Radar Velocity Sensor

The present invention is directed generally to the signal processing arts and more particularly to a novel and improved signal processing method and apparatus for use with a radar transceiver and associated circuitry for determining the velocity of a vehicle.

The prior art has proposed a number of radar-based systems for determining the velocity of a vehicle. Such systems are generally directed to the problem of monitoring the horizontal velocity of a vehicle travelling along a ground surface. Such radar speed monitors may be suitable for use from a fixed location in monitoring the speed of passing vehicles or alternatively, mounted upon the vehicle itself for monitoring of the speed thereof by an operator or driver of the vehicle.

The latter type of velocity monitor is particularly useful with respect to off-road vehicles, or farm implements, such as tractors or the like. In such vehicles, axle-mountd or other traditional velocity monitoring devices may become unreliable and/or inaccurate due to frequently encountered wheel slippage conditions in off road operation. Also, uneven ground conditions may add substantial vertical velocity components which tend to interfere with accurate speed measurement. Additionally, compaction of the wheels during operation, or changing of wheel sizes due to wear, or replacement thereof over a period of time will result in a change in the effective diameter of the wheel, whereby conventional wheel-shaft or drive-train based rotation responsive speed monitoring apparatus may prove inaccurate in operation. Radar-based velocity monitoring apparatus has been heretofore proposed for overcoming these problems.

One such radar-based velocity monitoring system for a tractor is shown for example in Fathauer et al U.S. Pat. No. 3,895,384. While this monitoring apparatus has found widespread acceptance, there is room for further improvement.

In particular, such a radar system generally uses a radar frequency transceiver comprising a radar oscillator, an antenna, local oscillator and mixer, to transmit and receive radar signals. The mixer operates to mix or multiply the received radar signal with the local oscillator signal so as to provide at least one difference component signal in an intermediate frequency (IF) range, preferably in the kilohertz range, suitable for further processing by conventional electronic circuit components. In this regard, the operation is analogous to that of conventional radio transmission involving a carrier wave similar to the transmitted radar signal and a signal component carried upon the carrier wave which is analogous generally to the Doppler shift or frequency variation in the received radar signal. Hence, only this difference is of interest in determining the corresponding horizontal velocity component of the vehicle.

As in all such radar and/or radio apparatus, various harmonic signal components, spurious signals and/or noise signals in general can interfere with proper operation of the circuit and ultimately with the correct determination of the speed of the vehicle. Accordingly, filtering is often utilized to limit the following processing circuits to substantially only the frequencies of interest, that is, the range of frequency variations expected in response to the expected range of vehicle velocities. In this regard, such off-road vehicles may be operated in a range of speeds from on the order of fractional miles per hour to on the order of tens of miles per hour.

Additionally, it is often desirable to shut off the radar antenna portion of the system when the vehicle is not in actual use in the field, or under other conditions. For example, when the vehicle is not in use, it may be considered desirable to minimize production of microwave radiation from the radar antenna. This may be true in the event of replacement, repair or repositioning of the antenna or other parts of the radar apparatus or of components of the vehicle which are located near the antenna.

Additionally, it is often desirable to cut off the velocity monitoring function of such a system at relatively low vehicle speeds or when the vehicle is standing still. This avoids possible false response of the system to spurious horizontal velocity signals which may be generated when standing still, for example, by other moving objects within the range of the radar antenna. It will be understood that when the vehicle is in motion, the present invention is such that other such velocity components will be substantially rejected in arriving at the correct velocity indication. However, with the vehicle standing still, such relative movement in the field of the radar may under some circumstances be indistinguishable from movement of the vehicle. Accordingly, it is desirable to at least prevent a velocity signal so generated from reaching the display components of the system, and moreover from reaching any further control apparatus which may operate a further implement in response to the velocity signal output of the monitor.

In order to substantially limit the response of the processing circuits to the signals of interest corresponding to the expected range of speeds, a bandpass filtering circuit is generally utilized. Moreover, in order to further limit the response of the system and reject a maximum amount of spurious, harmonic or noise signals, it is often the practice to operate this bandpass filter in a band considerably narrower than the expected range of speed variations. This is facilitated by utilizing tracking control which varies the center frequency of the relatively narrow bandpass to generally follow the frequency of interest in the incoming signal. This further requires circuitry to accurately detect and identify this frequency of interest or fundamental frequency of the incoming signal.

