CN202029843U - Vehicle active anti-collision system based on microwave radar - Google Patents
Vehicle active anti-collision system based on microwave radar Download PDFInfo
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- CN202029843U CN202029843U CN2011201492715U CN201120149271U CN202029843U CN 202029843 U CN202029843 U CN 202029843U CN 2011201492715 U CN2011201492715 U CN 2011201492715U CN 201120149271 U CN201120149271 U CN 201120149271U CN 202029843 U CN202029843 U CN 202029843U
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Abstract
The utility model discloses a vehicle active anti-collision system based on a microwave radar. The microwave radar comprises a transceiving front end and a signal processing rear end, wherein the transceiving front end is connected with the signal processing rear end through a power line, a control line, an analog modulation signal line and an echo signal line, and the signal processing rear end is connected into a bus of a vehicle and then connected with a driving system and a braking system of the vehicle to control the movement state of the vehicle. By arranging the microwave radar on the whole vehicle, relative distance, speed and moving direction of surrounding vehicles and the vehicle are detected to obtain quantized data, and detection results are used for judging the driving safety of the vehicle and giving an alarm for a driver, offering driving suggestion or actively taking corresponding protective measures for the driver to avoid collision.
Description
Technical field
The utility model relates to initiatively collision avoidance system of a kind of vehicle, relates in particular to initiatively collision avoidance system of a kind of power actuated vehicle of realizing based on vehicle-mounted microwave radar, belongs to preventing collision of vehicles and hits technical field.
Background technology
The self-propelled vehicle quantity of China is in quick growth state always, and recoverable amount is above 200,000,000 at present.Meanwhile, traffic safety problem is also outstanding day by day.Relevant statistics shows that most traffic accidents all is a collision class accident, and wherein the collision more than 80% all is two cars or the collision of many cars.Can avoid the collision in the power actuated vehicle driving process, just can ensure occupant's life security to greatest extent.
The preventing collision of vehicles technology of hitting mainly is divided into passive anticollision and active anticollision two classes.Passive anticollision mainly comprises safety air bag, safety strap technology; this class The Application of Technology only is the passive protection after vehicle bumps; and vehicle before and after before collision takes place, just in time finding, the crash-avoidance of taking measures is only the emphasis that reduces this type of traffic accident.Initiatively anticollision is meant when vehicle does not take place as yet and will bump, and can remind the driver or make self-propelled vehicle deceleration, brake on one's own initiative by certain technological means, with crash-avoidance.Therefore, initiatively anticollision is the main developing direction that preventing collision of vehicles hits technology.
At present, each main motor plant commercial city has been dropped into very big manpower and materials and has been conducted a research in that the active anticollision is technical, and has obtained cooresponding achievement in research.For example Sweden Volvo AB released in 2009 below the speed per hour 15km/h can crash-avoidance collision avoidance system, after this in 2010～2011 years, Fuji Heavy Industries, germany volkswagen and the Volvo AB speed per hour that released one after another reaches the automobile that 30km/h also can crash-avoidance.In addition, Nissan Motor is announced to develop speed per hour and is reached the collision avoidance system that 60km/h also can crash-avoidance.
In these active collision avoidance systems, trailer-mounted radar is the function block of performance central role.Trailer-mounted radar is to the ripple of detection direction emission and recovery certain frequency, by characteristic variations calculating radar dead ahead obstacle and the distance between radar, the i.e. distance between obstacle and the car of ripple.At present, trailer-mounted radar mainly contains four types of super sonics, infrared ray, laser, microwave, wherein microwave radar (especially 24G, 35G, 76G, 77G wave band) is the main direction of industry research and development of products, it compares to first three and plants radar type, the characteristics that have that detection range is long, antijamming capability strong, can penetrate non-metallic objectsit is not a metal object, it is good that wave beam is shaped, very suitable to trailer-mounted radar (further can be, Shanghai Inst. of Microsystem and Information Technology, Chinese Academy of Sci delivered in 2003) with reference to doctor's Xu Tao academic dissertation " millimeter-wave automotive anti-collision radar practical research ".And the hardware cost of microwave radar also has progressively downward trend, and relevant supporting technology is also ripe gradually.
Summary of the invention
Technical problem to be solved in the utility model is to provide a kind of vehicle active collision avoidance system based on microwave radar.
