WO2001090774A1 - Procede et dispositif pour mesurer la vitesse d'un mobile - Google Patents
Procede et dispositif pour mesurer la vitesse d'un mobile Download PDFInfo
- Publication number
- WO2001090774A1 WO2001090774A1 PCT/FR2001/001503 FR0101503W WO0190774A1 WO 2001090774 A1 WO2001090774 A1 WO 2001090774A1 FR 0101503 W FR0101503 W FR 0101503W WO 0190774 A1 WO0190774 A1 WO 0190774A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- doppler
- signal
- frequency
- speed
- obstacle
- Prior art date
Links
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
- G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
-
- 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
- G01S2013/9321—Velocity regulation, e.g. cruise control
Definitions
- the invention relates to methods for measuring the absolute speed of a mobile with respect to the ground and to the devices for implementing these methods and is applicable for example to automobiles or trains.
- Driving assistance and safety systems require knowledge not only of the speed of rotation of the wheels but also of the absolute speed.
- the speed sensors commonly used today which exploit the measurement of the number of wheel turns made by the vehicle during a given time interval, can lead to erroneous speed measurements if the diameter of the wheels varies for example due to poor tire inflation in the case of cars or wheel wear in the case of trains or if the vehicle is skating on the ground.
- a Doppler radar comprises an antenna which emits an acoustic or electromagnetic wave towards the ground and the offset between the frequency of this wave and that of the wave reflected by a ground element or a defect is exploited. its surface, located in the area swept by the radar beam, element or defect below defined as a reflecting obstacle.
- This frequency offset hereinafter called the Doppler frequency and denoted f d , which results from the relative displacement between the radar and the reflecting obstacle, is proportional to the speed of movement of the mobile relative to the ground and to the cosine of the angle ⁇ defined as the angle between the direction of the wave at the level of the reflecting obstacle and the ground according to the relation:
- Doppler radars use very directive radar antennas having a small opening angle of the radar beam so that most of the radiation emitted and received by the antenna either for a direction making an angle ⁇ with the ground, the angles ⁇ and ⁇ then being merged.
- a first drawback of this solution results from accidental variations in angle ⁇ consecutive to a variation in the inclination of the vehicle due for example to a modification of the load.
- a second, serious drawback of this prior art stems from the fact that by using a radar beam with a small aperture angle, a reflected wave is produced only if on the small surface of the ground swept by this beam is an obstacle reflective, this condition may not be verified for example when the ground is smooth as is the case in the presence of ice.
- the angle ⁇ corresponding to the reflecting obstacle which causes the reflection of the wave towards the antenna constitutes an additional unknown.
- the sensor emits, simultaneously or not, two waves, one at a fixed frequency and the other at a variable frequency, the measurement of the speed resulting from the recognition of the Doppler frequencies, for each of the above emissions, caused by reflection on the same reflecting obstacle.
- the present invention which aims in particular to remedy these drawbacks, makes it possible to benefit from the advantages linked to the use of antennas having a large opening angle while requiring instrumentation and methods for processing simplified signals.
