CN1815261A - Method for detecting peripheral obstacle for motor vehicle - Google Patents
Method for detecting peripheral obstacle for motor vehicle Download PDFInfo
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- CN1815261A CN1815261A CN 200610010709 CN200610010709A CN1815261A CN 1815261 A CN1815261 A CN 1815261A CN 200610010709 CN200610010709 CN 200610010709 CN 200610010709 A CN200610010709 A CN 200610010709A CN 1815261 A CN1815261 A CN 1815261A
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Abstract
The invention is related to method of microwave detection in dynamic or static modes. The method includes following steps: first, through an antenna, microwave pulse generated singularly is transmitted to direction needed to detect; encountering obstructer, the microwave pulse generates signal of reflection, which is received by the antenna; after processing the received signal of reflection, the disclosed method forms an echo signal in intermediate frequency; using the said echo signal in intermediate frequency can estimate information of obstructer reliably and at an easy rate, such as distance between motor vehicle and obstructer, size of the obstructer, relative velocity and direction between vehicle and obstructer etc. Ensuring high measuring accuracy, the method can estimate possible danger on vehicle caused by the obstructer so as to take relevant actions such as giving an alarm or avoiding operations. The method overcomes mutual interference between different devices.
Description
Technical field
The present invention relates to a kind of microwave sounding method, especially can be used for dynamic or static detection method.
Background technology
The detection method that current mobility car, the crashproof sniffer of ship use mainly contains modes such as ultrasound wave, infrared ray, laser, radar Doppler, Continuous Wave with frequency modulation (FMCW) radar, pulsed radar, pattern recognition, but, therefore all can't popularize use because existing variety of way all has weakness.For example, ultrasound wave exists that operating distance is near, reaction velocity is slow, have shortcoming such as serious interferences between mutually, uses in low coverage, slow astern radar at present, and under motor vehicle high speed running status, the ultrasound wave inherent defect causes and can't use.Infrared ray, laser mode are subjected to environment, weather effect big, and detecting head is covered by dust easily and can't work, and descends performance sharply to descend at severe weather conditions such as mist, rain, snow, and these inclement weathers often need most sniffer and play a role.Radar Doppler is mainly used in and tests the speed, under the situation of accurate measuring machine motor-car of needs and obstacle distance, can't use, and it is with high costs, the fatal shortcoming of another one is to be difficult to solve mutual interference problem between the different motor vehicles, the microwave of different motor vehicle emission different frequencies, take a large amount of frequency resources, or can't distinguish the microwave signal of different motor vehicles emission, produce serious the interference between mutually.In the high-grade abroad automobile of frequency modulated continuous wave radar actual employing is arranged, but its high cost has limited its usable range, and this method also is difficult to solve the problem of phase mutual interference between the different motor vehicles, therefore very difficult use on a large scale.Also there is the cost height in existing pulsed radar, does not solve problems such as phase mutual interference.Pattern recognition method operand is huge, and equipment cost is higher, is subjected to environment, weather effect big, descends performance seriously to descend at severe weather conditions such as mist, rain, snow.
Summary of the invention
Purpose of the present invention is intended to overcome the deficiencies in the prior art, provides that a kind of detection range is far away, measuring accuracy is high, is not subjected to environment, the detection method that is used for peripheral obstacle for motor vehicle of weather effect, no phase mutual interference.
The detection method that is used for peripheral obstacle for motor vehicle of the present invention is made up of following steps:
One, by antenna the microwave pulse signal is emitted to the direction that needs detection, microwave pulse runs into barrier and produces reflection, and antenna receives the reflected microwave pulse signal;
Two, produce two benchmark oscillator signals by two oscillators, promptly a transmitted reference oscillator signal is used to produce the launched microwave pulse, and oscillation frequency is f
s, a reference data oscillator signal is used for producing with reference to microwave pulse, and oscillation frequency is f
r, a difference on the frequency Δ f is arranged between two frequencies;
Three, produce a random signal by a random signal generator, by two summing circuits and two benchmark oscillator signal stacks, make two benchmark oscillator signals produce identical small randomized jitter, and then produce two benchmark control signals, i.e. transmitted reference control signal, be used to produce the launched microwave pulse, oscillation frequency is f
s, a reference data control signal is used for producing with reference to microwave pulse, and oscillation frequency is f
r
Four, under the control of two benchmark control signals, generate two narrow pulse signals by two pulse producers, an emission narrow pulse signal is used to produce the launched microwave pulse, and pulse repetition rate is f
s, one is used for producing with reference to microwave pulse with reference to narrow pulse signal, and pulse repetition rate is f
r, under the effect of two benchmark control signals, two narrow pulse signals also have identical small randomized jitter;
Five, under two narrow pulse signal controls, generate two microwave pulse signals by two identical microwave sources of oscillation frequency, a launched microwave pulse signal is used for emission, and pulse repetition rate is f
s, one is used for the reflected microwave pulse signal that receives is processed with reference to the microwave pulse signal, and pulse repetition rate is f
r, the centre carrier frequency of two microwave pulse signals is identical, and under two narrow pulse signal effects, two microwave pulse signals also have identical small randomized jitter;
Six, one first frequency mixer is set, what its first input end was imported is the reflected microwave pulse signal that receives, what second input end was imported is with reference to the microwave pulse signal, and two signals are in the frequency mixer mixing, and output terminal is exported the described echo signal of intermediate frequency of the application;
Seven, one second frequency mixer is set, what its first input end was imported is that repetition frequency is f
sSignal, second input end input be that repetition frequency is f
rSignal, output terminal output repetition frequency is the difference frequency signal of Δ f;
Eight, measure difference frequency Δ f, computing time magnificationfactor;
Nine, binding time magnificationfactor extracts various information from described echo signal of intermediate frequency.
In the method, produce two benchmark oscillator signals with two oscillators 201,202, oscillator 201 is used to produce the transmitted reference oscillator signal, oscillation frequency f
sExpression, oscillator 202 is used to produce the reference data oscillator signal, oscillation frequency f
rThere is difference on the frequency in expression between two oscillation frequency, and f represents with Δ, i.e. Δ f=f
s-f
rRequire the oscillation frequency f of oscillator 201
sBe greater than the oscillation frequency f of oscillator 202
r, i.e. f
s＞f
r, and the difference on the frequency Δ f between two oscillators will be far smaller than f
s, and to have the oscillation frequency of an oscillator in two oscillators at least be fixing and known.Have three kinds of situations can realize above requirement: (1), oscillator 201 and oscillator 202 all are the built-in oscillation frequencies, and promptly all uncontrolled signal 240 controls do not need configuration frequency control module 218 this moment; (2), oscillator 201 is built-in oscillation frequencies, 240 controls of oscillator 202 suspension control signals, oscillation frequency is variable; (3), the control of oscillator 201 suspension control signals 240, oscillation frequency is variable, oscillator 202 is built-in oscillation frequencies.
