WO1998012574A1 - Process for determining the relative velocity between two moving objects - Google Patents

Process for determining the relative velocity between two moving objects Download PDF

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Publication number
WO1998012574A1
WO1998012574A1 PCT/SE1997/001559 SE9701559W WO9812574A1 WO 1998012574 A1 WO1998012574 A1 WO 1998012574A1 SE 9701559 W SE9701559 W SE 9701559W WO 9812574 A1 WO9812574 A1 WO 9812574A1
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WIPO (PCT)
Prior art keywords
frequency
velocity
period length
denotes
time
Prior art date
Application number
PCT/SE1997/001559
Other languages
French (fr)
Inventor
Christer Eckersten
Lars H. Eriksson
Stefan Felter
Original Assignee
Celsiustech Electronics Ab
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 Celsiustech Electronics Ab filed Critical Celsiustech Electronics Ab
Priority to AU44066/97A priority Critical patent/AU4406697A/en
Priority to JP10514583A priority patent/JP2001500621A/en
Priority to DE69719541T priority patent/DE69719541T2/en
Priority to EP97942348A priority patent/EP0941489B1/en
Priority to US09/254,538 priority patent/US6434506B1/en
Publication of WO1998012574A1 publication Critical patent/WO1998012574A1/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
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • 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
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets

Definitions

  • the present invention relates to a process for determining the relative velocity in the radial direction between two moving objects, using linear frequency modulation with continuous frequency sweeps, a transmitted signal being multiplied by a received signal for the attainment of a resultant received signal, the phase change of which over a certain time is used to determine the relative velocity.
  • phase change is normally only known at ⁇ n ⁇ 2 ⁇ r, where n is a positive integer .
  • the object of the present invention is to realize a process in which the phase difference can clearly be determined.
  • the object of the invention is achieved by a process characterized in that the period length for successive frequency sweeps is varied and in that the difference in period length and corresponding phase change is used to determine the velocity.
  • c denotes the velocity of the light in air
  • a denotes the gradient of the frequency sweep
  • t c denotes the clock time
  • f 0 denotes the carrier frequency of the signal.
  • the period length from a first to a second frequency sweep is changed by an amount less than or equal to the time difference which is required to be able clearly to determine the phase change on the basis of given limit values for distance apart, velocity and acceleration.
  • At least three successive frequency sweeps are expediently assigned a different period length.
  • phase changes, over and above for differences in period lengths are studied for one or more period lengths and/or one or more added period lengths.
  • Figure 1 shows examples of an emitted and a received signal in the case of linear frequency modulation .
  • Figure 2 shows examples of frequency sweeps of constant period length.
  • Figure 3 shows examples of frequency sweeps according to the invention of varying period length.
  • Figure 4 shows a diagrammatic example of a FMC radar device, which can be used in the process according to the invention.
  • linear_frequency modulation an account is given below of the theory behind linear_frequency modulation. The discussion then moves on to linear frequency modulation with continuous frequency sweeps, so-called "linear FMCW" .
  • the transmitted signal is:
  • the transmitted signal is reflected and received after the time r and can be written:
  • the emitted signal has been denoted by 1 and the received by 2 in Figure 1, which shows the frequency f as a function of the time t.
