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FMCW radar system for detecting distance, relative velocity and azimuth of a target obstacle
| Details |
Inventors: Fujita, Akihiso; Hazumi, Hiroshi; Mizuno, Hiroshi; Nakatani, Hiroto; Naganawa, Hiroshi;
Assignee: Denso Corporation (Kariya, JP)
Primary Examiner: Sotomayor; John B.
Assistant Examiner:
Attorney, Agent or Firm: Cushman, Darby & Cushman IP Group of Pillsbury, Madison & Sutro LLP
Beat signals of respective receiver channels CH1 and CH2, produced by mixing their receiving signals with a transmission signal, are subjected to Fourier transformation to detect the frequency and phase of peak frequency components in both an ascending-section where the frequency of the transmission increases and a descending-section where the frequency of the transmission decreases. Based on peak frequency components derived from the same target, phase differences .DELTA..phi.u(i) and .DELTA..phi.d(j) between receiver channels CH1 and CH2 in the ascending- and descending-sections (steps 210-230). Relative relationship between the transmission signal and the receiving signal is judged based on the signs of the phase differences. Respective peak frequencies fu(i) and fd(j), detected as absolute values of frequency differences between the transmission signal and the receiving signal, are given sings in accordance with the judgement result. Then, the distance D and relative velocity V of the target are calculated (steps 240-260). |
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DETAILED DESCRIPTION Accordingly, in view of above-described problems encountered in the related art, a principal object of the present invention is to provide a novel and excellent FMCW radar system which is capable of accurately detecting the distance, relative velocity, or azimuth of a target irrespective of the relative relationship between the transmission frequency and the receiving signal.
In order to accomplish this and other related objects, the present invention provides the FMCW radar system having various aspects which will be described hereinafter with reference to numerals in parentheses which show the correspondence to the components of the preferred embodiments described later.
Reference numerals in parentheses, added in the following description, are merely used for the purpose of helping the understanding to the present invention and not used for narrowly interpreting the scope of claims of the present invention.
According to an aspect of the present invention, an FMCW radar system comprises transmitting means (12), a plurality of receiving means (14, 16), analysis means (28), frequency detecting means (26, step 150), and target detecting means (26, step 190).
The transmitting means (12) generates a transmission signal having a modulated frequency variable in accordance with a triangular-wave modulation signal, and sending out radar wave carrying the transmission signal.
The plurality of receiving means (14, 16) receive the radar wave when the radar wave is reflected from a target, generate receiving signals, and produce beat signals by mixing the receiving signals with the transmission signal.
The analysis means (28) is provided for the plurality of receiving means to execute Fourier transformation of the beat signals.
The frequency detecting means (26, step 150) is associated with the plurality of receiving means for detecting peak frequency components having peaks on a frequency spectrum based on analysis result of the beat signals obtained from the analysis means, in both an ascending-section modulation where the frequency of the transmission signal increases and a descending-section modulation where the frequency of the transmission signal decreases
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