Make two benchmark oscillator signals produce identical randomized jitter, and then produce two benchmark control signals, this can realize by 203,204 and random signal generators 219 of two summing circuits.Random signal generator 219 produces a random signal, this random signal is added on two benchmark oscillator signals by two summing circuits respectively, thereby makes two benchmark oscillator signals produce identical randomized jitters.Summing circuit 203 output transmitted reference control signals, summing circuit 204 output reference data control signals.For two benchmark control signal shakes in the same device is identical, so to handling the not influence of reflected microwave pulse signal that receives, but comparatively speaking for different device, this shake is again at random, the possibility that identical shake occurs is very little, so can distinguish which reflected microwave pulse signal between the different device again is that the signal reflex of oneself launching is returned, which is that the signal reflex that other device is launched is returned, thereby overcomes the phase mutual interference between the different device.
Under the control of two benchmark control signals, generate two narrow pulse signals by two pulse producers 205,206, pulse producer 205 generates the emission narrow pulse signal, is used to produce the launched microwave pulse, and pulse repetition rate is f
s, pulse producer 206 generates with reference to narrow pulse signal, is used for producing with reference to microwave pulse, and pulse repetition rate is f
r, under the effect of two benchmark control signals, two narrow pulse signals also have identical small randomized jitter;
Under the control of two narrow pulse signals, generate two microwave pulse signals, a launched microwave pulse signal is used for emission, and pulse repetition rate is f
s, one is used for the reflected microwave pulse signal that receives is processed with reference to the microwave pulse signal, and pulse repetition rate is f
r, two microwave pulse center carrier frequencies are identical.This realizes by two identical microwave sources 207,208 of oscillation frequency, microwave source 207 is launched narrow pulse signal and is controlled, produce the launched microwave pulse signal, microwave source 208 is subjected to control with reference to narrow pulse signal, generation is with reference to the microwave pulse signal, under the narrow pulse signal effect, two microwave pulse signals also have identical small randomized jitter.
Emitting antenna is launched the launched microwave pulse signal, and receiving antenna receives the microwave pulse signal of reflection simultaneously.Under the situation of emission, the shared antenna of reception, same antenna should transmit, receive reflected signal again, so must have way which is distinguished is the signal of emission, which is the signal that receives, this realizes that by disposing a directional coupler 210 effect of directional coupler 210 is exactly to be used for distinguishing transmitting and reflected signal.When emission, when receiving antenna separates, there is not the problem of distinguishing emission, received signal, so in this case, directional coupler can not have.
The reflected signal that receives produces the echo signal of intermediate frequency that the application will provide through handling.This realizes that with a frequency mixer 212 what its first input end was imported is the reflected microwave pulse signal that receives, and what second input end was imported is with reference to the microwave pulse signal, and two signals produce described echo signal of intermediate frequency in the frequency mixer mixing.Echo signal of intermediate frequency is equivalent to real reflected signal has been amplified several times (being β times) in time, so just can extract various information with comparalive ease, but just need know and what amplify on the time on earth doubly, this realizes that by a computing unit 218 computing formula is
(f
sBe the transmitted reference oscillation signal frequency, Δ f is the difference frequency of two benchmark oscillation signal frequencies).F wherein
sWe know that ignorant is Δ f, so must be by measuring Δ f someway.
Producing frequency is the difference frequency signal of Δ f, to be used to measure Δ f.This realizes that by a frequency mixer 214 frequency mixer first input end input repetition frequency is f
sSignal, second input end input repetition frequency is f
rSignal, the output terminal output frequency is the difference frequency signal of Δ f, is measured the concrete numerical value of Δ f by frequency measurement unit 216.Below the connected mode of several frequency mixer 214 can produce the difference frequency signal that frequency is Δ f: the first input end of (1), frequency mixer 214 is connected with the output terminal of oscillator 201, and second input end is connected with the output terminal of oscillator 202 simultaneously; (2), the first input end of frequency mixer 214 is connected with the output terminal of summing circuit 203, second input end is connected with the output terminal of summing circuit 204 simultaneously; (3), the first input end of frequency mixer 214 is connected with the output terminal of pulse producer 205, second input end is connected with the output terminal of pulse producer 206 simultaneously; (4), the first input end of frequency mixer 214 is connected with the output terminal of microwave source 207, second input end is connected with the output terminal of microwave source 208 simultaneously.The difference frequency signal that produces is sent into a frequency measurement unit 216, obtains the concrete numerical value of Δ f, this numerical value is sent into computing unit 217, and then calculate the time magnificationfactor.
Owing to certainly exist fabrication error in the actual production process, in fact the Δ f of each device is different, always some small difference occur, be consistent substantially if guarantee the Δ f of each device, just need be by adjusting the frequency of certain benchmark oscillator signal someway.This realizes by a frequency control unit 218, below two kinds of methods can reach the purpose of adjusting Δ f: (1), oscillator 201 are the fixed frequency vibration, and the oscillation frequency of oscillator 202 is subjected to the control of the control signal 240 that frequency control unit 218 exports.When the Δ f value of measuring was bigger than normal, control signal 240 strengthened, and the oscillation frequency of control generator 202 increases, thereby Δ f is reduced, and when the Δ f value of measuring was less than normal, control signal 240 reduced, and the oscillation frequency of control generator 202 reduces, thereby Δ f is increased; (2), oscillator 202 is the fixed frequency vibration, the oscillation frequency of oscillator 201 is subjected to the control of the control signal 240 of frequency control unit 218 outputs, when the Δ f value of measuring is bigger than normal, control signal 240 reduces, and the oscillation frequency of control generator 201 reduces, thereby Δ f is reduced, when the Δ f value of measuring is less than normal, control signal 240 strengthens, and the oscillation frequency of control generator 201 reduces, thereby Δ f is increased.This step just in order to improve consistency of product, if homogeneity of product is required not tight (also not needing good consistance really in some occasion), can omit fully, so frequency control unit 218 is not necessary by this step.