  • the transit time from the transmitter to the receiver is represented by T.
  • FIG. 2 shows examples of linear FMCW modulation with frequency sweeps of constant period length.
  • An emitted sweep is shown by an unbroken line, whilst a return sweep has been shown by a dotted line.
  • the frequency sweeps have been numbered with the index i.
  • the actual instant which is global is denoted by T.
  • An object or target in the radial direction at the instant t of the frequency sweep and in respect of frequency sweep i, with the velocity v and the constant acceleration a parallel to the direction of the signal, is parametrized according to:
  • T ⁇ 2r ⁇ /c + 2vt/c + at 2 /c, where c is the velocity of the light in the medium (air) .
  • the resultant received signal, substituted by ⁇ i7 can be written :
  • the mean velocity between the instants T ⁇ and T can then be expressed according to the following:
  • the aim is to obtain an accurate determination of the velocity v for an instant T.
  • a good approximation of the velocity v is obtained by, according to the invention, instead determining the mean velocity over a period of time during which the velocity can be considered essentially constant on the basis of limited acceleration.
  • Figure 3 illustrates five emitted consecutive FMCW sweeps 1.1-1.5 having different period lengths and the associated return sweeps 2.1-2.5.
  • FFT Fast Fourier Transform
  • the time differences ⁇ Ti , 1 ⁇ i ⁇ 4 correspond to four PRI times (Pulse Repetition . Interval) .
  • the time for a FMCW sweep can be, for example, 370 ⁇ s, the smallest PRI time being able to measure about 500 ⁇ s .
  • a corresponding time difference of no more than about 10 ⁇ s is required.
  • This task is managed according to the invention by using a plurality of different PRI times and then taking the difference between these. In the numerical example, the smallest difference in PRI times is 8 ⁇ s.
  • phase difference is measured over longer time periods, whilst, at the same time, care is taken to ensure that clarity is not lost .
  • the PRI times are therefore chosen such that clarity is combined with good precision in the velocity determination .
  • the PRI times can have the following values:
  • ⁇ T 4 640 ⁇ s.
  • the velocity is now established by successively calculating the phase difference for the largest difference (the sum) of the PRI times.
  • the requirement is that the first phase difference has been clearly determined. This is the case unless the velocity amount is extremely large.
  • the phase change modulo 2 ⁇ r, xt and then the whole phase change x is calculated according to the following:
  • the radar device 3 shown in Figure 4 which can be used for realizing the process according to the invention, comprises a transmitter part 4 and a receiver part 5.
  • An antenna ⁇ is connected to the transmitter part and the receiver part via a circulator 7.
  • the transmitter part includes an oscillator control device 8 coupled to an oscillator 9 having variable frequency. Frequency sweeps from the oscillator control device 8 control the oscillator 9 such that a signal of periodically varying frequency is generated having varying period lengths for successive frequency sweeps.
  • the generated signal is sent via a direction coupler 10 and the circulator 7 out on the antenna 6.
  • the oscillator can operate within the Gigahertz range, e.g. 77 GHz.
  • a reflected signal received by the antenna 6 is directed via the circulator to a mixer 11, where the reflected signal is mixed with the emitted signal .
  • the signal is fed to a processor block 14 in which, inter alia, determination of the relative velocity is carried out according to the process described above.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Control Of Electric Motors In General (AREA)
  • Feedback Control In General (AREA)
  • Control Of Velocity Or Acceleration (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

