alarm or provide braking.
Stated in a different way, if an item has been identified and subsequently comes in on a second range gate (part of the microprocessor design includes a forecast of the next gate in which the target is expected) , the range gate number and the count in that range gate is stored under the identified item. These items (range gate number and count) are added to the memory each time they occur for each entry of an item group of the computer memory. The counts that are observed for these range gates as they are accumulated in a memory for a given target are compared to determine whether they are invariant or are changing. This comparison allows the separation of those targets which are far enough off axis so they are not a threat to the vehicle. On the other hand, if the counts are invariant, and if the target appears at a predetermined gate an alarm is sounded. Referring now to Table II, this table (derived from the data of Table I) for a stationary object shows the variation or the change in the count from the count of first observation (assumed to be a count of 960 at 320 feet and zero feet off axis) that will be obtained for different amounts of feet off axis at different ranges. For example, at one foot off axis, it will be noted that there is essentially no variation at all as the target gets closer. However, at twenty feet off axis the CHANGE IN COUNT
R A N G
E
I N
F E E T
Figure imgf000017_0001
10 15 20 25 30
DISPLACEMENT FROM CENTER LINE ' IN FEET
TABLE II
variation is present after only 40 feet of travel (in the 28th range gate) . Similarly, at larger distances off axis, the variation becomes even greater for any given range gate. The pulse generator 16 of Fig. 1 also provides an
INDEX pulse to the Digital Signal Processor 19 shown in logic diagram form in Fig. 3 each time that the radar transmits to initiate the processor 19 for the reception and storage of the first and successive range echoes. The INDEX pulse, then, occurs each time the radar is operated or 960 times for each 10 feet of travel. Arrival of the INDEX pulse sets a SCAN flip flop 40. Before the flip flop 40 is set, a LOAD/SHIFT signal on line 41 to a serial connection of eight 4-bit shift registers 31, typically type 74S195, causes a "true" bit to be loaded into the first position of the register 31* and zeros loaded into all other 31 positions. During loading, shifting of registers 31 is inhibited.
When SCAN flip flop 40 becomes set, the register 31 begins to shift by- pulses from the 48 MHz clock 42, thereby advancing the "true" bit one stage at a time down the 32 stages. In doing so, the shift register 31 outputs sequentially enables each one of a corresponding set of gates 33, typically type 74S00, at 20 nanosecond - intervals (corresponding to a 10 foot range gate) . These gates receive, as their second input, the echo video signal 34 from the radar.
This video signal which is reflected from the area ahead of the vehicle is then gated by the 32 gates 33 corresponding to 32 ten foot intervals. The outputs of each gate sets a corresponding latch of the latches 35, typically type 74329 circuits. The output state of each latch appearing on outputs LI through L32. After the 32nd gate time from the last bit register 31", a one- shot multivibrator 43, a type 74123, is fired to send a pulse which resets the SCAN flip flop 40. At the conclusion of the scan cycle, outputs LI through L32 denote the presence or absence of targets as a binary 1 or 0 in each of the 32 range intervals.
After the end of a scan cycle, the contents of each range interval of latches 35 are transferred into corres¬ ponding latches 37 (typically 7475 latches) just before
5 the latches 35 are cleared by a CLEAR pulse from the microprocessor 20 through inverter 44. Therefore, when data on the next scan is received in the latches 35, the date on the previous scan is being stored in the latches 37. The outputs of LI, L2 L32 of each latch 35 and the
10 corresponding outputs of the latches 37 are provided as two inputs of a three input type 7410 NAND gates 38. Latches 37 and gates 38 operating in conjunction with the outputs of latches 35 comprise the comparators 36. of Fig. 2. The third input of the gates 38 is obtained from one
15 output of a type 74123 one shot MV 43 whose other output is used to clear or reset the SCAN flip flop 40. There¬ fore, on each scan each bit L, L2...L32 stored in latches 35 is compared in a NAND gate 38 with the corresponding bit of the previous scan for that range stored in latch
20 37 and therefore the output of the gates 38 will represent the coincidence of the two transmitter beams A and B on the target. If the target is not in both transmitters, there will be no output from the gate 38 since there will be an absence of signal in either latch
25 35 or 37. In order to transfer the data in latch 35 and since the NAND gates 38 are sampled right after completion of a scan, a slight delay is provided by second type 74123 one shot MV 39 which transfers the data stored in latch 35 to the latch 37 to be used on the next scan.
30 The output signals- of gates 38 (RANGE) corresponding to each range interval are provided as corresponding
RANGE input signals to each digital filter 45' of the 32 digital filters 45. The purpose of the digital filter 45' is to establish a FLAG output signal which is
35 "up" when a predetermined number of RANGE signals indicating the presence of a target in both transmitting beams A and B, occur during a predetermined number of
-BUREAU
OMPI system pulses (clock pulses) from pulse generator 39.
The FLAG output signal goes down when the number of RANGE signals fall below the predetermined number.
