JPS59105586A - Speedometer for vehicle use - Google Patents
Speedometer for vehicle useInfo
- Publication number
- JPS59105586A JPS59105586A JP57215979A JP21597982A JPS59105586A JP S59105586 A JPS59105586 A JP S59105586A JP 57215979 A JP57215979 A JP 57215979A JP 21597982 A JP21597982 A JP 21597982A JP S59105586 A JPS59105586 A JP S59105586A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- antenna
- road surface
- oscillation
- speed
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
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
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)
Abstract
Description
【発明の詳細な説明】
発明の技術分野
本発明は車載用対地速度計に関し、特に速度計を搭載し
た車体の揺れによる速度検出誤差を防止（１）
する技術に関するものである。DETAILED DESCRIPTION OF THE INVENTION Technical Field of the Invention The present invention relates to an on-vehicle ground speed meter, and more particularly to a technique for preventing speed detection errors due to shaking of a vehicle body on which the speed meter is mounted (1).
従来技術と問題点
ドツプラ効果全利用した車載用対地速度計は、所定周波
数の送信波を対地に向って斜めに発射し、その反射波の
周波数が車両の対地速度に比例して変化する原理を利用
して対地との速度差を検出するものであル、例えば自動
車に搭載されてアンチスギラド制御などに利用される。Conventional technology and problems An in-vehicle ground speed meter that makes full use of the Doppler effect is based on the principle that a transmission wave of a predetermined frequency is emitted diagonally toward the ground, and the frequency of the reflected wave changes in proportion to the ground speed of the vehicle. It is used to detect the speed difference with the ground, and is used, for example, in automobiles for anti-sugirado control.
ところで、ドラ１２式対地速度計は、送信ビームの幅を
狭くする＃１ど速度検出精度は向上するが、その反面、
速度計を積載した車両の振動やピッチング等の揺れによ
る影響を受は易くなる。即ち、速度計と対地間距離の変
動をも対地速度の変化として検出する結果、速度データ
に誤りが生ずることになる。By the way, the Dora 12 type ground speed meter improves speed detection accuracy by narrowing the width of the transmission beam, but on the other hand,
Vehicles equipped with speedometers are more susceptible to vibrations, pitching, and other shaking effects. That is, as a result of detecting a change in the distance between the speedometer and the ground as a change in ground speed, an error occurs in the speed data.
発明の目的
本発明は、このような車両の揺れに基づく速度データの
誤ｐｔ−直ちに検知して速度データの補正を行なう高精
度な車載用対地速度計を提供することを目的とする。OBJECTS OF THE INVENTION An object of the present invention is to provide a highly accurate in-vehicle ground speed meter that can immediately detect errors in speed data due to vehicle shaking and correct the speed data.
（２） 発明の原理 第１図〜第３図は本発明の原理説明図である。(2) principle of invention 1 to 3 are diagrams explaining the principle of the present invention.
本発明の車載用対地速度計は、当該速度計を搭載する車
両が凹凸のない理想的な平坦路面１を走行している場合
に、出射ビームの路面に対する入射角が予め定められた
所定の角度θ（θ＜９０’）例えば６００になるように
ドツプラユニット２に取シ付けた速度検出用アンテナ３
と、出射ビームの路面に対する入射角が直角になる、即
ち出射ビームが車両の進行方向と直角に路面に入射する
ようにドツプラユニット２に取り付けられた補正用アン
テナ４とを備えている。In the vehicle-mounted ground speedometer of the present invention, when a vehicle equipped with the speedometer is running on an ideal flat road surface 1 with no unevenness, the incident angle of the emitted beam with respect to the road surface is a predetermined angle. Speed detection antenna 3 attached to Doppler unit 2 so that θ (θ<90') is, for example, 600.
and a correction antenna 4 attached to the Doppler unit 2 so that the incident angle of the emitted beam with respect to the road surface is at right angles, that is, the emitted beam is incident on the road surface at right angles to the traveling direction of the vehicle.
