CN104076362A - Railway train operation safety monitoring and controlling radar - Google Patents
Railway train operation safety monitoring and controlling radar Download PDFInfo
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- CN104076362A CN104076362A CN201410320296.5A CN201410320296A CN104076362A CN 104076362 A CN104076362 A CN 104076362A CN 201410320296 A CN201410320296 A CN 201410320296A CN 104076362 A CN104076362 A CN 104076362A
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- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
-
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9328—Rail vehicles
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides railway train operation safety monitoring and controlling radar. The railway train operation safety monitoring and controlling radar comprises an antenna feeder module, a sum and difference comparator, a transmitter, a receiver, a phase detector, an antenna gyration and servo module, a digital processing and signal processing module, a display module and an alarm module. The antenna feeder module comprises an antenna, a first feed source and a second feed source, wherein the first feed source and the second feed source are both connected with the antenna, the antenna is a continuous wave duplexer, and receiving and transmission of the antenna are isolated through a T/R isolation network. The sum and difference comparator is provided with four ports 1, 2, sigma and delta, wherein the ports 1 and 2 are connected with the first feed source and the second feed source respectively, the port sigma is connected with the transmitter, and the port delta is connected with the receiver. The railway train operation safety monitoring and controlling radar adopts a continuous wave radar structure, and receiving and transmission are achieved through one antenna, so that the problem that the beam orientations of a transmission antenna and a receiving antenna are in the same direction and mutually isolated is solved.
Description
Technical field
The present invention relates to Radar Technology field, relate in particular to a kind of railroad train security of operation prevention and control radar.
Background technology
Its driving safety of the train of high-speed cruising is most important, has a strong impact on traffic safety because physical environment causes the situations such as landslide, landslide, bridge is impaired or human factor causes roadlock.Above-mentioned situation is sent to early warning report, prevent the generation important in inhibiting of major accident.Train radar is monitoring train operation road conditions, guarantees the conventional means of train safe.
Pulse-modulated radar, it solves transmitting-receiving isolating problem with transmit-receive switch.The work of transmit-receive switch is to separate state when both present in transmitting and reception, launches and receives and do not work simultaneously, and receiver only just starts the echoed signal of receiving target in the off time of transmitting electromagnetic pulse, and real-time is poor.
The duty of continuous wave radar is completely different from above-mentioned situation, and it is at emitting electromagnetic wave uninterruptedly, and meanwhile receiver also receives by the electromagnetic work of extraterrestrial target backspace carrying out.So continuous wave radar more can ensure train safe.
Existing continuous wave radar adopts and receives and one pair of antenna of the each use of transmitting, utilize the particular design of antenna lobe and adjust two pairs of antenna institute putting positions, also need join amplification quantity electromagnetic absorber at emitting antenna periphery, reduce and receive and the phase mutual interference of sending out between passage with this.The beam position of emitting antenna and receiving antenna should be same direction, also to isolate each other, so there is certain technical difficulty, be the bottleneck of continuous wave radar development.
Summary of the invention
The technical matters existing based on background technology, the present invention proposes a kind of railroad train security of operation prevention and control radar, adopt continuous wave radar physique, and realize transmit-receive sharing common antenna, avoid the beam position of emitting antenna and receiving antenna should be same direction, the problem that also will isolate each other.
