Source: http://www.patentgenius.com/patent/7982660.html
Timestamp: 2018-10-22 07:36:33
Document Index: 139270110

Matched Legal Cases: ['Application No. 100', 'Application No. 100', 'Application No. 199', 'Application No. 42', 'Application No. 100', 'Application No. 199', 'Application No. 42', 'Application No. 100', 'Application No. 43', 'Application No. 100']

Measuring device for a motor vehicle - Patent # 7982660 - PatentGenius
7982660 Measuring device for a motor vehicle
Inventor: Meinecke, et al.
Application: 10/577,187
Inventors: Meinecke; Marc-Michael (Sassenburg, DE)
Mende; Ralph (Braunschweig, DE)
Behrens; Marc (Braunschweig, DE)
To; Thanh-Binh (Barleben, DE)
U.S. Class: 342/109; 342/104; 342/105; 342/118; 356/5.01; 356/5.09
Field Of Search: 342/70
Foreign Patent Documents: 29 47 803; 42 44 608; 689 13 423; 43 31 440; 199 22 411; 100 25 844; 100 50 278; 2 334 398; WO 0231529; WO 03/048802
Other References: M Meinecke, Radarsysteme sur automatischen Abstandsregelung in Automobilen ("Regarding Optimized Transmission Signal Design for AutomobileRadars,") Technical University Hamburg-Harburg, 2001. cited by other.
R. Mende, Zum optimierten Sendesignalentwurf ("Radar Systems for the Automatic Distance Control in Automobiles,") Technical University Carolo-Wilhelmina, Braunschweig, 1999. cited by other.
Written Opinion of the International Searching Authority, PCT International Patent Application No. PCT/EP2004/010550 (translation of Supplemental Pages provided). cited by other.
International Preliminary Examination Report, PCT International Patent Application No. PCT/EP2004/010550, Dec. 13, 2005 (translation of Supplemental Pages provided). cited by other.
1. A measuring device for at least one of (a) measuring a distance between the measuring device and at least one object and (b) measuring a speed difference between themeasuring device and the at least one object, comprising: an emission device adapted to send a transmission signal that includes at least two signal portion sequences, each of a first signal portion sequence and a second signal portion sequence includingat least two temporally alternating signal portions, the at least two signal portions of the first signal portion sequence differing in frequency by a first differential frequency, the at least two signal portions of the second signal portion sequencediffering in frequency by a second differential frequency, wherein the first differential frequency of the first signal portion sequence differing from the second differential frequency of the second signal portion sequence.
4. The measuring device according to claim 3, further comprising a mixer adapted to mix the first signal portion sequence with a portion of the first signal portion sequence of the reflection signal reflected by the at least one object to forma first mixed signal.
6. The measuring device according to claim 5, wherein the evaluation device is adapted to determine the distance between the measuring device and the at least one object as a function of the one of (a) the measured frequency and (b) thefrequencies of the first mixed signal.
7. The measuring device according to claim 5, the evaluation device is adapted to determine the speed difference between the measuring device and the at least one object as a function of the one of (a) the measured frequency and (b) thefrequencies of the first mixed signal.
8. The measuring device according to claim 4, wherein the mixer is adapted to mix the second signal portion sequence with a portion of the second signal portion sequence of the reflection signal reflected by the at least one object to form asecond mixed signal.
10. The measuring device according to claim 9, wherein the evaluation device is adapted to determine the distance between the measuring device and the at least one object as a function of the one of (a) the measured frequency and (b) thefrequencies of the first mixed signal and of a dominating frequency of the second mixed signal.
11. The measuring device according to claim 9, wherein the evaluation device is adapted to determine the speed difference between the measuring device and the at least one object as a function of the one of (a) the measured frequency and (b)the frequencies of the first mixed signal and of the one of (a) the measured frequency and (b) the frequencies of the second mixed signal.
13. The measuring device according to claim 12, wherein the evaluation device is adapted to determine the distance between the measuring device and the at least one object as a function of the difference between the phase of the first mixedsignal and the phase of the second mixed signal.
14. The measuring device according to claim 12, wherein the evaluation device is adapted to determine the speed difference between the measuring device and the at least one object as a function of the difference between the phase of the firstmixed signal and the phase of the second mixed signal.