速度検出用アンテナ３は、対地速度を検出するためのも
のであシ、トップ２ユニツト２内で発生された所定周波
数の送信波はこのアンテナ３から路面に向って発射され
、その路面からの反射波と送信波の一部とのビート信号
がドツプラユニット２内で発生され、出力端子５に出力
される。また、補正用アンテナ４は、車両のピッチング
や上下振動等の揺れによる速度データの誤シを補正する
た（３）
めのものであシ、所定周波数の送信波がこのアンテナ４
から路面に向かって発射され、その路面からの反射波と
送信波の一部とのビート信号が生成されて出力端子６に
出力される。The speed detection antenna 3 is for detecting ground speed, and the transmission waves of a predetermined frequency generated within the top 2 unit 2 are emitted from this antenna 3 toward the road surface, and are reflected from the road surface. A beat signal of the wave and a portion of the transmitted wave is generated within the Doppler unit 2 and output to the output terminal 5. Further, the correction antenna 4 is for correcting errors in speed data due to vibrations such as pitching and vertical vibration of the vehicle (3).
A beat signal is generated from the reflected wave from the road surface and a part of the transmitted wave, and is output to the output terminal 6.
第１図に示すように車両が平坦な路面を走行している場
合、速度検出用アンテナ３の処理系では対地速度に比例
した周波数のドツプラ信号が得られ、これから来着る対
地速度は正確なものとなシ、このとき補正用アンテナ４
の処理系にはドツプラ信号は現れない。しかし、第２図
に示すように車両が凹凸路面７を走行している場合には
、車両の揺れに応じ速度検出用アンテナ３が揺れるので
その出射ビームは変動し、速度データに誤差を生ずるこ
とに外る。また補正用アンテナ４もアンテナ３と同様に
車両の振動に応じて揺れ、次式に示すようなドツプラ信
号ｖ２が現れる。As shown in Figure 1, when the vehicle is running on a flat road surface, the processing system of the speed detection antenna 3 obtains a Doppler signal with a frequency proportional to the ground speed, and the ground speed that will be detected from now on will be accurate. At this time, the correction antenna 4
No Doppler signal appears in the processing system. However, as shown in FIG. 2, when the vehicle is traveling on an uneven road surface 7, the speed detection antenna 3 sways in response to the sway of the vehicle, so its output beam fluctuates, causing errors in speed data. It comes off. Similarly to the antenna 3, the correction antenna 4 also oscillates in response to the vibrations of the vehicle, and a Doppler signal v2 as shown in the following equation appears.
Ｖｌ ＝ ＡＨｓｉｎ （２＊ｆ、ｔ ＋ａ１） ＋
Ａｇａｉｎ（２＊ｆ、ｔ＋α、）＋ Ａ、５ｉｎ（２π
ｆ、ｔ＋αｓ ） ・＝−−
（１）（４）
Ａｔ、Ａｌｌ、Ａｍ、α１．α２．α８は定数、△Ｐは
ピッチング角、△Ｘは振動による偏位、ｈはアンテナの
高さ、λは送信波の波長である。Vl = AHsin (2*f, t + a1) +
Again(2*f,t+α,)+A,5in(2π
f, t+αs) ・=−−
(1) (4) At, All, Am, α1. α2. α8 is a constant, ΔP is the pitching angle, ΔX is the deviation due to vibration, h is the height of the antenna, and λ is the wavelength of the transmitted wave.