A kind of railroad train security of operation prevention and control radar that the present invention proposes, comprising:
Antenna feeder module, comprises antenna, the first feed and the second feed, and the first feed is all connected antenna with the second feed, and antenna is continuous wave duplexer, between its reception and transmitting, adopts T/R isolation network to isolate;
With poor comparer, have 1,2, a Σ, four ports of Δ, when from Σ end input signal, 1 end and 2 ends output constant amplitude in-phase signal, Δ end no-output, when from 1 end and 2 ends input in-phase signal, Δ end is exported both difference signals, the output of Σ end and signal; 1 end is connected respectively the first feed and the second feed with 2 ends, and Σ end connects transmitter, and Δ end connects receiver;
Transmitter, adopt millimeter wave transmitter, be used for generating millimeter wave and transmit, transmit by inputting with the Σ end of poor comparer, 1 end and 2 ends output constant amplitude in-phase signal encourage respectively the first feed and the second feed by the electromagnetic wave of aerial radiation radiation equal-wattage;
Receiver, embedded digital is processed and signal processing module, for receiving and differ from the signal of the Δ end output of comparer, and to signal sample, digitizing, filtering, analyzing and processing and image formation, and judgement is extremely;
Phase detector, the Δ end of connection and poor comparer is for detection of phase place;
Antenna turn and servo module, connect respectively receiver, phase detector and antenna feeder module, infer that according to the analysis result of receiver thereby institute's tracking target departs from the angle driven antenna turn of guidance axis, according to phase detector, the phase detection result of echoed signal is judged to antenna turns to, and adjust and make antenna beam directed forward rail all the time;
Display module, connects receiver, and image formation result is shown;
Alarm module, connects receiver, reports to the police according to abnormal results;
The echo model of the corresponding varying environment of described railroad train security of operation prevention and control Embedded in Radar is as safe operation background, when echo model and radar, real detection of a target echo contrasts and offsets, overflow if any signal, detect angel signal, through digital processing, image formation processing, compare with memory database the target identification that impends, and start warning system;
The method that described railroad train security of operation prevention and control radar adopts and wave beam search, difference beam are followed the tracks of;
When transmitting, the signal coming from transmitter is added to and differs from the Σ end of comparer, therefore 1 end, 2 end output constant amplitude in-phase signals, the first feed and the second feed are by cophase detector, and by the electromagnetic wave of aerial radiation equal-wattage, the field intensity homophase that two wave beams produce at space each point is added, and forms transmitting and wave beam F
Σ(θ);
When reception, the echo-pulse E of two wave beams
1, E
2received by the first feed and the second feed, the signal amplitude receiving is along with the degree that target departs from antenna axis produces difference simultaneously, but phase place is identical, and two echo pulse signals are added to respectively and differ from 1 end and 2 ends of comparer, the output of Σ end and signal E
Σ, Δ end output difference signal E
Δ;
E
1, E
2, E
Σ, E
Δamplitude relation be:
E
1＝kF
Σ(θ)F(δ-θ)
E
2=kF
Σ(θ) F (δ+θ), the directivity function that F (θ) is wave beam, θ is target direction, and δ is the drift angle of two relative antenna axis of echo-pulse wave beam, and k is scale-up factor;
E
Σ＝|E
Σ|＝E
1+E
2
|E
Δ|＝|E
1-E
2|
Receiver is to difference signal E
Δprocess, infer that according to its amplitude institute's tracking target departs from the angle of guidance axis, the turn of instruction antenna and the turn of servo-drive system driven antenna thus, in addition, by the phase-shift detection to echoed signal, differentiate turning to of antenna, make antenna beam directed forward rail all the time.
Preferably, antenna is parabola antenna.
Preferably, transmitter adopts solid state transmitter.
Preferably, the frequency of operation of the millimeter wave of transmitter transmitting is 35GHz, 94GHz, 140GHz or 220GHz.
Preferably, transmitter adopts GaN power device.
Preferably, receiver is Digital Intermediate Frequency Receiving System, comprises high-speed ADC module, Digital Down Convert and the filtering extraction processing module, the digital signal processing module that connect successively.
The present invention adopts continuous wave radar system, can monitor far away, close-target on track simultaneously, detects distance and can reach 50～4000m, and monitoring distance, provides enough pre-warning times; The present invention adopts transmit-receive sharing common antenna, has avoided the beam position of emitting antenna and receiving antenna should be same direction, the technical matters that also will isolate each other.The present invention adopts millimeter-wave technology, and it has the ability and the high resolving power that penetrate cloud, mist, sand and dust, the battlefield smoke of gunpowder, and antijamming capability is strong; Millimeter wave antenna volume used is little, lightweight, wave beam is narrow, secondary lobe is low, it is high to gain, and ground mapping and supervision are had to very fine angular resolution, can carry out extreme low-altitude search to the foreign matter on train rail; There is stronger Doppler frequency sensitivity, can measure target gait of march, the train of advancing is had concurrently to speed measuring function accurately.Millimeter wave also has anti-" antiradiation missile " ability, can time use.
Brief description of the drawings
Fig. 1 is the structural drawing of a kind of railroad train security of operation prevention and control radar of proposing of the present invention.
Embodiment
With reference to Fig. 1, a kind of railroad train security of operation prevention and control radar that the present invention proposes, comprising: antenna feeder module and poor comparer, transmitter, receiver, phase detector, antenna turn and servo module, digital processing and signal processing module, display module and alarm module.
