Monopulse azimuth radar system for automotive vehicle tracking

Abstract

A monopulse vehicular radar system for tracking a target about an automotive vehicle senses a transmitted signal reflected back from the target and received at two different locations, determines the sum and the difference of the reflected signals sensed at the two locations, and compares the sum and difference to determine the deviation of the target from a reference azimuth. A source frequency provided by a Gunn diode is applied to and transmitted by a two-lobe monopulse antenna. The antenna lobes detect the reflected signals from the target by sensing them at the two different lobes. A hybrid junction provides sum and difference signals to mixers which homodyne the signals to produce sum and difference Doppler frequency signals using the source frequency. The Doppler frequency signals are amplified and then compared to determine the deviation of the target from the reference azimuth. The comparison process can be done digitally by converting the amplified frequency signals to digital signals which are then processed in a digital signal processor, or the comparison may be done in analog fashion using a phase/quotient detector. The range or distance of the target is determined by shifting the source frequency between two frequencies during transmission and frequency shifting the sum and difference Doppler frequency signals in similar fashion following reception by the antenna.

We claim: 
     
       1. A vehicular radar system for determining the deviation of at least one target about an automotive vehicle relative to a reference azimuth, comprising the combination of: (a) means for transmitting a transmission signal;   (b) means for sensing the transmission signal reflected from at least one target and received at two different locations as two different receive signals;   (c) means for converting each of the two different received signals to two different doppler signals by homodyning each received signal with the transmitted frequency;   (d) means responsive to the two different doppler signals for .[.determining the sum of and the difference between the two different doppler signals.]. .Iadd.providing sum and difference signals of the two different doppler signals.Iaddend.; and   (e) means for comparing the sum and difference .Iadd.signals .Iaddend.to determine the deviation of the target from the reference azimuth.   
     
     
       2. The vehicular radar system of claim 1, wherein the means responsive to the two different doppler signals .[.for determining the sum and the difference between the two different doppler signals.]. is a digital signal processor. 
     
     
       3. The vehicular radar system of claim 1, wherein the means for transmitting a transmission signal includes an antenna having at least one pair of lobes for transmitting the transmission signal with a phase difference therebetween and the means for sensing includes the antenna and uses the two lobes to sense the reflected transmission signal at two different locations. 
     
     
       4. The vehicular radar system of claim 3, wherein the means .[.responsive to the two different receive signals for determining the sum of and the difference between the two different receive signals.]. .Iadd.for converting .Iaddend.includes a 4-arm junction having first and second arms coupled to the pair of lobes of the antenna and third and fourth arms for providing the sum and the difference. 
     
     
       5. The vehicular radar system of claim 4, wherein the means for converting is a mixer for mixing the sum and the difference at the third and fourth arms of 4-arm junction with a source frequency to provide sum and difference doppler frequency signals. 
     
     
       6. The vehicular radar system of claim 5, wherein the means for comparing .[.the sum and the difference.]. includes means for dividing the difference frequency signal by the sum frequency signal. .[.7. The vehicular radar system of claim 1, wherein the means responsive to the two different receive signals for determining the sum of and the difference between the two different doppler signals is a digital signal 
     
     
        processor..].. A vehicular radar system for determining the deviation of a target about an automotive vehicle relative to a reference azimuth, comprising the combination of: (a) at least one mixer having a source frequency provided thereto;   (b) antenna means for transmitting and receiving signals;   (c) junction means for coupling the mixers to the antenna means to provide the source frequency to the antenna means for transmission therefrom as a transmission signal;   (d) .[.the antenna means including.]. means for detecting .[.the.]. .Iadd.a .Iaddend.transmission signal reflected from the target and received at two different locations and coupled to the junction to provide .Iadd.signals comprising .Iaddend.the sum of and the difference between the transmission signal detected by the means for detecting at the two different locations; and   (e) means for comparing the sum and the difference .Iadd.signals .Iaddend.to determine the deviation of the target from the reference azimuth, wherein the mixers are responsive to the junction means to homodyne the sum and difference .Iadd.signals .Iaddend.in accordance with the source     
     
     
        frequency to produce sum and difference doppler signals. 9. The vehicular radar system of claim 8, further including means for amplifying the sum 
     
     
        and difference frequency signals. 10. The vehicular radar system of claim 9, further including gain adjustment means, coupled to the amplifying means, for adjusting the gain of at least one of the sum and difference 
     
     
        frequency signals. 11. The vehicular radar system of claim 9, wherein the source frequency provided to the mixer is repeatedly alternated between first and second frequencies, and further including means responsive to the sum frequency signal and to the repeated alternating of the source frequency between the first and second frequencies for determining the 
     
     
        range of the target. 12. The vehicular radar system of claim 9, further including means for filtering the amplified sum and difference frequency signals to provide filtered signals, and analog-to-digital converter means for converting the filtered signals to digital signals, and wherein the means for comparing the sum and the difference comprises a digital signal 
     
     
        processor coupled to receive the digital signals. 13. The vehicular radar system of claim 9, wherein the means for comparing the sum and the difference comprises a phase/quotient detector comprising a squaring circuit coupled to receive the amplified sum frequency signal, a multiply circuit coupled to receive the amplified sum and difference frequency signals, first and second filters, a divide circuit coupled to the squaring circuit through the first filter and to the multiply circuit through the second filter, the divide circuit providing a signal representative of the direction of the target from the reference azimuth. 
     
