CN110412577A - A kind of intelligent automobile millimetre-wave radar target is actively anti-by collision device - Google Patents
A kind of intelligent automobile millimetre-wave radar target is actively anti-by collision device Download PDFInfo
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- CN110412577A CN110412577A CN201910808294.3A CN201910808294A CN110412577A CN 110412577 A CN110412577 A CN 110412577A CN 201910808294 A CN201910808294 A CN 201910808294A CN 110412577 A CN110412577 A CN 110412577A
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- 230000010355 oscillation Effects 0.000 claims description 6
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
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- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims description 3
- 239000010931 gold Substances 0.000 claims description 3
- 229910052737 gold Inorganic materials 0.000 claims description 3
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- 238000012545 processing Methods 0.000 description 13
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- 238000004422 calculation algorithm Methods 0.000 description 11
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- 238000012512 characterization method Methods 0.000 description 2
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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
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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
It is actively anti-by collision device that the invention discloses a kind of intelligent automobile millimetre-wave radar targets, reinforces coating, firm banking including one end for three vertical metal plates of hatch frame, surface reflection.It is actively anti-by collision device that the object of the present invention is to provide a kind of intelligent automobile millimetre-wave radar targets, radar target is by installing the device additional, the radar echo signal intensity of its own can be enhanced in broader spatial dimension, further enhance its probability for effectively being detected and being identified by radar under various traffic scenes, i.e. from target itself, the probability hit by radar truck is actively reduced.
Description
Technical field
The present invention relates to intelligent transportation and intelligent vapour technical field, are applied to intelligent automobile, more particularly, to a kind of intelligence
Automobile Millimeter Wave Radar target is actively anti-by collision device.
Background technique
It is illustrated in fig. 1 shown below, when existing intelligent automobile millimetre-wave radar is detected and is identified to the target in traffic scene,
Whether output detection and the accuracy of recognition result depend on Radar Signal Processing algorithm and radar data Processing Algorithm etc. scientific
With it is advanced, i.e., radar active probe, target passively reflect radar return, and the correlation of target dereliction trend radar " exposure " itself is set
Meter or device, this makes in vehicles in complex traffic scene, and radar exports object listing, and there are rate of failing to report height, the identification of target difficulty or identifications
The more low drawback of rate.
Existing intelligent automobile anti-collision system is largely using millimetre-wave radar as sensor, and millimetre-wave radar is main
Based on the reflected signal strength (i.e. target RCS value) of target each in scene, after radar inter-process, analysis and calculating,
Export object listing.This makes the power of target echo, become radar output listing with the presence or absence of missing inspection it is main because
Element, for example, the target of the lower RCS value such as pedestrian may be failed to report, be caused under conditions of weather attenuation is again more serious
The accident of intelligent automobile shock pedestrian；Meanwhile when radar identification target, usually by analyzing the intensity etc. of target echo signal,
Classification and Identification is carried out to target, this is but also the height of radar discrimination is limited to know inside target echo signal intensity and radar
Other algorithm, and target itself " helpless ".Such as: in certain scenes, the echo strength of target is very approximate, so that classification
Algorithm can not be differentiated, and difficult identification or misrecognition are caused.In addition to this, due to radar target RCS characteristic with angle change fluctuate compared with
Greatly, when detections of radar target, this RCS fluctuating change, all invisible resolving pressure for increasing radar Processing Algorithm and recognizer
Power.
In conclusion the existing intelligent automobile anti-collision system based on millimetre-wave radar, there are three aspects are insufficient,
As shown in Figure 2.First, target is simultaneously reflected back without energy domain reflection enhancement device, passive reception radar detection signal is installed additional
Wave, after space attenuation, radar target RCS value is not strong；Second, radar target RCS fluctuates larger, RCS value with incident direction
Direction uniformity is poor；Third, without direct sort feature, when carrying out identification classification by RCS, the direct differentiation of different target
Spend unobvious, signal processing, data processing, sorting algorithm operation pressure are larger.