Additionally, some control over the bandwidth of the bandpass filter is generally considered desirable in order to continue to accurately track changing incoming velocity signals, over a range of frequencies which may vary with changing velocity of the vehicle. That is, the bandwidth should be broad enough, when required, to follow relatively rapid vehicle acceleration or deceleration and the attendant relatively rapidly changing doppler frequencies resulting therefrom. On the other hand, during periods of relatively stable or constant velocity operation, the bandwidth should preferably be kept relatively narrow to maximize spurious and noise signal rejection. However, conventional prior art analog bandpass filtering, tracking and variable bandwidth or Q control circuits are relatively complex and expensive.

The prior art has proposed replacing such complex and expensive analog circuits with equivalent digital circuits, which perform essentially equivalent bandpass filtering, tracking and Q control functions in a digital form, generally utilizing digital computer or processor components. Briefly, the computer model for a digital bandpass filter including variable tracking and Q control involves selecting a sampling rate at least as great as the highest frequency expected to be encountered in the signal of interest. This computer implementation also involves the computation of a plurality of mathematical transformation functions which becomes relatively complex.

As a result, operating at a sufficiently high rate of speed to accurately sample and filter a sinusoidal signal of a frequency of on the order of even one or two kilohertz requires a surprisingly large amount of computing power. This is true because of the large number of computations which must be performed with respect to each sample and the relatively high sampling rate at which such samples must be processed in order to adequately follow the incoming signal. Accordingly, relatively inexpensive single-chip microcomputer or microprocessor components which are generally available fall far short in terms of computing power of the requirements for such implementation of tracking bandpass filtering. Accordingly, it was heretofore believed that implementation of adequate bandpass filtering, including tracking and Q control in such a system would require relatively complex and expensive analog components, or alternatively, a digital computer system much too complex and expensive to be economically utilized in a typical off road vehicle or farm tractor application.

Accordingly, it is a general object of the invention to provide a novel and improved radar-based velocity sensor for a vehicle.

A more particular object is to provide such a velocity sensor which utilizes a tracking and Q-controlled bandpass filter, which may surprisingly be constructed from relatively simple and inexpensive electronic circuit components, thus avoiding the excessive expense of prior art circuits of this type.

A related object is to provide a signal processing circuit for a velocity monitor of the foregoing type which may readily be coupled with existing apparatus to accommodate display or other utilization of the monitored vehicle velocity information.

A further object is to provide a monitoring system which is capable of interrupting the power supply to the radar transceiver whenever desired.

A related object is to provide a velocity monitoring system of the foregoing type which is further capable of cutting off the velocity output signal to the display or other utilization apparatus whenever desired.

A related object is to provide a radar-based velocity monitoring apparatus in accordance with the foregoing objects which is relatively simple and inexpensive in its design and manufacture and yet highly reliable in operation.

The foregoing, as well as other objects, features and advantages of the invention will become more apparent upon consideration of the following detailed description of the illustrated embodiment, together with the accompanying drawings, wherein:

FIG. 1 is a block diagram of a radar-based velocity monitoring system utilizing signal processing components in accordance with conventional theory;

FIG. 2 is a block diagram of a second radar-based velocity monitoring system utilizing a second form of signal processing components in accordance with conventional theory;

FIG. 3 is a block diagram of a radar-based velocity monitoring system constructed in accordance with the principles of the present invention;

FIG. 4 is a block schematic diagram, partially in functional form, illustrating the operation of a radar-based velocity monitoring system in accordance with the invention; and

FIG. 5 is a schematic circuit diagram illustrating a radar-based velocity monitoring system in accordance with the invention.

The present invention is directed to a novel signal processing system for achieving a tracking, variable Q bandpass filtering function, useful in many applications. The disclosed system is particularly useful in applications where a relatively limited and preferably primarily sinusoidal signal variation comprises the signal of interest to be followed. That is, the system of the invention is particularly effective in providing an equivalent function to a tracking, variable Q bandpass filter for non-complex signals in the kilocycle range. One such application is in tracking and filtering the Doppler shift frequencies of a Doppler radar transceiver. Hence, while the invention is not limited thereto, the following discussion will be directed to such a Doppler transceiver system.

Referring now to the drawings and initially to FIG. 1, a typical prior art radar velocity system includes a radar frequency (RF) front end 10. Generally speaking, such a "front end" includes suitable radar transceiver and antenna for both generating and receiving back radar signals. The received radar signals will then be doppler shifted in accordance with well-known theory, as compared with the originally transmitted radar signals.

