CN109613539A - A kind of automobile collision preventing intelligent early-warning system based on millimetre-wave radar - Google Patents
A kind of automobile collision preventing intelligent early-warning system based on millimetre-wave radar Download PDFInfo
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- CN109613539A CN109613539A CN201811582540.XA CN201811582540A CN109613539A CN 109613539 A CN109613539 A CN 109613539A CN 201811582540 A CN201811582540 A CN 201811582540A CN 109613539 A CN109613539 A CN 109613539A
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- millimetre
- wave radar
- main control
- control module
- automobile body
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Classifications
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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
- 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
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
Abstract
The invention discloses a kind of automobile collision preventing intelligent early-warning system based on millimetre-wave radar, including automobile body and the millimetre-wave radar being arranged on automobile body, Beidou satellite alignment system, inertial navigation system, car door trigger switch, lock control switch and main control module, the millimetre-wave radar is uniformly mounted on around automobile body, the Beidou satellite alignment system, inertial navigation system, millimetre-wave radar is successively electrically connected respectively signal amplifier, wave detector and main control module, the car door trigger switch is mounted on the opening handle inside four car doors of automobile body and connect with main control module, the lock control switch is mounted on four car doors and the car body hinged place of automobile body to limit the folding of car door.Present inventive concept is novel, detects high reliablity, greatly reduced the complexity of algorithm and the equipment cost of whole system, substantially increase the accuracy of detection on year-on-year basis, improve the safety of driving.
Description
Technical field
The present invention relates to vehicle detection and road traffic early warning technology field, specially a kind of vapour based on millimetre-wave radar
Vehicle intelligent collision early warning system.
Background technique
Increasing to the demand of automobile as people's living standard improves, traffic accident is more and more therewith, especially
It is the front rear-end impact of automobile and side collision accounts for unusual specific gravity, especially under severe road conditions and weather condition.
Rear-end collision caused by when vehicle blind zone sight is limited, side and other vehicles or pedestrians cause collision etc. also to account for very
Big specific gravity.In the past few decades, people mainly study passive safety technology, and (protection occupant safety equipment is when accident occurs
System), such as air bag and safety belt.For active safety technologies (generation that avoids traffic accident and actively take effective equipment)
Research is seldom, and some car crass are often avoidable, and reduce becomes increasingly to weigh to pedestrian and car crass harm
It wants.So needing to design to the vehicle anticollision under different road conditions and to the active protective system of pedestrian in Side Blind.At present
Some Car warning system designs are complicated, are frequently subjected to weather condition influence.And calculate calculating slowly, real-time is poor, often
There is false phenomenon, causes measurement result undesirable.
Summary of the invention
The purpose of the present invention is to provide a kind of automobile collision preventing intelligent early-warning system based on millimetre-wave radar, on solving
State the problem of proposing in background technique.
In order to solve the above technical problem, the present invention provides following technical solutions: a kind of automobile based on millimetre-wave radar
Intelligent collision early warning system, including automobile body and be arranged on automobile body millimetre-wave radar, Beidou satellite alignment system,
Inertial navigation system, car door trigger switch, lock control switch and main control module；Wherein:
The millimetre-wave radar is uniformly mounted on around automobile body, the Beidou satellite alignment system and inertial navigation
System is used cooperatively, in front of measurement automobile body, the environment of rear and the left and right sides relative to the position of automobile body, speed and
Acceleration information, the Beidou satellite alignment system, inertial navigation system, the millimetre-wave radar signal that is successively electrically connected respectively are put
Big device, wave detector and main control module, the signal amplifier, wave detector and main control module setting are in control box, the control
Box is connected with the lower surface of the automobile body upper case；
The car door trigger switch is mounted on the opening handle inside four car doors of automobile body and and main control module
Connection, the lock control switch are mounted on four car doors and the car body hinged place of automobile body to limit the folding of car door, lead to
It crosses and touches the car door trigger switch and send a signal to main control module, main control module control millimetre-wave radar starts to transport around detection
Animal body information, and master control mould is passed to after the moving object information of millimetre-wave radar detection is converted by A/D conversion module
Block, main control module calculate moving object according to moving object information and reach time T1 at car door, and by T1 and standard
Threshold value T0 is compared, and level threshold value T0 is equal to the time used in door opening and people encounters the summation in burst thing reaction time, when
When T1 > T0, main control module issues instructions to lock control switch, and control lock opening opens car door normally, otherwise works as
When T1≤T0, main control module issues instructions to lock control switch, and control lock is locked to open car door can not；
The main control module uses Kalman filtering algorithm, by millimetre-wave radar, Beidou satellite alignment system, inertial navigation
Cascade System gets up, and utilizes millimetre-wave radar, Beidou satellite alignment system, inertial navigation system acquisition environment and automobile body
Position, velocity and acceleration information calculate the position of each factor, velocity and acceleration information in environment, and are prejudged, with reality
The intelligent collision early warning of existing automobile body.
