CN109001718A - A kind of radar range finding method based on doppler principle - Google Patents
A kind of radar range finding method based on doppler principle Download PDFInfo
- Publication number
- CN109001718A CN109001718A CN201810653295.0A CN201810653295A CN109001718A CN 109001718 A CN109001718 A CN 109001718A CN 201810653295 A CN201810653295 A CN 201810653295A CN 109001718 A CN109001718 A CN 109001718A
- Authority
- CN
- China
- Prior art keywords
- radar
- frequency
- electromagnetic wave
- measurand
- doppler
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The radar range finding method based on doppler principle that the invention discloses a kind of, include the following steps: radar emission electromagnetic wave, then electromagnetic wave is received, Doppler frequency is obtained according to formula, judge that measurand and radar are close or separate with received electromagnetic wave size according to the electromagnetic wave of transmitting, according to repeatedly testing and measuring the relationship for obtaining Doppler frequency and relative velocity, the approximate distance between radar and launching objects is calculated according to the delay time for emitting and receiving electromagnetic wave, the time needed when measurand is in same position with radar is calculated according to speed and displacement formula, user is reminded to make correct operation according to the time, the relative velocity between measurand and radar has been calculated using doppler principle, time needed for distance and measurand knock trailer-mounted radar, avoid car to car impact, distance measuring method Simple and fast, radar terminal quickly calculates and handles data, and driver can quickly make correct moving operation, improve driving safety.
Description
Technical field
The present invention relates to radar range finding method field, specially a kind of radar range finding method based on doppler principle.
Background technique
Safety be automobile it is most basic be also most important performance, the safeguard protection to occupant is that development of automobile is pursued
Eternal theme, with the development of electronic technology, many intellectualized technologies are widely applied on auto-safety mechanism, as radar is surveyed
It is one of the hot spot of current international automobile security fields research away from anti-collision control system.
Anti-collision radar system is assemblied in the front, side or rear of vehicle, completes forward sight anticollision (preventing collision), side
It is different depending on the emphasis such as anticollision (car to car impact when anti-replacement lane) and backsight anticollision (bumping against when anti-reverse with car and obstruction)
Function.Anti-collision radar system mainly uses the distance measurement function of radar.
But existing radar range finding method has the following deficiencies:
(1) distance measuring method and process are comparatively laborious, need system longer calculating time and measuring and calculating time, this is to vehicle-mounted thunder
For reaching, the instantaneity of ranging is reduced, the results of measuring of distance can be allowed to postpone, so that driver be easily caused erroneous judgement occur
With the maloperation driven, to easily cause car accident；
(2) existing radar range finding method can only merely calculate the distance between radar and measurand, cannot basis
Speed and time provide preferably scheme, so that driver be prevented most accurately to drive to operate from making.
Summary of the invention
In order to overcome the shortcomings of that prior art, the present invention provide a kind of radar range finding side based on doppler principle
Method, the calculating process and mode of radar range finding are simple, are particularly suitable for trailer-mounted radar, and radar terminal quickly can be received and be handled
Data, vehicle-mounted radar can also make correct operation to driver's sufficient reaction time, evade risk of driving,
The Doppler frequency of electromagnetic wave is first measured, has then been calculated using doppler principle relatively fast between measurand and radar
Degree further according to both calculated relative distance, and then can calculate the time needed for measurand knocks trailer-mounted radar, avoid
The consequence of car to car impact, improves driving safety, can effectively solve the problem of background technique proposes.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of radar range finding method based on doppler principle, includes the following steps:
S100, radar emission electromagnetic wave, then receive electromagnetic wave；
S200, Doppler frequency is obtained according to formula, quilt is judged according to the electromagnetic wave of transmitting and received electromagnetic wave size
It is close or separate for surveying object and radar；
S300, basis repeatedly test and measure the relationship for obtaining Doppler frequency and relative velocity；
S400, the approximate distance between radar and launching objects is calculated according to the delay time of transmitting and reception electromagnetic wave；
S500, it is calculated measurand according to speed and displacement formula and when radar is in same position needs
Between, reminded user to make correct operation according to the time.
Further, the radar emission electromagnetic wave and reception electromagnetic wave include the following steps:
Radar transmitter emits the electromagnetic wave of single-frequency to some fixed-direction, after touching target or barrier,
Reflection of electromagnetic wave and return, received by radar reception device.
Further, the calculation formula of the Doppler frequency is as follows:
fd=| f2-f1|
Wherein, fdFor Doppler frequency, f1For wave frequency, the f launched2For the reception wave frequency measured.