Antenna feeder module, comprises antenna, the first feed and the second feed, and the first feed is all connected antenna with the second feed, and antenna is continuous wave duplexer, between its reception and transmitting, adopts T/R isolation network to isolate.The present invention adopts transmit-receive sharing common antenna, has avoided the beam position of emitting antenna and receiving antenna should be same direction, the technical matters that also will isolate each other.Concrete, antenna is parabola antenna, can better radiation and received beam signal.
With poor comparer, have 1,2, a Σ, four ports of Δ, when from Σ end input signal, 1 end and 2 ends output constant amplitude in-phase signal, Δ end no-output, when from 1 end and 2 ends input in-phase signal, Δ end is exported both difference signals, the output of Σ end and signal; 1 end is connected respectively the first feed and the second feed with 2 ends, and Σ end connects transmitter, and Δ end connects receiver.
Transmitter, adopt millimeter wave transmitter, be used for generating millimeter wave and transmit, transmit by inputting with the Σ end of poor comparer, 1 end and 2 ends output constant amplitude in-phase signal encourage respectively the first feed and the second feed by the electromagnetic wave of aerial radiation radiation equal-wattage.Frequency of operation is chosen in millimeter wave band, makes the detected target can blur-free imaging.
The present invention adopts millimeter-wave technology, and it has the ability and the high resolving power that penetrate cloud, mist, sand and dust, the battlefield smoke of gunpowder, and antijamming capability is strong.Millimeter wave antenna volume used is little, lightweight, wave beam is narrow, secondary lobe is low, it is high to gain.Millimeter wave has very fine angular resolution to ground mapping and supervision, can carry out extreme low-altitude search to the foreign matter on train rail, meanwhile, also has stronger Doppler frequency sensitivity, can measure target gait of march, and the train of advancing is had concurrently to speed measuring function accurately.Millimeter wave also has anti-" antiradiation missile " ability, can time use.
The frequency of operation of the millimeter wave of transmitter transmitting can be selected the several atmospheric window frequencies of 35GHz, 94GHz, 140GHz or 220GHz, to realize better monitoring effect.In the time that frequency of operation is selected in 35 gigahertz (GHZ)s or 94 gigahertz (GHZ), antenna aperture is generally 10～20 centimetres, and target is had to hi-Fix, tracking, recognition capability and super blur-free imaging effect, to mutually leaning on to such an extent that very near target has very high resolution.
Receiver, embedded digital is processed and signal processing module, for receiving and differ from the signal of the Δ end output of comparer, and to signal sample, digitizing, filtering, analyzing and processing and image formation, and judgement is abnormal, according to the variation of difference signal, search target is carried out to trace analysis, grasp in real time train operation environment.
Phase detector, the Δ end of connection and poor comparer is for detection of phase place.
Antenna turn and servo module, connect respectively receiver, phase detector and antenna feeder module, thereby infer that according to the analysis result of receiver institute's tracking target departs from the angle driven antenna turn of guidance axis; According to phase detector, the phase detection result of echoed signal is judged to antenna turns to, and adjust and make antenna beam directed forward rail all the time.Antenna turn and servo module ensure the antenna direction of search, prevent skew, thereby the road conditions in accurate real-time understanding train front ensure security of operation.
Display module, connects receiver, and image formation result is shown, is convenient to road conditions to carry out visual being directly acquainted with.
Alarm module, connects receiver, reports to the police according to abnormal results, reminds attendant to note.
The echo model of the corresponding varying environment of this railroad train security of operation prevention and control Embedded in Radar is as safe operation background; when echo model and radar, real detection of a target echo contrasts and offsets; overflow if any signal; detect angel signal; through digital processing, image formation processing, compare with memory database the target identification that impends, and start warning system.
The method that this railroad train security of operation prevention and control radar adopts and wave beam search, difference beam are followed the tracks of, two, train front rail has strong reflection recovery function, using reflected signal as tracking beacon, can ensure tracking accuracy.This search lighting is followed the tracks of intensity greatly and accurately, can accurately be grasped target conditions.
When transmitting, the signal coming from transmitter is added to and differs from the Σ end of comparer, therefore 1 end, 2 end output constant amplitude in-phase signals, the first feed and the second feed are by cophase detector, and by the electromagnetic wave of aerial radiation equal-wattage, the field intensity homophase that two wave beams produce at space each point is added, and forms transmitting and wave beam F
Σ(θ) increase search signal intensity.
In order to realize precision tracking, launching beam does very narrowly, to be in wave beam range of exposures in target, the wave path-difference of the echo that two feeds receive can be ignored, so the echo-pulse phase place of two wave beams is identical.
