A multi-sensor anticipatory object detection system for detecting the instantaneous range, relative velocity, collision angle and point of impact of a colliding object includes a plurality of transducer devices (18a-18d) angle a fixed distance in which each of said transducer device transmits a modulated carrier signal and receives the reflected modulated carrier signal from an object; a detection device (22) for detecting a plurality of Doppler shifted harmonic components from each said reflected signal; a range determining device (24), responsive to the amplitudes of said harmonic components, for determining the instantaneous range of said object from each said transducer device; a velocity measurement device (26), responsive to the frequency of said harmonic components, for determining the relative instantaneous velocity of each said object; and an impact decision device (28), responsive to said range determining device and the velocity measurement device, for determining where, if at all, impact with the object will occur and the angle of the impact prior to impact with the object.

Multi-sensor anticipatory object detection system

A vehicle radar system includes a processing system which operates in one of a plurality of operating modes which are selected based upon an environment (or changes to an environment) surrounding the vehicle radar system. In one exemplary embodiment, the vehicle radar system is provided as a vehicle radar system which operates in one of: a highway traffic mode and a city traffic mode depending upon whether a vehicle in which the vehicle radar system is disposed is traveling along a highway or through a city.

Vehicle radar system having multiple operating modes

A vehicle-mounted radar apparatus comprises: a transmitting-receiving device 8 including an FM modulator 1 for generating an FM modulation signal, a voltage controlled oscillator 2 for generating an electromagnetic wave subjected to FM modulation by the FM modulation signal, a transmitting antenna 4 for transmitting the FM-modulated electromagnetic wave, a receiving antenna 6 for receiving the electromagnetic wave reflected by a preceding vehicle 5, and a mixer 7 for mixing the FM-modulated electromagnetic wave and the electromagnetic wave from the receiving antenna and for outputting a beat signal; a signal processor 9 for computing a relative velocity and a relative distance with respect to the preceding vehicle on the basis of the beat signal; and a scanning mechanism 12 for rotatively driving the transmitting-receiving device, wherein a modulation period of the FM-modulated electromagnetic wave and a rotation angle range of the scanning mechanism are changed in accordance with the relative velocity and the relative distance with respect to the preceding vehicle.

Vehicle-mounted radar apparatus

An anticipatory object detention system includes a transducer device (18) for transmitting a modulated carrier signal and receiving the reflected modulated carrier signal from an object; a detection device (22) for detecting a plurality of Doppler shifted harmonic components from the reflected modulated carrier signal; a range determining device (24) responsive to the amplitude of at leastwo of the harmonic components for determining the instantaneous range of the object; a velocity measurement device (26), responsive to the frequency of at least one of the harmonic components, for determining the relative, instantaneous velocity of the object.

Anticipatory collision sensor system

A wide angle, static, positional anticipatory object detection system includes a transducer device for transmitting a modulated carrier signal and receiving the modulated carrier signal reflected from an object, a detection device for detecting a plurality of Doppler shifted harmonic components from the reflected modulated carrier signal, a range determining device responsive to the amplitudes of at least two of the harmonic components being equal for determining the instantaneous range of the object and, a predetermined distance thereafter, to a predetermined difference between the amplitudes of at least two of the harmonic components. The system also includes a Doppler period measurement device responsive to at least one of the harmonic components for measuring the Doppler periods of that harmonic component and a collision decision device, responsive to the range determining device and the Doppler period measurement device, for indicating that a collision with the object is imminent and the offset of the collision from the detection device before contact is made.

Wide-angle, static and positional anticipatory object detection system

Modulation frequency setting device sets the modulation frequency on the basis of the vehicle speed data from a vehicle speed detector and the detected range data, causing a low frequency oscillator to generate a low frequency signal of the set frequency. A transmitter transmits an electromagnetic wave (e.g., infrared light) which have been modulated with the low frequency signal. A phase comparator detects the phase difference between the low frequency signal and a detector output, and a range operating device produces range data. Relative speed operating unit finds the relative speed based on the range data. In case of a high vehicle speed, the modulation frequency is set low to extend the detection range. If an object in a short distance is detected, the modulation frequency is set high to limit the detection range to a short range, thereby enhancing the range resolution.

Vehicle-mounted radar system and detection method

PURPOSE: To detect the distance to a target or relative speed to the target in a distance range and a distance resolution corresponding to a running condition by switching a modulation frequency of transmission signals in accordance with a running speed of a vehicle and the detected distance to the target CONSTITUTION: A modulation frequency-setting means 52 sets a modulation frequency based on a vehicle velocity data 6a from a vehicle velocity detector 6 and a detected distance data 42a, whereby a low frequency oscillator 51 generates a low frequency signal 51a of the set frequency A transmitting part 2 transmits electromagnetic waves (infrared light or the like) modulated by the low frequency signal 51a A phase-comparing circuit 41 detects a phase difference of the low frequency signal 51a and a detected output 32a, and a distance-operating means 42 obtains the distance data 42a A relative speed- operating means 7 obtains a relative speed based on the distance data 42a When the vehicle runs at high speed, the modulation frequency is set to be low and a detection range is widened When an object is detected at a near distance, the modulation frequency is set to be high and the detection range is limited to a near distance to increase a distance resolution

Suzuki Toshifumi

Papers

Vehicle-mounted radar system and detection method

Radar apparatus for vehicle