For realizing above-mentioned purpose, the utility model adopts following technical scheme:
A kind of vehicle active collision avoidance system based on microwave radar is characterized in that:
Microwave radar in the described vehicle active collision avoidance system is installed in the vehicle whole body, described microwave radar comprises receiving and transmitting front end and signal conditioning rear end, be connected by power lead, control line, modulated-analog signal line and echoed signal line between described receiving and transmitting front end and the described signal conditioning rear end, automobile bus is inserted in described signal conditioning rear end, and then the driving system and the brake system of connection vehicle, vehicle behaviour is controlled.
Wherein, described receiving and transmitting front end is made of micro-strip antenna array, transmitting-receiving subassembly and interface circuit three parts, and described micro-strip antenna array connects described transmitting-receiving subassembly, and described transmitting-receiving subassembly connects described interface circuit.
Described transmitting-receiving subassembly comprises voltage controlled oscillator (VCO) and frequency mixer, and wherein said voltage controlled oscillator (VCO) is used for receiving the modulated-analog signal input of described interface circuit, and described frequency mixer is to described interface circuit output echoed signal.
Described interface circuit comprises preamplifier, matched filter, automatic gain amplifying circuit, modulation signal filter and power supply regulator circuit; Wherein, described preamplifier, described matched filter and described automatic gain amplifying circuit are linked in sequence, and described modulation signal filter and described power supply regulator circuit are connected between described signal conditioning rear end and the described transmitting-receiving subassembly.
Described signal conditioning rear end is made up of analog-to-digital conversion module, field programmable gate array, digital signal processing chip, D/A converter module, Display and Alarm Circuit, automobile bus expansion module and power module; Wherein, described analog-to-digital conversion module receives the analog signal of described interface circuit by the echoed signal line, and the digital signal after will changing inputs to described field programmable gate array; Described D/A converter module receives digital modulation signals from described field programmable gate array, exports to described interface circuit by the modulated-analog signal line after digital to analogy conversion.
Described field programmable gate array is connected with described digital signal processing chip.
Described digital signal processing chip receives the external input signal about road conditions, vehicle condition and people's condition, connects described Display and Alarm Circuit on the one hand, inserts in the automobile bus by described automobile bus expansion module on the other hand.
This vehicle active collision avoidance system is by installing microwave radar all over the body at vehicle; carry out relative distance, the speed of nearby vehicle and this car, the detection of direct of travel; obtain quantized data; testing result is used for the judgement of vehicle driving safety, and reports to the police, provide and drive suggestion or initiatively take corresponding protection measure crash-avoidance for chaufeur to chaufeur.
Description of drawings
The utility model is described in further detail below in conjunction with the drawings and specific embodiments.
Fig. 1 is the integral structure scheme drawing of the microwave radar in this vehicle active collision avoidance system;
Fig. 2 is in the microwave radar shown in Figure 1, the structural representation of receiving and transmitting front end;
Fig. 3 is the structural representation of interface circuit in the receiving and transmitting front end;
Fig. 4 is in the microwave radar shown in Figure 1, the structural representation of signal conditioning rear end.
The specific embodiment
Vehicle provided by the utility model initiatively collision avoidance system is the center with the microwave radar that is installed in the vehicle whole body.This microwave radar comprises receiving and transmitting front end 1 and signal conditioning rear end 2, and wherein automobile bus is inserted in signal conditioning rear end 2, and then connects the driving system and the brake system of vehicle interior, and vehicle behaviour is controlled.This vehicle initiatively collision avoidance system carries out relative distance, the speed of nearby vehicle and this car, the real-time detection of direct of travel by microwave radar, obtain quantized data by the digital signal processing chip in the signal conditioning rear end 2 by calculating, and then take corresponding initiatively anticollision measure.Initiatively the integral structure and the principle of work of collision avoidance system are described in detail to this vehicle below.
Fig. 1 is the integral structure scheme drawing of the microwave radar in this vehicle active collision avoidance system.This microwave radar is made up of receiving and transmitting front end 1 and signal conditioning rear end 2 two large divisions, is connected by power lead, control line, modulated-analog signal line and echoed signal line between receiving and transmitting front end 1 and the signal conditioning rear end 2.Wherein, control line is used for transmitting the control signal that enables of control receiving and transmitting front end 1 mode of operation switching; The modulated-analog signal line is used to transmit the modulated-analog signal that is input to receiving and transmitting front end 1 from signal conditioning rear end 2; The echoed signal line is used to transmit the echoed signal that is transported to signal conditioning rear end 2 from receiving and transmitting front end 1; Above modulated-analog signal line is connected by the BNC port cable with the echoed signal line.