ところで、速度検出用アンテナ３と補正用アンテナ４の
ピッチングや振動は同期しておシ、補正用アンテナ４に
現れるドツプラ信号と速度検出用アンテナ３のドツプラ
信号従って速度データとは一定の相関がある。第３図は
その様子を図示したものでアシ、補正用アンテナ４のド
ツプラ信号が大きく変化している箇所で、速度データも
大きく変化している。これは、ピッチングや振動が影響
しているためである。そこで、補正用アンテナ４の処理
系のビート信号のレベルが大きくなる箇所を閾値ｖｒｅ
ｆで検出し、その区間において前データをホールドする
ことにすれば、車両の揺れによる影響を除去することが
できる。By the way, the pitching and vibration of the speed detection antenna 3 and the correction antenna 4 are synchronized, and there is a certain correlation between the Doppler signal appearing on the correction antenna 4 and the Doppler signal of the speed detection antenna 3, and therefore the speed data. . FIG. 3 shows this situation, where the Doppler signal of the reed and correction antenna 4 changes greatly, and the speed data also changes greatly. This is due to the influence of pitching and vibration. Therefore, the point where the level of the beat signal of the processing system of the correction antenna 4 becomes large is set to a threshold value vre.
By detecting at f and holding the previous data in that section, the influence of vehicle shaking can be removed.
発明の実施例
第４図は本発明実施例の車載用対地速度計の要部ブロッ
ク図である。同図において、ガン発振器等の発振器１０
で発生された所定周波数の送信波は、方向性結合器１１
、１２でそれぞれ取シ出され、一つは速度検出用アン
テナ１３から出射し、他は補正用アンテナ１４から出射
する。アンテナ１３ 、１４は送丈信兼用のアンテナで
あシ、速度検出用アンテナ１３は送信波が路面に対し所
定の斜め角度で入射するように車両に取り付けられ、補
正用アンテナ１４はそのような状態において送信波が理
想的な路面に対し直角に入射するように車両に取シ付け
られる。Embodiment of the Invention FIG. 4 is a block diagram of main parts of an on-vehicle ground speed meter according to an embodiment of the invention. In the figure, an oscillator 10 such as a Gunn oscillator
The transmitted wave of a predetermined frequency generated by the directional coupler 11
, 12, one is emitted from the speed detection antenna 13 and the other is emitted from the correction antenna 14. The antennas 13 and 14 are antennas that also serve as transmitting and transmitting antennas, the speed detection antenna 13 is attached to the vehicle so that the transmitted waves are incident on the road surface at a predetermined oblique angle, and the correction antenna 14 is installed in such a state. It is mounted on a vehicle so that the transmitted wave is incident at right angles to the ideal road surface.
速度検出用アンテナ１３から出射し路面で反射した成分
はこのアンテナ１３で受信され、ミキサ回路１５で送信
波の一部と混合されてビート信号が生成される。また補
正用アンテナ１４から出射し路面で反射した成分はアン
テナ１４で受信され、ミキサ回路１６において送信波と
混合されてビート信号が生成される。A component emitted from the speed detection antenna 13 and reflected on the road surface is received by the antenna 13, and mixed with a part of the transmitted wave in the mixer circuit 15 to generate a beat signal. Further, a component emitted from the correction antenna 14 and reflected on the road surface is received by the antenna 14, and mixed with a transmission wave in a mixer circuit 16 to generate a beat signal.
プリンアンプ１７ 、１８はミキサ回路１６ 、１５の
出力をその増幅率に従って増幅するもので、プリアンプ
１７の出力は、ピッチングや振動による信号成分が通過
し得る通過域を有するバンドパスフィルタ１９ヲ介して
レベル積分回路２０に入力され、ここで例えば第３図の
曲線３０に示すようなビート信号３１の包絡線に沿う信
号が生成される。コンパレータ２１はレベル積分回路２
０の出力と閾値ｖｒｅｆを比較踵レベル積分回路２０の
出力が閾値ｖｒ８ｆより大きい間その出力を“１＃とす
る。即ち、車両がピッチングや振動を起こしている期間
が検出される。The preamplifiers 17 and 18 amplify the outputs of the mixer circuits 16 and 15 according to their amplification factors, and the output of the preamplifier 17 is passed through a bandpass filter 19 having a passband through which signal components due to pitching and vibration can pass. The signal is input to the level integration circuit 20, where a signal along the envelope of the beat signal 31 as shown, for example, by a curve 30 in FIG. 3 is generated. Comparator 21 is level integration circuit 2
Compare the output of 0 with the threshold value vref. While the output of the heel level integration circuit 20 is greater than the threshold value vr8f, the output is set to "1#". That is, a period in which the vehicle is pitching or vibrating is detected.