The digital filter 45' shown in Fig. 4 has two inputs, a clock input 46 and a range input 47. The range input signal is RANGE (meaning the output of a gate 38 will go from logic 1 to logic 0 when a target is discovered in both beams A and B) . An inverter 48 feeds one gate.49 whereas RANGE feeds a second gate 50 directly. The gate 50 output operates the "down" count of a counter 51.
Whereas the gate 40 which is feed by RANGE inverted, (range "true) , operates the "up" input to the counter, typically a 74193 decade counter.
When the power is first turned on, an RC network 52 causes the flag latch 53 to be reset and also resets the up/down counter 51. The flag latch 53 consists of two
NAND gates 54 and 55. When there is a RANGE signal in the output of particular RANGE gate 38 to which the filter 45' is connected, the RANGE signal on line 47 and clcok pulses on line 46 cause the up/down counter 51 to count up. The counter 5 will continue to count up until a CARRY output occurs. CARRY output operates the NAND gate 55 to "set" the flag latch 53-. CARRY also closes the -NAND gate 49 so that further upcounting cannot occur. However, the up/down counter 51 in the absence of a
RANGE signal in the range, will now start to count down and after ten counts will count down and generate a
BORROW. BORROW comes up and "resets" the flag latch 53 and also closes the gate 50 so that no further down counting can occur. As long as there is a count in the counter 74193 (i.e., when it is counting down or up after reaching its maximum count) , the output flag will be "true", but as soon as it is counted all the way down to the bottom, a BORROW output is generated the flag output will go "false" and remain "false" until the maximum count is again readied.
The effect of the "true" or "false" state of the FLAG on the pulse count for that range interval as stored in the microprocessor 20 register has been previously explained
The multi-vibrator 39 provides an output signal END to the microprocessor to indicate that data is ready to -be read into, the microprocessor, to interrupt any processing which is taking place, and to cause the 32
FLAG bits from digital filter 45 to be applied as an input to the microprocessor. After read-in, a computer output line CLEAR clears the contents from the latches 35 to put them into condition for receiving signals from the next transmitted radar pulse.
A flow diagram for the microprocessor is shown in Fig. 5. Fig. 5 presents in flow diagram form the explanation of the manner in which target signals are processed in the microprocessor which has been previously presented. The programing of the microprocessor provides that the processing contained with dashed line 59 be performed for each of the 32 range gate outputs Rl, R2... R32. The flow diagram shows that the count and range information is processed by programing the computer to establish an identity for each target (an item) , to predict a "panic point" range gate at which an alarm or braking is to occur, to store and process for each item the sequence of range gates and the count in each range gate to make the decisions with respect to whether the item is a threat or not and at what point action must be taken, if any, to avoid a collision, prediction of the next gate in which the item should appear to distinguish the item from other targets for which different items should-be established.
Although the invention has been described in terms of two overlapped transmitting antennas, it will be apparent to those skilled in the art that a single antenna of sufficiently narrow bandwidth will function to sort out off-axis targets and the A beam - B beam coincidence used in the preferred embodiment would thus not be necessary. Similarly, although radar has been used in the preferred embodiment, other apparatus for receiving reflected pulsed signals from targets such as a laser source of radiation are available for use in the invention.
It is evident that those skilled in the art, once given the benefit of the foregoing disclosure, may make numerous other used and modification of, and departures from the specific embodiments described herein without departing from the inventive concepts. Consequently, the invention is to be construed as embracing each and every novel combination of features present in, or possessed by the apparatus and techniques herein disclosed and limited solely by the scope and spirit of the appended claims.
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Claims

Claims
1. A system using a reflected energy signal from an irradiated object to determine whether a moving vehicle and said object are on a collision course and to ' provide a warning of an impending collision, the system comprising: transmitter means for irradiating said object with first and second overlapping pulsed radiant energy beams; means for comparing reflected signals from the first and second beams and for providing pulses upon detection of reflected signals from an object in both beams; means for periodically determining from said pulses the relative velocity and distance of said object with respect to said vehicle; means for storing said periodically-determined relative velocity and distance to provide a table of relative velocity and distance values; means for determining 'from said stored values of relative velocity and distance whether the object is in the path of the vehicle; and means for providing a warning signal from said determining means at a time sufficient to prevent a collision if said object is determined to be in the path of the vehicle.
2. A system using reflected energy from an irradiated object to determine whether a moving vehicle and said object are on a collision course to prevent a collision by providing a warning signal, comprising: means for receiving radiation signals reflected from said object; means, responsive to the received signals reflected by said object, for determining the relative distance of said object with respect to said vehicle; means for periodically determining the velocity of the object relative to the vehicle at times corres¬ ponding to a predetermined change in distance between said object and said vehicle and for storing said relative velocity and distance at each of said times; and means for determining from said stored values whether said vehicle and object are on a collision course and for providing a warning signal when said distance between said vehicle and object is less than the stopping distance of the vehicle, determined as a function of the relative velocity.