It further, further include having ejection air bag, the ejection air bag is set to the positive passenger seat of the automobile body
Before, it launches and is provided with ejection key on air bag, the ejection key is connected by conducting wire with main control module.
Further, the front end of the ejection air bag is provided with display module, the display module and main control module electricity phase
Even.
Further, the Beidou satellite alignment system includes receiving antenna and processor, the receiving antenna and automobile
The upper surface of body upper part shell is connected, and the processor is set in automobile body, and the receiving antenna is electrically connected with processor
It connects.
Further, the Beidou satellite alignment system and the collected information of inertial navigation system are real-time transmitted to master control
The information is passed to millimetre-wave radar by module, main control module in real time.
Further, warning box is provided in the automobile body, be provided in the warning box phonetic alarm device and
Light alarming device, the phonetic alarm device and light alarming device are electrically connected with the main control module.
Further, the upper surface of the automobile body upper case is connected with humiture atmospheric pressure meter, the humiture atmospheric pressure
Meter is electrically connected with the main control module.
Further, as T1≤T0, main control module issues instructions to lock control switch, and control lock is locked to make car door
It can not open, while control warning box alarm.
Further, the main control module is STM32 single-chip microcontroller.
Further, the model HB100 of the millimetre-wave radar.
Compared with prior art, the beneficial effects obtained by the present invention are as follows being:
1), heretofore described millimetre-wave radar is able to detect the barrier of dynamic and static state, therefore in automobile body
Surrounding uniformly installs several millimetre-wave radars, can effectively observe in front of automobile body, the environment at rear and the left and right sides
In position of the barrier relative to millimetre-wave radar, velocity and acceleration information, due to the height meeting of millimetre-wave radar installation
Barrier is effectively reduced so that the environmental field that millimetre-wave radar observes is a three-dimensional range higher than horizontal plane
Between influence each other so that millimetre-wave radar cognitive disorders object is more accurate.
2), heretofore described car door trigger switch is mounted on the opening handle inside four car doors of automobile body simultaneously
Connect with main control module, the lock control switch be mounted on automobile body four car doors and car body hinged place to limit car door
Folding, send a signal to main control module by touching the car door trigger switch, main control module control millimetre-wave radar starts
Peripheral motor object information is detected, and is passed after the moving object information of millimetre-wave radar detection is converted by A/D conversion module
Main control module is passed, main control module calculates the time T1 at moving object arrival car door according to moving object information, and
T1 and level threshold value T0 are compared, level threshold value T0 is equal to the time used in door opening and people encounters the burst thing reaction time
Summation, as T1 > T0, main control module issues instructions to lock control switch, and control lock opening beats car door normally
It opens, otherwise as T1≤T0, main control module issues instructions to lock control switch, and control lock is locked to open car door can not,
Herein on basis, the security risk eliminated and cause same pedestrian or cyclist to bump against due to improper enabling can be realized.