Further, the judgment object is that close or far from radar method is as follows:
Compare the size of f1 and f2, if f1 > f2, illustrates that received frequency is decayed, at this time measurand and radar
It is gradually distance from；If f1 < f2, illustrate that received frequency increases, measurand is moving and close to the direction of radar at this time.
Further, the measurand relative to relation equation between the relative velocity and Doppler frequency of radar such as
Under:
Wherein, v is relative velocity of the measurand relative to radar, and c is the aerial spread speed of electromagnetic wave, f0For
The centre frequency of transmitted wave, f+For the difference frequency of first half cycle forward direction frequency modulation, f-For the later half resulting difference frequency of period negative sense frequency modulation.
Further, the f+、f-Show that steps are as follows:
Frequency spectrograph in radar terminal is painted out the variation of frequency spectrum, and is calculated according to the various data on spectrogram
f+、f-, specific formula for calculation is as follows:
f+=△ f-fd
f-=△ f+fd
Wherein △ f be target it is opposing stationary when IF frequency, fd be for radar have relative motion target it is how general
Strangle frequency displacement.
Further, the calculation formula of distance is as follows between the measured target and radar:
S=c △ t/2
Wherein s be the distance between measurand and radar, △ t be transmitting electromagnetic wave and reflection electromagnetic wave delay when
Between.
Further, the measurand reaches when close to radar according to relative velocity and apart from measurand is calculated
The time formula of radar site is as follows:
T=s/v
Wherein t is that measurand reaches the time required for radar position when to moving close to radar direction.
Compared with prior art, the beneficial effects of the present invention are:
(1) calculating process and mode of radar range finding of the invention are simple, are particularly suitable for trailer-mounted radar, radar terminal energy
It quickly receives and handles data, to calculate required data, there is instantaneity, vehicle-mounted radar can also be given
Driver's sufficient reaction time makes correct operation, has evaded risk of driving；
(2) radar of the invention first measures the Doppler frequency of electromagnetic wave, has then calculated quilt using doppler principle
The relative velocity between object and radar is surveyed, further according to both calculated relative distance, and then measurand can be calculated and knocked
Time needed for trailer-mounted radar avoids the consequence of car to car impact so that driver be reminded to make correct driving measure in time, drop
Low traffic accident incidence, improves driving safety.
Detailed description of the invention
Fig. 1 is the flow chart of radar range finding method of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, the present invention provides a kind of radar range finding method based on doppler principle, includes the following steps:
Include the following steps:
S100, radar emission electromagnetic wave, then receive electromagnetic wave, and the radar emission electromagnetic wave and reception electromagnetic wave include
Following steps:
Radar transmitter emits the electromagnetic wave of single-frequency to some fixed-direction, after touching target or barrier,
Reflection of electromagnetic wave and return, received by radar reception device, radar system include electromagnetic wave launcher, electromagnetic receiving device and
Radar terminal, radar terminal include calculator, processor, frequency spectrum display instrument and display screen etc., can record and collect transmitting and
The frequency of received electromagnetic wave and time difference can also calculate the distance between measurand and radar and relative velocity, to make
The ranging of trailer-mounted radar is more rationally reliable, and ranging can also test the speed, and driver can be facilitated to make and correctly drive to operate, evade row
Vehicle risk, increases travel safety.
S200, show that Doppler frequency, the calculation formula of the Doppler frequency are as follows according to formula:
fd=| f2-f1|
Wherein, fdFor Doppler frequency, f1For wave frequency, the f launched2For the reception wave frequency measured.
Doppler frequency, that is, electromagnetic wave receives the difference of frequency and tranmitting frequency, and measurand and vehicle can be calculated by calculating Doppler frequency
Carry the relative velocity of radar.
Judge that measurand and radar are close or separate, institutes with received electromagnetic wave size according to the electromagnetic wave of transmitting
Stating judgment object is that close or far from radar method is as follows:
Compare the size of f1 and f2, if f1 > f2, illustrates that received frequency is decayed, at this time measurand and radar
It is gradually distance from；If f1 < f2, illustrate that received frequency increases, measurand is moving and close to the direction of radar at this time.
If the detections of radar of automotive front end is more and more closer with this vehicle distance to measurand, driver's needs consideration deceleration,
Parking or lane-change traveling, avoid the barrier for knocking front or vehicle；If the detections of radar of automobile rear end to measurand gradually
Close to this vehicle, i.e., when the car of automobile rear end is more and more closer apart from this vehicle distance, driver should with due regard to accelerate or lane-change,
It avoids by vehicle rear-end collision below, to evade traffic risk, increases travel safety.