     
         4. The vehicular radar system of claim 8, wherein the antenna means comprises a dual lobe monopulse antenna having a pair of lobes coupled to 
     
     
        first and second arms of the junction means. 15. The vehicular radar system of claim 14, wherein the junction means has a third arm coupled to the .Iadd.at least one .Iaddend.mixer and a fourth arm coupled to the 
     
     
        .Iadd.at least one .Iaddend.mixer through a circulator. 16. The vehicular radar system of claim 15, wherein the .Iadd.at least one .Iaddend.mixer comprises a first cross guide coupler coupled to the third arm of the junction means, a .[.second cross guide coupler.]. .Iadd.circulator .Iaddend.coupled to the fourth arm of the junction means, a phase shifter coupled to the .[.second cross guide coupler.]. .Iadd.circulator.Iaddend., an oscillator for providing the source frequency, and an isolating tee coupling the oscillator to the first cross guide coupler and to the phase 
     
     
        shifter. 17. A vehicular radar system for tracking a target about an automotive vehicle, comprising the combination of: (a) a multi-lobe monopulse antenna;   (b) a junction coupled to the antenna and having at least a sum port and a difference port;   (c) mixer means, coupled to the sum and difference ports of the junction and including a source frequency generator, for providing a transmission signal to the antenna through the sum port of the junction, the mixer means being operative to mix sum and difference signals at the sum and difference ports of the junction with the source frequency to produce a sum frequency signal and a difference frequency signal;   (d) first and second data switches coupled to receive the sum frequency signal and the difference frequency signal;   (e) a first, second, third and fourth filter;   (f) an analog-to-digital converter coupled to the first data switch through the first and second filters and coupled to the second data switch through the third and fourth filters;   (g) a timing generator for providing switch timing signals to the first and second data switches and timing clock signals to the analog-to-digital converter;   (h) an analog-to-digital data conditioner coupled to the analog-to-digital converter; and   
     
     
       (i) a line driver coupled to the data conditioner. 18. A vehicular radar system for tracking a target about an automotive vehicle, comprising the combination of: (a) a dual lobe monopulse antenna;   (b) a junction coupled to the antenna and having a sum port and a difference port;   (c) .[.a.]. .Iadd.at least one .Iaddend.mixer coupled to the sum and difference ports of the junction and including a source frequency generator .[.for providing.]. .Iadd.that provides .Iaddend.a transmission signal to the antenna through the sum port of the junction, the mixer being operative to mix sum and difference signals at the sum and difference ports of the junction with the source frequency to produce a sum frequency signal and a difference frequency signal;   (d) first and second data switches coupled to receive the sum frequency signal and the difference frequency signal;   (e) a first, second, third and fourth filter;   (f) first and second analog-to-digital converters, the first converter being coupled to the first data switch through first and second filters and the second converter being coupled to the second data switch through third and fourth filters;   (g) a timing generator .[.for providing.]. .Iadd.that provides .Iaddend.switch timing signals to the first and second data switches and timing clock signals to the first and second analog-to-digital converters;   (h) an analog-to-digital data conditioner coupled to the first and second analog-to-digital converter; and   
     
     
       (i) a line driver coupled to the data conditioner. 19. The vehicular radar system of claim 18, further including a line receiver coupled to provide 
     
     
        command data to the timing generator. 20. The vehicular radar system of claim 18, further including first and second preamplifiers coupled between the mixer and the first and second data switches, and wherein the timing generator is operative to provide BIT signals to the first and second preamplifiers. .Iadd.21. A method for determining the deviation of at least one target about an automotive vehicle relative to a reference azimuth, comprising the steps of: (a) transmitting a transmission signal;   (b) sensing the transmission signal reflected from at least one target and received at two different locations as two different receive signals;   (c) downconverting each of the two different received signals to two different doppler signals;   (d) determining the sum of and the difference between the two different doppler signals; and   (e) comparing the sum and difference to determine the deviation of the   
     
     
        target from the reference azimuth..Iaddend..Iadd.22.  A method for determining the deviation of a target about an automotive vehicle relative to a reference azimuth, comprising the steps of: (a) providing a source frequency to at least one mixer;   (b) transmitting and receiving signals;   (c) transmitting the source frequency as a transmission signal;   (d) detecting the transmission signal reflected from the target and received at two different locations and providing a doppler signal comprising the sum of and the difference between the transmission signal detected at the two different locations; and   (e) comparing the sum and the difference doppler signals to determine the deviation of the target from the reference azimuth, wherein the at least one mixer down converts the sum and difference in accordance with the source frequency to produce sum and difference doppler     
     
     
        signals..Iaddend..Iadd.23.  A method for tracking a target about an automotive vehicle, comprising the steps of: (a) receiving input signals from a multi-lobe monopulse antenna;   (b) applying the received input signals to a junction;   (c) providing a transmission signal to an antenna through a sum port of a junction;   (d) mixing the sum and difference signals at the sum and difference ports of the junction with a source frequency to produce a sum frequency signal and a difference frequency signal;   (e) performing analog-to-digital conversion of the sum and difference frequency signals; and   (f) providing switching timing signals to a first and second data switch, and timing clock signals to an analog-to-digital converter..Iaddend.