- the present invention relates to a method for measuring the speed v of a mobile moving in a direction parallel to the ground, this measurement being carried out by means of a Doppler radar having transmit and receive antennas fixed to the mobile at a certain height h above the ground and intended to emit a radar beam towards the ground along a mean axis directed forwards or backwards relative to the direction of movement, this method comprising the following steps:
- each Doppler signal obtained at successive instants the Doppler frequencies associated with reflective obstacles from the ground located in the domain swept by the wave emitted by the transmitting antenna, called identified Doppler frequencies
- Doppler spectra when the search for the different Doppler frequencies implements a Fourier transform method for determining the corresponding spectra, called Doppler spectra, we search in these Doppler spectra, the frequencies corresponding to the maxima of these spectra, - when the search for the different frequencies Doppler implements a Fourier transform method for determining the corresponding spectra, called Doppler spectra, the Doppler spectrum is decomposed into a sum of elementary spectra of reflecting obstacles,
- Doppler spectra when the search for the different Doppler frequencies uses a Fourier transform method for the determination of the corresponding spectra, called Doppler spectra, a deconvolution of the Doppler spectra obtained is carried out, in order to identify the Doppler frequencies relating to reflecting obstacles, when the search for the different Doppler frequencies uses the determination of the zero crossings of the Doppler signal in the time domain, the Doppler frequencies relating to reflective obstacles in the radar beam are identified by comparison with those measured at previous times, - when the search of the different Doppler frequencies uses a decomposition of the Doppler signal into a sum of elementary temporal responses of reflecting obstacles, one searches among these elementary responses those whose amplitude is greater than the noise level, one selects among the Doppler frequencies identified those corresponding to the same obstacle by:
- one selects among the identified Doppler frequencies those corresponding to the same obstacle, by performing a correlation between the Doppler frequencies identified at different successive times and families of theoretical evolution functions whose speed and position parameters of the obstacle are varied at a given instant, the parameters for which there is a maximum correlation being those considered as a result of the measurement, - the same antenna is used for transmission and reception,
- the theoretical evolution function is determined as a function of time of the Doppler frequency associated with an obstacle by application of the following relation:
- the height h of the antenna above the road is measured by any known sensor, the height h is measured by: • associating, among the identified Doppler frequencies, the sequences of those which, at successive instants, are representative of the same reflecting obstacles seen at their new positions at these times, • adjusting, by varying the speed parameters, position of the reflecting obstacles at a given instant and height of the antenna above the ground, the theoretical function of evolution at evolution as a function of time of each of the series of points defined above corresponding to each of the obstacles present in the radar beam, the final height chosen being that corresponding to the best adjustment,
- the height h is measured by performing a correlation between the Doppler frequencies identified at different successive instants and families of theoretical curves of evolution whose parameters are speed, position of the obstacle at a given instant and height of the antenna above the ground, the parameters for which there is a maximum correlation being those considered as a result of the measurement,
- the emitted wave is an electromagnetic wave
- the frequency of the emitted electromagnetic wave is in the range 8 GHz - 80 GHz and preferably in the range 20 GHz -80 GHz
- the wave emitted is an acoustic wave
- the frequency of the acoustic wave emitted is in the range 20 kHz - 500 kHz and preferably in the range 30 kHz - 200 kHz, - when the frequency content of the calculated Doppler signal indicates the presence of a large number of obstacles reflecting in the radar beam, one selects from the Doppler frequencies that corresponding to the direction of maximum radiation of the transmitting antenna and the speed is determined by application of the formula: c f ..
- ⁇ is the angle between the direction of maximum radiation of the transmitting antenna and the ground, - when the frequency content of the calculated Doppler signal indicates the presence of a large number of reflecting obstacles in the radar beam, the opening angle of the antenna is reduced,
- the subject of the invention is also a device for implementing a method as defined above, this device comprising:
- a receiving antenna having a large opening angle in a vertical plane, receiving a reflected wave, generated by the reflection of the incident wave on a reflecting obstacle of the ground, - a mixer which takes part of the electrical signal supplied by the oscillator and the mixture with the signal received from the receiving antenna, possibly after amplification, and which thus produces two signals, one whose frequency is the sum and the other whose frequency is the difference of the two frequencies signals entering the mixer, - a low pass filter which filters the signal from the mixer to generate a filtered signal proportional to the signal at the difference frequency,
- Doppler signal a low frequency amplifier which amplifies the filtered signal at the difference frequency and thus provides a signal called Doppler signal
- identification means which identify in each Doppler signal obtained at successive instants near the Doppler frequencies associated with reflective obstacles from the ground located in the domain swept by the wave emitted by the transmitting antenna, called identified Doppler frequencies , - means for measuring the height of the transmitting and receiving antennas above the road,
- calculation means which calculate the theoretical evolution function representative of the evolution as a function of time of the Doppler frequency associated with an obstacle, for a speed, a height of the transmit and receive antennas above the road and for a given obstacle position, selection means which select from the identified Doppler frequencies those corresponding to the same obstacle at different successive times and deduce therefrom the desired speed.