15. A method for at least one of (a) measuring a distance between an emission device and at least one object and (b) measuring a speed difference between the emission device and the at least one object, comprising: sending a transmission signalby the emission device including at least two signal portion sequences, each of a first signal portion sequence and a second signal portion sequence including at least two temporally alternating signal portions, the at least two signal portions of thefirst signal portion sequence differing in frequency by a first differential frequency, the at least two signal portions of the second signal portion sequence differing in frequency by a second differential frequency, the first differential frequency ofthe first signal portion sequence differing from the second differential frequency of the second signal portion sequence.
21. The method according to claim 16, further comprising: mixing the second signal portion sequence with a portion of the second signal portion sequence of the reflection signal reflected by the at least one object to form a second mixedsignal; and ascertaining a dominating frequency of the second mixed signal.
22. The method according to claim 21, further comprising determining the distance between the emission device and the at least one object as a function of a dominating frequency of the first mixed signal and the dominating frequency of thesecond mixed signal.
23. The method according to claim 21, further comprising determining the speed difference between the emission device and the at least one object as a function of a dominating frequency of the first mixed signal and the dominating frequency ofthe second mixed signal.
25. The method according to claim 24, further comprising determining the distance between the emission device and the at least one object as a function of the difference between the phase of the first mixed signal and the phase of the secondmixed signal.
26. The method according to claim 24, further comprising determining the speed difference between the emission device and the at least one object as a function of the difference between the phase of the first mixed signal and the phase of thesecond mixed signal.
27. The method according to claim 15, wherein the emission device is arranged in a motor vehicle.
The present invention relates to a measuring device. For example, the present invention relates to a position measuring device, e.g., a measuring device for a motor vehicle, for measuring a distance between the measuring device and at least oneobject and/or for measuring a speed difference between the measuring device and the at least one object, the measuring device having an emitting device for sending a transmission signal, which includes at least two signal portion sequences, a firstsignal portion sequence and a second signal portion sequence, having each at least two temporally alternating signal portions, the at least two signal portions of a signal portion sequence differing in their frequency in each case by one differentialfrequency.
A measuring device developed as a radar device is described in German Published Patent Application No. 100 50 278 or from the dissertation by M.-M. Meinecke "Regarding Optimized Transmission Signal Design for Automobile Radars", TechnicalUniversity Hamburg-Harburg, 2001. German Published Patent Application No. 100 50 278 describes the determination of a distance and of a relative speed of at least one distant object from an observation point with the aid of electromagnetic signalsemitted from the observation point in the form of alternately emitted signal portions of a first frequency and of a second frequency, which following a reflection by the object are received and evaluated, the signal portions of the two frequencies beingemitted during a measuring interval such that they are shifted in each case by one constant frequency increment.
The use of a radar device in the automotive sector is also described in the dissertation "Radar Systems for the Automatic Distance Control in Automobiles" by R. Mende, Technical University Carolo-Wilhelmina, Braunschweig, 1999, as well as GermanPublished Patent Application No. 199 22 411, German Published Patent Application No. 42 44 608 and German Published Patent Application No. 100 25 844.
German Published Patent Application No. 199 22 411 describes a CW radar method (continues wave radar method) for measuring distances and relative speeds between a vehicle and one or several obstacles, in which a transmission signal is made up ofat least four consecutive blocks having in each case different gradients. In a distance-relative speed diagram, first the intersections of all straight lines from two blocks of all discovered frequency positions are calculated. For validating theseintersections, they are checked as to whether in the Fourier spectrum of a third block there exists a peak at a frequency position, whose associated straight line in the distance-relative speed diagram intersects a surrounding region of the intersection. The intersections validated in this manner are subjected to a second condition, whether in the Fourier spectrum of a fourth block there exists a peak at a frequency position, whose associated straight line in the distance-relative speed diagramintersects a surrounding region of the intersection. The intersections are regarded as valid if they satisfy both conditions.
German Published Patent Application No. 42 44 608 describes a radar method for measuring distances and relative speeds between a vehicle and obstacles in front of it, comprising an emission of continuous transmission signals, simultaneousreception of signals reflected by the obstacles during the emission of the continuous transmission signals, mixing of the reflected signals with the continuous transmission signals for obtaining inphase and quadrature signals and processing of thesesignals into output signals for the distances and relative speeds of the obstacles, the continuous transmission signals being broken down into constant frequency increments of constant time duration without time interval with respect to each other and ateach constant frequency increment of the reflected received signal a complex sampling value being recorded and mixed with the transmission signal of the same constant frequency increment.
