CN202330702U - 77GHz millimeter wave anti-collision radar transmitter-receiver device of automobile - Google Patents
77GHz millimeter wave anti-collision radar transmitter-receiver device of automobile Download PDFInfo
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- CN202330702U CN202330702U CN2011205043202U CN201120504320U CN202330702U CN 202330702 U CN202330702 U CN 202330702U CN 2011205043202 U CN2011205043202 U CN 2011205043202U CN 201120504320 U CN201120504320 U CN 201120504320U CN 202330702 U CN202330702 U CN 202330702U
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Abstract
The utility model relates to an anti-collision radar of an automobile, particularly relates to a 77GHz millimeter wave anti-collision radar transmitter-receiver device, belongs to the technical field of radar communication, and particularly comprises an antenna module, a radio frequency module, a signal processing module, an externally-arranged module and a power module. A transmitting signal synthesizer of the signal processing module, a filtering amplification and balanced module and the radio frequency module are connected, a branching unit of the radio frequency module is connected with a transmitting controller of the antenna module, and a multichannel mixer is connected with a receiving controller. A display and alarm signal module and a digital signal processor module are respectively connected with the externally-arranged module. The antenna module adopts a mode that a lens is combined with an antenna to work in a 77GHz millimeter wave frequency range, system stability and sensitivity accuracy of the system are reliably guaranteed, signal processing module guarantees accuracy of sampling data, and dynamic range of signals are effectively improved. An integration module assembly is adopted to design the radio frequency module, and high-accuracy measurement angles and fast switching of the receiving antenna are achieved.
Description
Technical field
The utility model relates to a kind of vehicle anticollision radar system, relates in particular to a kind of 77GHz millimeter-wave automotive anticollision radar transmit-receive device, belongs to the radar communication technical field.
Background technology
The automobile initiatively research of anticollision control technology receives extensive attention always, becomes Recent study and the mainstream technology that develops anti-collision system for automobile, is chosen as one of " following ten large focal spot automotive safeties technology " by U.S.'s Forbes.Automobile is active safe driving servicing unit such as anticollision control system initiatively, can obviously reduce driver's burden and misjudgment, for improving traffic safety, reduces pernicious traffic hazard incidence, reduces life and property loss and will play an important role.The result of study of NHTSA shows that the anticollision warning system can make rear-end impact accident decreased average 51%, because of changing the traffic hazard decreased average 47% that the track causes.
Along with development of technology, in the later stage 1980s, the automobile active anticollision control technology research that is the basis with the millimeter wave collision avoidance radar has got into Rapid development stage.
Domestic to based on the automobile of radar initiatively the anticollision technical research all be based on lower frequency with report, use 38GHz millimeter-wave technology and high-speed dsp digital signal processor like the automobile radar anti-collision system of developments such as Saibo Electronic Co., Ltd., Jiangsu Prov..Keep watch on static and vehicle that go on the forward direction track, provide the range and range rate data of 20 targets to judge potential risk of collision target, false alarm rate is 10-3, and the minimum detection distance is 1 meter.The 35GHz millimetre-wave radar system that Shanghai micro-system institute of the Chinese Academy of Sciences has developed calendar year 2001 also is linear frequency modulation continuous wave (LFMCW) system, and modulation signal is the triangular wave in cycle.Integrated receiving and transmitting front end is a waveguiding structure, and antenna is an electromagnetic horn, and signal processing uses the general dsp chip to realize finding range＞100m, and scope＞100km/h tests the speed.2005, the small-sized collision avoidance radar that the full chip of 24GHz that micro-system is developed is integrated.At present, signal wave length when the radio frequency transmissions frequency reaches 77GHz, radiowave is near rectilinear propagation, and system performance can reach very high.But it is a comparatively serious problem that the system of 77GHz radio frequency transmissions, information obtain deficiency, and therefore, the anticollision of the automobile of 77GHz frequency range active both at home and abroad radar system relevant information is also rarely reported.
Summary of the invention
The utility model is eliminated the influence of external environment to antenna and vehicle anticollision radar in order to improve system stability, has proposed a kind of 77GHz millimeter-wave automotive anticollision radar radio-frequency system device.
The utility model is realized through following technical scheme.
A kind of 77GHz millimeter-wave automotive anticollision radar transmit-receive device comprises Anneta module, radio-frequency module, signal processing module, peripheral module and power module.
(1) said Anneta module comprises emitting antenna, receiving antenna, mission controller and reception controller.Emitting antenna wherein and receiving antenna are that antenna combines with lens; Specifically comprise lens support plate, microwave circuit support plate, di-lens, emitting antenna, a plurality of receiving antenna, pillar, wherein the quantity of di-lens equals emitting antenna and receiving antenna quantity sum; Mission controller wherein comprises programmable amplifier and low noise amplifier (LNA), receives controller and comprises many group of received circuit, and every group of corresponding receiving antenna specifically comprises LNA and isolator.The annexation of each ingredient of antenna is: an emitting antenna and a plurality of receiving antenna all are installed on the microwave circuit support plate; The equal independent suspension of each di-lens is on the lens support plate; The corresponding di-lens of each antenna, and be in same vertical direction with the center of corresponding di-lens; Adopt pillar to be connected between lens support plate and the microwave circuit support plate, the two is parallel.