When reception, the echo-pulse E of two wave beams
1, E
2received by the first feed and the second feed simultaneously, the signal amplitude receiving is along with the degree that target departs from antenna axis produces difference, but phase place is identical, two identical echo pulse signals of phase place are added to respectively and differ from 1 end and 2 ends of comparer, the output of Σ end and signal E
Σ, Δ end output difference signal E
Δ.
E
1, E
2, E
Σ, E
Δamplitude relation be:
E
1＝kF
Σ(θ)F(δ-θ) (1)
E
2＝kF
Σ(θ)F(δ+θ) (2)
The directivity function that F (θ) is wave beam, θ is target direction, and δ is the drift angle of two relative antenna axis of echo-pulse wave beam, and k is scale-up factor relevant with factors such as radar parameter, target range, target properties.
E
Σ＝|E
Σ|＝E
1+E
2 (3)
By formula (1) (2) substitution (3), can obtain
|E
Δ|＝|E
1-E
2| (5)
Receiver is to difference signal E
Δprocess, infer that according to its amplitude institute's tracking target departs from the angle of guidance axis, the turn of instruction antenna and the turn of servo-drive system driven antenna thus, in addition, by the phase-shift detection to echoed signal, differentiate turning to of antenna, make antenna beam directed forward rail all the time.
Concrete, in this radar, transmitter adopts solid state transmitter and adopts GaN (gallium nitride, gallium nitride) power device.GaN energy gap is large, breakdown electric field is high, saturated electron drift velocity is fast, thermal conductivity is high, chemical stability is good, and has extremely strong capability of resistance to radiation.Utilize that the designed solid state transmitter power density of GaN power device is large, working band is wide, the linearity good, volume is little, cooling part low cost of manufacture.
Concrete, in this radar, receiver is Digital Intermediate Frequency Receiving System, comprise high-speed ADC (Analog to Digital Converter, analog to digital converter) module, Digital Down Convert and the filtering extraction processing module, the digital signal processing module that connect successively.The analog if signal of input first passes through high-speed ADC module, carry out bandpass sampling digitizing at intermediate frequency, then carry out Digital Down Convert, interested signal is converted to base band, do sample rate conversion and filtering processing simultaneously, enter base band signal process by follow-up dedicated digital signal processor afterwards.
The present invention surveys train front railway road conditions by transmitting continuous wave, and the echoed signal of institute's emitting electromagnetic wave is analyzed and imaging processing, train operation is produced to the non-safety information threatening and report to the police.Prevent the generation of driving accident, guarantee safe train operation.The present invention adopts continuous wave radar system, can monitor far away, close-target on track simultaneously, detects distance and can reach 50～4000m, and monitoring distance, provides enough pre-warning times.
The above; it is only preferably embodiment of the present invention; but protection scope of the present invention is not limited to this; any be familiar with those skilled in the art the present invention disclose technical scope in; be equal to replacement or changed according to technical scheme of the present invention and inventive concept thereof, within all should being encompassed in protection scope of the present invention.
Claims (6)
1. a railroad train security of operation prevention and control radar, is characterized in that, comprising:
Antenna feeder module, comprises antenna, the first feed and the second feed, and the first feed is all connected antenna with the second feed, and antenna is continuous wave duplexer, between its reception and transmitting, adopts T/R isolation network to isolate;
With poor comparer, have 1,2, a Σ, four ports of Δ, when from Σ end input signal, 1 end and 2 ends output constant amplitude in-phase signal, Δ end no-output, when from 1 end and 2 ends input in-phase signal, Δ end is exported both difference signals, the output of Σ end and signal; 1 end is connected respectively the first feed and the second feed with 2 ends, and Σ end connects transmitter, and Δ end connects receiver;
Transmitter, adopt millimeter wave transmitter, be used for generating millimeter wave and transmit, transmit by inputting with the Σ end of poor comparer, 1 end and 2 ends output constant amplitude in-phase signal encourage respectively the first feed and the second feed by the electromagnetic wave of aerial radiation radiation equal-wattage;
Receiver, embedded digital is processed and signal processing module, for receiving and differ from the signal of the Δ end output of comparer, and to signal sample, digitizing, filtering, analyzing and processing and image formation, and judgement is extremely;
Phase detector, the Δ end of connection and poor comparer is for detection of phase place;