German Published Patent Application No. 100 25 844 describes an incrementally linear frequency-modulated transmission signal, at least two incrementally linear frequency-modulated ramps being mutually interwoven. Characteristic in this regardis the fact that these two or more ramps have a constant frequency shift with respect to one another. By frequency measurement and phase difference measurement it is possible to calculate unambiguously the distance of the object and the speed of theobject from the received signals.
In addition it is describe in German Published Patent Application No. 43 31 440 to form for the radar device I/Q signal pairs for the signal evaluation, a phase shifter being connected between a radar antenna and a radar front end, an evaluationcircuit having two signal channels on the input side, the radar front end being connectable via a channel switch to one of the two signal channels, the phase shifter and the channel switch being clocked synchronously and the phase shifter switching thephase between 0.degree. and 45.degree. with each clock cycle.
Example embodiments of the present invention may provide a measuring device having an improved measuring accuracy, e.g., as compared to that described in German Published Patent Application No. 100 50 278. For this purpose it may be possible,with the aid of the measuring device, to keep the occurrence of so-called ghost targets low or to eliminate it entirely, to allow for a measuring time of less than 10 ms and to allow for the detection of objects at a very close range (0 m . . . 1 m) aswell as at a medium and remote range.
According to example embodiments of the present invention a measuring device, e.g., a measuring device for a motor vehicle, is for measuring a distance between the measuring device and at least one object and/or for measuring a speed differencebetween the measuring device and the at least one object, the measuring device including an emitting device for sending a transmission signal, which includes at least two signal portion sequences, a first signal portion sequence and a second signalportion sequence, having each at least two temporally alternating signal portions, at least two signal portions of a signal portion sequence differing in their frequency in each case by one differential frequency, the differential frequency of the firstsignal portion sequence differing from the differential frequency of the second signal portion sequence, e.g., by at least 5%, e.g., by at least 10%.
The measuring device may include a receiving device for receiving a reflection signal of the transmission signal reflected by the at least one object and , e.g., a mixer for mixing the first signal portion sequence with a portion of the firstsignal portion sequence reflected by the at least one object to form a first mixed signal. The measuring device may additionally include an evaluation device for ascertaining the frequency or frequencies of the first mixed signal. The evaluation mayoccur with the aid of an FFT (fast Fourier transform), for example.
The evaluation device may allow for the distance between the measuring device and the at least one object and/or the speed difference between the measuring device and the at least one object to be determined as a function of the measuredfrequencies of the first mixed signal.
The mixer may allow for the second signal portion sequence to be mixed with a portion of the second signal portion sequence reflected by the at least one object to form a second mixed signal, and the evaluation device may allow for the measuredfrequencies of the second mixed signal to be ascertained.
The evaluation device may allow for the distance between the measuring device and the at least one object and/or the speed difference between the measuring device and the at least one object to be determined as a function of the measuredfrequencies of the first mixed signal and of the measured frequencies of the second mixed signal.
The evaluation device may allow for the distance between the measuring device and the at least one object and/or the speed difference between the measuring device and the at least one object to be determined as a function of the differencebetween the phase of the first mixed signal and the phase of the second mixed signal.
According to example embodiments of the present invention, a method is for measuring a distance between an emitting device and at least one object and/or for measuring a speed difference between the emitting device and the at least one object, atransmission signal having at least two signal portion sequences, a first signal portion sequence and a second signal portion sequence, having each at least two temporally alternating signal portions being sent by the emitting device, at least two signalportions of a signal portion sequence differing in their frequency in each case by a non-constant differential frequency. The differential frequency of the first signal portion sequence may differ from the differential frequency of the second signalportion sequence, e.g., by at least 5%, e.g., by at least 10%.
A reflection signal of the transmission signal reflected by the at least one object may be received, e.g., the first signal portion sequence may be mixed with a portion of the first signal portion sequence reflected by the at least one object toform a first mixed signal, and e.g., the dominating (measured) frequencies of the first mixed signal may be ascertained.
The second signal portion sequence may be mixed with a portion of the second signal portion sequence reflected by the at least one object to form a second mixed signal, and the dominating frequencies of the second mixed signal may beascertained.
The distance between the emitting device and the at least one object and/or the speed difference between the emitting device and the at least one object may be determined as a function of the dominating frequencies of the first mixed signal andof the dominating frequencies of the second mixed signal.