As shown in Figure 2, receiving and transmitting front end 1 is made of micro-strip antenna array 3, transmitting-receiving subassembly 4 and interface circuit 5 three parts, and micro-strip antenna array 3 connects transmitting-receiving subassembly 4, transmitting-receiving subassembly 4 connecting interface circuit 5.Wherein, micro-strip antenna array 3 is used for reception/emission rf carrier.Transmitting-receiving subassembly 4 mainly comprises voltage controlled oscillator (VCO) (VCO) 6 and frequency mixer 7 two parts, the wherein input of the modulated-analog signal in voltage controlled oscillator (VCO) (VCO) the 6 receiving interface circuit 5, and frequency mixer 7 is to interface circuit 5 output echoed signals.
As shown in Figure 3, interface circuit 5 comprises: preamplifier 8, matched filter 9, automatic gain amplifying circuit (AGC amplifying circuit) 10, modulation signal filter 11 and power supply regulator circuit 12.Wherein, preamplifier 8, matched filter 9 and automatic gain amplifying circuit (AGC amplifying circuit) 10 is linked in sequence, and its role is to echoed signal is carried out filtering, processing and amplifying.Modulation signal filter 11 is connected between signal conditioning rear end 2 and the transmitting-receiving subassembly 4, its role is to the modulated-analog signal that signal conditioning rear end 2 produces is carried out Filtering Processing.Power supply regulator circuit 12 also is connected between signal conditioning rear end 2 and the transmitting-receiving subassembly 4, its role is to: 1. voltage stabilizing function: the voltage of supplying with receiving and transmitting front end 1 is carried out voltage stabilizing, so that receiving and transmitting front end 1 normal operation.2. voltage adjustment: the control input of enabling to signal conditioning rear end 2 responds, adjust voltage with generation-5V, 0 ,+adjustable voltage of 5V so that the mode of operation of receiving and transmitting front end is controlled by this adjustable voltage.
The inner structure of signal conditioning rear end 2 as shown in Figure 4.It is made up of analog-to-digital conversion module 13, field programmable gate array (FPGA) 14, digital signal processing chip 15, D/A converter module 16, Display and Alarm Circuit 17, automobile bus expansion module 18 and power module 19.Wherein, analog-to-digital conversion module 13 is by the analog signal of echoed signal line receiving interface circuit 5, and the digital signal after will changing inputs to field programmable gate array (FPGA) 14.D/A converter module 16 receives digital modulation signals from field programmable gate array (FPGA) 14, exports to interface circuit 5 by the modulated-analog signal line after digital to analogy conversion.The effect of field programmable gate array (FPGA) 14 is: 1. accept the control signal input of digital signal processing chip 15, whether start analogue to digital conversion and when start, when stop judging; 2. data after data after the conversion of analog-to-digital conversion module 13 being carried out software filtering and stored filtering; 3. produce digital modulation signals, and 16 pairs of digital modulation signals of control D/A converter module carry out digital to analogy conversion; 4. send control signal by control line, the mode of operation of control receiving and transmitting front end 1.Field programmable gate array (FPGA) 14 is connected with digital signal processing chip 15.The external input signal that digital signal processing chip 15 receives about road conditions, vehicle condition and people's condition, and connect Display and Alarm Circuit 17 on the one hand, insert in the automobile bus by automobile bus expansion module 18 on the other hand.Its main effect is: 1. to the processing that performs mathematical calculations of the signal transformation result of analog-to-digital conversion module of storage in the field programmable gate array (FPGA) 14, therefrom extract the speed and the range information of target; 2. speed and the range information with target is input to Display and Alarm Circuit 17 to carry out acoustooptic display alarm; 3. sending controling instruction is to field programmable gate array (FPGA) 14, to determine whether start analogue to digital conversion and when start, when stop.The effect of Display and Alarm Circuit 17 is that the speed and the range information of 15 inputs of logarithm word signal processing chip carry out sound or display alarm.The effect of automobile bus expansion module 18 is to convert the universal serial bus of digital signal processing chip 15 to adopt CAN and 485 standards automobile bus.The effect of power module 19 is to provide a plurality of voltage classs so that whole vehicle active collision avoidance system is powered.