Summary of the invention
It is actively anti-by collision device that the object of the present invention is to provide a kind of intelligent automobile millimetre-wave radar targets, and radar target is logical
Cross and install the device additional, the radar echo signal intensity of its own can be enhanced in broader spatial dimension, further enhance its
The probability for effectively being detected and being identified by radar under various traffic scenes is actively reduced and is hit by radar truck that is, from target itself
Probability.
Active of the invention is anti-by collision device, the RCS value for focusing on solving radar target is strong, RCS value with Space Angle not
Uniformly, not high three problems of RCS value discrimination
The method for installing strong radar reflection communications device additional for radar target is used, it is actively " sudden and violent to radar from target
Reveal itself " angle set out, by designing the reflected intensity characteristic of specific device, so that existing based on millimetre-wave radar
Intelligent automobile when detecting and identifying target, existing echo RCS value is strong, RCS value with Space Angle uneven, RCS value area
The problems such as indexing is not high is obviously improved, and the technology of millimetre-wave radar " simpler and accurate detection identification target " has been reached
Effect has and mitigates radar internal signal Processing Algorithm, data processing algorithm and Target Recognition Algorithms complexity and design difficulty
Etc. advantage, effectively improve the detection recognition accuracy of the intelligent automobile anti-collision system based on millimetre-wave radar, greatly reduce anti-
Problem probability of happening is failed to report and misidentified to the system of hitting, and accelerates intelligent automobile development process and landing speed.
The present invention can make radar in broader angular range, obtain the target echo RCS data of " stronger more evenly ",
Convenient for detections of radar target, effectively prevents radar and fail to report target, and then effectively pre- mis-collision preventing accident；In addition, can be different target
It provides specific echo RCS value value range, convenient for directly carrying out target identification using RCS data, greatly alleviates radar letter
Number processing, data processing and recognizer computation complexity.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
A kind of intelligent automobile millimetre-wave radar target is actively anti-by collision device, puts down including three vertical metals that one end is hatch frame
Plate, surface reflection reinforce coating, firm banking；
The three vertical metals plate is used to complete " collecting " and reflected in parallel to all directions incidence radar electromagnetic wave, Jin Er
Uniformly reinforce reflection echo energy in certain space angle, i.e. the active of completion intelligent automobile intelligent automobile millimetre-wave radar target
The anti-radar target RCS booster function by collision device；
The surface reflection reinforces coating and is used to enhance in various degree from the angle of material reflectance albedo, different coating tool
There is different reflectivity, and then the reflection echo energy of radar target RCS booster is distinguished；
The firm banking is for fixing three vertical metal plates；The surface reflection reinforces coating and is attached to described three vertical gold
Belong on plate, on the fixed firm banking of the three vertical metals plate.
It further, further include that angle adjustment module is directed toward in airspace, angle adjustment module is directed toward for adjusting intelligence in the airspace
Actively region is directed toward in the anti-space by collision device to automobile " millimetre-wave radar target ".
Further, it includes first driving device that angle adjustment module is directed toward in the airspace, and the first driving device includes
First stepper motor, the first lead screw and the first nut, the top and bottom point of the open end of the three vertical metals plate head end
Not Tong Guo a shaft be rotatably fixed in a frame of the firm banking, the tail end of the three vertical metals plate connects
It is connected to the first connecting plate, one second connecting plate of the first connector articulated connection, the second connecting plate connection described first
Nut, the first nut thread cooperation are socketed on first lead screw, and the both ends of first screw rod are rotatably matched with
On the symmetrically arranged side plate in the three vertical metals plate rear two sides, wherein one end of first lead screw and the first step
It is connected into motor driven, the positive and negative rotation of the first lead screw described in the first stepping motor driven, and then drives first nut
It moves back and forth that the left and right swing of the three vertical metals plate head end is driven to realize space direction area on first lead screw
The adjusting in domain.
Further, the carrier includes vehicle, pedestrian, building.