The difference between the phase of the first mixed signal and the phase of the second mixed signal may be determined, and the distance between the emitting device and the at least one object and/or the speed difference between the emittingdevice and the at least one object may be determined as a function of the differences between the phases of the first mixed signal and the phases of the second mixed signal.
A motor vehicle in present context may include a land vehicle that may be used individually in road traffic. However, motor vehicles in the present context should not be considered to be restricted to land vehicles having an internal combustionengine.
FIG. 1 is a front view of a motor vehicle.
FIG. 1 and FIG. 2 illustrate a motor vehicle 1 in an exemplary embodiment. FIG. 1 is a front view of motor vehicle 1, and FIG. 2 is a side view of motor vehicle 1. Motor vehicle 1 has a front bumper 2 and a rear bumper 3. In the exemplaryembodiment illustrated, front bumper 2 has distance and/or speed sensors 10, 11, 12, 13, 14, 15, 16 for measuring a distance R between motor vehicle 1 and at least one object or obstacle 20 such as another motor vehicle, for example, and/or for measuringa speed difference v between motor vehicle 1 and the at least one object or obstacle 20, speed difference v being the difference between the speed vH of obstacle 20 and the speed vF of motor vehicle 1.
Depending on the application of distance and/or speed sensors 10, 11, 12, 13, 14, 15, 16, more or fewer distance and/or speed sensors may be arranged on bumper 2. This means that it is also possible that only one sensor is used. Alternativelyor additionally, distance and/or speed sensors may also be arranged on rear bumper 3, on side mirrors 4, 5, on side doors 6, 7, on A, B, C pillars and/or on a hatchback 8, etc. The distance and/or speed sensors may be oriented in different directionsand/or at different levels. Examples of the application of such distance and/or speed sensors are described in "Radar Systems for the Automatic Distance Control in Automobiles" by R. Mende, Technical University Carolo-Wilhelmina, Braunschweig, 1999.
FIG. 3 illustrates a radar device 30, which is usable as a distance and/or speed sensor 10, 11, 12, 13, 14, 15, 16, for example. Radar device 30 has a radar sensor 40 and an evaluation device 41. Radar device 30 has an oscillator or a signalgenerator 31 for producing a transmission signal s(t), a transmitting antenna 35 for emitting the transmission signal s(t) and a receiving antenna 36 for receiving a reflection signal r(t) of the emitted transmission signal s(t) reflected by an objectsuch as obstacle 20. t indicates time in this context.
Transmission signal s(t) produced by signal generator 31 includes at least two signal portion sequences, a first signal portion sequence and a second signal portion sequence, having each at least two temporally alternating signal portions, theat least two signal portions of a signal portion sequence differing in their frequency in each case by one differential frequency, and the differential frequency of the first signal portion sequence differing from the differential frequency of the secondsignal portion sequence, e.g., by at least 5%, e.g., by at least 10%. An exemplary embodiment of such a transmission signal is illustrated in FIG. 4 in a frequency-time diagram.
In this context, A1, A2, A3, . . . indicate the signal portions of a first signal portion sequence A(t) and B1, B2, B3, . . . indicate the signal portions of a second signal portion sequence B(t). Such signal portions are also called chirps. In the present exemplary embodiment, the time durations T.sub.Burst for signal portions A1, A2, A3, . . . and B1, B2, B3, . . . are of equal length. Time duration T.sub.Burst of signal portions A1, A2, A3, . . . is illustrated in FIG. 4 by a solidline and time duration T.sub.Burst of signal portions B1, B2, B3, . . . is illustrated by a dashed line.
The frequency within a signal portion A1, A2, A3, . . . or B1, B2, B3, . . . may be a constant carrier frequency f.sub.T(t), but it may also be a constant carrier frequency f.sub.T(t) modulated by a modulation frequency.