3), the present invention is provided with ejection air bag before the positive passenger seat of automobile body, launches and is provided with bullet on air bag
Key is penetrated, ejection key is connected by conducting wire with main control module, judges automobile body and barrier using millimetre-wave radar
The distance between whether be safe distance (consider braking automobile situation), if it is not, then main control module control ejection key is beaten
Ejection air bag is opened, the further safety for ensureing driver.
4), the present invention reduces noise jamming, sends master control to by amplifier and wave detector to radar signal enhanced processing
The microprocessor unit of module improves the accuracy of data.
5), heretofore described humiture atmospheric pressure meter is electrically connected with the main control module, it can be considered that temperature in air, wet
It spends the gentle row data that are pressed into compare, millimetre-wave radar detection data is compensated and revised, so that detection data is more accurate.
6), heretofore described main control module uses Kalman filtering algorithm, and Kalman filtering algorithm is a kind of filtering side
Method, basic thought are: using least mean-square error as best estimate criterion, using the state-space model of signal and noise, benefit
The estimation to state variable is updated with the estimated value of previous moment and the observation at current time, finds out the estimation at current time
Value, algorithm, which makes signal to be treated according to the system equation and observational equation of foundation, to be met least mean-square error and estimates
Meter；Specifically, in the present invention, millimetre-wave radar acquires the obstacle information in automobile body ambient enviroment, satellite positioning
System and inertial navigation system determine the information of automobile body, and main control module gets involved in the obstacle information of plural number same with vapour
After in coordinate system centered on vehicle ontology, as the obstacle information at a certain moment, by the method for Kalman filtering to next
Position, speed, the direction at moment are determined, and the position tracking of barrier may be implemented, even if millimetre-wave radar when detecting
Existing barrier is lost, and can also be carried out by Kalman filtering to the movement velocity of subsequent time barrier, position, direction pre-
Sentence, herein on basis, the direction of automobile body, velocity and acceleration information is adjusted, automobile body phase can be realized
For the avoidance of barrier.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is systematic schematic diagram of the invention.
In figure: 1, automobile body, 2, millimetre-wave radar, 3, ejection air bag, 4, display module, 5, signal amplifier, 6, inspection
Wave device, 7, light alarming device, 8, phonetic alarm device, 9, warning box, 10, main control module, 11, humiture atmospheric pressure meter.
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.
It please refers to shown in Fig. 1, Fig. 2, a kind of automobile collision preventing intelligent early-warning system based on millimetre-wave radar, including automobile sheet
Body 1 and the millimetre-wave radar 2 being arranged on automobile body 1, Beidou satellite alignment system, inertial navigation system, car door triggering are opened
Pass, lock control switch and main control module 10；Wherein: the millimetre-wave radar 2 is uniformly mounted on around automobile body 1, institute
It states Beidou satellite alignment system and inertial navigation system is used cooperatively, measure the ring at 1 front of automobile body, rear and the left and right sides
Position of the border relative to automobile body 1, velocity and acceleration information, the Beidou satellite alignment system, inertial navigation system, milli
Metre wave radar 2 is successively electrically connected respectively signal amplifier 5, wave detector 6 and main control module 10, the signal amplifier 5, detection
In control box, the control box is connected with the lower surface of 1 upper case of automobile body for device 6 and the setting of main control module 10；
The car door trigger switch is mounted on the opening handle inside four car doors of automobile body 1 and connect with main control module 10,
The lock control switch is mounted on four car doors and the car body hinged place of automobile body 1 to limit the folding of car door, passes through touching
It touches the car door trigger switch and sends a signal to main control module 10, main control module 10 controls millimetre-wave radar 2 and starts around detection
Moving object information, and master control is passed to after the moving object information that millimetre-wave radar 2 detects is converted by A/D conversion module
Module 10, main control module 10 calculate moving object according to moving object information and reach time T1 at car door, and by T1
It is compared with level threshold value T0, level threshold value T0 encounters the total of burst thing reaction time equal to time used in door opening and people
With as T1 > T0, main control module 10 issues instructions to lock control switch, and control lock opening beats car door normally
It opens, otherwise as T1≤T0, main control module 10 issues instructions to lock control switch, and control lock is locked to beat car door can not
It opens；The main control module 10 uses Kalman filtering algorithm, by millimetre-wave radar 2, Beidou satellite alignment system, inertial navigation system
System is together in series, and utilizes millimetre-wave radar 2, Beidou satellite alignment system, inertial navigation system acquisition environment and automobile body 1
Position, velocity and acceleration information calculate the position of each factor, velocity and acceleration information in environment, and are prejudged, with reality
The intelligent collision early warning of existing automobile body 1.