Main task of the present invention is to generate a kind of echo signal of intermediate frequency, can be cheap and estimate the information of barrier reliably by this echo signal of intermediate frequency, as each the corresponding motor vehicle in the position of value on time shaft of echo signal of intermediate frequency and the distance of barrier, the amplitude of each value has or not corresponding to barrier and the size of barrier, each value in time the situation of change on distribution, amplitude, phase place corresponding to information such as the relative velocity of motor vehicle and barrier, directions.By extracting these information, and then accurately assess out the threat that barrier constitutes the motor vehicle security of operation.Task of the present invention only is to generate this echo signal of intermediate frequency, and extracts from echo signal of intermediate frequency, assesses which information, and how to extract, task that appreciation information is not this patent.Well-known reason, the method for extraction, appreciation information is varied, and is known by the relevant speciality personage, so the change of these methods does not influence the effectiveness of this patent.For simplicity of exposition, unless specialize, in this paper narration, motor vehicle, ship all use motor vehicle one speech to explain, and barrier and close object all use barrier one speech to explain.
Distinctive feature of the present invention is to have generated a kind of echo signal of intermediate frequency, utilize this echo signal of intermediate frequency, anticollision device for vehicle can be by the information that is dirt cheap and mode is extracted barrier reliably, and can guarantee very high measuring accuracy, thereby accurately assess the threat that barrier causes vehicle operational safety, in time report to the police and/or take workaround, overcome the phase mutual interference between the different device simultaneously.
Description of drawings
Fig. 1 is the sniffer that is installed on the motor vehicle.
Fig. 2 is a circuit side connector block diagram of the present invention.
Fig. 3 is a kind of specific embodiment of summing circuit of the present invention.
Fig. 4 is a kind of specific embodiment of pulse producer of the present invention.
Fig. 5 is a kind of specific embodiment of wave filter of the present invention.
Fig. 6 is a kind of specific embodiment of random signal generator of the present invention.
Fig. 7 is for when oscillator 201,202 being sine-wave oscillator, pulse producer 205,206 when being squarer, the mutual relationship between the output signal 223,224,225,226,227,228,233.
Fig. 8 is the waveform synoptic diagram of the echo signal of intermediate frequency of the present invention's generation.
Embodiment
Accompanying drawing is the specific embodiment of the present invention, and has provided a kind of concrete device.
Fig. 1 shows one and is installed on sniffer on the motor vehicle 101, that be used for anticollision of motor vehicles.This device has a circuit unit 102 and an antenna element 103, circuit unit 102 at first produces a kind of microwave pulse signal, launch this microwave pulse signal by the direction 105 that antenna element 103 is measured to needs, when running into barrier 104, the microwave pulse signal of emission produces signal reflex, reflection direction 106 is opposite with transmit direction 105, antenna element 103 receives the microwave pulse signal of reflection, the reflected microwave pulse of 102 pairs of receptions of circuit unit is handled, generate the front and discuss the echo signal of intermediate frequency of mentioning with the various information of barrier, on this basis circuit unit 102 can have but and the nonessential extraction appreciation information that has, and the function of warning and Control of Automobile operation.Arrow shows the travel path of microwave pulse signal among Fig. 1.Antenna element 103 is not that expression has only an antenna among Fig. 1, this antenna element can be to transmit and receive a shared antenna, also can be to transmit and receive the antenna array that two or more antennas are separately formed, the form of antenna can be the known any antennas of industry such as element antenna, shaft-like guided wave antenna, electromagnetic horn, parabola antenna, little band flat plane antenna, the present invention can adopt the independent or combination realization antenna element 103 of wherein any or multiple antenna, there is no special requirement, for example can adopt electromagnetic horn.The realization technology of these antenna is known by industry, and the specific implementation technology maturation does not have the difficulty of realization yet, and therefore adopting which kind of antenna form is not main task of the present invention, does not influence effectiveness of the present invention yet.
Fig. 2 shows a kind of form of implementation of the sniffer that is used for motor vehicle that constitutes according to the present invention.This circuit should comprise two oscillators 201,202 at least, two summing circuits 203,204,207,208, two frequency mixer 212,214 of 205,206, two microwave sources of two pulse producers, a frequency measurement unit 216,219, one antenna elements 211 of 217, one random signal generators of a computing unit, antenna element 211 can be made up of emission, a shared antenna of reception, also can be made up of emission, reception several antennas separately.
When antenna unit 211 by emission, when reception a plurality of antennas are separately formed, the most basic connected mode is between each parts, the output terminal of oscillator 201 is connected with the first input end of summing circuit 203, the output terminal of summing circuit 203 is connected with the input end of pulse producer 205, the output terminal of pulse producer 205 is connected with the input end of microwave source 207, be connected with the first input end of frequency mixer 214 simultaneously, the output terminal of microwave source 207 is connected with the input end of emitting antenna, transmission antennas transmit microwave pulse signal, receiving antenna receives the reflected microwave pulse signal, the output terminal of receiving antenna is connected with the first input end of frequency mixer 212, the output terminal of oscillator 202 is connected with the first input end of summing circuit 204, the output terminal of summing circuit 204 is connected with the input end of pulse producer 206, the output terminal of pulse producer 206 is connected with the input end of microwave source 208, be connected with second input end of frequency mixer 214 simultaneously, the output terminal of microwave source 208 is connected with second input end of frequency mixer 212, the output terminal output echo signal of intermediate frequency of frequency mixer 212, the output terminal of frequency mixer 214 is connected with the input end of frequency measurement unit 216, the output terminal of frequency measurement unit 216 is connected with the input end of computing unit 217, the result of calculation of computing unit 217 output time amplification coefficients, the output terminal of random signal generator 219 is connected with second input end of summing circuit 203, is connected with second input end of summing circuit 204 simultaneously.
When antenna unit 211 by emission, when receiving a shared antenna and forming, must dispose directional coupler 210.In this case, the output terminal of microwave source 207 is connected with the input end of directional coupler 210, and the coupled end of directional coupler is connected with the input/output terminal of antenna element 211, and the output terminal of directional coupler is connected with the first input end of frequency mixer 212.