Further, the three vertical metals plate fixation is embedded on the firm banking.
Further, it is metal coating that the surface reflection, which reinforces coating,.
Further, the metal coating is copper product, ag material or golden material.
Further, it further includes for driving the three vertical metals plate upper and lower that angle adjustment module is directed toward in the airspace
Second driving device in region is directed toward in oscillation adjustment space, and second driving device includes second stepper motor, the second lead screw
With the second nut, wherein second nut is adapted to hingedly with the tail end of the firm banking, wherein the two of the firm banking
Side is rotatably arranged by shaft；The positive and negative rotation of second lead screw is driven to drive by the second stepper motor
Second nut moves back and forth to make to be located at by the upper and lower swing of the firm banking described on the firm banking
Three vertical metal plates are and then swung up and down, to realize that region is directed toward in upper and lower oscillation adjustment space.
Further, different sizes can be made in the three vertical metals plate as needed, and the triangle of different side lengths is flat
Plate has different reflective surface areas.
Compared with prior art, advantageous effects of the invention:
(1) actively anti-by collision device for intelligent automobile " millimetre-wave radar target ", target installs the active additional
Anti- by after collision device, intelligent automobile millimetre-wave radar will receive stronger backward energy, and then generate " more efficient anti-
Only radar fails to report target " the advantages of.
(2) it by " three vertical metal plates " and " be directed toward angle and adjust module in airspace ", is generated in wider angular range
Uniform target echo signal intensity, i.e., uniform RCS value, and then generate " with incidence
Angle change RCS value is uniformly distributed " the advantages of.
(3) by the way that " surface reflection reinforces coating and various sizes of three vertical metals plate, can be different mesh
Mark sets specific RCS value interval, and then different target RCS value is made to have biggish discrimination, generates " not of the same race
Class target, RCS value discrimination are larger " the advantages of, which can create for radar target recognition
Make relatively simple index parameter.
Detailed description of the invention
The invention will be further described for explanation with reference to the accompanying drawing.
Fig. 1 is existing detections of radar object delineation；
Fig. 2 is the existing three insufficient frame diagram of aspect of intelligent automobile anti-collision system based on millimetre-wave radar；
Fig. 3 is to install apparatus of the present invention detections of radar object delineation additional；
Fig. 4 is apparatus of the present invention structure chart；
Fig. 5 is the schematic front view that apparatus of the present invention increase that angle adjustment module is directed toward in airspace；
Fig. 6 is the test schematic diagram of Fig. 5.
Fig. 7 is apparatus of the present invention operating procedure flow chart；
Apparatus of the present invention advantage correlation data figure when Fig. 8 is applied to pedestrian；
Apparatus of the present invention advantage correlation data figure when Fig. 9 is applied to car；
Apparatus of the present invention advantage correlation data figure when Figure 10 is applied to truck；
Figure 11 is apparatus of the present invention in practical set application schematic diagram on pedestrian, car and truck；
Description of symbols: 1, three vertical metal plate；2, surface reflection reinforces coating；3, firm banking；4- frame；5- first
Stepper motor；The first lead screw of 6-；The first nut of 7-；The first connecting plate of 8-；The second connecting plate of 9-；10- side plate.
Specific embodiment
As shown in Fig. 3 to 5, a kind of intelligent automobile millimetre-wave radar target is actively anti-by collision device, a kind of intelligent automobile milli
Metre wave radar target is actively anti-by collision device, reinforces applying for three vertical metal plates 1 of hatch frame, surface reflection including one end
Layer 2, firm banking 3；
The three vertical metals plate 1 is used to complete " collecting " to all directions incidence radar electromagnetic wave and reflected in parallel effect,
And then uniformly reinforce reflection echo energy in certain space angle, i.e. completion intelligent automobile " millimetre-wave radar target " active
The anti-radar target RCS booster function by collision device；
The surface reflection reinforces coating 2 for the angle from " material reflectance ", and " different materials metal is flat for enhancing in various degree
The albedo of plate ", different coating has different reflectivity, and then the reflection echo energy of radar target RCS booster has
It is distinguished；
It can according to need from the angle of panel size and make various sizes of three vertical metals plate 1, control metal plate
Albedo, the triangle flat plate of different side lengths have different reflective surface areas, and then the reflection of radar target RCS booster
Backward energy is distinguished；
The firm banking 3 is for fixing three vertical metal plates 1；The surface reflection reinforcement coating 2 is attached to described three and hangs down
On straight metal plate 1, on the fixed firm banking 3 of the three vertical metals plate 1.