- the identification means search in these Doppler spectra, the frequencies corresponding to the maxima of these spectra, when the search for the different Doppler frequencies implements a Fourier transform method for the determination corresponding spectra, called Doppler spectra, the identification means decompose the Doppler spectrum into a sum of elementary spectra of reflecting obstacles,
- the identification means perform a deconvolution of the Doppler spectra obtained, in order to identify the Doppler frequencies relative to reflecting obstacles, when the search for the different Doppler frequencies uses the determination of the zero crossings of the Doppler signal in the time domain, the identification means identify the Doppler frequencies relating to reflecting obstacles in the radar beam by comparison with those measured at of the preceding instants, when the search for the different Doppler frequencies uses a decomposition of the Doppler signal into a sum of temporal elementary responses of reflecting obstacles, the identification means seek among these elementary responses those whose amplitude is t higher than the noise level, - the selection means select from the identified Doppler frequencies those corresponding to the same obstacle by: Associating, among the Doppler frequencies identified, the sequences of those which, at successive instants, are representative of the same reflecting obstacles seen at their new positions at these instants,
- the selection means select from the identified Doppler frequencies those corresponding to the same obstacle, by correlating the frequencies
- Doppler identified at different successive instants and families of theoretical evolution functions whose speed and position of the obstacle parameters are varied at a given instant, the parameters for which there is a maximum correlation being those considered as a result of the measurement, - the same antenna is used for transmission and reception,
- the calculation means determine the theoretical evolution function as a function of time of the Doppler frequency associated with an obstacle by application of the following relation:
- fn is the emission frequency
- v the relative speed of the vehicle compared to the obstacle counted positive when it approaches
- c the speed of propagation of the wave
- the height measuring means measure the height h by:
- the height measurement means measure the height h by performing a correlation between the Doppler frequencies identified at different successive instants and families of theoretical evolution curves whose parameters are speed, position of the obstacle at an instant given and height of the antenna above the ground, the parameters for which there is a maximum correlation being those considered as the result of the measurement,
- the emitted wave is an electromagnetic wave
- the frequency of the electromagnetic wave emitted is in the 8 GHz - 80 GHz range and preferably in the 20 GHz -80 GHz range,
- the wave emitted is an acoustic wave
- the frequency of the acoustic wave emitted is in the range 20 kHz - 500 kHz and preferably in the range 30 kHz - 200 kHz
- ⁇ is the angle between the direction of maximum radiation of the transmitting antenna and the ground
- - when the frequency content of the Doppler signal calculated indicates the presence of a large number of obstacles reflecting in the radar beam, means are provided for reducing the opening angle of the antenna, - means are provided for calculating the average of the speeds obtained during different successive measurements.
- FIG. 1-a is a schematic overview of a mobile 100 equipped with a speed sensor 1 according to the prior art, using the Doppler effect and transmit 21 and receive 22 antennas having a small opening angle, located at a height h above the ground 33, the mobile 100 moving at a speed v whose direction and direction are represented by an arrow, a reflecting obstacle 31 being in the direction of the maximum of radiation, identified by the angle ⁇ , producing a signal reflected towards the reception antenna 22,
- the figure 1-b also shows schematically, an example of problem encountered during the use of the speed sensors of the prior art using the Doppler effect and of the transmitting and receiving antennas having a small angle d opening and located at a height h above the ground 33, the mobile 100 moving at a speed v whose direction and direction are represented by an arrow, in a configuration such that the reflecting obstacle 31 is neither in the direction of the maximum radiation, identified by the angle ⁇ , or in the area 32 of the ground illuminated by the radar beam, the measurement of the speed of movement of the mobile 100 cannot be made,
- FIG. 2 is a block diagram of the speed sensor according to the invention, in which a sensor (5) for measuring the height relative to the ground can be provided,
- FIG. 3 represents a temporal Doppler signal acquired during a measurement window of duration ⁇ T, this measurement window of duration ⁇ T then being subdivided into sub-analysis windows of duration ⁇ t starting at successive instants to, t ls ... so that the analysis sub-windows overlap,
- FIG. 4 shows an example of the implementation of a method according to the invention, in the case where a single reflecting obstacle is present in the area of the ground illuminated by the radar beam and where the height of the sensor relative to the ground was determined by an independent sensor, a figure in which the evolution over time of the Doppler frequency is seen, the monitoring of this Doppler frequency over time being carried out by a fast Fourier transform technique (FFT), the corresponding theoretical evolution function having been calculated for various values of the following parameters: position of the reflecting obstacle and speed, the function having the best adjustment being presented in solid line, which in this example led to a value of the measured speed of 60.01 km / h for an actual speed of 60 km / h.