また、プリアンプ１８の出力は、ノイズ除去用のバンド
パスフィルタ２２１に介してコンパレータ２３に入力さ
れ、ここで閾値ｖｓと比較されることによシパルス化さ
れてパルスカウンタ２４に入力される。Further, the output of the preamplifier 18 is inputted to a comparator 23 via a band-pass filter 221 for noise removal, where it is compared with a threshold value vs, converted into a pulse, and inputted to a pulse counter 24.
パルスカウンタ２４は公知のようにコンパレータ２３の
出力パルスのパルス数を所定期間毎に計数し、その結果
をホールド回路２５ヲ介して図示しない信号処理部に速
度信号として出力する。ホールド回路２５はコンパレー
タ２１の出力が“１″である間はそれ以前のパルスカウ
ンタ２４出力を保持するもので（７）
あり、これにより車両の揺れによる速度データの誤りが
防止される。なお、パルスカウンタ２４の出力から実際
の対地速度を算出し、これに対しホールド処理を行なう
構成としても良い。As is well known, the pulse counter 24 counts the number of output pulses from the comparator 23 at predetermined intervals, and outputs the result as a speed signal to a signal processing section (not shown) via a hold circuit 25. The hold circuit 25 holds the previous output of the pulse counter 24 while the output of the comparator 21 is "1" (7), thereby preventing errors in speed data due to vehicle shaking. Note that a configuration may be adopted in which the actual ground speed is calculated from the output of the pulse counter 24 and a hold process is performed on the calculated value.
発明の詳細
な説明したように、本発明は、車両のピッチングや振動
等の揺れによる速度誤差を改善するため、速度検出用ア
ンテナ以外に車両の進行方向と直角に路面に向けて送信
波を発射する別のアンテナを設け、その送信波と路面か
らの反射波とのビート信号から車体の揺れを検出し速度
データ？補正するものであシ、車両の揺れの影響を受け
ない対地速度の検出が可能となる。As described in detail, in order to improve speed errors caused by vehicle pitching, vibrations, and other shaking, the present invention includes, in addition to the speed detection antenna, a transmission wave that is emitted toward the road surface at right angles to the direction of travel of the vehicle. A separate antenna is installed, and the vibration of the vehicle is detected from the beat signal of the transmitted wave and the reflected wave from the road surface, and speed data is obtained. With this correction, ground speed can be detected without being affected by vehicle shaking.
第１図〜第３図は本発明の原理説明図、第４図は本発明
実施例の車載用対地速度計の要部ブロック図である。
１０は発振器、１１ 、１２は方向性結合器、１３は速
度検出用アンテナ、１４は補正用アンテナ、１５．１６
はミキサ回路、１７ 、１８はプリアンプ、 １９ 、
２２はパン（８）
ドパスフィルタ、２０はレベル積分器、２１ 、２３は
コンパレータ、２４はパルスカウンタ、２５ハホ一ルド
回路である。
特許出願人 富士通テン株式会社
代理人弁理士 玉 轟 久 五 部（外３名）６°）−
４５：1 to 3 are diagrams explaining the principle of the present invention, and FIG. 4 is a block diagram of the main parts of a vehicle-mounted ground speed meter according to an embodiment of the present invention. 10 is an oscillator, 11 and 12 are directional couplers, 13 is a speed detection antenna, 14 is a correction antenna, 15.16
is a mixer circuit, 17 and 18 are preamplifiers, 19,
22 is a pan (8) pass filter, 20 is a level integrator, 21 and 23 are comparators, 24 is a pulse counter, and 25 is a hold circuit. Patent Applicant Fujitsu Ten Ltd. Representative Patent Attorney Hisashi Tama Todoroki Gobu (3 others) 6°) −
45:
Claims (1)
するように車両に取り付けられる速度検出用アンテナを
有し該アンテナから出射し路面で反射された反射波と前
記送信波とのビート信号の周波数から対地速度を検出す
る車載用対地速度計において、所定周波数の補正用送信
波が前記車両の進行方向に対し直角に路面に入射するよ
うに前記車両に取シ付けられる補正用アンテナと、該補
正用アンテナから出射し路面で反射した反射波と前記補
正用送信波とのビート信号から前記車両の揺れを検出し
前記対地速度を補正する手段とを具備したことｔ−特徴