S300, basis repeatedly test and measure the relationship for obtaining Doppler frequency and relative velocity, the measurand phase
It is as follows for relation equation between the relative velocity and Doppler frequency of radar:
Wherein, v is relative velocity of the measurand relative to radar, and c is the aerial spread speed of electromagnetic wave, f0For
The centre frequency of transmitted wave, f+For the difference frequency of first half cycle forward direction frequency modulation, f-For the later half resulting difference frequency of period negative sense frequency modulation.
The f+、f-Show that steps are as follows:
Frequency spectrograph in radar terminal is painted out the variation of frequency spectrum, and is calculated according to the various data on spectrogram
f+、f-, specific formula for calculation is as follows:
f+=△ f-fd
f-=△ f+fd
Wherein △ f be target it is opposing stationary when IF frequency, fd be for radar have relative motion target it is how general
Strangle frequency displacement.
It, can be according to relative velocity and the two in the case where the measurand of movement is close to radar after measuring relative velocity
Between distance calculate both bump against needed for time, thus remind driver ahead of time make corresponding measure, to avoid collision.
S400, the approximate distance between radar and launching objects is calculated according to the delay time for emitting and receiving electromagnetic wave,
The calculation formula of distance is as follows between the measured target and radar:
S=c △ t/2
Wherein s be the distance between measurand and radar, △ t be transmitting electromagnetic wave and reflection electromagnetic wave delay when
Between.
After calculating the distance between trailer-mounted radar and measurand s, driver takes phase according to whether crossing safe distance
To correctly driving to operate, to avoid that the traffic accidents such as collide, knock into the back occur.
S500, it is calculated measurand according to speed and displacement formula and when radar is in same position needs
Between, reminded user to make correct operation according to the time.
The measurand reaches radar location when close to radar, according to relative velocity and apart from measurand is calculated
The time formula of point is as follows:
T=s/v
Wherein t is that measurand reaches the time required for radar position when to moving close to radar direction.
Need to remark additionally, automobile during exercise, measurand it is motionless when or automobile and the vehicle in front keep even
Speed is when driving or this vehicle is static, vehicle of front or behind close to or far from when, relative velocity and distance can be examined by radar
Measure and, thus above formula be also applied for static measurand for example wall, slope, stopping the objects such as vehicle carry out ranging
And monitoring, to remind driver to make correct moving operation, safe driving is felt more relieved.
Preferably, after the time needed for measuring car to car impact or automobile and barrier collision, generally in the numerical value for measuring t
Afterwards, driver will make accurate driver behavior to driver preferably within the time of 1/3t, and front or behind vehicle is avoided to knock this
Vehicle is thus avoided that car body damages, is also avoided that traffic accident, improves the personal safety driven.
In conclusion radar range finding method of the invention has the advantage that
(1) calculating process and mode of ranging are simple, and radar terminal quickly can receive and handle data, to calculate
Required data, have instantaneity, and vehicle-mounted radar can also be made correctly to driver's sufficient reaction time
Operation, has evaded risk of driving；
(2) Doppler frequency for first measuring electromagnetic wave, has been calculated between measurand and radar using doppler principle
Relative velocity, further according to both calculated relative distance, and then when can calculate measurand and knocking needed for trailer-mounted radar
Between, so that driver be reminded to make correct driving measure in time, the consequence of car to car impact is avoided, traffic accident is reduced
Rate improves driving safety.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (8)
1. a kind of radar range finding method based on doppler principle, characterized by the following steps:
S100, radar emission electromagnetic wave, then receive electromagnetic wave；
S200, Doppler frequency is obtained according to formula, according to the electromagnetic wave of transmitting and tested pair of the judgement of received electromagnetic wave size
As being close or separate with radar；
S300, basis repeatedly test and measure the relationship for obtaining Doppler frequency and relative velocity；
S400, the approximate distance between radar and launching objects is calculated according to the delay time of transmitting and reception electromagnetic wave；
S500, the time needed when measurand is in same position with radar, root are calculated according to speed and displacement formula
User is reminded to make correct operation according to the time.
2. a kind of radar range finding method based on doppler principle according to claim 1, it is characterised in that: the radar
Transmitting electromagnetic wave and reception electromagnetic wave include the following steps:
Radar transmitter emits the electromagnetic wave of single-frequency, after touching target or barrier, electromagnetism to some fixed-direction
Wave reflection and return, received by radar reception device.