It is f that this device disposes an oscillation frequency
sOscillator 201, the output terminal of oscillator 201 is connected f with the first input end of summing circuit 203
sScope can be hundreds of KHz to hundreds of MHz, in general be preferably several MHz.This oscillator can be the oscillator of any forms such as sine-wave oscillator, triangular wave oscillator, saw-toothed oscillator, square-wave oscillator, can be a quartz oscillator with high stability for instance.A kind of specific implementation of oscillator 201 is to use VX20 series voltage control crystal oscillator to realize, VX20 series voltage control crystal oscillator has covered 0.5MHz to the 100MHz frequency range, supply voltage is 5V, frequency stability ± 5ppm, this oscillator also disposes a voltage-controlled voltage input end, voltage-controlled voltage range is 2.5 ± 2V, the voltage controlled frequency scope is ± and 30ppm～± 150ppm.The voltage-controlled voltage input end of oscillator 201 can be connected (under the situation that has disposed frequency control unit 218) with the output terminal of frequency control unit 218, and then oscillator frequency can be subjected to output control signal 240 control of frequency control unit 218 within the specific limits and changes, also can connect a fixed voltage, and then produce the vibration of frequency stabilization.The implementation method of oscillator is known by industry, and the various specific implementation method of oscillator does not influence effectiveness of the present invention.
This device also disposes a summing circuit 203, the first input end of summing circuit 203 is connected with the output terminal of oscillator 201, second input end is connected with the output terminal of random signal generator 219, and the output terminal of summing circuit 203 is connected with the input end of pulse producer 205.Summing circuit 203 is output as the stack of the oscillator signal and the voltage signal at random that random signal generator 219 is exported of oscillator 201 outputs, the output signal frequency of summing circuit 203 is identical with oscillator frequency, only be subjected to the influence of the voltage signal at random of random signal generator 219 outputs, the output signal of summing circuit 203 is compared with the outputting oscillation signal of oscillator 201, and its zero crossing produces small randomized jitter.Summing circuit can be realized by multiple mode.Fig. 3 shows a kind of specific embodiment of summing circuit 203, and this summing circuit comprises an integrated transporting discharging 301 and 5 resistance R
1, R
2, R
3, R
4, R
5, 302 is the summing circuit first input end among the figure, and 303 is summing circuit second input end, and 304 is the summing circuit output terminal.The implementation method of summing circuit is known by industry, and the various specific implementation method of summing circuit does not influence effectiveness of the present invention.
This device also disposes a pulse producer 205, and the input end of pulse producer 205 is connected with the output terminal of summing circuit 203, and the output terminal of pulse producer 205 is connected with the input end of microwave source 207, is connected with the first input end of frequency mixer 214 simultaneously.This pulse producer produces frequency and is all f under the control of the output signal 223 of summing circuit 203
sBurst pulse, pulse width can for several nanoseconds at zero point between several microseconds, in general be preferably several nanoseconds.Pulse producer can be realized by multiple mode, can be made of the high speed d type flip flop for instance, and then the zero crossing place of the oscillator signal 223 that produces at oscillator 201 produces burst pulse.Fig. 4 shows a kind of specific embodiment of pulse producer 205, and this pulse producer comprises a Schmidt trigger 401 and a d type flip flop 402, and 403 is the input end of pulse producer among the figure, and 405 is the output terminal of pulse producer.Schmidt trigger 401 produces square wave at the zero crossing place of input signal, square wave frequency is identical with frequency input signal, the square wave 404 of Schmidt trigger 401 outputs connects the CLK end of d type flip flop 402, at each square wave rising Yan Chu, d type flip flop produces upset, this moment, the Q output terminal of d type flip flop was output as high level, the Q end of d type flip flop is output as low level, because the Q end directly connects the CLR clear terminal of d type flip flop, therefore the Q output terminal becomes low level at once again, thereby produce very narrow pulse output at the Q output terminal, pulse width depends on that the device of d type flip flop postpones, for the high speed d type flip flop, device postpones generally to have only several nanoseconds, and therefore can produce width only is the ultra-narrow pulse of several nanoseconds.The implementation method of pulse producer is known by industry, and the various specific implementation method of pulse producer does not influence effectiveness of the present invention.
This device also disposes a microwave source 207, the input end of microwave source 207 is connected with the output terminal of pulse producer 205, the output terminal of microwave source 207 be directly connected to emitting antenna (when use emission, when receiving a plurality of antenna separately), perhaps the input end with directional coupler 210 is connected (when the shared antenna of emission, reception).The output pulse signal 225 controlled microwave sources 207 of pulse producer 205 produce microwave pulses, for instance can be by exciting such as avalanche diode, and then produce microwave pulse.Pulse signal 225 can also be the form of power supply power supply, powers by giving the micro-wave resonator circuit that is made of triode or CMOS pipe etc., and then produces microwave pulse.Pulse signal 225 can also be the form of trigger pip, the conducting in controlled microwave source 207 or disconnection, for instance, microwave source 207 is in oscillatory regime all the time, and dispose a gating circuit, and this gating circuit conducting or disconnection under the control of pulse signal 225.The oscillation frequency f of microwave source 207
hCan for hundreds of MHz between tens GHz, in general be preferably in several GHz between tens GHz.A concrete microwave source realizes that example is, adopt the ultralow directly synthetic microwave source of making an uproar mutually of X-band UDS series, utilize the break-make of a microwave switch of output pulse signal 225 controls of pulse producer 205, and then produce microwave pulse output 227, the microwave pulse carrier frequency is 10.525GHz.The implementation method of microwave source is known by industry, and the various specific implementation method of microwave source does not influence effectiveness of the present invention.
The microwave pulse that microwave source 207 produces can directly be exported, also can be by exporting behind the filter filtering, and the effect of this wave filter is to reduce high order association wave interference, and this wave filter is also nonessential, and can have not to have yet.A specific embodiment of wave filter is for adopting JEB-X-
*Series of parallel coupling line bandpass filter module realizes that this series wave filter operating frequency range covers 8GHz～12GHz, and the 3dB relative bandwidth is 5%～20%, can satisfy the filtering requirements of the microwave pulse signal of 10.525GHz fully.The implementation method of wave filter is known by industry, and the various specific implementation method of wave filter does not influence effectiveness of the present invention.
This device also disposes an antenna element 211, antenna element can be made of emission, reception several antennas separately, also can constitute by emission, a shared antenna of reception, the form of antenna can be the known any antennas of industry such as element antenna, shaft-like guided wave antenna, electromagnetic horn, parabola antenna, little band flat plane antenna, the present invention can adopt the independent or combination realization antenna element 103 of wherein any or multiple antenna, there is no special requirement, for example can adopt electromagnetic horn.A kind of specific embodiment of antenna element is, realize as emission, a shared antenna of reception by a HD-100SHA22.1 pattern field electromagnetic horn, this electromagnetic horn frequency of operation is 8.2～12.4GHz, satisfies the need of work of 10.525GHz microwave pulse fully.The specific embodiment of another antenna element is, realized by two HD-100SHA22.1 pattern field electromagnetic horns, and one as emitting antenna, and one as receiving antenna.The implementation method of antenna is known by industry, and the various specific implementation method of antenna does not influence effectiveness of the present invention.