- FFT fast Fourier transform technique
- the invention aims to determine the speed v of a mobile 100, in particular a motor vehicle or a train, moving on the ground, this measurement being carried out by means of '' a Doppler effect speed sensor which emits towards the ground and towards the front or towards the rear, a relatively wide incident radar beam.
- the speed measured by the speed sensor can be transmitted to a display device on the dashboard of the mobile, or to any other member of the vehicle, for example an anti-lock braking system for wheels.
- the speed sensor can comprise: an oscillator 11 generating an electrical signal of fixed frequency fo, a transmitting antenna 21 having a large opening angle, emitting a wave produced from the signal generated by the oscillator, possibly after passing through an amplifier 13,
- a reception antenna 22 having a large opening angle, receiving the wave reflected by a reflecting obstacle, the frequency of this reflected wave being equal to the sum of the frequency of the transmitted wave and of a quantity called frequency Doppler f d proportional to the speed of movement of the mobile relative to the ground and to the position of the reflecting obstacle relative to the transmitting and receiving antennas, - a mixer 16 receiving on one of its inputs 16a, possibly after passing through an amplifier 15, the signal received by the receiving antenna 22 and on another input 16b, a part of the electrical signal taken by the coupler 12 at the output of the oscillator 11, the mixer producing two signals:
- the second called the Doppler signal, at the frequency difference of the two frequencies of the signals entering the mixer, namely f d ,
- a low pass filter 17 eliminating the high frequency component (2fo + f d ) from the output signal of the mixer 16, and letting the component pass at the frequency f d
- a central unit 4 comprising digitizing means, a first input connected to the output of the filter 17 possibly through an amplifier 18, possibly a second input connected to the output of a height sensor 5, one or more outputs to exploit the data representative of the speed, this central unit comprising means for calculation of the speed v of the mobile from the filtered signal.
- the antennas 21 and 22 are combined and in this case, there is interposed between the coupler 12 and the mixer 16 a circulator 14 which preferentially transmits the signals from port 14a to port 14b and from port 14b to port 14c .
- Amplifiers 13, 15 and 18, circulator 14, link 20c which replaces links 20a and 20b, when using a transmit and receive antenna single and the height sensor are shown in Figure 2 in dotted lines to indicate that their presence is not always necessary.
- the central unit 4 is provided for: - carrying out a frequency analysis of the Doppler signal at close successive instants, the methods used to determine the evolution of the Doppler frequency over time, which may be methods of processing in space frequencies (spectral methods) or processing methods in time space (temporal methods), the frequency analysis being carried out at successive instants close together during a time measurement window ⁇ T itself divided into analysis sub windows of duration ⁇ t ( Figure 3),
- the frequency content of the Doppler signal can be calculated by spectral or temporal methods
- the frequency content of the signal obtained inside each of these sub-windows, called in the Doppler spectrum sequence can be determined by any method known per se, such as, without limitation:
- the different analysis windows ⁇ t being advantageously chosen overlapping in order to allow almost continuous monitoring , frequency content over time, - when temporal methods are used, the frequency content is calculated by searching for zero crossings of the Doppler signal in the time domain or by decomposing the Doppler signal into a sum of elementary temporal responses of reflecting obstacles.