It in the present embodiment, further include having ejection air bag 3, the ejection air bag 3 is set to the chief and vice of the automobile body 1
Before driver's seat, launches and be provided with ejection key on air bag 3, the ejection key is connected by conducting wire with main control module 10, described
The front end of ejection air bag 3 is provided with display module 4, and the display module 4 is electrically connected with main control module 10；It utilizes millimeter wave thunder
2 reach to judge whether the distance between automobile body 1 and barrier are safe distance (considering braking automobile situation), if not
It is that then the control of main control module 10 ejection key opens ejection air bag 3, the further safety for ensureing driver.
In the present embodiment, the Beidou satellite alignment system includes receiving antenna and processor, the receiving antenna with
The upper surface of 1 upper case of automobile body is connected, and the processor is set in automobile body 1, the receiving antenna and processing
Device electrical connection.
In the present embodiment, the Beidou satellite alignment system and the collected information of inertial navigation system are real-time transmitted to
The information is passed to millimetre-wave radar 2 by main control module 10, main control module 10 in real time.
In the present embodiment, it is provided with warning box 9 in the automobile body, is provided with audio alert in the warning box 9
Device 8 and light alarming device 7, the phonetic alarm device 8 and light alarming device 7 with the electric phase of the main control module 10
Even.
In the present embodiment, the upper surface of 1 upper case of automobile body is connected with humiture atmospheric pressure meter 11, described warm and humid
Degree barometer 11 is electrically connected with the main control module 10.
In the present embodiment, as T1≤T0, main control module 10 issues instructions to lock control switch, and control lock is locked
It open car door can not, while controlling the alarm of warning box 9.
In the present embodiment, the main control module 10 is STM32 single-chip microcontroller.
In the present embodiment, the model HB100 of the millimetre-wave radar 2.
Working principle: heretofore described millimetre-wave radar is able to detect dynamic and static barrier, therefore in automobile
The surrounding of ontology uniformly installs several millimetre-wave radars, can effectively observe automobile body front, rear and the left and right sides
Environment in position of the barrier relative to millimetre-wave radar, velocity and acceleration information, due to millimetre-wave radar installation
Height can be higher than horizontal plane, so that the environmental field that millimetre-wave radar observes is a three-dimensional range, effectively reduce
Influencing each other between barrier, so that millimetre-wave radar cognitive disorders object is more accurate；The car door trigger switch is mounted on
It is connect on opening handle inside four car doors of automobile body and with main control module, the lock control switch is mounted on automobile
Four car doors of ontology limit the folding of car door with car body hinged place, are sent a signal to by touching the car door trigger switch
Main control module, main control module control millimetre-wave radar start to detect peripheral motor object information, and millimetre-wave radar is detected
Moving object information passes to main control module after converting by A/D conversion module, and main control module is calculated according to moving object information
Moving object reaches the time T1 at car door out, and T1 and level threshold value T0 are compared, and level threshold value T0, which is equal to, to be opened