To this end a further suitable local oscillator and mixer (not shown) also comprising a part of the RF front end 10 are utilized to produce a suitable intermediate frequency (IF) for further processing by conventional circuit components. In this regard, the IF frequency produced by the local oscillator and mixer is preferably in the kilocycle range. Hence, an IF or doppler amplifier 12 is provided for receiving this IF signal.

Further in accordance with prior art practice, a suitable tracking, variable Q bandpass filter 14 may be provided for tracking and filtering the output of the IF amplifier 12. Here, various spurious signals, noise, harmonics or signals due to vertical velocity components or "bumps" may be eliminated from the signal of interest corresponding to horizontal velocity by proper filter design.

In this regard, it is desirable to provide a bandpass filter which has a variable Q or bandwidth so as to reject signals outside of a relatively narrow band of frequencies expected from the IF amplifier in response to the expected range of vehicle velocities. However, the Q or bandwidth of the filter must also be sufficiently broad to accommodate the maximum frequency changes or variations produced in response to maximum expected vehicle accelerations. In this regard, tracking and Q control circuits 16 are provided for the filter 14. The resulting filter output signals from the filter 14 may then be fed by way of a suitable output circuit or buffer 18 as a signal Fo to a suitable display or other utilization device (not shown) as desired. As previously indicated, the realization of such tracking, variable Q bandpass filters, and suitable tracking and Q control components in analog form requires relatively complex and expensive circuits.

Referring to FIG. 2, the bandpass filter and tracking and Q control may also be realized in digital form, utilizing suitable computer or processor components. In this regard, the circuit of FIG. 2 includes a similar RF front end 10 and IF or doppler amplifier 12. Departing from the circuit of FIG. 1, the filter 14 is replaced by an equivalent digital filter 22. Accordingly, a suitable sampler circuit 20 is interposed between the IF amplifier and the digital tracking variable Q band pass filter 22. In accordance with conventional digital filter theory, the sampling rate of the sampler circuit 20 must be greater than the maximum frequency expected from the IF amplifier 12. That is, the rate of sampling of the sampler 20 must be sufficient to provide a reasonably accurate representation of all changes in this frequency 12, and hence must be sufficiently rapid to accommodate the maximum rate of change expected in response to maximum vehicle acceleration.

A suitable digital tracking and Q control circuitry 24 is similarly provided for the digital filter 22, and is generally interposed intermediate the sampler 20 and an appropriate control input of the digital filter 22. Additionally, some suitable digital-to-analog or digital-to-frequency (D to F) output converting circuit 26 is also preferably interposed ahead of the conventional output buffer 18 for converting the digital output of the digital filter 22 to a frequency signal Fo suitable for use by the following display or other utilization circuits (not shown).

As previously mentioned, the computer model for a digital bandpass filter including tracking and Q control involves the computation of a plurality of mathematical transformation functions which become relatively complex. With the addition of a relatively high sampling rate at the sampler 20 and the requirement of correspondingly relatively rapid and frequent computations to accommodate both the bandpass filter 22 and the tracking and Q control 24, the computing power requirements of such a computer model becomes surprisingly great. In this regard, the requirements of computing power to achieve the digital filter circuits of FIG. 2 are considerably greater than that available on relatively inexpensive single-chip microcomputer or microprocessor components.

Referring now to FIG. 3, in accordance with the invention, it has been found that the equivalent functions of the relatively expensive circuitry of FIGS. 1 and 2, may be performed by an alternative arrangement of relatively simple and inexpensive digital circuit components in accordance with the principles of the invention.

In this regard, the radar system of FIG. 3 comprises a similar RF front end 10 and IF amplifier 12 to those already described with reference to FIGS. 1 and 2. Departing from convention, a period counter 30 is provided for producing a digital period signal corresponding to the period of at least selected cycles of the output signal of the IF amplifier 12. The output digital period signal of this period counter is fed to a digital low pass filter 32 which has a variable corner frequency. The output of the period counter 30 is also fed to a suitable corner frequency control circuit 34 for selectively controllably varying the variable corner frequency of the digital low pass filter 32.

As will become more apparent upon reading the ensuing description, the foregoing circuitry comprising the period counter, digital variable corner frequency low pass filter 32 and the corner frequency control circuits 34 may surprisingly be realized in the form of relatively simple and inexpensive digital circuits and microcomputer or microprocessor components, contrary to the prior art systems illustrated and described above with reference to FIG. 1 and FIG. 2. The resultant output of the digital low pass filter 32 is fed to a similar D to F converter circuit 26 and a suitable output buffer 18 for producing a suitable frequency signal Fo for driving a conventional display or other utilization apparatus (not shown).