- the identification of the Doppler frequencies associated with reflective obstacles from the ground depends on how the frequency content of the Doppler signal has been determined, thus,
- the Doppler spectrum calculated for each of the analysis sub-windows is the sum of the different frequency contributions associated with the different reflecting obstacles simultaneously present in the radar beam and depending on the proximity of these reflecting obstacles, various situations can appear:
- the Doppler frequencies identified on each of the Doppler spectra are the Doppler frequencies of amplitude greater than the noise level
- the frequencies associated with them are also close and may not be separated due to an insufficient resolving power of the spectral analysis
- the limited duration of each sub window analysis delimited for example by a gate function, leading to a Doppler spectrum not composed of Dirac peaks but of cardinal sinuses, the separation of these close frequencies, can then be carried out by a decomposition of the spectrum into sum of cardinal sinuses
- the search for the central frequencies of the different cardinal sinuses and their number can be carried out by various known methods, for example, by a gradient method combined with a random selection of the starting points for this search,
- the different determined Doppler frequencies are compared with the Doppler frequencies determined during previous measurements which makes it possible to identify the Doppler frequencies with respect to noise.
- the example of method for identifying Doppler frequencies associated with reflecting obstacles given above is in no way limiting and can be applied for example: - when spectral methods are used, in analysis sub-windows delimited by functions different from the gate function, for example Hamming weighting windows, the Doppler spectrum no longer being composed of cardinal sinuses but of convoluted cardinal sinuses with the Fourier transform of the Hamming function, the calculated spectrum always being composed of a sum of these functions and the decomposition described above remaining valid, the various decompositions in sum of contributions of isolated obstacles can also be carried out by deconvolution,
- the Doppler frequencies when temporal methods are used, for example by decomposing the temporal Doppler signal into a sum of elementary temporal responses of reflecting obstacles, the different results being characterized by a frequency and an amplitude which are compared with each other and with those obtained during previous measurements, the Doppler frequencies thus determined having an amplitude of the elementary signal greater than the noise being called identified Doppler frequencies.
- the durations of the measurement windows ⁇ T are chosen so as to be able to consider the speed as constant during this duration ⁇ T, so that the variation of the Doppler frequency is only caused by the variation of the position of the reflecting obstacle with respect to on radar during this time.
- the Doppler frequency decreases over time when the vehicle approaches the obstacle whereas it increases in the opposite case.
- the previously identified Doppler frequencies are separated into one or more sequences, each of these sequences being representative of the evolution over time of the identified Doppler frequencies associated with one of the reflecting obstacles present in the radar beam, the speed then being determined by adjusting to these different sequences the theoretical function of evolution.
- the sequences of identified Doppler frequencies representative of the evolution of the position of each of the reflecting obstacles are then determined.
- an identified Doppler frequency identified in the first analysis sub-window its value is compared to the Doppler frequencies identified in the following analysis sub-window, if the difference observed is within a frequency interval compatible with the speed range considered and the gamma considered of the position of the reflecting obstacles, apart from the frequency imprecision, we consider that the two Doppler frequencies considered belong to the same sequence and we proceed in the same way for each of the identified Doppler frequencies, the identified Doppler frequencies caused by the noise being thus eliminated because it appears ning to sequences reduced to a single point, thus, one or more sequences of Doppler frequencies representative of the time evolution of the position of the reflecting obstacles are defined.
- an error function is constructed from the difference between the experimental Doppler frequencies and the theoretical evolution function, the parameters v and x sought being those for which this error function is minimal.
- their search can, for example, combine a method of gradients with a method of random drawing of starting points, the final speed retained and the position in start of measurement window of the reflecting obstacle (s) are the values of the optimum parameters v and x which correspond to the best fit of the theoretical evolution function at experimental Doppler frequencies.