When antenna unit 211 is by emission, when reception several antennas separately constitute, antenna is penetrated in the microwave pulse output 227 direct sending and receiving that microwave source 207 produces, emitting antenna is transmitted into microwave pulse the direction 231 that needs detection, the microwave pulse of emission forms reflection after running into barrier, reflection direction 232 is opposite with transmit direction, receive the microwave pulse signal that reflects by receiving antenna, output to the first input end of frequency mixer 212 again.
When antenna unit 211 is by emission, when a shared antenna of reception constitutes, this device also disposes a directional coupler 210, the input end of directional coupler 210 is connected with the output terminal of microwave source 207, the coupled end of directional coupler is connected with the input/output terminal of antenna, the coupled end that is directional coupler promptly can be exported the launched microwave pulse signal to antenna, simultaneously also can be from the reflected microwave pulse signal of antenna input reception, the output terminal of directional coupler is connected with the first input end of frequency mixer 212.The launched microwave pulse signal is imported from the input end of directional coupler, and exports from the coupled end of directional coupler, is launched by antenna again.Antenna receives the reflected microwave pulse signal simultaneously, by antenna output, again by the coupled end input of directional coupler, is outputed to the first input end of frequency mixer 212 again by the output terminal of directional coupler.The implementation method of directional coupler is a lot, can be any modes such as microstrip directional coupler, cavity directional coupler, coaxial directional coupler.A kind of concrete directional coupler embodiment is, adopts the AV70701 coaxial directional coupler to implement, and this directional coupler operating frequency range is 2～40GHz, can satisfy the need of work of 10.525GHz microwave pulse fully.The implementation method of directional coupler is known by industry, and the various specific implementation method of directional coupler does not influence effectiveness of the present invention.
This device can dispose a power amplifier 209, and to increase emissive power and detection range, this power amplifier is also nonessential, and can have not to have yet.When having disposed power amplifier 209, the input end of power amplifier 209 is connected with the output terminal of microwave source 207, the output terminal of power amplifier be directly connected to emitting antenna (when use emission, when receiving a plurality of antenna separately), perhaps the input end with coupling mechanism 210 is connected (when the shared antenna of emission, reception).A specific embodiment of power amplifier is realized for adopting X-band MAAPGM0034-DIE power amplifier module, this power amplifier module operating frequency range is 8～12.5GHz, and satisfying carrier frequency fully is the power amplification requirement of the microwave pulse signal of 10.525GHz.The implementation method of power amplifier is known by industry, and the various specific implementation method of power amplification does not influence effectiveness of the present invention.
It is f that this device also disposes an oscillation frequency
rOscillator 202, the output terminal of oscillator 202 is connected with the input end of summing circuit 204.The surge frequency range of oscillator 202 is identical with the surge frequency range of oscillator 201, but with the oscillation frequency f of oscillator 201
sDifference on the frequency Δ f, wherein a Δ f=f are arranged
s-f
r, Δ f can be tens Hz for instance.Identical with oscillator 201, oscillator 202 also can have multiple specific implementation form.A kind of specific embodiment of oscillator 202 is with oscillator 201.The oscillation frequency of oscillator 202 can but and nonessential suspension control signal 240 controls.
This device also disposes a summing circuit 204, the first input end of summing circuit 204 is connected with the output terminal of oscillator 202, second input end is connected with the output terminal of random signal generator 219, and the output terminal of summing circuit 204 is connected with the input end of pulse producer 206.Identical with summing circuit 203, summing circuit 204 also can have multiple specific implementation form.A kind of specific embodiment of summing circuit 204 is with summing circuit 203.
This device also disposes a pulse producer 206, and the input end of pulse producer 206 is connected with the output terminal of summing circuit 204, and output terminal is connected with the input end of microwave source 208, is connected with second input end of frequency mixer 214 simultaneously.Pulse producer 206 forms frequency and is all f under the control of the output signal 224 of summing circuit 204
rBurst pulse.Identical with pulse producer 205, pulse producer 206 also can have multiple way of realization.A kind of specific embodiment of pulse producer 206 is with pulse producer 205.
This device also disposes a microwave source 208, and the input end of microwave source 208 is connected with the output terminal of pulse producer 206, and output terminal is connected with second input end of frequency mixer 212.Microwave source 208 produces microwave pulse 228 under the control of the pulse output 226 of pulse producer 206.Identical with microwave source 207, microwave source 208 also can have multiple way of realization.A kind of specific embodiment of microwave source 208 is with microwave source 207.
This device also disposes a frequency mixer 212, the first input end of frequency mixer 212 is connected (when the use emission, when receiving a plurality of antenna that separates) with receiving antenna, perhaps the output terminal with directional coupler 210 is connected (when emission, when receiving a shared antenna), second input end of frequency mixer 212 is connected with the output terminal of microwave source 208, the output terminal output echo signal of intermediate frequency of frequency mixer 212.The microwave pulse signal 228 of reflected microwave pulse signal that antenna receives and microwave source 208 outputs produces intermediate-freuqncy signal output 234, the centre frequency f of intermediate-freuqncy signal 234 in frequency mixer 212 mixing
zOscillation frequency f with oscillator 201
s, oscillator 202 oscillation frequency f
rAnd the carrier frequency f of microwave source 207
hRelevant, computing formula is:
By appropriate design f
r, f
s, f
h, can produce the centre frequency f of suitable intermediate-freuqncy signal
z, be generally tens to hundreds of KHz for instance.Frequency mixer has multiple way of realization, can be any forms such as double balanced mixer, three balanced mixers, analog multiplier.A kind of specific embodiment of frequency mixer 212 realizes that for adopting the JDM-0711 double balanced mixer this frequency mixer operating frequency range is 6GHz～11GHz, and mixing is output as DC～2GHz, satisfies the need of work of 10.525GHz microwave pulse fully.The implementation method of frequency mixer is known by industry, and the various specific implementation method of frequency mixer does not influence effectiveness of the present invention.