The individual signal portions A1, A2, A3, . . . of first signal portion sequence A(t) differ in their frequency or their carrier frequency f.sub.T(t) in each case by a differential frequency f.sub.Hub,A/(N-1), f.sub.Hub,A being the differencebetween the carrier frequency of first signal portion A1 of first signal portion sequence A(t) and the carrier frequency of the Nth signal portion of the first signal portion sequence A(t), and N being the number of signal portions A1, A2, A3, . . . offirst signal portion sequence A(t). The individual signal portions B1, B2, B3, . . . of first signal portion sequence B(t) differ in their frequency or their carrier frequency f.sub.T(t) in each case by a differential frequency f.sub.Hub,B/(N-1),f.sub.Hub,B being the difference between the carrier frequency of first signal portion B1 of second signal portion sequence B(t) and the carrier frequency of the Nth signal portion of the second signal portion sequence B(t), and N being the number ofsignal portions B1, B2, B3, . . . of first signal portion sequence B(t). It may be provided to choose the differential frequency f.sub.Hub,A/(N-1) of the first signal portion sequence A(t) to differ from the differential frequency f.sub.Hub,B/(N-1) ofthe second signal portion sequence B(t), e.g., by at least 5%, e.g., by at least 10%.
Additionally, a frequency shift f.sub.shift may be provided between signal portion A1 of first signal portion sequence A(t) and signal portion B1 of second signal portion sequence B(t).
.function..times..function..times..pi..times..times..times. ##EQU00001## and the second signal portion sequence B(t) in
.function..times..function..times..pi..times..times..times. ##EQU00002## where f.sub.TA1 refers to the carrier frequency of signal portion A1 and rect refers to the rectangle function.
The transmission signal s(t) thus results in s(t)=A(t)+B(t)
Via another coupler 33, transmission signal s(t) is additionally supplied to a phase shifter 37, which shifts the phase of transmission signal s(t) with respect to the carrier frequency by 90.degree., that is, by n/2. The phase-shiftedtransmission signal is supplied to a mixer 39 for mixing the phase-shifted transmission signal and the reflection signal r(t), which is supplied to mixer 39 via a coupler 34. Mixer 39 outputs a quadrature signal Q(t).
Radar device 30 has a multiplicator 42, which is used to multiply quadrature signal Q(t) by the complex number j to yield jQ(t). I(t) and jQ(t) are added to form a complex mixed signal m(t). Complex mixed signal m(t) is a mixed signal in thepresent context. Radar device 30 additionally has a frequency analyzer 43, which is used to form a spectrum M(.kappa.) of complex mixed signal m(t) over frequency .kappa.. Using a detector 44, the dominating frequency .kappa..sub.A of mixed signal m(t)is ascertained with respect to first signal sequence A(t), and the dominating frequency .kappa..sub.B of mixed signal m(t) is ascertained with respect to second signal sequence B(t).
The processing of the individual signal sequences A(t) and B(t) may occur separately by temporal separation such that with the aid of mixers 38 and 39 first signal portion sequence A(t) is mixed with a portion of first signal portion sequenceA(t) (of reflection signal r(t)) reflected by the at least one object 20 to form a first mixed signal I.sub.A(t), Q.sub.A(t) or m.sub.A(t), and second signal portion sequence B(t) is mixed with a portion of second signal portion sequence B(t) (ofreflection signal r(t)) reflected by the at least one object 20 to form a second mixed signal I.sub.B(t), Q.sub.B(t) or m.sub.B(t). For this purpose, frequency analyzer 43 forms a complex spectrum M.sub.A(.kappa.) of complex mixed signal m.sub.A(t) overfrequency x and a complex spectrum M.sub.B(.kappa.) of complex mixed signal m.sub.B(t) over frequency .kappa.. Using detector 44, frequencies .kappa..sub.A of complex mixed signal m.sub.A(t) (that is, with respect to first signal sequence A(t)) and thefrequencies .kappa..sub.B of complex mixed signal m.sub.B(t) (that is, with respect to second signal sequence B(t)) are ascertained.
.kappa..times..times. ##EQU00003## .kappa..times..times. ##EQU00003.2## where c is the speed of light.