3. a kind of radar range finding method based on doppler principle according to claim 1, it is characterised in that: described how general
The calculation formula for strangling frequency is as follows:
fd=| f2-f1|
Wherein, fdFor Doppler frequency, f1For wave frequency, the f launched2For the reception wave frequency measured.
4. a kind of radar range finding method based on doppler principle according to claim 1, it is characterised in that: the judgement
Object is that close or far from radar method is as follows:
Compare the size of f1 and f2, if f1 > f2, illustrate that received frequency is decayed, measurand and radar be gradually at this time
It is separate；If f1 < f2, illustrate that received frequency increases, measurand is moving and close to the direction of radar at this time.
5. a kind of radar range finding method based on doppler principle according to claim 1, it is characterised in that: described tested
Object is as follows relative to relation equation between the relative velocity and Doppler frequency of radar:
Wherein, v is relative velocity of the measurand relative to radar, and c is the aerial spread speed of electromagnetic wave, f0For transmitting
The centre frequency of wave, f+For the difference frequency of first half cycle forward direction frequency modulation, f-For the later half resulting difference frequency of period negative sense frequency modulation.
6. a kind of radar range finding method based on doppler principle according to claim 5, it is characterised in that: the f+、f-
Show that steps are as follows:
Frequency spectrograph in radar terminal is painted out the variation of frequency spectrum, and f is calculated according to the various data on spectrogram+、f-,
Specific formula for calculation is as follows:
f+=△ f-fd
f-=△ f+fd
Wherein △ f is IF frequency when target is opposing stationary, and fd is the Doppler's frequency for the target for having relative motion for radar
It moves.
7. a kind of radar range finding method based on doppler principle according to claim 1, it is characterised in that: described tested
The calculation formula of distance is as follows between target and radar:
S=c △ t/2
Wherein s is the distance between measurand and radar, and △ t is the delay time for emitting electromagnetic wave and reflection electromagnetic wave.
8. a kind of radar range finding method based on doppler principle according to claim 1, it is characterised in that: described tested
Object reaches the time formula of radar site such as when close to radar, according to relative velocity and apart from measurand is calculated
Under:
T=s/v
Wherein t is that measurand reaches the time required for radar position when to moving close to radar direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810653295.0A CN109001718A (en) | 2018-06-22 | 2018-06-22 | A kind of radar range finding method based on doppler principle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810653295.0A CN109001718A (en) | 2018-06-22 | 2018-06-22 | A kind of radar range finding method based on doppler principle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109001718A true CN109001718A (en) | 2018-12-14 |
Family
ID=64601565
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810653295.0A Withdrawn CN109001718A (en) | 2018-06-22 | 2018-06-22 | A kind of radar range finding method based on doppler principle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109001718A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112485790A (en) * | 2020-11-23 | 2021-03-12 | 湖南中大检测技术集团有限公司 | K-waveband radar-based track non-contact deformation high-precision measurement method |
| CN113138380A (en) * | 2020-01-17 | 2021-07-20 | 北京小米移动软件有限公司 | Control method and device of function module, mobile terminal and storage medium |
| CN115631586A (en) * | 2022-09-05 | 2023-01-20 | 北京顺圆和合科技有限公司 | Intelligent safety early warning instrument based on Doppler radar technology |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1051429A (en) * | 1989-10-26 | 1991-05-15 | 外沙拉股份公司 | Utilize the method and apparatus of the Doppler shift measurement target velocity of electromagnetic radiation |
| CN103282249A (en) * | 2010-11-12 | 2013-09-04 | 卢卡斯汽车股份有限公司 | Method for detecting critical driving situations of lorries or passenger vehicles and method for avoiding collisions |
| CN103630890A (en) * | 2013-09-02 | 2014-03-12 | 中国科学院电子学研究所 | Adaptive microwave speed measurement device and method thereof |
| CN104709280A (en) * | 2013-12-13 | 2015-06-17 | 财团法人车辆研究测试中心 | Vehicle anti-collision system and vehicle anti-collision method |
| CN105190350A (en) * | 2013-03-19 | 2015-12-23 | 三菱电机株式会社 | Laser device |
| CN106707246A (en) * | 2017-01-10 | 2017-05-24 | 成都旋极星源信息技术有限公司 | Receiver chip for automotive radar with frequency of 77GHz |
| CN107408347A (en) * | 2015-03-31 | 2017-11-28 | 株式会社电装 | Object detection device and object detection method |