Briefly, it has been found that for use with a limited range of IF frequencies, for example as expected in doppler radar-velocity monitoring of off-road type vehicles, the system of FIG. 3 may be inexpensively realized in conventional single-chip microcomputer or microprocessor components, without exceeding the limited computing power currently available in such components. In operation, it is believed that the period counter 30 operates upon the IF signal to essentially eliminate or convert the frequency components thereof to a series of relatively simple, discrete digital signals. Hence, filtering can proceed on a relatively simplified basis, with attention only to variations between discrete digital signals, rather than the more demanding functions of following and digital reconstruction of a continuous frequency signal. These variations will correspond to variations in the incoming IF signal about its nominal center frequency or fundamental frequency due to the vehicle velocity.

Moreover, in view of the relatively limited range of velocities, as well as limited maximum acceleration expected with such an off-road or farm tractor type of vehicle, the sampling rate of the period counter 30 and of the digital low pass filter 32 need not be particularly great to accurately track or follow the signals of interest.

Additionally, as will presently be seen, it has been found that a relatively simple and yet effective corner frequency control can be further simplified, so as to require the selection of only two or three different effective corner frequencies for the digital low pass filter 32. Hence, one relatively low corner frequency may be selected to effectively limit the effective filter bandwidth when the vehicle is being operated at a relatively steady or constant velocity. On the other hand, a relatively greater corner frequency may be selected for use when the vehicle velocity is changing due to vehicle acceleration or deceleration.

Moreover, it will be seen that the utilization of the period counter 30, digital low pass filter with variable corner frequency 32 and the corner frequency control 34 automatically achieve the tracking function of the bandpass filtering components of the prior art in accordance with FIGS. 1 and 2 as described above. This occurs due to the sampling of discrete digital period samples and to the selection of a suitable effective low pass corner in accordance with variations from sample to sample.

Stated another way, by comparison to conventional radio receiver apparatus, the period counter 30 functions in the manner of a mixer tuned to the IF frequency. That is, the IF frequency component from the IF or doppler amplifier 12 is thereby multiplied substantially by itself and hence cancelled from the difference component. Accordingly, all that remains is the signal component of interest, that is, the doppler shift or variation or frequency signals. As frequency signals, these can clearly have only positive values, thus existing only to one side of the nominal zero or IF frequency. Moreover, in view of the limited range of velocities of the vehicle being monitored, these doppler shift variations are all within a relatively small range of frequencies above the now effectively "zero" IF frequency. Accordingly, a low pass filter may now be utilized to effectively filter these remaining variation frequency components, which have essentially been converted from the time domain to the frequency domain by use of the period counter 30.

From the foregoing, it will now be appreciated that control of the corner frequency by circuit 34 together with the function of the period counter 30 effectively provides tracking of the IF signal and variations therein without the need for any separate tracking components or apparatus.

Referring now to FIG. 4, the operation of the system in accordance with the invention will be described in further detail. Reference is also invited to FIG. 5 which comprises a schematic circuit diagram of a preferred embodiment of a monitoring system which operates in accordance with the preceeding discussion and in accordance with the functional aspects of FIG. 4 to be next discussed.

As previously mentioned, a suitable radar frequency (RF) front end comprises a suitable antenna 40 for both transmitting and receiving the radar frequency signals. To this end a suitable oscillator 42 and mixer 44, for example in the form of Gunn oscillator and mixer diodes, are utilized. The incoming signals from the mixer are fed to a suitable IF amplifying circuitry 12 which preferably includes a suitable preamplifier 46 having a gain factor G1, and second amplifier 48 having a gain G2 and a final doppler amplifier 50 having a gain factor G3.

In accordance with a preferred form of the invention, the amplifier 48 may be provided with a variable gain control input, illustrated in phantom line at 52. Hence amplifier 48 is often referred hereinafter as a controlled gain amplifier. This variable gain control of amplifier 48 will be discussed later herein.

Further in accordance with a preferred form of the invention, the circuit 12 includes a DC restore circuit 54 interposed between respective amplifiers 48 and 50 which as will later be described, functions essentially as a high pass tracking filter. Following the final doppler amplifier 50 a suitable zero crossing detector 56 signals the period counter 30 at each zero crossing of the IF or doppler amplified signal from amplifier 50 so as to produce a digital period signal corresponding to the period of this IF or doppler signal. In this regard, a suitable high frequency clock, which in the illustrated embodiment provides a clock frequency of substantially 666.67 kilohertz is provided for the period counter 30.