Wherein the carrier includes all kinds of targets, such as vehicle, pedestrian, building.The three vertical metals plate 1 is fixed
It is embedded on the firm banking 3.
As it can be seen in figures 5 and 6, further including that angle adjustment module is directed toward in airspace, angle adjustment module is directed toward for adjusting in the airspace
Actively region is directed toward in the anti-space by collision device to intelligent automobile " millimetre-wave radar target ".It is directed toward angle and adjusts module packet in the airspace
Including first driving device, the first driving device includes the first stepper motor 5, the first lead screw 6 and the first nut 7, and described three
The top and bottom of the open end of 1 head end of vertical metal plate pass through a shaft respectively and are rotatably fixed on positioned at the fixed bottom
In one frame 4 of seat 3, the tail end of the three vertical metals plate 1 is connected with the first connecting plate 8, and first connector 8 passes through
Pin shaft one second connecting plate 9 of articulated connection, second connecting plate 9 connect first nut 7,7 screw thread of the first nut
Cooperation is socketed on first lead screw 6, and the both ends of first screw rod 6 are rotatably matched with described three vertical gold by bearing
Belong to the two side ends that the symmetrically arranged side plate 10(side plate in 1 rear two sides of plate is securable to firm banking) on, first lead screw 6
Wherein one end and first stepper motor 5 be drivingly connected, first stepper motor 5 drives first lead screw 6 positive and negative
Rotation, and then first nut 7 is driven to move back and forth to drive the three vertical metals plate on first lead screw 6
1 head end is left and right to swing the adjusting for realizing that region is directed toward in space, this is directed toward the adjusting in region for horizontal direction space.
The adjusting that region is directed toward in addition it can increase the space of vertical direction (is not shown in the figure, principle and horizontal direction
It is identical), i.e., it further includes for driving the upper and lower oscillation adjustment of the three vertical metals plate empty that angle adjustment module is directed toward in the described airspace
Between be directed toward second driving device in region, second driving device includes second stepper motor, the second lead screw and the second nut,
Wherein second nut is adapted to hingedly with the tail end of the firm banking, wherein the two side ends of the firm banking pass through shaft
Rotatably setting；The positive and negative rotation of second lead screw is driven to drive second nut by the second stepper motor
It moves back and forth to keep three vertical metal being located on the firm banking flat by the upper and lower swing of the firm banking
Plate is and then swung up and down, to realize that region is directed toward in upper and lower oscillation adjustment space.
Present invention employs the methods for installing " small size, Qiang Leida strong reflection characteristic " device additional for radar target, from target
It actively sets out to the angle of radar exposure, by designing the reflected intensity characteristic of specific device, so that existing be based on millimeter wave thunder
The intelligent automobile reached when detecting and identifying target, it is existing " echo RCS value is strong, RCS value with Space Angle uneven, RCS
Value discrimination is not high " the problems such as be obviously improved, reached millimetre-wave radar can " simpler and more accurate " detection know
The technical effect of other target has and mitigates radar internal signal Processing Algorithm, data processing algorithm and Target Recognition Algorithms complexity
Degree and design difficulty etc. advantage, the detection identification for effectively improving the intelligent automobile anti-collision system based on millimetre-wave radar are accurate
Degree greatly reduces anti-collision system and fails to report and misidentify problem probability of happening, accelerates intelligent automobile development process and landing speed.