Antenna turn and servo module, connect respectively receiver, phase detector and antenna feeder module, infer that according to the analysis result of receiver thereby institute's tracking target departs from the angle driven antenna turn of guidance axis, according to phase detector, the phase detection result of echoed signal is judged to antenna turns to, and adjust and make antenna beam directed forward rail all the time;
Display module, connects receiver, and image formation result is shown;
Alarm module, connects receiver, reports to the police according to abnormal results;
The echo model of the corresponding varying environment of described railroad train security of operation prevention and control Embedded in Radar is as safe operation background, when echo model and radar, real detection of a target echo contrasts and offsets, overflow if any signal, detect angel signal, through digital processing, image formation processing, compare with memory database the target identification that impends, and start warning system;
The method that described railroad train security of operation prevention and control radar adopts and wave beam search, difference beam are followed the tracks of;
When transmitting, the signal coming from transmitter is added to and differs from the Σ end of comparer, therefore 1 end, 2 end output constant amplitude in-phase signals, the first feed and the second feed are by cophase detector, and by the electromagnetic wave of aerial radiation equal-wattage, the field intensity homophase that two wave beams produce at space each point is added, and forms transmitting and wave beam F
Σ(θ);
When reception, the echo-pulse E of two wave beams
1, E
2received by the first feed and the second feed, the signal amplitude receiving is along with the degree that target departs from antenna axis produces difference simultaneously, but phase place is identical, and two echo pulse signals are added to respectively and differ from 1 end and 2 ends of comparer, the output of Σ end and signal E
Σ, Δ end output difference signal E
Δ;
E
1, E
2, E
Σ, E
Δamplitude relation be:
E
1＝kF
Σ(θ)F(δ-θ)
E
2=kF
Σ(θ) F (δ+θ), the directivity function that F (θ) is wave beam, θ is target direction, and δ is the drift angle of two relative antenna axis of echo-pulse wave beam, and k is scale-up factor;
E
Σ＝|E
Σ|＝E
1+E
2
|E
Δ|＝|E
1-E
2|
Receiver is to difference signal E
Δprocess, infer that according to its amplitude institute's tracking target departs from the angle of guidance axis, the turn of instruction antenna and the turn of servo-drive system driven antenna thus, in addition, by the phase-shift detection to echoed signal, differentiate turning to of antenna, make antenna beam directed forward rail all the time.
2. railroad train security of operation prevention and control radar as claimed in claim 1, is characterized in that, antenna is parabola antenna.
3. railroad train security of operation prevention and control radar as claimed in claim 1, is characterized in that, transmitter adopts solid state transmitter.
4. railroad train security of operation prevention and control radar as claimed in claim 3, is characterized in that, the frequency of operation of the millimeter wave of transmitter transmitting is 35GHz, 94GHz, 140GHz or 220GHz.
5. railroad train security of operation prevention and control radar as claimed in claim 4, is characterized in that, transmitter adopts GaN power device.
6. the railroad train security of operation prevention and control radar as described in claim 1 to 5 any one, it is characterized in that, receiver is Digital Intermediate Frequency Receiving System, comprises high-speed ADC module, Digital Down Convert and the filtering extraction processing module, the digital signal processing module that connect successively.
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| CN105974380A (en) * | 2016-06-01 | 2016-09-28 | 上海铁路通信有限公司 | On-board speed measuring radar antenna module detection circuit |
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| CN107991672A (en) * | 2016-10-26 | 2018-05-04 | 上海雪狸传感技术有限公司 | A kind of shallow surface penetrating radar imaging system |
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| CN105974380A (en) * | 2016-06-01 | 2016-09-28 | 上海铁路通信有限公司 | On-board speed measuring radar antenna module detection circuit |
| CN105974380B (en) * | 2016-06-01 | 2018-06-19 | 上海铁路通信有限公司 | A kind of vehicle-mounted speed measuring radar Anneta module detection circuit |
| CN107991672A (en) * | 2016-10-26 | 2018-05-04 | 上海雪狸传感技术有限公司 | A kind of shallow surface penetrating radar imaging system |
| CN108909621A (en) * | 2018-07-12 | 2018-11-30 | 芜湖博高光电科技股份有限公司 | A kind of millimeter wave detection car door anticollision safety system and its guard method outside |
| CN108909621B (en) * | 2018-07-12 | 2020-10-16 | 芜湖博高光电科技股份有限公司 | Protection method of millimeter wave detection vehicle door outer anti-collision safety system |
| CN111098890A (en) * | 2019-12-18 | 2020-05-05 | 中铁电气化局集团有限公司 | Train collision avoidance method and device based on millimeter wave radar |
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