The invention relates to a process for determining the relative velocity in the radial direction between two moving objects, using linear frequency modulation with continuous frequency sweeps. A problem in such processes lies in being clearly able to determine the phase difference. According to the invention, a clear determination is realized by varying the period length for successive frequency sweeps and using the difference in period length and corresponding phase change in determining the volocity.

Description

PROCESS FOR DETERMININGTHE RELATIVE VELOCITY BETWEENTWO MOVING OBJECTS
The present invention relates to a process for determining the relative velocity in the radial direction between two moving objects, using linear frequency modulation with continuous frequency sweeps, a transmitted signal being multiplied by a received signal for the attainment of a resultant received signal, the phase change of which over a certain time is used to determine the relative velocity.
A problem in determining the velocity where linear frequency modulation is used is to be able clearly to determine the phase difference. The phase change is normally only known at ± n ■ 2τr, where n is a positive integer .
The object of the present invention is to realize a process in which the phase difference can clearly be determined. The object of the invention is achieved by a process characterized in that the period length for successive frequency sweeps is varied and in that the difference in period length and corresponding phase change is used to determine the velocity. By studying the phase change over a time period which can be made significantly shorter than the period length for a frequency sweep, the phase change can be kept within a clear interval.
The relative velocity v is advantageously calculated from the relationship:
v = k ■ x / AT, where x is the phase difference during the time ΔT and c / 2τ k - = , where
2a tc + 2f0
c denotes the velocity of the light in air, a denotes the gradient of the frequency sweep, tc denotes the clock time and f0 denotes the carrier frequency of the signal.
The period length from a first to a second frequency sweep is changed by an amount less than or equal to the time difference which is required to be able clearly to determine the phase change on the basis of given limit values for distance apart, velocity and acceleration.
At least three successive frequency sweeps are expediently assigned a different period length.
In order to increase the accuracy in the velocity determination, the time interval during which the phase change is studied is progressively increased without any loss of clarity. An advantageous process is characterized in that phase changes, over and above for differences in period lengths, are studied for one or more period lengths and/or one or more added period lengths.
The invention shall be described in greater detail below with reference to appended drawings, in which:
Figure 1 shows examples of an emitted and a received signal in the case of linear frequency modulation . Figure 2 shows examples of frequency sweeps of constant period length. Figure 3 shows examples of frequency sweeps according to the invention of varying period length. Figure 4 shows a diagrammatic example of a FMC radar device, which can be used in the process according to the invention. Firstly, an account is given below of the theory behind linear_frequency modulation. The discussion then moves on to linear frequency modulation with continuous frequency sweeps, so-called "linear FMCW" .
In linear frequency modulation, a signal is ideally transmitted at the frequency fc (t) :
fc (t) - f0 + a t , t≥ 0, where a denotes the gradient of the frequency sweep and f0 the carrier frequency of the signal.
For an emitted frequency sweep, the argument Φ (t) for the transmitted signal can be written:
Φ( = 2πfftξ)dξ = Φ(0) + 2* I fot + 1/2 afl \ o
In the time domain, the transmitted signal is:
af t) = cio sin[ Φ(0) + 2π(< + 1/ f2)|
The transmitted signal is reflected and received after the time r and can be written:
b /J = bo sinf Φ(0) + 2π(/o(/ - τ) + l/2 (/ - τ)2)J. / > τ
The emitted signal has been denoted by 1 and the received by 2 in Figure 1, which shows the frequency f as a function of the time t. The transit time from the transmitter to the receiver is represented by T.
In the case of linear FMCW modulation, the sweep is allowed to proceed for a certain time, after which the procedure is repeated. Figure 2 shows examples of linear FMCW modulation with frequency sweeps of constant period length. An emitted sweep is shown by an unbroken line, whilst a return sweep has been shown by a dotted line. The frequency sweeps have been numbered with the index i. The instant of each sweep is denoted by t and is regarded as local, with t = 0 for the start of each frequency sweep ." The actual instant which is global is denoted by T. An object or target in the radial direction at the instant t of the frequency sweep and in respect of frequency sweep i, with the velocity v and the constant acceleration a parallel to the direction of the signal, is parametrized according to:
Figure imgf000006_0001
applicable where i is fixed.
This gives :
T^ = 2r±/c + 2vt/c + at2/c, where c is the velocity of the light in the medium (air) .
The resultant received signal, substituted by τi7 can be written :
Figure imgf000006_0002
The frequency for a received sweep i, fi, for the resultant received signal, can be written:
Figure imgf000007_0001
2ar, -~ 1 + 2^ -(^ 2 , *4«{l-3) + 6«(l-^)^ - 2c
For small values of t, consideration being given to incorporated terms, the expression of the frequency f± can be simplified without deviating substantially from the actual frequency. The following simplified expression of the frequency can be drawn up:
fi (t) = l/c [2ari + 2vf0 + 4ctvt] .
We further note that (ari/c) /f0 has a small value, thereby legitimately enabling the resultant received signal to be simplified to:
ii - c,) cos[ 2π[ lαritlc +/0/2v/c + lαvC-lc + 2rfflc\\, l ≥ τ
After a certain clock time tc, see Figure 1 , a f irst of a plurality of samples is taken of the signal . The argument ©i for the resultant received signal is referred to as the phase and can be written :
Θι = lπ\ l nt c +fotc2v/c + lαvt^ic + Ir^ l
If the phase difference between two sweeps i , j is taken, the following is obtained :
Θy - Θ = 2π{ l t c + 2f{)lc )( η - r; )
The mean velocity between the instants T± and T can then be expressed according to the following:
v = (/■/ - /•/)/(7) - Ti) = (Θ - Θ)/(7) - 7/) • (cl2π)l(2ωc + 2/0) A description is provided below of a process according to the invention, using successive frequency sweeps having different period length, reference being made to Figure 3.
The aim is to obtain an accurate determination of the velocity v for an instant T. A good approximation of the velocity v is obtained by, according to the invention, instead determining the mean velocity over a period of time during which the velocity can be considered essentially constant on the basis of limited acceleration.
Figure 3 illustrates five emitted consecutive FMCW sweeps 1.1-1.5 having different period lengths and the associated return sweeps 2.1-2.5. For a detected object, FFT (Fast Fourier Transform) is taken for five consecutive FMCW sweeps and five adjacent bearings. For these five FFTs, a frequency slot is designated in which the absolute value in the FFT is considered greatest. For this frequency slot, the respective phase value Ψ is also taken, which is an approximation to Θ<-
From the FFT, five phase values are obtained: ψ.,Ψ2 ψ5, -π≤Ψ ≤π, i≤ i ≤ S
corresponding to the instants
Tlf T2, ... T5
The phase dif ference between two adj acent points then becomes :
Figure imgf000008_0001
ΔΨ2 = (Ψ3 - Ψ2)mod Λ, Δ72 = 7*3 - 7*2 ΔΨ3 = (Ψ4 - Ψ3)mod 2* Δ73 = 74 - 7*3 ΔΨ4 = (Ψ5 " Ψ4)rm ] 2-τ. ΔΓ = 7*5 - where mod 2π denotes the modulo calculation over the interval
Figure imgf000009_0001
The time differences ΔTi , 1 ≤ i ≤ 4 correspond to four PRI times (Pulse Repetition .Interval) . The time for a FMCW sweep can be, for example, 370 μs, the smallest PRI time being able to measure about 500 μs . In order to be able clearly to determine a phase difference under prevailing conditions, a corresponding time difference of no more than about 10 μs is required. This task is managed according to the invention by using a plurality of different PRI times and then taking the difference between these. In the numerical example, the smallest difference in PRI times is 8 μs.
Any measuring errors on phase values over short time periods will have a high impact . In order to improve the precision in the velocity determination, the phase difference is measured over longer time periods, whilst, at the same time, care is taken to ensure that clarity is not lost . The PRI times are therefore chosen such that clarity is combined with good precision in the velocity determination .
According to an example, the PRI times can have the following values:
ΔTj, = 512 μs ΔT2 = 520 μs
ΔT3 = 544 μs
ΔT4 = 640 μs.
Inter alia, the following differences can herein be created:
Figure imgf000010_0002
The following prediction ratios can be drawn up :
Figure imgf000010_0001
...
Based upon the above data, the velocity is now established by successively calculating the phase difference for the largest difference (the sum) of the PRI times. The requirement is that the first phase difference has been clearly determined. This is the case unless the velocity amount is extremely large. At each stage, firstly the phase change modulo 2τr, xt and then the whole phase change x is calculated according to the following:
Figure imgf000011_0001
4. .r/= (Δ ^,)
Figure imgf000011_0002
5. Xt= {A Ψ3 + AΨ4)m*l 2x
x = intβgθr (ιy4.r - xt + JI)12K) ■ 2π +xt
6. Xt= (Δ «f i + Δ Ψ2 +Δ «f3 + Δ <f4)tτuκl Lτ
where in teger (.) is the integer component of (.) . The velocity v is then obtained by calculating v from the relationship :
C/2JZ
Figure imgf000011_0003
The radar device 3 shown in Figure 4, which can be used for realizing the process according to the invention, comprises a transmitter part 4 and a receiver part 5. An antenna β is connected to the transmitter part and the receiver part via a circulator 7. The transmitter part includes an oscillator control device 8 coupled to an oscillator 9 having variable frequency. Frequency sweeps from the oscillator control device 8 control the oscillator 9 such that a signal of periodically varying frequency is generated having varying period lengths for successive frequency sweeps. The generated signal is sent via a direction coupler 10 and the circulator 7 out on the antenna 6. The oscillator can operate within the Gigahertz range, e.g. 77 GHz. A reflected signal received by the antenna 6 is directed via the circulator to a mixer 11, where the reflected signal is mixed with the emitted signal . Following amplification in the amplifier 12 and filtering in the filter 13, the signal is fed to a processor block 14 in which, inter alia, determination of the relative velocity is carried out according to the process described above.
The invention shall not in any way be seen to be limited to the example above. Within the scope of the invention defined by the patent claims, there is room for a number of alternative embodiments. For example, other combina- tions of phase changes can be used.