This equipment can dispose a wave filter 213, and with the association of the high order in the intermediate-freuqncy signal 234 that reduces frequency mixer 212 outputs wave interference, this wave filter is also nonessential, and can have not to have yet.When having disposed wave filter 213, the input end of wave filter 213 is connected with the output terminal of frequency mixer 212, the output terminal output intermediate-freuqncy signal 235 of wave filter 213.Wave filter 213 can be bandpass filter, also can be low-pass filter, and when being bandpass filter, the filter center frequency should be f
z, when being low-pass filter, wave filter should be greater than f by frequency
z, f here
zBe the centre frequency of the intermediate-freuqncy signal 234 of frequency mixer 212 output, the centre frequency of the intermediate-freuqncy signal 235 of wave filter 213 outputs still is f
zWave filter 213 can have the implementation method of various ways, can be any forms such as LC wave filter, active RC filter, quartz-crystal filter, Surface Acoustic Wave Filter.Fig. 5 shows a kind of specific embodiment of wave filter 213, the Active RC low-pass filter that this wave filter is made up of integrated transporting discharging 501 and R, C network, and 502 is the input end of wave filter among the figure, and 503 is the output terminal of wave filter, and it is f by frequency
0=1/2 π R
7C
1, enlargement factor is A=1+R
8/ R
6, suitably design R according to the centre frequency of intermediate-freuqncy signal
6, R
7, R
8And C
1, the requirement of the frequency filtering that wave filter is satisfied discuss above, and suitable enlargement factor A is set as required gets final product.The implementation method of wave filter is known by industry, and the various implementation method of wave filter does not influence effectiveness of the present invention.
Intermediate-freuqncy signal 235 and/or intermediate-freuqncy signal 234 are that the present invention will generate has the various information of barrier as the echo signal of intermediate frequency of distance, speed, orientation, size etc.
This device also disposes a frequency mixer 214, the first input end of frequency mixer 214 is connected with the output terminal of pulse producer 205, second input end of frequency mixer 214 is connected with the output terminal of pulse producer 206, and the output terminal of frequency mixer 214 is connected with the input end of frequency measurement unit 237.The output signal 225 of pulse producer 205 and the output signal 226 of pulse producer 206 are in frequency mixer 214 mixing, produce a differential signal 236 that frequency is Δ f, Δ f is the difference frequency of the oscillation frequency of the oscillation frequency of oscillator 201 and oscillator 202, i.e. Δ f=f
s-f
rThe connected mode of frequency mixer 214 can also be following three kinds of modes, the first input end of frequency mixer 214 is connected with the output terminal of oscillator 201, second input end is connected with the output terminal of oscillator 202 simultaneously, perhaps the first input end of frequency mixer 214 is connected with the output terminal of summing circuit 203, second input end is connected with the output terminal of summing circuit 204 simultaneously, perhaps the first input end of frequency mixer 214 is connected with the output terminal of microwave source 207, second input end is connected with the output terminal of microwave source 208 simultaneously, and these connected modes also can produce the differential signal 236 that frequency is Δ f.Frequency mixer 214 can have the implementation of various ways, can be Analogue mixer, also can be digital mixer, for instance, can be a digital AND circuit, or the digital circuit that is made of trigger circuit such as d type flip flops.A specific embodiment of frequency mixer 214 is to realize with door with one the two single output numeral of input, numeral is connected with the output terminal of pulse producer 205 with the first input end of door, second input end is connected with the output terminal of pulse producer 206, only when two input signals of frequency mixer 214 are high level simultaneously, frequency mixer output just is high level, and then realizes the digital mixing function.The implementation method of Analogue mixer and digital mixer is known by industry, and the different specific implementation methods of frequency mixer do not influence effectiveness of the present invention.
This device can dispose a wave filter 215, and to reduce the high order association wave interference in the differential signal 236, this wave filter is also nonessential, and can have not to have yet.When having disposed wave filter 215, the input end of wave filter 215 is connected with the output terminal of frequency mixer 214, and output terminal is connected with the input end of frequency measurement unit 216.Wave filter 215 can have the implementation method of various ways, can be any forms such as LC wave filter, active RC filter, quartz-crystal filter, Surface Acoustic Wave Filter.A kind of specific embodiment of wave filter 215 is with wave filter 213.
This device also disposes a frequency measurement unit 216, the input end of frequency measurement unit 216 is connected (when not disposing wave filter 215) with the output terminal of frequency mixer 214, perhaps the output terminal with wave filter 215 is connected (when configuration wave filter 215), and the output terminal of frequency measurement unit 216 is connected with the input end of arithmetic element 217.Frequency measurement unit 216 is used to measure the frequency Δ f of differential signal.Frequency measurement unit 216 can be by implemented in many forms such as frequency discriminator or FFT computing or counting circuits.Specific embodiment realizes for the timer that uses single-chip microcomputer 243 generally to have, and by the time timing between continuous two risings are prolonged to differential signal, and then calculates the frequency of differential signal.The implementation method of frequency measurement is known by industry, and the different specific implementation methods of frequency measurement unit do not influence effectiveness of the present invention.
This device also disposes an arithmetic element 217, and the input end of arithmetic element 217 is connected with the output terminal of frequency measurement unit 216, the time amplification coefficient that output terminal output is calculated.Arithmetic element 217 is according to the oscillation frequency f of known oscillator 201
sAnd the differential signal frequency Δ f that measures of frequency measurement unit 216, calculating a parameter beta that is called the time amplification coefficient, computing formula is β=f
s/ Δ f, time magnificationfactor will be used for the information extraction and the assessment of echo signal of intermediate frequency.Arithmetic element can realize with a computing circuit, also can realize with software.A specific embodiment of arithmetic element is for using single-chip microcomputer 243 programmings and then realizing by software.The implementation method of arithmetic element is known by industry, and the different specific implementation methods of arithmetic element do not influence effectiveness of the present invention.
