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This paper describes an advanced vehicle radar system operating at a frequency of 60.5 GHz that has been jointly developed for the Japanese automobile and truck market by Eaton VORAD Technologies of San Diego, California, and Hitachi, Ltd. of Japan. The radar system is used for both collision warning system (CWS) applications and for adaptive cruise control (ACC) applications. The radar system employs monopulse radar technology to measure azimuth angle to each vehicle in the forward direction. The techniques used to reduce cost and complexity of monopulse radar for low cost use on commercial vehicles are described. These techniques combine Doppler radar technology with digitally derived monopulse processing. Japan is the only country that has selected the frequency band of 60 GHz for vehicle radar systems. The reasons for this selection are discussed and the advantages and disadvantages of this frequency band are presented.

Radar based collision warning systems (CWS) for heavy trucks have been in production and on the road in the United States for approximately two years. A short description of these systems is presented with actual driver performance data and accident reduction data as experienced by various U.S. national fleets using these systems. The next application of radar sensors is for Intelligent Cruise Control (ICC) or also known as Adaptive Cruise Control (ACC). This paper describes the operation of adaptive cruise control and presents the associated benefits to the driver The radar technology has been enhanced and the application has been extended to include radar controlled adaptive cruise control for heavy trucks This has been made possible by 1) technology improvements in radar systems, plus 2) the addition of the standard SAE J1939 data bus for engine controllers on most U.S diesel engines.

This paper describes the Eaton VORAD Technologies monopulse radar system and its application to intelligent cruise control (ICC) systems using the SmartCruise® ICC for light and heavy vehicles. The advantages of monopulse radar for continuous, independent measurement of the azimuth angles to multiple highway obstacles and vehicles are discussed. A comparison of the monopulse radar system to switched beam systems and mechanically scanned systems is presented. In addition, this paper describes the narrow band Doppler radar principles employed in Eaton VORAD radar technology and discusses its advantages over wide-band modulation techniques. The unique interference avoidance scheme of the radar system is presented. Radar sensor technology is compared with other sensor technologies and the advantages of radar are also discussed.

This paper presents a discussion of the Eaton VORAD Technologies Model EVT-200 Vehicle Collision Warning system and the data recording capabilities of that system. The vehicle data management system and the accident reconstruction data system are described. The paper further discusses driver and vehicle experience based on actual customer utilization of the only radar collision warning system in production and on the road. The components and the general operation the collision warning system are presented. In addition, the paper discusses driver and management experience and feedback from users of VORAD systems and Eaton VORAD systems which have accumulated over 225,000,000 miles of highway operation on approximately 2500 vehicles and driven by over 3000 professional drivers.

This SAE Technical Paper provides an update on the VORAD™ Vehicle Collision Warning System presented in SAE Technical Paper 922495 dated November 16-19, 1992. The progress and status of the VORAD system is presented. New company affiliations are identified and a technical discussion is provided of the system features, system performance and customer satisfaction. System improvements and planned changes are also discussed.

This paper describes a forward looking on-board vehicle detection and driver alert system that provides a distance indication and alert tone to the driver. The system, called VORAD (Vehicular On-board Radar), is the first of its kind to be fielded. The system can be programmed to function in different operating modes, allowing customization to the user's requirements. Some possible operating modes include simply providing an alert to the driver, providing following distance indication measured in seconds based on the vehicles' speeds, or providing following distance measured in feet. The VORAD System also has optional features to enhance its usefulness, including a blind spot alert system and a built-in event recorder. The blind spot system provides additional information to the driver regarding the presence of vehicles in his blind spot for use in making lane changes.