The device of the invention can make radar in broader angular range, obtain bigger target echo more evenly
RCS data are convenient for detections of radar target, effectively prevent radar and fail to report target, pre- mis-collision preventing accident；In addition,
Specific echo RCS value value range can be provided for different target, convenient for directly carrying out using RCS data
Target identification greatly alleviates the computation complexity of Radar Signal Processing, data processing and recognizer.
As shown in fig. 7, the device of the invention is according to the following steps and process flow operation:
Step 1: vertical (three be vertically that any two plate the is all vertical two-by-two) metal plate (plate of setting three
For triangle flat plate) side length, three vertical structure can by all directions incident electromagnetic wave carry out reflected in parallel, effectively enhance
Echo signal intensity can produce bigger target RCS value；
Step 2: to make each target have obvious discrimination in terms of echo-signal RCS, different target being installed additional
The invention device, need to distinguish and preset different surface metal coatings, in turn, it is biggish that different target can produce discrimination
Reflection echo intensity；
Step 3: because the invention device instantaneous angular coverage area is about 60 degree, therefore the invention need to be adjusted
Angle is directed toward in the space of device, it is made to be directed toward the area of space that intelligent automobile is paid close attention to, i.e., generates in certain region strong anti-
It is emitted back towards wave；
Step 4: fixing in the invention device to carrier (such as vehicle, pedestrian, means of transportation etc.)；
Step 5: when radar electromagnetic wave detects target, since the electromagnetic wave of apparatus of the present invention collects effect, will produce
Raw strong reflection echo-signal, and strong reflection echo has wider space angle of coverage, can enhance the detections of radar of target
Ability reduces target miss probability.
Step 6: can be reset according to actual traffic scene situation (space attenuation and destination number etc.)
Parameter is stated, each target-echo intensity and intensity region indexing etc. are further increased.
To embody advantage of the invention, intelligent automobile " millimeter wave thunder is devised for pedestrian, car and truck respectively
Up to target " it is actively anti-by collision device, as shown in Figure 8.Wherein, it is the triangle flat plate of 5cm, metal that pedestrian target, which selects side length,
Coating is copper product；It is the triangle flat plate of 8cm that car target, which selects side length, and metal coating is ag material；Truck target
Selecting side length is the triangle flat plate of 10cm, and metal coating is golden material.
It as shown in figure 11, is the device of the invention in the application example on truck, pedestrian and car.From Fig. 8 to 10
In as can be seen that apparatus of the present invention for targets such as pedestrian, car and trucks, in target-echo intensity, intensity in space
Three even angle distributed degrees, target-echo intensity discrimination aspects have obvious improvement.
Wherein, former in terms of the module RCS value comparative situation that characterization pedestrian reflects radar electromagnetic wave intensity
RCS value is smaller, fluctuation is larger, and certain moment have with car and truck RCS value it is overlapping.
And after installing invention device additional, pedestrian RCS value obviously becomes strong and steadily without fluctuation, with car and truck RCS
It is higher to be worth discrimination.
In terms of the module RCS value comparative situation of characterization truck reflection radar electromagnetic wave intensity, former RCS value is smaller
And fluctuation is larger, and certain moment have with pedestrian and car RCS value it is overlapping.
And after installing invention device additional, truck RCS value obviously becomes strong and steadily without fluctuation, with pedestrian and car RCS
It is higher to be worth discrimination.
Embodiment described above is only that preferred embodiment of the invention is described, and is not carried out to the scope of the present invention
It limits, without departing from the spirit of the design of the present invention, those of ordinary skill in the art make technical solution of the present invention
Various changes and improvements, should all fall into claims of the present invention determine protection scope in.