In operation, the period counter functions to count the pulses from the clock 58 which occur between the zero crossings of the IF or doppler frequency signal as detected by the zero crossing detector 56. Accordingly, a period signal Tc is produced by the period counter 30 for substantially each cycle of the IF or doppler signal.

Referring briefly to FIG. 5, the foregoing circuitry is indicated in circuit schematic form. In this regard, it will be noted that the DC restore circuit 54 comprises a pair of bi-polar transistors 60, 62 of opposite polarity which are coupled in an essentially "back-to-back" configuration intermediate suitable DC levels (plus 5, plus 12 and ground in the illustrated embodiment), and one input of an operational amplifier (op amp) 62 which comprises the active component of the doppler amplifier 50. The other input of this op amp 62 receives the signal from the controlled gain amplifier 48. The transistors 60 and 62 will be seen to function essentially in the fashion of the back-to-back diodes illustrated and described in the previously mentioned U.S. patent to Fathauer and Bachman, U.S. Pat. No. 3,895,384. In this regard, this circuit configuration also effectively provides a tracking high pass filtering function, as it tends to limit the swing of the relatively low frequency variations of interest about the desired zero crossings thereof required for operation of the zero crossing detector 56. Such swings may occur due to high frequency components in the signal acting as a "carrier" for the low frequency components. Such high frequency signals might occur as "ringing" in response to rapid vertical velocity components, for example due to uneven ground surfaces, "bumps" or the like, or from other spurious or noise sources.

The remaining function of digital low pass variable corner frequency filter 32 and corner frequency control 34 are carried out in the present embodiment by a suitable microcomputer or microprocessor component 70. In accordance with the invention, it has been found that contrary to prior expectation, the required computing functions may be readily carried out by a relatively widely available and inexpensive single chip integrated circuit form of microprocessor 70. Accordingly, in the illustrated embodiment a microprocessor chip of the type generally designated 8049 is utilized.

Additional counting and clocking functions in conjunction with operation of microprocessor or processor 70 are carried out by a suitable integrated circuit multiple counter component 72. In the illustrated embodiment a counter component of the type generally designated 8253, which is a three-counter, processor-compatible integrated circuit chip, is utilized.

Referring now again to FIG. 4, the function of the processor and associated circuit components thus far described in achieving the novel digital filtering and tracking function in accordance with the present invention will next be discussed.

Initially, as a practical matter, some upper limit must be set upon the value of the output Tc of the period counter 30. Accordingly, a maximum period (Tc Max) detector is coupled to a suitable overflow (OVF) output of the counter 30 for outputting a suitable maximum digital period count (Tc Max) in response to "overflow" of the counter. It will be appreciated that a particularly low frequency input signal to the zero crossing detector 56 may result in such an "overflow" and hence maximum period count and the resultant production of a Tc Max signal.

The Tc and/or Tc Max counter 74 signals are then functionally processed by an equivalent OR circuit 76. Additionally a minimum Tc value to define a maximum frequency input to the zero crossing detector 56 is detected at a functional block 78. In the illustrated embodiment, this block essentially provides a reset in the event the period count Tc is less than or equal to 256.

It should be recognized that the function of OR gate 76 and minimum period detect and reset clock 78 are carried out by the microprocessor 70. In the same fashion the microprocesor 70 and/or counting circuit 72 carry out the functions of the period counter 30, clock 58, Tc Max detector 74 and the remaining functions of FIG. 4 to be described hereinafter.

The output of equivalent or block 76 is fed to a temporary storage register 80, which in turn feeds a working storage register 82. This working storage register 82 is in turn periodically sampled or clocked by a suitable sample clock 84 which in the illustrated embodiment is provided by one of the counting circuits of the integrated circuit 72 as indicated. In the illustrated embodiment, the frequency or rate of sampling of the sampling clock 84 is substantially 512 hertz.

Surprisingly, it has been found that this 512 hertz sampling rate is adequate to accurately follow or track the signals of interest in the illustrated embodiment. In this regard, the expected range of frequencies of the IF or doppler signals produced in response to a typical off road vehicle or farm tractor are from on the order of 10 hertz to on the order of 2600 hertz. Below the 10 hertz limit, the tractor or other vehicle is assumed to be essentially in a stationary condition, while such vehicles are generally not capable of speeds which would result in IF or doppler frequencies above the 2600 hertz level, with the doppler radar front end 10 utilized in the illustrated embodiment. In this regard, a suitable radar front end is more fully described, for example, in the above-referenced U.S. Pat. No. 3,895,384 and moreover, many suitable such radar devices are generally known in the art.