This device can dispose a frequency control unit 218, and with the oscillation frequency of control generator 202, frequency control unit is also nonessential, and can have not to have yet.The input end of frequency control unit 218 is connected with the output terminal of arithmetic element 217, and perhaps the output terminal with frequency measurement unit 216 is connected, and output terminal is connected with the voltage-controlled voltage input end of oscillator 202.Frequency control unit 218 time magnificationfactor that 217 computings obtain according to arithmetic element or the differential frequency Δ f that measures according to frequency measurement unit 216 produce with the time magnificationfactor or with differential frequency Δ f and are the control signal output 240 of proportionate relationship.The oscillation frequency of control signal 240 control generators 202 makes the oscillation frequency of oscillator 202 keep within limits and/or variation as required, and then differential frequency Δ f is kept within limits and/or variation as required.For instance, oscillator 202 is voltage controlled oscillators, the output of frequency control unit 218 is a voltage signal at this moment, and voltage is magnificationfactor or differential frequency Δ f linear change in time, and the oscillation frequency of oscillator 202 is subjected to this Control of Voltage and changes.Control signal 240 is control generator 202 not also, and is used for control generator 201, and mode is identical with control generator 202.Frequency control unit 218 can be realized by multiple mode, D/A converter or the PWM function that can utilize single-chip microcomputer 243 generally to have for instance realize, also can discharge and recharge control signal, and then control outside charge-discharge circuit and realize by exporting by single-chip microcomputer 243.A specific embodiment is that the D/A converter that utilizes single-chip microcomputer generally to have is realized, Single Chip Microcomputer (SCM) program is according to the time magnification β that calculates, by the certain control voltage of D/A converter output, the D/A converter output terminal is connected with the voltage-controlled voltage input end of previously described VX20 series voltage control crystal oscillator, and then reaches the purpose of control generator frequency.Control method for frequency is known by industry, and the specific implementation of different frequency control method does not influence effectiveness of the present invention.
This device also disposes a random signal generator 219, and the output terminal of random signal generator 219 is connected with second input end of summing circuit 203, is connected with second input end of summing circuit 204 simultaneously.The control signal 241 of the output of random signal generator 219 can be so that the phase place of the outputting oscillation signal 221,222 of oscillator 201,202 or zero crossing produce identical small randomized jitter, and then the position of pulse signal on time shaft that pulse producer 205,206 is produced produces identical small randomized jitter.For instance, control signal 241 is a small voltage at random, with this at random voltage be added to simultaneously on the oscillator signal of oscillator 201,202, and then make the zero crossing of oscillator signal produce small randomized jitter.Random signal generator 219 can be realized by multiple mode, can produce pseudorandom M sequence by single-chip microcomputer 243 programmings or by the external shift register circuit for instance, this pseudorandom M sequence is by the small at random voltage of outside integrating circuit generation with the M sequence variation.Because the probability of the random series that overlaps fully on the different device generation time is very low, therefore this mechanism can be cheap and eliminate phase mutual interference between the collision avoidance system that is installed on the different motor vehicles reliably.Fig. 6 shows a kind of specific embodiment of random signal generator 219, and 602 is the output terminal of random signal generator 219 among the figure.The M random series that an I/O mouth of single-chip microcomputer 243 prestores according to program, serial 0,1 random series of circular order ground output regularly, 0 level accordingly, 1 corresponding high level, this output sequence is through by R
9And C
2The integrating circuit that constitutes is created in the voltage signal at random of random fluctuation between ground level and the high level, this emitter follower output of constituting through integrated transporting discharging 601 of voltage signal at random.The production method of random signal is known by industry, and the specific implementation of distinct methods does not influence effectiveness of the present invention.
The final echo signal of intermediate frequency 235 or 234 that produces is sent into an information extraction assessment unit 220, information extraction assessment unit 220 binding time magnificationfactors and/or differential frequency Δ f, extract and assess the information of barrier, and output alarm and/or control signal 242.Information extraction assessment unit 220 can utilize single-chip microcomputer 243 programmings to realize, also can realize that this is not to be will finishing of task required for the present invention by certain circuit.
Fig. 7 show when oscillator 201,202 for sine-wave oscillator, pulse producer 205,206 during for squarer, the mutual relationship between the output signal 223,224,225,226,227,228,233.X axle express time wherein, the y axle is represented signal amplitude.701 is the waveform signal of the output 223 of summing circuit 203,702 is the waveform signal of the output 224 of summing circuit 204,703 is the waveform signal of the output 225 of pulse producer 205,704 is the waveform signal of the output 226 of pulse producer 206,705 is the waveform signal of the output 227 of microwave source 207,706 is the waveform signal of the output 228 of microwave source 208, and 707 is the waveform signal of the output 233 of directional coupler 210.708,709 is the launched microwave pulse leaks into output terminal by the input end of directional coupler 210 microwave pulse signal, this be since actual directional coupler can not accomplish input and output isolate fully cause, microwave pulse 708,709 is littler than the microwave pulse of emission, but significantly greater than reflected microwave pulse 710,711.710,711 microwave pulse signals, reflected signal for the reflection of the barrier that receives generally all a little less than.T
sBeing the oscillation period of oscillator 201, is the oscillation frequency f of oscillator 201
sInverse, T
rBeing the oscillation period of oscillator 202, is the oscillation frequency f of oscillator 202
rInverse, Δ T is the difference DELTA T=T of the oscillation period of two oscillators
r-T
s, Δ T is generally very little.Δ t is a microwave pulse from the time that barrier reflects.As everyone knows, electromagnetic wave is constantly equal to light velocity C in the velocity of propagation of free space, if can accurately measure Δ t, the distance that just can calculate between barrier 104 and the motor vehicle is l=Δ t * C/2, and wherein C is the light velocity.The barrier of calculating by double surveymeter and the variation of motor vehicle distance just can calculate the relative velocity of barrier and motor vehicle.But in actual conditions, because the light velocity is very fast, so Δ t is very little, is very difficult so directly measure Δ t and will keep certain measuring accuracy.For instance, the distance of supposing barrier and motor vehicle is 10 meters, this moment, Δ t only was 66.667 nanoseconds, if require measuring accuracy to reach 1 millimeter, the minute differences that needs 0.006 nanosecond of device energy measurement Δ t so, this measurement is very difficult, enables promptly to accomplish that equipment cost also can be very high.
Fig. 8 shows the signal of the echo signal of intermediate frequency of the present invention's generation.X axle express time wherein, the y axle is represented signal amplitude.801 corresponding directional couplers leak into the launched microwave pulse signal 708 of output terminal or the microwave pulse signal 710 or 711 of 709,802 corresponding barrier reflections, Δ t among the figure
zCorresponding microwave pulse is from the time Δ t that barrier reflects, Δ t
zWith the corresponding relation of Δ t be Δ t
z=β * Δ t, wherein β is the time amplification coefficient, be equivalent to Δ t and in the echo signal of intermediate frequency that the present invention generates, be exaggerated β doubly, since the equivalent time amplification, Δ t
zBe easy to measuredly, and then calculate Δ t, and then calculate the distance between motor vehicle and the barrier.Utilize the present invention, the direct measurement to Δ t can be converted to Δ t
zIndirect measurement, this indirect measurement can be dirt cheap and realize reliably.For instance, if time magnificationfactor=10
5, the distance of supposing barrier and motor vehicle is 10 meters, at this moment Δ t
zBe 6.667 milliseconds,, only need measurement mechanism energy measurement Δ t if require measuring accuracy to reach 1 millimeter
zThe difference of 0.6 microsecond, this measurement just can be easily with low speed very and cheap device is realized, and can guarantee very high measuring accuracy.Simultaneously amplitude, the phase place of 802 amplitude, phase place and actual reflected microwave pulse signal 710 or 711 also have linear corresponding relation, owing to the equivalent time amplification, the measurement of reflected signal amplitude, phase place are also become easy.