- the method which is the subject of the invention is also applicable when the height h is not produced by an independent sensor.
- two methods are presented making it possible to determine the speed and the height from knowledge of the different Doppler frequencies and from the theoretical evolution function representing the evolution over time of the associated Doppler frequency. to a reflecting obstacle.
- an error function is constructed from the difference between the experimental Doppler frequencies and the theoretical evolution function, the parameters v, x and h sought after being those for which this function is minimal.
- the reflecting obstacles have a variable distribution, passing for example from a situation where they are widely spaced to a situation where they are distributed along a quasi-continuum
- means are provided for, upon detection of such a situation of continuum of obstacles, reduce the opening angle of the antenna for a short time by any known means, for example by activating additional radiating elements on the antenna by switching diodes or other switching components.
- the invention is not limited to the particular embodiment which has just been described; on the contrary, it ignites all the variants, and in particular that where the radar itself is used to measure the height of the radar with respect to the ground, by exploiting the signal obtained for an angle around 90 °.
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP01936551A EP1295147A1 (fr) | 2000-05-22 | 2001-05-17 | Procede et dispositif pour mesurer la vitesse d'un mobile |
AU62434/01A AU6243401A (en) | 2000-05-22 | 2001-05-17 | Method and device for measuring the speed of a moving object |
US10/069,190 US6703966B2 (en) | 2000-05-22 | 2001-05-17 | Method and device for measuring the speed of a moving object |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR00/06493 | 2000-05-22 | ||
FR0006493A FR2809186B1 (fr) | 2000-05-22 | 2000-05-22 | Procede et dispositif pour mesurer la vitesse d'un mobile |
Publications (1)
Publication Number | Publication Date |
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WO2001090774A1 true WO2001090774A1 (fr) | 2001-11-29 |
Family
ID=8850462
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2001/001503 WO2001090774A1 (fr) | 2000-05-22 | 2001-05-17 | Procede et dispositif pour mesurer la vitesse d'un mobile |
Country Status (5)
Country | Link |
---|---|
US (1) | US6703966B2 (fr) |
EP (1) | EP1295147A1 (fr) |
AU (1) | AU6243401A (fr) |
FR (1) | FR2809186B1 (fr) |
WO (1) | WO2001090774A1 (fr) |
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NL1021513C2 (nl) * | 2002-09-23 | 2004-03-25 | Thales Nederland Bv | Agile PRT deconvolutie-werkwijze en -systemen en de toepassing ervan. |
JP2006337025A (ja) * | 2005-05-31 | 2006-12-14 | Hitachi Ltd | 絶対速度計測装置 |
JP2009103565A (ja) * | 2007-10-23 | 2009-05-14 | Omron Corp | 測定装置および方法 |
EP2267477A1 (fr) | 2009-06-17 | 2010-12-29 | Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO | Procédé de détection d'une distance, système de radar et produit de programme informatique |
JP5697904B2 (ja) * | 2010-06-16 | 2015-04-08 | 株式会社豊田中央研究所 | レーダ装置及び検知方法 |
US8441394B2 (en) * | 2011-07-11 | 2013-05-14 | Delphi Technologies, Inc. | System and method for detecting obstructions and misalignment of ground vehicle radar systems |