Morever, since the acceleration capacity of such off road vehicles generally decreases with increasing velocity, the variations in IF signal to be followed due to acceleration of the vehicle will generally become smaller as the frequency of the signal increases with velocity. Additionally, since a discreet, digital period count signal is now being sampled by the clock 84, it has been found that the 512 hertz sampling rate is more than adequate to accurately reflect any changes in the value of this period count from cycle to cycle. This is true even though the sampling rate may in fact be shorter than the period counter cycling rate, or zero crossing rate at some higher frequencies.

The foregoing will be more fully appreciated upon considering operation of the digital filtering function to be next discussed. A digital low pass filter functional block is indicated generally at reference numeral 86. This digital low pass filter generally functions to calculate and store a sample value of the incoming digital signal in accordance with a given transfer function. This transfer function sets the sample value equal to the sum of a first proportion of the previously stored sample value and a second proportion of the incoming digital signal value. This relationship may be stated as follows:

where .beta.=(1-.alpha.).

From the foregoing, it will be seen that the effective "corner frequency" of such a digital low pass filter may be set by varying the foregoing "alpha" factor or proportion to change the "weighting" of the incoming digital signal in calculating the sample value. The output of the digital low pass filter 86 then comprises the digital sample values "y" computed in this fashion. Hence, it will be seen that tracking of the input signal is accomplished at a greater or lesser rate, depending upon the value of the alpha factor or proportion. Moreover, the effective corner frequency, that is the ability of the filter 86 to "follow" variations in the incoming digital signal of more than a predetermined amount is also dependent upon this alpha factor or proportion. Accordingly, a suitable corner frequency or "alpha" factor selecting or control means is provided as indicated generally at functional block 88, which will be described next.

Surprisingly, it has been found that as few as two selectable effective corner frequencies of alpha factors for the digital low pass filter 86, are sufficient for adequate tracking and filtering in accordance with the present invention. However, we prefer to provide three such choices or selections of corner frequency or alpha factor. In order to select a given one of these corner frequencies or alpha factors at any given time, a set of reference filters functionally indicated at blocks 90, 92 and 94 are utilized. In the illustrated embodiment, reference filters 90, 92 and 94 comprise digital low pass filters. Additionally, the sampled period signals from working storage 82 is inverted or converted to frequency-like or frequency-related digital signals by a functional block 96. This inversion or conversion takes place prior to the feeding of a digital signal to the inputs of the respective digital low pass filter 86 and reference low pass filters 90, 92 and 94 which comprise the inputs to the corner frequency or alpha proportion or factor selection block 88.

This digital frequency-related signal (f) will be recognized to be a second digital value or signal provided at preselected periods in accordance with the sampling of the clock 84, which is also provided to suitable inputs of the reference low pass filters 90, 92 and 94. In operation, these reference low pass filters also comprise digital low pass filters as mentioned, and hence, also operate in accordance with the same transfer function given above. Hence, outputs of these filters comprise periodic sample values of the same form described above with reference to the digital low pass filter 86. However, the alpha factors or effective corner frequencies of each of these reference low pass filters 90, 92 and 94 is preselected rather than variable.

In the illustrated embodiment, reference filter 90 is designated as the slow filter and has an effective corner frequency (Fs) of on the order of 0.644 hertz. Similarly, the reference filter 94 has been designated as the fast filter and has a corner frequency (Ff) of on the order of 2.59 hertz. The third reference filter 92 is designated as the "super fast" filter and has a corner frequency (Fsf) of on the order of 10.4 hertz. In this regard, the alpha factor of the slow reference filter 90 which corresponds to the effective corner frequency of 0.644 hertz is on the order of 0.0078. Similarly, the alpha factor associated with reference filter 94 is on the order of 0.03125, while the alpha factor selected for filter 92 is on the order of 0.125. These effective corner frequencies and alpha factors were empirically selected.

In operation, an additional selection of a "processing mode" may be provided by a selection block 96 which provides a suitable control input to the corner frequency selection block 88. This selection control is in the form of a two-bit signal P0, P1, and the notations inside corner frequency selection block 88 indicate the response thereof to the possible values of this two bit signal.