Claims

Patent Claims
1. Process for determining the relative velocity in the radial direction between two moving objects, using linear frequency modulation with continuous frequency sweeps, a transmitted signal being multiplied by a received signal for the attainment of a resultant received signal, the phase change of which over a certain time is used to determine the relative velocity, characterized in that the period length for successive frequency sweeps is varied and in that the difference in period length and corresponding phase change is used to determine the velocity.
2. Process according to Patent Claim 1, characterized in that the relative velocity v is calculated from the relationship :
v = k ■ x / ΔT, where x is the phase difference during the time ΔT and
c / 2τ k = , where
Figure imgf000013_0001
c denotes the velocity of the light in air, a denotes the gradient of the frequency sweep, tc denotes the clock time and f0 denotes the carrier frequency of the signal.
3. Process according to any one of the preceding patent claims, characterized in that the period length from a first to a second frequency sweep is changed by an amount less than or equal to the time difference which is required to be able clearly to determine the phase change on the basis of given limit values for distance apart, velocity and acceleration.
4. Process according to any one of the preceding patent claims, characterized in that at least three successive frequency sweeps are assigned a different period length.
5. Process according to any one of the preceding patent claims, characterized in that phase changes, over and above for differences in period lengths, are studied for one or more period lengths and/or one or more added period lengths.
PCT/SE1997/001559 1996-09-18 1997-09-16 Process for determining the relative velocity between two moving objects WO1998012574A1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
AU44066/97A AU4406697A (en) 1996-09-18 1997-09-16 Process for determining the relative velocity between two moving objects
JP10514583A JP2001500621A (en) 1996-09-18 1997-09-16 A process for determining the relative velocity between two moving objects
DE69719541T DE69719541T2 (en) 1996-09-18 1997-09-16 METHOD FOR DETERMINING THE RELATIVE SPEED BETWEEN TWO MOVING OBJECTS
EP97942348A EP0941489B1 (en) 1996-09-18 1997-09-16 Process for determining the relative velocity between two moving objects
US09/254,538 US6434506B1 (en) 1996-09-18 1997-09-16 Process for determining the relative velocity between two moving objects

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE9603389-9 1996-09-18
SE9603389A SE507996C2 (en) 1996-09-18 1996-09-18 Procedure for determining the relative velocity between two objects in motion

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ES (1) ES2189977T3 (en)
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WO (1) WO1998012574A1 (en)

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DE10323483A1 (en) * 2003-05-23 2004-12-30 Robert Bosch Gmbh Device for determining a relative speed between a vehicle and an impact object
DE102005008715A1 (en) * 2005-02-25 2006-08-31 Robert Bosch Gmbh Radar system e.g. for motor vehicle, supplies probable collision time-point and collision speed to pre-crash-system
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JP6696678B2 (en) * 2015-09-17 2020-05-20 株式会社デンソーテン Radar device, signal processing device for radar device, and speed measurement method
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KR20000036154A (en) 2000-06-26
EP0941489B1 (en) 2003-03-05
KR100488026B1 (en) 2005-05-09
SE9603389D0 (en) 1996-09-18
DE69719541D1 (en) 2003-04-10
EP0941489A1 (en) 1999-09-15
SE507996C2 (en) 1998-08-10
SE9603389L (en) 1998-03-19
DE69719541T2 (en) 2003-12-24
AU4406697A (en) 1998-05-11
US6434506B1 (en) 2002-08-13
JP2001500621A (en) 2001-01-16

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