Time used in car door and people encounter the summation in burst thing reaction time, and as T1 > T0, main control module issues instructions to lock
Control switch, control lock opening open car door normally, otherwise as T1≤T0, main control module issues instructions to lock
Control switch, control lock is locked to open car door can not, and herein on basis, elimination can be realized since improper enabling causes
The security risk bumped against with pedestrian or cyclist；It is provided with ejection air bag before the positive passenger seat of automobile body, launches gas
Ejection key is provided on capsule, ejection key is connected by conducting wire with main control module, judges automobile using millimetre-wave radar
Whether the distance between ontology and barrier are safe distance (considering braking automobile situation), if it is not, then main control module control
System ejection key opens ejection air bag, the further safety for ensureing driver；By amplifier and wave detector to radar signal
Enhanced processing reduces noise jamming, sends the microprocessor unit of main control module to, improve the accuracy of data；It is described warm and humid
Degree barometer is electrically connected with the main control module, it can be considered that the gentle row data that are pressed into of temperature, humidity compare in air, to millimeter
Wave radar detection data is compensated and is revised, so that detection data is more accurate；The main control module uses Kalman filtering
Algorithm, Kalman filtering algorithm are a kind of filtering methods, and basic thought is: using least mean-square error as best estimate criterion,
Using the state-space model of signal and noise, updated using the estimated value and the observation at current time of previous moment to shape
The estimation of state variable, finds out the estimated value at current time, and algorithm is according to the system equation of foundation and observational equation to needing to handle
Signal make the estimation for meeting least mean-square error；Specifically, in the present invention, millimetre-wave radar acquires automobile body week
Obstacle information in collarette border, global position system and inertial navigation system determine the information of automobile body, and main control module will
After the obstacle information of plural number is got involved in the same coordinate system centered on automobile body, the barrier as a certain moment is believed
Breath, is determined the position of subsequent time, speed, direction by the method for Kalman filtering, the position of barrier may be implemented
Tracking is set, it, can also be by Kalman filtering to subsequent time obstacle even if millimetre-wave radar barrier loss occurs when detecting
The movement velocity of object, position, direction are prejudged, herein on basis, direction, velocity and acceleration information to automobile body
It is adjusted, avoidance of the automobile body relative to barrier can be realized.
In the description of the present invention, it is to be understood that, term " coaxial ", " bottom ", " one end ", " top ", " middle part ",
The orientation or positional relationship of the instructions such as " other end ", "upper", " side ", " top ", "inner", " front ", " center ", " both ends " is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.
In addition, term " first ", " second ", " third ", " the 4th " are used for description purposes only, and should not be understood as instruction or
It implies relative importance or implicitly indicates the quantity of indicated technical characteristic, define " first ", " second ", " the as a result,
Three ", the feature of " the 4th " can explicitly or implicitly include at least one of the features.