In this regard, with P0, P1 selected as 0, 0, the control block 88 acts to compare the output of the slow reference filter 90 with the output of the fast reference filter 94. If the deviation between the values of these outputs is less than a given percentage (plus or minus H%) of the output of the fast reference filter 94, the selection or control block 88 selects the alpha factor 0.0078 of the slow reference filter as the alpha factor of the digital low pass filter 86. On the other hand, if the deviation between the outputs of the slow reference filter and of the fast reference filter 94 are greater than or equal to the same percentage (plus or minus H%), the control or selection block 88 selects the alpha factor 0.03125 of the fast reference filter 94 as the alpha factor for the digital low pass filter 86.

It will be appreciated with respect to the foregoing that with a relatively stable or slowly changing vehicle velocity, the sample values f at the output of block 96 will not be changing very rapidly. Accordingly, all three reference filters 90, 92 and 94 will tend to follow these values f, without much variation between their sample value outputs. Hence, a relatively narrow or low corner frequency, corresponding to a relatively "slow" filter (such as filter 90) will be adequate to follow the digital signal f under these circumstances. Accordingly, the effective corner frequency or alpha factor for digital low pass filter 86 is so selected under these circumstances.

On the other hand, when the velocity of the vehicle is changing fairly rapidly, the successive values of the digital signal f will also change at a somewhat greater rate. Accordingly, in view of the foregoing sampling and transfer function of the three reference filters 90, 92 and 94 it will be appreciated that their outputs will begin to diverge or deviate as the variations in the successive samples f at their inputs begins to vary more greatly. Accordingly, to more closely follow this now greater variation in the digital signal f, the digital low pass filter 86 must be a somewhat "faster" filter having a somewhat broader or higher corner frequency and hence larger alpha factor. Hence, the selection of so-called "slow" and "fast" filter characteristics for digital low pass filter 86 is accomplished by the corner frequency control means provided by block 88 and reference filters 90, 92 and 94.

In accordance with a preferred form of the invention an additional "signal frequency window" functional block 98 is also provided. This block 98 functions essentially to eliminate or reject any signals f which vary by more than a predetermined amount from previous signals f. Briefly, such variations would be indicative of velocity changes, and therefore accelerations greater than possible with the off-road vehicle or farm tractor being monitored. Hence, such signals would be indicative of spurious signal generation, noise, or vertical velocity components due to uneven ground surfaces, bumps, "ringing" of the circuits or the like. Additionally, elimination of digital signals which vary by more than a predetemined amount from previous signals help to eliminate the effects of the phenomenum of "aliasing" which is encountered in digital filtering theory. Briefly, this phenomenum refers to the tendency of digital filters operating in accordance with the above noted transfer function to pass not only frequencies within their nominal or equivalent pass band but also integral multiples or harmonics thereof. Hence, variations in the digital signal f which might result in any of the foregoing spurious or undesirable inputs to the digital low pass filter 86 are effectively eliminated by signal frequency window 98.

Briefly, the signal frequency window 98 operates to reject any signal f and thereby deliver as input f' to the digital filter 86 those signals which vary by less than a predetermined amount from a center frequency value cf based upon previous signals in the "train" of samples f. In this regard, a center frequency (cf) for this determination is also selected by the control and selection block 88. As indicated in block 88, this center frequency (cf) is selected as the output signal of one of the reference filters 90, 92 and 94 in accordance with generally the same criteria as discussed above for the selection of the alpha value for digital low pass filter 86. Accordingly, both of these selections or control functions are accomplished simultaneously in accordance with the results of the reference filtering described above. A suitable "halt" control line feeds an equivalent AND gate together with sample clock 84 to prevent operation of digital low pass filter 86 in response to any signal rejected by the window 98.

The output of the digital low pass filter 86 is designated as f" and is fed through suitable output D to F conversion 26 comprising blocks 100, 102 and 104 for conversion back to an equivalent frequency signal F0 suitable for use with existing display and other utilization circuits. As previously mentioned, the f" signal may also be utilized to control the gain factor G2 of amplifier 48 by way of control line 52. In this regard, if the resultant output signal f" is less than a given percentage R of the minimum frequency (fmin) of the system, which will be remembered to be on the order of 10.17 hertz, a first gain factor G2 is selected for the amplifier 48. In the illustrated embodiment the percentage R is 737 and the gain factor G2 selected when f" is less than this percentage of fmin is 8.8 volts per volt. Otherwise, a gain factor G2 of 23 volts per volt is selected. At the same time, the output f0 is also preferably disabled by a block 108 if f" is less than a second percentage P of fmin. In the illustrated embodiment, P is selected as 147.

The 666.67 KHz, clock 58 feeds the last "frequency conversion" or output counter block 104. An additional output buffer 116 is inserted after this block 104 and receives a suitable control signal from block 108 by way of an OR function indicated at 114. A suitable "power-up" delay or control circuit 112 also feeds into this OR functional block 114.