In a specific embodiment of this vehicle active collision avoidance system, digital signal processing chip adopts TI company's T MS320C6713 treater, does the processing of Fast Fourier Transform (FFT) FFT to gathering the signal of changing, and extracts corresponding target range and velocity information; The SPARTAN on-site programmable gate array FPGA of selecting 200,000 is stored accordingly, AD control, modulating wave generation, software filtering, enable control output programming; Select AD9240 analog-to-digital conversion module binary channel, 14,10M sampling frequency.The power supply of total system employing+12V power supply, and carry out corresponding voltage stabilizing, level conversion, supply with relevant chip and circuit.Especially in the interface circuit of receiving and transmitting front end, carry out level conversion,, 03 kinds of level positive and negative to export.Display and Alarm Circuit adopts ARM9 treater, LCD display and loudspeaker, accepts the speed of TMS320C6713 and the output of range information by the ARM9 treater
Principle of work to this vehicle active collision avoidance system is described in detail below.
At first, send digital modulation signals, change into modulated-analog signal-chopping sea/sawtooth wave through D/A converter module 16 by field programmable gate array (FPGA) 14.This modulated-analog signal is in the modulated-analog signal line reaches modulation signal filter 11 in the interface circuit 5, through the Filtering Processing filtering noise, reach again in the voltage controlled oscillator (VCO) (VCO) 6 of transmitting-receiving subassembly 4, generate rf carrier, and this rf carrier is launched by micro-strip antenna array 3.After rf carrier is launched by micro-strip antenna array 3, running into obstacle reflects, and through micro-strip antenna array 3 receptions, transfer to transmitting-receiving subassembly 4, after handling, transmitting-receiving subassembly 4 exports interface circuit 8 to by frequency mixer 7, after handling through preamplifier 8, matched filter 9, automatic gain amplifying circuit AGC amplifying circuit 10 successively, transfer to signal conditioning rear end 2 through the echoed signal line.
In signal conditioning rear end 2, the signal that reflects is transferred to analog-to-digital conversion module 13.At this, analog signal is converted into digital signal, and the data in real time after will changing be sent to carry out software filtering in the field programmable gate array (FPGA) 14 and store filtering after data, after analog-to-digital conversion module 13 has been finished sample conversion process, field programmable gate array (FPGA) 14 sends canned data into digital signal processing chip 15, the processing that performs mathematical calculations, the distance of captured target obstacle and relative velocity from data.
Subsequently, digital signal processing chip 15 will be apart from transferring to Display and Alarm Circuit 17 with velocity information.Display and Alarm Circuit 17 is carried out sound or display alarm according to target obstacle and distance this car and relative velocity to chaufeur, reminds its deceleration or brake.On the other hand, digital signal processing chip 15 is converted to serial signal the signal that meets CAN or 485 standards by automobile bus expansion module 18, so that other adopt the equipment of CAN or 485 standards to be connected with automotive interior, transmit distance, velocity information, alarm message or export according to the control that distance and velocity information are correlated with.
This vehicle active collision avoidance system is when work, the obstacle of surveying this car front, rear, left and right by vehicle-borne microwave radar is distance, speed and the direct of travel of this car relatively, and the result that will detect in time reminds or be shown to chaufeur by the display alarm module.Microwave radar is caught vehicle condition information by automobile bus expansion module 18, and combining road condition information and people's condition information, in conjunction with microwave radar the result of detection of obstacle is all around belonged to traffic information, COMPREHENSIVE CALCULATING, to the operating recommendation that provides of chaufeur, as slowing down, brake, turn to etc.On the other hand, catch and judge the operation of chaufeur by automobile bus, finding that vehicle collision danger increases gradually and chaufeur is not in time reacted fatigue driving, drunk driving etc. taken place easily to cause the chaufeur reaction slack-off, move when untimely, provide prompting once more and send control command, make vehicle self take such as airbag opening, force unartificial hedging measures such as brake, forced deceleration to automobile bus.