JP5980587B2 (ja) * | 2012-06-21 | 2016-08-31 | 古野電気株式会社 | レーダ装置及び反射信号処理方法 |
JP6369035B2 (ja) * | 2013-02-05 | 2018-08-08 | 株式会社デンソー | 物標検出装置 |
WO2015037173A1 (fr) * | 2013-09-12 | 2015-03-19 | パナソニック株式会社 | Dispositif radar, véhicule et procédé de détection de vitesse de corps mobile |
JP2015165754A (ja) * | 2014-03-03 | 2015-09-17 | 株式会社京三製作所 | 列車速度検出装置及び列車速度検出方法 |
JP6145417B2 (ja) * | 2014-03-03 | 2017-06-14 | 株式会社京三製作所 | 列車位置検出装置及び列車位置検出方法 |
EP3240704B1 (fr) * | 2014-12-31 | 2019-11-27 | Bridgestone Americas Tire Operations, LLC | Détection d'usure par radar pour applications à des pneus |
JP6219335B2 (ja) * | 2015-04-20 | 2017-10-25 | 株式会社京三製作所 | 列車状態検出装置及び列車状態検出方法 |
US10145860B2 (en) * | 2016-03-11 | 2018-12-04 | Epro Gmbh | Speed detection using multiple processing paths |
CN106646448A (zh) * | 2017-02-22 | 2017-05-10 | 合肥驼峰电子科技发展有限公司 | 一种毫米波测速雷达装置 |
US10444341B2 (en) * | 2017-03-06 | 2019-10-15 | GM Global Technology Operations LLC | Road clutter mitigation |
DE102018200765A1 (de) * | 2018-01-18 | 2019-07-18 | Robert Bosch Gmbh | FMCW-Radarsensor |
DE102018204301B4 (de) * | 2018-03-21 | 2020-06-18 | Robert Bosch Gmbh | Verfahren zum Ermitteln einer Bestandhöhe von Feldpflanzen |
KR102516367B1 (ko) | 2018-09-03 | 2023-03-31 | 삼성전자주식회사 | 레이더 데이터를 처리하는 장치 및 방법 |
FR3090893B1 (fr) * | 2018-12-20 | 2021-10-08 | Commissariat Energie Atomique | Procede et systeme de mesure de la vitesse d’un porteur par rapport au sol |
EP3757611A1 (fr) * | 2019-06-27 | 2020-12-30 | Aptiv Technologies Limited | Estimation de profil de route vertical |
CN110346787B (zh) * | 2019-07-25 | 2023-07-28 | 芜湖易来达雷达科技有限公司 | 一种两维速度测量的雷达系统 |
CN110879382B (zh) * | 2019-12-17 | 2023-03-28 | 陕西长岭电子科技有限责任公司 | 具有地形自适应的天线波束空间配置方法 |
JP7406182B2 (ja) * | 2020-12-11 | 2023-12-27 | トヨタ自動車株式会社 | 関連値情報の更新システム及び関連値情報の更新方法 |
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2000
- 2000-05-22 FR FR0006493A patent/FR2809186B1/fr not_active Expired - Fee Related
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2001
- 2001-05-17 AU AU62434/01A patent/AU6243401A/en not_active Abandoned
- 2001-05-17 US US10/069,190 patent/US6703966B2/en not_active Expired - Fee Related
- 2001-05-17 EP EP01936551A patent/EP1295147A1/fr not_active Withdrawn
- 2001-05-17 WO PCT/FR2001/001503 patent/WO2001090774A1/fr active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0534056A1 (fr) * | 1991-08-28 | 1993-03-31 | Daimler-Benz Aerospace Aktiengesellschaft | Procédé et dispositif de mesure de la vitesse d'un objet mouvant utilisant au moins un détecteur de vitesse du type Radar-Doppler |
FR2722301A1 (fr) * | 1994-07-06 | 1996-01-12 | Lewiner Jacques | Procede et dispositif pour mesurer la vitesse d'un mobile |
US5696515A (en) * | 1996-01-31 | 1997-12-09 | Ford Motor Company | System and method for determining absolute vehicle height and ground speed |
DE19914486C1 (de) * | 1999-03-30 | 2000-05-18 | Fraunhofer Ges Forschung | Vorrichtung und Verfahren zur berührungslosen Geschwindigkeitsmessung auf Oberflächen |
Also Published As
Publication number | Publication date |
---|---|
FR2809186B1 (fr) | 2002-07-12 |
EP1295147A1 (fr) | 2003-03-26 |
US20030052814A1 (en) | 2003-03-20 |
AU6243401A (en) | 2001-12-03 |
FR2809186A1 (fr) | 2001-11-23 |
US6703966B2 (en) | 2004-03-09 |
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