Other constants selected in the illustrated embodiment are as follows:

K' is selected as 2.sup.23, N is selected as 0.25, G1 is selected as 40 volts per volt, G3 is selected as 10 volts per volt.

Referring again to FIG. 5, additional circuitry is added in accordance with a preferred form of the invention to accommodate two further preferred features. As previously indicated, under some circumstances it is desirable to disable either the radar unit 10 itself or at least to disable the output thereof to prevent response thereto by a display or other utilization devices.

In the former regard, a suitable positive voltage supply of on the order of plus 5 volts DC is provided to the radar apparatus including oscillator 42 as indicated generally at reference numeral 120. This positive 5 volt supply is preferably provided by a power supply circuit designated generally by reference numeral 122 and including a 5 volt integrated circuit voltage regulator component which provides the positive 5 volts DC to input 120 at a corresponding output 126 thereof. This and a further similar 5 volt regulator 128 are coupled to a suitable power source such as a positive 12 volt vehicle battery by way of a switching circuit comprising a pair of switching transistors 130 and 132. A suitable "sense and inhibit" control input 134 is provided for receiving a suitable control input signal for controlling the switching of these transistors 130, 132 and thereby controlling powering up of the regulators 124 and 128 from the 12 volt battery at input terminal 135. In the illustrated embodiment, it will be seen that a suitable zener reference level is provided by a zener diode 138 and the sense and inhibit input signal at 134 feeds the base electrode of switching transistor 132 which, like transistor 130, is a PNP transistor in the illustrated embodiment.

The appropriate "sense and inhibit" control signal for switching transistors 130 and 132 so as to effectively disable the power supply to the radar apparatus 10 may be provided in response to any selected condition, for example by sensing this condition through a suitable sensor and providing a suitable control signal. Such may be a function of the microprocessor 70 if desired, or of a further control circuit or even a second processor or the like associated with another piece of equipment, for example, some implement or machinery being pulled by the tractor.

As previously indicated, it is often desirable to effectively disable or turn off the radar components 10 when the vehicle is not in motion to generally prevent response thereof to spurious signals due to movement of objects within the range of the antenna 40. Additionally, it may be desirable to eliminate microwave radiations from the area about radar antenna 40 while various repairs or other activities are taking place in this area. Accordingly, a suitable simple go/no go axle rotation sensor might be utilized at the "sense and inhibit" input 134. Additionally, the "f minimum" value discussed above, when detected by the processor 70, might be utilized for this function.

Similarly, such minimum velocity determined by way of a simple axle rotation sensor or alternatively by the processor 70 may be utilized as a control signal at an "axle RPM in" input 140 to inhibit the velocity output signal frequency F0. In this regard, it is noted that this output signal is produced at an output terminal OUT 1 of a portion of counter 72 designated generally by reference numeral 104. This output is fed to a analog level control and conversion circuit 142. The axle RPM or other minimum velocity control signal at input 140 is fed through a suitable level conversion circuit 144 to a suitable control port (at pin 38) of the processor 70. Responsively, the processor 70 in turn controls operation of the counter 72 to inhibit the output of portion 104 in response to the minimum velocity control at input terminal 140.

As previously mentioned, this avoids possible incorrect response of a display or other utilization circuitry to spurious signals which might be generated while the vehicle is essentially standing still. As mentioned, under normal operation, the doppler radar signals representing horizontal velocity of the vehicle are readily separated from such spurious or noise signals. However, this is not always reliably accomplished when the vehicle is essentially standing still, as the only signals remaining to work upon may be such spurious or noise input signals.

Additional circuitry comprises a suitable power up delay or sequencing circuit 112 mentioned above for the microprocessor 70. This circuit is tied to the power supply circuits 122 to accomplish suitable memory protection and the like upon powering up and/or powering down of the circuits of FIG. 5. Additionally, the gain control line 52 feeds a suitable inverting input of an operational amplifier comprising the amplifier 48 by way of suitable intervening circuitry.

In order to fully describe the specific embodiment of the invention, the following pages contain a reproduction of a suitable software or programming for the microprocessor 70 in accordance with the foregoing description.

While the invention has been illustrated and described herein with reference to a particular embodiment, the invention is not limited thereto. Those skilled in the art may devise various changes, alternatives and modifications upon reading the foregoing description. The invention includes such changes, alternatives, and modifications insofar as they fall within the spirit and scope of the appended claims. ##SPC1##