In the present invention unless specifically defined or limited otherwise, term " installation ", " setting ", " connection ", " fixation ",
Terms such as " being screwed on " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be with
It is mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
The interaction relationship of connection or two elements inside a element, unless otherwise restricted clearly, for the common of this field
For technical staff, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (10)
1. a kind of automobile collision preventing intelligent early-warning system based on millimetre-wave radar, it is characterised in that: including automobile body and setting
Millimetre-wave radar, Beidou satellite alignment system, inertial navigation system, car door trigger switch, lock control on automobile body
Switch and main control module；Wherein:
The millimetre-wave radar is uniformly mounted on around automobile body, the Beidou satellite alignment system and inertial navigation system
It is used cooperatively, the environment in measurement automobile body front, rear and the left and right sides is relative to the position of automobile body, speed and acceleration
Information is spent, the Beidou satellite alignment system, inertial navigation system, millimetre-wave radar are successively electrically connected respectively signal amplification
Device, wave detector and main control module, the signal amplifier, wave detector and main control module setting are in control box, the control box
It is connected with the lower surface of the automobile body upper case；
The car door trigger switch is mounted on the opening handle inside four car doors of automobile body and connect with main control module,
The lock control switch is mounted on four car doors and the car body hinged place of automobile body to limit the folding of car door, passes through touch
The car door trigger switch sends a signal to main control module, and main control module control millimetre-wave radar starts to detect peripheral motor object
Information, and main control module, master control are passed to after the moving object information of millimetre-wave radar detection is converted by A/D conversion module
Module calculates moving object according to moving object information and reaches time T1 at car door, and by T1 and level threshold value T0 into
Row comparison, level threshold value T0 is equal to the time used in door opening and people encounters the summation in burst thing reaction time, as T1 > T0,
Main control module issues instructions to lock control switch, and control lock opening opens car door normally, otherwise as T1≤T0,
Main control module issues instructions to lock control switch, and control lock is locked to open car door can not；
The main control module uses Kalman filtering algorithm, by millimetre-wave radar, Beidou satellite alignment system, inertial navigation system
It is together in series, the position of environment and automobile body is acquired using millimetre-wave radar, Beidou satellite alignment system, inertial navigation system
It sets, velocity and acceleration information, calculates the position of each factor, velocity and acceleration information in environment, and prejudged, to realize
The intelligent collision early warning of automobile body.
2. a kind of automobile collision preventing intelligent early-warning system based on millimetre-wave radar according to claim 1, it is characterised in that:
Further include having ejection air bag, before the ejection air bag is set to the positive passenger seat of the automobile body, launches and be arranged on air bag
There is ejection key, the ejection key is connected by conducting wire with main control module.
3. a kind of automobile collision preventing intelligent early-warning system based on millimetre-wave radar according to claim 2, it is characterised in that:
The front end of the ejection air bag is provided with display module, and the display module is electrically connected with main control module.
4. a kind of automobile collision preventing intelligent early-warning system based on millimetre-wave radar according to claim 1, it is characterised in that:
The Beidou satellite alignment system includes receiving antenna and processor, the upper table of the receiving antenna and automobile body upper case
Face is connected, and the processor is set in automobile body, and the receiving antenna is electrically connected with processor.
5. a kind of automobile collision preventing intelligent early-warning system based on millimetre-wave radar according to claim 1, it is characterised in that:
The Beidou satellite alignment system and the collected information of inertial navigation system are real-time transmitted to main control module, and main control module should
Information passes to millimetre-wave radar in real time.
6. a kind of automobile collision preventing intelligent early-warning system based on millimetre-wave radar according to claim 1, it is characterised in that:
It is provided with warning box in the automobile body, phonetic alarm device and light alarming device are provided in the warning box, it is described
Phonetic alarm device and light alarming device are electrically connected with the main control module.
7. a kind of automobile collision preventing intelligent early-warning system based on millimetre-wave radar according to claim 1, it is characterised in that:
The upper surface of the automobile body upper case is connected with humiture atmospheric pressure meter, the humiture atmospheric pressure meter and main control module electricity
It is connected.
8. a kind of automobile collision preventing intelligent early-warning system based on millimetre-wave radar according to claim 1, it is characterised in that:
As T1≤T0, main control module issues instructions to lock control switch, and control lock is locked to open car door can not, controls simultaneously
Warning box alarm.
9. a kind of automobile collision preventing intelligent early-warning system based on millimetre-wave radar according to claim 1, it is characterised in that:
The main control module is STM32 single-chip microcontroller.
10. a kind of automobile collision preventing intelligent early-warning system based on millimetre-wave radar according to claim 1, feature exist
In: the model HB100 of the millimetre-wave radar.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112032219A (en) * | 2020-08-20 | 2020-12-04 | 索巢科技有限公司 | Intelligent system for automatically controlling automobile clutch to lift |
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| CN112032219A (en) * | 2020-08-20 | 2020-12-04 | 索巢科技有限公司 | Intelligent system for automatically controlling automobile clutch to lift |
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