3. A vehicular radar system for automatically warning the driver of a vehicle to avoid a collision with an object, said system comprising: pulsed transmitter means mounted on the vehicle for transmitting an electromagnetic signal in the path of motion in the vehicle; means for receiving signals reflected from an object; range-gating means, responsive to the received signals, for detecting the presence of an object in each of a plurality of adjacent range gate intervals extending in the path of motion of the vehicle, and for producing a like plurality of range gate signals, each representative of the presence or absence of an object in an associated range gate interval; and processing means, responsive to the range gate signals, for detecting the presence of an object in the path of motion of the vehicle; including: means for identifying a detected object in a -range gate interval and for associating range gate pulses produced by an identified object with that object as it moves from one range gate interval to another range gate interval; means, cooperative with the means for identifying, for determining and storing the relative distance and relative velocity with respect to the vehicle of an identified object as it moves from one range gate interval to another; means for determining whether the stored relative velocities of an object are invariant; and means for determining an alarm range gate interval at which to provide an alarm signal as a function of the relative velocity and for providing an alarm if the stored relative velocities are invariant at the time a detected object enters the alarm range gate interval.
4. A collision avoidance system for detecting an impending collision between a moving vehicle and an object, comprising: means for producing clock pulses as the vehicle moves such that each clock pulse represents movement of the vehicle by a substantially predetermined distance; transmitter means responsive to the clock pulses for periodically transmitting an electromagnetic signal in the path of motion of the vehicle; receiving means, responsive to echoes produced by reflection of the transmitted signal by objects in the path of motion, for providing an output signal representative of the relative distances of such objects from the vehicle; means, responsive to the receiving means output signal, for detecting the presence or absence of objects in each of a first plurality of range gate intervals located in the path of motion of the vehicle and adjacent to one another and for producing a similar first plurality of range gate signals, each associated with a respective one of the range gate intervals and representative of the presence or absence of an object in the associated range gate interval; means responsive to the range gate signals and to the clock pulses for storing the number of clock pulses produced while an object is in a range gate interval for each range gate interval in which the object is detected; means, responsive to the stored numbers of clock pulses, for determining and storing the relative velocities with respect to the vehicle of a detected object as the detected object proceeds through successive range gate intervals; and means, responsive to the stored relative velocities for discriminating between objects which are in the path of motion of the vehicle and objects which are outside the path of motion of the vehicle and for producing a signal representative thereof.
5. The system of claim 4 wherein the discriminating means comprises; means for storing data representative of the number of clock pulses produced during each range gate interval by objects laterally displaced from the path of motion by varying distances as such objects proceed through each of the range gates; means, responsive to the clock pulses and the stored numbers of clock pulses, for determining the relative velocity between the vehicle and the detected object and for determining a threshold distance, based on the relative velocity, at which action must be taken to prevent collision between the vehicle and the detected object; and means for comparing the stored numbers of clock pulses with the stored data and for producing a warning signal in response to stored numbers of clock pulses which do not match the stored data representative of laterally displaced objects by the time that the distance between the vehicle and the object becomes less than said threshold distance.
6. For use with a vehicle of the type having a pulsed radar which periodically transmits a signal in the
IsTj E
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4ϊ££_NAT path of the vehicle, receives echoes of the transmitted . signal reflected from objects in the path of motion of the vehicle, and provides an output signal repre¬ sentative of the received echoes, a collision avoidance system for determining the presence of an object in the path of the vehicle, comprising: means for defining a first plurality of successive range gate intervals in time representative of a similar first plurality of adjacent ranges extending in the path of motion of the vehicle, and including means responsive to the radar output signal for pro¬ viding a first plurality of range gate signals, each corresponding to a respective range and each indicative of the presence or absence of an object in the corres- ponding range in the path of the vehicle; means for providing system pulses at a rate proportional to the speed of the vehicle; means, responsive to the system pulses and to the range gate signals, for determining the number of system pulses produced while a detected object is in each range- and for storing- said number of each range passed through by the detected object; means for comparing the stored numbers of pulses with data representative of pulse counts produced by objects in front of the vehicle and laterally displaced from the path of the vehicle to determine if the variation in the stored numbers of pulses is a variation which would be produced by an object laterally displaced from the path of the vehicle, and for producing an output signal representative thereof; and means, responsive to the comparing means output signal for providing a warning signal when a detected object is not determined to be laterally displaced from the path of the vehicle by the time that the distance between a detected object and the vehicle becomes less than a predetermined threshold distance.
7. The system of claim 6 wherein the threshold distance is determined as a function of the relative velocity between the detected object and the vehicle.
O
PCT/US1980/000186 1979-02-26 1980-02-26 Anti-collision vehicular radar system WO1980001782A1 (en)

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US9412271B2 (en) 2013-01-30 2016-08-09 Wavetronix Llc Traffic flow through an intersection by reducing platoon interference

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AU5586280A (en) 1980-09-04
EP0024430B1 (en) 1984-10-24
JPS56500426A (en) 1981-04-02
EP0024430A4 (en) 1981-06-30
CA1135819A (en) 1982-11-16
EP0024430A1 (en) 1981-03-11
US4308536A (en) 1981-12-29
DE3069479D1 (en) 1984-11-29

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