とする車載用対地速度計。A speed detection antenna is attached to the vehicle so that a transmitted wave of a predetermined frequency is incident on the road surface at a predetermined oblique angle, and a beat signal of the reflected wave emitted from the antenna and reflected on the road surface and the transmitted wave is generated. An on-vehicle ground speed meter that detects ground speed from frequency includes a correction antenna attached to the vehicle so that a correction transmission wave of a predetermined frequency is incident on the road surface at right angles to the traveling direction of the vehicle; A means for detecting shaking of the vehicle from a beat signal of a reflected wave emitted from a correction antenna and reflected on a road surface and the correction transmission wave and correcting the ground speed. speedometer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57215979A JPS59105586A (en) | 1982-12-09 | 1982-12-09 | Speedometer for vehicle use |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57215979A JPS59105586A (en) | 1982-12-09 | 1982-12-09 | Speedometer for vehicle use |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59105586A true JPS59105586A (en) | 1984-06-18 |
| JPH0315712B2 JPH0315712B2 (en) | 1991-03-01 |
Family
ID=16681398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57215979A Granted JPS59105586A (en) | 1982-12-09 | 1982-12-09 | Speedometer for vehicle use |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59105586A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5712640A (en) * | 1994-11-28 | 1998-01-27 | Honda Giken Kogyo Kabushiki Kaisha | Radar module for radar system on motor vehicle |
| WO2024158581A1 (en) * | 2023-01-23 | 2024-08-02 | Parker-Hannifin Corporation | Systems and methods for enhancing ground speed determination for a vehicle |
| WO2024158583A3 (en) * | 2023-01-23 | 2024-09-06 | Parker-Hannifin Corporation | Systems and methods for enhancing ground speed determination for a vehicle using multipoint detection |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5276384A (en) * | 1975-12-22 | 1977-06-27 | Kohkoku Chem Ind | Method of adhesion of decorative pieces or reinforcing supportor pieces on to mother body by fusion |
| JPS5317376A (en) * | 1976-07-30 | 1978-02-17 | Mitsubishi Electric Corp | Measuring method for speed of running object |
| JPS5713503U (en) * | 1980-06-26 | 1982-01-23 |
-
1982
- 1982-12-09 JP JP57215979A patent/JPS59105586A/en active Granted
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5276384A (en) * | 1975-12-22 | 1977-06-27 | Kohkoku Chem Ind | Method of adhesion of decorative pieces or reinforcing supportor pieces on to mother body by fusion |
| JPS5317376A (en) * | 1976-07-30 | 1978-02-17 | Mitsubishi Electric Corp | Measuring method for speed of running object |
| JPS5713503U (en) * | 1980-06-26 | 1982-01-23 |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5712640A (en) * | 1994-11-28 | 1998-01-27 | Honda Giken Kogyo Kabushiki Kaisha | Radar module for radar system on motor vehicle |
| WO2024158581A1 (en) * | 2023-01-23 | 2024-08-02 | Parker-Hannifin Corporation | Systems and methods for enhancing ground speed determination for a vehicle |
| WO2024158583A3 (en) * | 2023-01-23 | 2024-09-06 | Parker-Hannifin Corporation | Systems and methods for enhancing ground speed determination for a vehicle using multipoint detection |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0315712B2 (en) | 1991-03-01 |
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