In addition there may be a provision for detector 44 also to ascertain the difference .DELTA..psi. between the phase of complex mixed signal m.sub.A(t) and the phase of complex mixed signal m.sub.B(t). For example--for determining distance Rand/or speed difference v--evaluator 45 may be used to solve the following overdetermined system of equations, e.g., by a least square algorithm:
.DELTA..psi..times..pi..times..times. ##EQU00004## .kappa..times..times. ##EQU00004.2## .kappa..times..times. ##EQU00004.3##
There may be an additional provision to use more than two signal portion sequences. Thus, for example, three signal portion sequences A(t), B(t) und C(t) of different differential frequency f.sub.Hub,A/(N-1), f.sub.Hub,B/(N-1) andf.sub.Hub,C/(N-1) may be used and suitably emitted and processed. For example--for determining distance R and/or speed difference v--evaluator 45 may be used to solve, for example, the following overdetermined system of equations, for example, by aleast square algorithm:
.kappa..times..times. ##EQU00005## .kappa..times..times. ##EQU00005.2## .kappa..times..times. ##EQU00005.3## .DELTA..psi..times..pi..times..times..times..times..times..times..times..- times..times. ##EQU00005.4##.DELTA..psi..times..times..times..pi..times..times..times..times..times..- times..times..times..times..times..times. ##EQU00005.5##
Accordingly there may be a provision to use, appropriately emit and process, for example, four signal portion sequences A(t), B(t), C(t) and D(t) of different differential frequency f.sub.Hub,A/(N-1), f.sub.Hub,B/(N-1), f.sub.Hub,C/(N-1) andf.sub.Hub,D/(N-1). For example--for determining distance R and/or speed difference v--evaluator 45 may be used to solve, for example, the following overdetermined system of equations, for example, by a least square algorithm:
.kappa..times..times. ##EQU00006## .kappa..times..times. ##EQU00006.2## .kappa..times..times. ##EQU00006.3## .kappa..times..times. ##EQU00006.4## .DELTA..psi..times..times. ##EQU00006.5## .DELTA..psi..times..times..times..times. ##EQU00006.6## .DELTA..psi..times..pi..times..times..times..times..times..times..times..- times..times. ##EQU00006.7##
In addition, a different time duration may be provided for the signal portions of different signal sequences.
FIG. 5 illustrates an exemplary embodiment for an optical measuring device 50 for the improved measurement of speed difference v or distance R. Optical measuring device 50 has an optical sensor 60 and an evaluation device 61, which correspondsessentially to evaluation device 41. Optical measuring device 50 has an oscillator or a signal generator 51 for producing a transmission signal sl(t), a laser 55 for emitting light at the frequency of transmission signal sl(t) and a photoelement 56 forreceiving a light reflected by at least one object such as obstacle 20 and for producing a reflection signal rl(t) at a frequency corresponding to the frequency of the reflected light. The transmission signal sl(t) produced by signal generator 51corresponds to transmission signal s(t), but is located in another frequency range. Via a coupler 52, transmission signal sl(t) is supplied to a mixer 58 for mixing transmission signal sl(t) and reflection signal rl(t). Mixer 58 outputs an inphasesignal I(t).
Via another coupler 53, transmission signal sl(t) is additionally supplied to a phase shifter 57, which shifts the phase of transmission signal sl(t) with respect to the carrier frequency by 90.degree., that is, by n/2. The phase-shiftedtransmission signal is supplied to a mixer 59 for mixing the phase-shifted transmission signal and the reflection signal rl(t), which is supplied to mixer 59 via a coupler 54. Mixer 59 outputs a quadrature signal Q(t).
The elements, signals and frequency ranges in the Figures are drawn with simplicity and clarity in mind and not necessarily to exact scale. Thus, for example, the orders of magnitude of some elements, signals or frequency ranges are exaggeratedin order to facilitate understanding
1 motor vehicle 2, 3 bumper 4, 5 side mirror 6, 7 side door 8 hatchback 10, 14, 15, 16 distance and/or speed sensor 20 object or obstacle 30 radar device 51 signal generator 33, 34, 52, 53, 54 coupler 35 transmitting antenna 36 receiving antenna57 phase shifter 39, 58, 89 mixer 40 radar device 41, 61 evaluation device 42 multiplier 43 frequency analyzer 44 detector 45 evaluator 50 optical measuring device 55 laser 56 photoelement 60 optical sensor A, B signal sequence A1, A2, A3, B1, B2, B3signal portion f.sub.Hub,A, f.sub.Hub,B difference between the carrier frequency of the first signal portion of a signal portion sequence and the carrier frequency of the last signal portion of the signal portion sequence f.sub.shift frequency shiftf.sub.T(t) carrier frequency I(t) inphase signal m(t) complex mixed signal M(.kappa.) complex spectrum Q(t) quadrature signal R distance r(t), rl(t) reflection signal s(t), sl(t) transmission signal t time T.sub.Burst time duration v speed difference vFspeed of the motor vehicle vH speed of the obstacle .DELTA..psi. difference in the phase of two mixed signals .kappa. frequency .kappa..sub.A, .kappa..sub.B measured frequency of a complex mixed signal
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