Claims (4)
1, a kind of detection method that is used for peripheral obstacle for motor vehicle is characterized in that being made up of following steps:
One, by antenna the microwave pulse signal is emitted to the direction that needs detection, microwave pulse runs into barrier and produces reflection, and antenna receives the reflected microwave pulse signal;
Two, produce two benchmark oscillator signals by two oscillators, promptly a transmitted reference oscillator signal is used to produce the launched microwave pulse, and oscillation frequency is f
s, a reference data oscillator signal is used for producing with reference to microwave pulse, and oscillation frequency is f
r, a difference on the frequency Δ f is arranged between two frequencies;
Three, produce a random signal by a random signal generator, by two summing circuits and two benchmark oscillator signal stacks, make two benchmark oscillator signals produce identical small randomized jitter, and then produce two benchmark control signals, i.e. transmitted reference control signal, be used to produce the launched microwave pulse, oscillation frequency is f
s, a reference data control signal is used for producing with reference to microwave pulse, and oscillation frequency is f
r
Four, under the control of two benchmark control signals, generate two narrow pulse signals by two pulse producers, an emission narrow pulse signal is used to produce the launched microwave pulse, and pulse repetition rate is f
s, one is used for producing with reference to microwave pulse with reference to narrow pulse signal, and pulse repetition rate is f
r, under the effect of two benchmark control signals, two narrow pulse signals also have identical small randomized jitter;
Five, under two narrow pulse signal controls, generate two microwave pulse signals by two identical microwave sources of oscillation frequency, a launched microwave pulse signal is used for emission, and pulse repetition rate is f
s, one is used for the reflected microwave pulse signal that receives is processed with reference to the microwave pulse signal, and pulse repetition rate is f
r, the centre carrier frequency of two microwave pulse signals is identical, and under two narrow pulse signal effects, two microwave pulse signals also have identical small randomized jitter;
Six, one first frequency mixer is set, what its first input end was imported is the reflected microwave pulse signal that receives, what second input end was imported is with reference to the microwave pulse signal, and two signals are in the frequency mixer mixing, and output terminal is exported the described echo signal of intermediate frequency of the application;
Seven, one second frequency mixer is set, what its first input end was imported is that repetition frequency is f
sSignal, second input end input be that repetition frequency is f
rSignal, output terminal output repetition frequency is the difference frequency signal of Δ f;
Eight, measure difference frequency Δ f, computing time magnificationfactor;
Nine, binding time magnificationfactor extracts various information from described echo signal of intermediate frequency.
2, the detection method that is used for peripheral obstacle for motor vehicle as claimed in claim 1 is characterized in that described oscillation frequency f
sBe greater than oscillation frequency f
r, i.e. f
s＞f
r, and the difference on the frequency Δ f between two oscillators will be far smaller than f
s
3,, it is characterized in that it is fixing and known having the oscillation frequency of an oscillator in described two oscillators at least as claim 1 and the 2 described detection methods that are used for peripheral obstacle for motor vehicle.
4, the detection method that is used for peripheral obstacle for motor vehicle as claimed in claim 1 is characterized in that described time magnificationfactor calculates with following formula:
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100107095A CN100470257C (en) | 2006-02-28 | 2006-02-28 | Method for detecting peripheral obstacle for motor vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100107095A CN100470257C (en) | 2006-02-28 | 2006-02-28 | Method for detecting peripheral obstacle for motor vehicle |
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| CN1815261A true CN1815261A (en) | 2006-08-09 |
| CN100470257C CN100470257C (en) | 2009-03-18 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102176009A (en) * | 2011-01-24 | 2011-09-07 | 北京北大千方科技有限公司 | Microwave distance measurement-based antenna positioning method and device |
| CN104880706A (en) * | 2014-02-27 | 2015-09-02 | 北京大学 | Frequency-modulated continuous-wave radar based on on-chip directional coupler |
| CN107804263A (en) * | 2017-10-24 | 2018-03-16 | 北京汽车研究总院有限公司 | It is a kind of come car based reminding method, car body controller and automobile |
| WO2019223515A1 (en) * | 2018-05-25 | 2019-11-28 | 华为技术有限公司 | Information measurement method and information measurement device |
| CN113417537A (en) * | 2021-08-09 | 2021-09-21 | 珠海市多泰吉智能技术有限公司 | Door safety control system and car of car |
| CN110275170B (en) * | 2018-03-15 | 2021-12-03 | 郑州宇通客车股份有限公司 | Radar detection control method for vehicle and vehicle |
-
2006
- 2006-02-28 CN CNB2006100107095A patent/CN100470257C/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102176009A (en) * | 2011-01-24 | 2011-09-07 | 北京北大千方科技有限公司 | Microwave distance measurement-based antenna positioning method and device |
| CN102176009B (en) * | 2011-01-24 | 2013-05-22 | 北京北大千方科技有限公司 | Microwave distance measurement-based antenna positioning method and device |
| CN104880706A (en) * | 2014-02-27 | 2015-09-02 | 北京大学 | Frequency-modulated continuous-wave radar based on on-chip directional coupler |
| CN107804263A (en) * | 2017-10-24 | 2018-03-16 | 北京汽车研究总院有限公司 | It is a kind of come car based reminding method, car body controller and automobile |
| CN110275170B (en) * | 2018-03-15 | 2021-12-03 | 郑州宇通客车股份有限公司 | Radar detection control method for vehicle and vehicle |
| WO2019223515A1 (en) * | 2018-05-25 | 2019-11-28 | 华为技术有限公司 | Information measurement method and information measurement device |
| CN113417537A (en) * | 2021-08-09 | 2021-09-21 | 珠海市多泰吉智能技术有限公司 | Door safety control system and car of car |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100470257C (en) | 2009-03-18 |
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