Need to prove that at this above-mentioned " obstacle " is meant the object that may bump with this car, concrete vehicle, fixation means or the interim object that occurs that exists around this car that be included in.Vehicle condition information is meant the car status information that obtains by the automobile bus expansion module, comprising: the present moving velocity of this car, steering angle etc.People's condition information is meant by drunk driving, tired status information of the chaufeur that people's condition detection means obtained such as driving.Traffic information is meant weather, track situation quality, quantity, damaged degree, and microwave radar is to the resulting distance with respect to this car of detection of obstacle all around, speed, direct of travel etc.The source of these traffic informations, vehicle condition information and people's condition information is except adopting technological means and directly read from vehicle or obtaining indirectly by the information calculations that collects, can also obtain by direct outside input, for example when driving, can upgrade generalized information system by 3G network to the track situation obtains from the outside input.
More than to the vehicle based on microwave radar provided by the utility model initiatively collision avoidance system have been described in detail, but obvious specific implementation form of the present utility model is not limited thereto.For the those skilled in the art in present technique field, in the various conspicuous change of under the situation that does not deviate from claim scope of the present utility model it being carried out all within protection domain of the present utility model.
Claims (8)
1. one kind based on the vehicle of microwave radar collision avoidance system initiatively, it is characterized in that:
Microwave radar in the described vehicle active collision avoidance system is installed in the vehicle whole body, described microwave radar comprises receiving and transmitting front end and signal conditioning rear end, be connected by power lead, control line, modulated-analog signal line and echoed signal line between described receiving and transmitting front end and the described signal conditioning rear end, automobile bus is inserted in described signal conditioning rear end, and then the driving system and the brake system of connection vehicle, vehicle behaviour is controlled.
2. vehicle as claimed in claim 1 is collision avoidance system initiatively, it is characterized in that:
Described receiving and transmitting front end is made of micro-strip antenna array, transmitting-receiving subassembly and interface circuit three parts, and described micro-strip antenna array connects described transmitting-receiving subassembly, and described transmitting-receiving subassembly connects described interface circuit.
3. vehicle as claimed in claim 2 is collision avoidance system initiatively, it is characterized in that:
Described transmitting-receiving subassembly comprises voltage controlled oscillator (VCO) and frequency mixer, and wherein said voltage controlled oscillator (VCO) is used for receiving the modulated-analog signal input of described interface circuit, and described frequency mixer is to described interface circuit output echoed signal.
4. vehicle as claimed in claim 2 is collision avoidance system initiatively, it is characterized in that:
Described interface circuit comprises preamplifier, matched filter, automatic gain amplifying circuit, modulation signal filter and power supply regulator circuit; Wherein, described preamplifier, described matched filter and described automatic gain amplifying circuit are linked in sequence, and described modulation signal filter and described power supply regulator circuit are connected between described signal conditioning rear end and the described transmitting-receiving subassembly.
5. vehicle as claimed in claim 2 is collision avoidance system initiatively, it is characterized in that:
Described signal conditioning rear end is made up of analog-to-digital conversion module, field programmable gate array, digital signal processing chip, D/A converter module, Display and Alarm Circuit, automobile bus expansion module and power module; Wherein, described analog-to-digital conversion module receives the analog signal of described interface circuit by the echoed signal line, and the digital signal after will changing inputs to described field programmable gate array; Described D/A converter module receives digital modulation signals from described field programmable gate array, exports to described interface circuit by the modulated-analog signal line after digital to analogy conversion.
6. vehicle as claimed in claim 5 is collision avoidance system initiatively, it is characterized in that:
Described field programmable gate array is connected with described digital signal processing chip.
7. vehicle as claimed in claim 5 is collision avoidance system initiatively, it is characterized in that:
Described digital signal processing chip receives the external input signal about road conditions, vehicle condition and people's condition, connects described Display and Alarm Circuit on the one hand, inserts in the automobile bus by described automobile bus expansion module on the other hand.