Claims (9)
1. a kind of intelligent automobile millimetre-wave radar target is actively anti-by collision device, which is characterized in that including one end be hatch frame
Three vertical metal plates, surface reflection reinforce coating, firm banking；
The three vertical metals plate is used to complete " collecting " and reflected in parallel to all directions incidence radar electromagnetic wave, Jin Er
Uniformly reinforce reflection echo energy in certain space angle, i.e. the active of completion intelligent automobile intelligent automobile millimetre-wave radar target
The anti-radar target RCS booster function by collision device；
The surface reflection reinforces coating and is used to enhance in various degree from the angle of material reflectance albedo, different coating tool
There is different reflectivity, and then the reflection echo energy of radar target RCS booster is distinguished；
The firm banking is for fixing three vertical metal plates；The surface reflection reinforces coating and is attached to described three vertical gold
Belong on plate, on the fixed firm banking of the three vertical metals plate.
2. intelligent automobile millimetre-wave radar target according to claim 1 is actively anti-by collision device, which is characterized in that also wrap
It includes airspace and is directed toward angle adjustment module, it is main for adjusting intelligent automobile " millimetre-wave radar target " that angle adjustment module is directed toward in the airspace
It moves the anti-space by collision device and is directed toward region.
3. intelligent automobile millimetre-wave radar target according to claim 2 is actively anti-by collision device, which is characterized in that described
It includes first driving device that angle adjustment module is directed toward in airspace, and the first driving device includes the first stepper motor, the first lead screw
With the first nut, the top and bottom of the open end of the three vertical metals plate head end pass through a shaft respectively and rotatably fix
In in the frame for being located at the firm banking, the tail end of the three vertical metals plate is connected with the first connecting plate, and described the
A connection piece one second connecting plate of articulated connection, second connecting plate connect first nut, first nut thread
Cooperation is socketed on first lead screw, and the both ends of first screw rod are rotatably matched with the three vertical metals plate rear
On the symmetrically arranged side plate in two sides, wherein one end of first lead screw is connect with the first stepping motor driven, and described
One stepper motor drives the positive and negative rotation of the first lead screw, and then drives first nut reciprocal on first lead screw
The mobile adjusting to drive the three vertical metals plate head end left and right swing realization space direction region.
4. intelligent automobile millimetre-wave radar target according to claim 1 is actively anti-by collision device, which is characterized in that described
Carrier includes vehicle, pedestrian, building.
5. intelligent automobile millimetre-wave radar target according to claim 1 is actively anti-by collision device, which is characterized in that described
The fixation of three vertical metal plates is embedded on the firm banking.
6. intelligent automobile millimetre-wave radar target according to claim 1 is actively anti-by collision device, which is characterized in that described
It is metal coating that surface reflection, which reinforces coating,.
7. intelligent automobile millimetre-wave radar target according to claim 6 is actively anti-by collision device, which is characterized in that described
Metal coating is copper product, ag material or golden material.
8. intelligent automobile millimetre-wave radar target according to claim 2 or 3 is actively anti-by collision device, which is characterized in that
It further includes for driving the upper and lower oscillation adjustment space direction area of the three vertical metals plate that angle adjustment module is directed toward in the airspace
Second driving device in domain, second driving device include second stepper motor, the second lead screw and the second nut, wherein described
Second nut is adapted to hingedly with the tail end of the firm banking, wherein the two side ends of the firm banking are rotatably set by shaft
It sets；Drive the positive and negative rotation of second lead screw that second nut is driven to move back and forth by the second stepper motor
To be followed by the upper and lower three vertical metals plate for making to be located on the firm banking that swings of the firm banking
Lower swing, to realize that region is directed toward in upper and lower oscillation adjustment space.
9. intelligent automobile millimetre-wave radar target according to claim 1 is actively anti-by collision device, which is characterized in that described
Different sizes can be made in three vertical metal plates as needed, and the triangle flat plate of different side lengths has different reflective surface areas.
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| CN201910808294.3A CN110412577A (en) | 2019-08-29 | 2019-08-29 | A kind of intelligent automobile millimetre-wave radar target is actively anti-by collision device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114357624A (en) * | 2022-01-07 | 2022-04-15 | 天津大学 | Vehicle weight estimation algorithm based on second-order linear differential tracker and parameter bilinear model |
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