| CN107490793A (en) * | 2016-06-13 | 2017-12-19 | 松下知识产权经营株式会社 | Radar installations and detection method |
| CN107783131A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Autonomous driving vehicle anti-collision radar system signal processing method based on combined waveform |
-
2018
- 2018-06-22 CN CN201810653295.0A patent/CN109001718A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1051429A (en) * | 1989-10-26 | 1991-05-15 | 外沙拉股份公司 | Utilize the method and apparatus of the Doppler shift measurement target velocity of electromagnetic radiation |
| CN103282249A (en) * | 2010-11-12 | 2013-09-04 | 卢卡斯汽车股份有限公司 | Method for detecting critical driving situations of lorries or passenger vehicles and method for avoiding collisions |
| CN105190350A (en) * | 2013-03-19 | 2015-12-23 | 三菱电机株式会社 | Laser device |
| CN103630890A (en) * | 2013-09-02 | 2014-03-12 | 中国科学院电子学研究所 | Adaptive microwave speed measurement device and method thereof |
| CN104709280A (en) * | 2013-12-13 | 2015-06-17 | 财团法人车辆研究测试中心 | Vehicle anti-collision system and vehicle anti-collision method |
| CN107408347A (en) * | 2015-03-31 | 2017-11-28 | 株式会社电装 | Object detection device and object detection method |
| CN107490793A (en) * | 2016-06-13 | 2017-12-19 | 松下知识产权经营株式会社 | Radar installations and detection method |
| CN107783131A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Autonomous driving vehicle anti-collision radar system signal processing method based on combined waveform |
| CN106707246A (en) * | 2017-01-10 | 2017-05-24 | 成都旋极星源信息技术有限公司 | Receiver chip for automotive radar with frequency of 77GHz |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113138380A (en) * | 2020-01-17 | 2021-07-20 | 北京小米移动软件有限公司 | Control method and device of function module, mobile terminal and storage medium |
| CN112485790A (en) * | 2020-11-23 | 2021-03-12 | 湖南中大检测技术集团有限公司 | K-waveband radar-based track non-contact deformation high-precision measurement method |
| CN112485790B (en) * | 2020-11-23 | 2023-11-24 | 中大智能科技股份有限公司 | Track non-contact deformation high-precision measurement method based on K-band radar |
| CN115631586A (en) * | 2022-09-05 | 2023-01-20 | 北京顺圆和合科技有限公司 | Intelligent safety early warning instrument based on Doppler radar technology |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10571564B2 (en) | Method for detecting at least one object in a surrounding area of a motor vehicle, driver assistance system and motor vehicle | |
| CN109001718A (en) | A kind of radar range finding method based on doppler principle | |
| US7592945B2 (en) | Method of estimating target elevation utilizing radar data fusion | |
| US8299957B2 (en) | Method for detecting a vehicle type, a vehicle speed and width of a detecting area by a vehicle radar sensor | |
| TWI470257B (en) | Method and electronic device for angle estimation verification | |
| CN100504438C (en) | Method and device for detecting objects in a motor vehicle environment | |
| US8885889B2 (en) | Parking assist apparatus and parking assist method and parking assist system using the same | |
| CN104386062A (en) | Automobile collision avoidance system based on pulse counting infrared distance measurement device | |
| Zhou et al. | A novel waveform design for multi-target detection in automotive FMCW radar | |
| CN106199574A (en) | Radar installations | |
| EP3836120B1 (en) | Sensing device, moving body system, and sensing method | |
| CN109143187A (en) | A kind of vehicle-mounted millimeter wave angle radar test method | |
| US9134407B2 (en) | Motion parameter estimating method, angle estimating method and determination method | |
| CN105549018A (en) | Object detecting apparatus | |
| CN106054193A (en) | Around-vehicle multi-target detection method, processor and millimeter wave radar system | |
| US20240027611A1 (en) | Obstacle detection method and system of mmwave radar and vehicle | |
| KR20190050238A (en) | Autonomous Emergencyy Braking System and Controlling Method Thereof | |
| CN102944881A (en) | Car anti-collision laser radar system and car safety braking method | |
| JP7111181B2 (en) | DETECTION DEVICE, MOBILE SYSTEM, AND DETECTION METHOD | |
| CN104515990B (en) | Automotive anti-collision radar multi-object identification method based on PRONY spectral line estimation | |
| CN104977566B (en) | Signal processing method and device for a frequency modulated continuous wave radar sensing system | |
| CN101169480A (en) | Radar control method for preventing automobile tail collision | |
| CN207059893U (en) | A kind of collision prevention of vehicle prior-warning device based on ultrasonic wave | |
| CN111175715B (en) | Auxiliary driving system and method capable of inhibiting radar close-range harmonic waves | |
| CN109143262A (en) | Pilotless automobile automatic control device and its control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181214 |