8. as any described vehicle active collision avoidance system in the claim 5～7, it is characterized in that:
Described digital signal processing chip is the TMS320C6713 treater.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201492715U CN202029843U (en) | 2011-05-11 | 2011-05-11 | Vehicle active anti-collision system based on microwave radar |
| PCT/CN2011/074013 WO2011140993A1 (en) | 2010-05-12 | 2011-05-12 | Intelligent traffic safety system based on comprehensive state detection and decision method thereof |
| CN201180023702.6A CN102985277B (en) | 2010-12-31 | 2011-05-12 | The intelligent traffic safety system and the decision-making technique thereof that detect based on comprehensive state |
| US13/674,836 US8841994B2 (en) | 2010-05-12 | 2012-11-12 | Intelligent traffic safety system based on comprehensive state detection and decision method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201492715U CN202029843U (en) | 2011-05-11 | 2011-05-11 | Vehicle active anti-collision system based on microwave radar |
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| CN202029843U true CN202029843U (en) | 2011-11-09 |
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| CN2011201492715U Expired - Fee Related CN202029843U (en) | 2010-05-12 | 2011-05-11 | Vehicle active anti-collision system based on microwave radar |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105116379A (en) * | 2015-07-28 | 2015-12-02 | 安徽蓝盾光电子股份有限公司 | Doppler signal conditioning circuit in strong-noise background |
| CN105667506A (en) * | 2016-03-15 | 2016-06-15 | 江苏大学 | Dynamic emergency collision avoidance control method of vehicle |
| CN105989714A (en) * | 2016-01-13 | 2016-10-05 | 合肥工业大学 | Unidirectional multilane vehicle low speed early warning system based on microwave radar |
| CN107571856A (en) * | 2017-09-08 | 2018-01-12 | 合肥永烨信息科技有限公司 | A kind of vehicular traffic emergency automatic adjustment system |
| CN108674412A (en) * | 2018-04-04 | 2018-10-19 | 江苏大学 | A kind of vehicle active collision avoidance method merged using sensor |
| CN109606357A (en) * | 2017-10-04 | 2019-04-12 | 英飞凌科技股份有限公司 | System and method for using the operation of millimetre-wave radar sensor control vehicle |
| CN111183467A (en) * | 2017-10-13 | 2020-05-19 | 罗伯特·博世有限公司 | System and method for estimating orientation of traffic participant |
| CN112230223A (en) * | 2020-12-11 | 2021-01-15 | 北京雷信科技有限公司 | Microwave radar device for high-precision positioning of vehicle |
| CN114078337A (en) * | 2020-08-13 | 2022-02-22 | 宇龙计算机通信科技(深圳)有限公司 | Method and device for controlling rearview mirror, storage medium and electronic equipment |
| CN114779253A (en) * | 2022-04-18 | 2022-07-22 | 深圳市七洲电子有限公司 | Method and system for actively preventing rear vehicle collision |
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2011
- 2011-05-11 CN CN2011201492715U patent/CN202029843U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105116379A (en) * | 2015-07-28 | 2015-12-02 | 安徽蓝盾光电子股份有限公司 | Doppler signal conditioning circuit in strong-noise background |
| CN105989714A (en) * | 2016-01-13 | 2016-10-05 | 合肥工业大学 | Unidirectional multilane vehicle low speed early warning system based on microwave radar |
| CN105667506A (en) * | 2016-03-15 | 2016-06-15 | 江苏大学 | Dynamic emergency collision avoidance control method of vehicle |
| CN107571856A (en) * | 2017-09-08 | 2018-01-12 | 合肥永烨信息科技有限公司 | A kind of vehicular traffic emergency automatic adjustment system |
| CN109606357A (en) * | 2017-10-04 | 2019-04-12 | 英飞凌科技股份有限公司 | System and method for using the operation of millimetre-wave radar sensor control vehicle |
| CN111183467A (en) * | 2017-10-13 | 2020-05-19 | 罗伯特·博世有限公司 | System and method for estimating orientation of traffic participant |
| CN108674412A (en) * | 2018-04-04 | 2018-10-19 | 江苏大学 | A kind of vehicle active collision avoidance method merged using sensor |
| CN114078337A (en) * | 2020-08-13 | 2022-02-22 | 宇龙计算机通信科技(深圳)有限公司 | Method and device for controlling rearview mirror, storage medium and electronic equipment |
| CN112230223A (en) * | 2020-12-11 | 2021-01-15 | 北京雷信科技有限公司 | Microwave radar device for high-precision positioning of vehicle |
| CN112230223B (en) * | 2020-12-11 | 2021-03-02 | 北京雷信科技有限公司 | Microwave radar device for high-precision positioning of vehicle |
| CN114779253A (en) * | 2022-04-18 | 2022-07-22 | 深圳市七洲电子有限公司 | Method and system for actively preventing rear vehicle collision |
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