Above-mentioned emitting antenna is single broad beam antenna, for the emitting antenna of bonding wave beam has enough emissive powers, the programmable amplifier in mission controller through and LNA coordinate, change emissive power flexibly according to system requirements; Receiving antenna adopts narrow beam antenna, forms the multi-beam receiving antenna, and each receiving antenna is connected to isolator and the amplifier in the one tunnel corresponding reception controller, and said whole narrow beam receiving antennas are all identical; Receiving controller can and amplify at the signal that receives a plurality of receiving antenna wave beams, realizes high angle measurement accuracy to satisfy when covering the vehicle front zone.
Above-mentioned mission controller, emitting antenna, reception controller and receiving antenna all work in the 77GHz frequency range.
The beam shaping of above-mentioned emitting antenna and receiving antenna is all through adopting di-lens to realize; Each di-lens adjustable angle; The focal length of each di-lens is identical with lens diameter, and the pinpointed focus scope is 60-80mm, on di-lens, posts aluminium foil and is used for suppressing and the screened shielded antanna secondary lobe.
The said lens support plate is teflon (Teflon) material, the adjustable height of pillar.
The position of fixing each dual-mode antenna of above-mentioned microwave circuit support plate has the antenna measurement device on it, be used for test and debugging to antenna.
(2) said radio-frequency module comprises 76.5GHzVCO synthesizer, shunt and multichannel frequency mixer, all works in the 77GHz frequency range; 76.5GHzVCO synthesizer is connected with shunt, shunt links to each other with the multichannel frequency mixer; Accomplish single channel emission and multipath reception function, accomplish the conversion between intermediate-freuqncy signal and the radiofrequency signal.
Conversion between said intermediate-freuqncy signal and the radiofrequency signal comprises that the single channel intermediate-freuqncy signal of desire emission upconverts to the 77GHz radiofrequency signal, receives the multichannel 77GHz frequency band signals that comes and is down-converted to the multichannel intermediate-freuqncy signal;
Said radio-frequency module adopts the mode of radio frequency integrated package to realize, in the synthetic link of assembly, differing through adjustment frequency sweep zero-time synchronously of voltage controlled oscillator clock realizes having following characteristics in all radio frequency integrated packages:
(a) any time, frequency is always different between integrated package, makes that the inter-module working method is a frequency division multiplexing;
(b) several on each integrated package receives a reaction that transmits to this assembly;
(c) overcome the situation of transmission frequency configuration easy interlocking of local oscillator of inter-module when same frequency of a plurality of integrated packages, the interlocking result causes the phase place of output frequency to be difficult to prediction.
(3) said signal processing module comprises the synthesizer that transmits, system sequence control module, filtering amplification and balance module, high precision analogue conversion module, digital signal processor module, demonstration and alerting signal control module, digital-to-analog conversion (DAC) module and clock circuit; Wherein, clock circuit provides reference clock for the digital signal processor module; The system sequence control module receives the control of radio-frequency module, and its output links to each other with balance module, high precision analogue conversion module, digital signal processor module, D/A converter module with the synthesizer that transmits, filtering amplification respectively; The output of digital signal processor module links to each other with the alerting signal module with D/A converter module, demonstration, and the output of D/A converter module is connected to the synthesizer that transmits; Filtering amplification and balance module output output to the digital signal processor module through the high precision analogue conversion module.
The digital signal processor module produces the intermediate frequency digitally transmitted signals, obtains the intermediate frequency analog transmit signal through the DAC module, under the control of system sequence control module, exports radio-frequency module to through the synthesizer that transmits again; The multichannel intermediate frequency of multichannel frequency mixer output receives signal in filtering amplification and the balance module received RF module, and each road intermediate frequency is received signal amplifies, LPF and secondary amplification, outputs to the high precision analogue conversion module; The high precision analogue conversion module transforms to the intermediate frequency analog receiving signal of filtering amplification and balance module output in the intermediate frequency digital received signal entering digital signal processor module, carries out respective algorithms in the digital signal processor module and handles.Signal processor module combines external sensor input signal and each road input data information of overall treatment, provides to show and alerting signal, and will show by the control of system sequence control module and warning message in time sends to peripheral module.The synthesizer that transmits comprises emission attenuator circuit, emission filter circuit; Completion is sent into radio-frequency module with the analog transmit signal of DAC module output through corresponding analog-converted under the signal controlling of system sequence control module output; 76.5GHzVCO in radio-frequency module control again; Further control emission wave frequency, the final realization found range and tested the speed.
(4) said peripheral module comprises external sensors such as display screen, CAN bus and serial ports peripheral hardware, GPS.
(5) said power module is that signal processing module, radio-frequency module, peripheral module and Anneta module provide working power.
The annexation of this device is: the synthesizer that transmits of signal processing module links to each other with the 76.5GHzVCO synthesizer of radio-frequency module, and the filtering amplification links to each other with the multichannel frequency mixer with balance module; The shunt of radio-frequency module links to each other with the mission controller of Anneta module, and the multichannel frequency mixer is connected with the low noise amplifier that receives controller; Demonstration links to each other with the serial ports peripheral hardware with display screen, CAN bus respectively with the alerting signal module; External sensors such as the GPS of peripheral module link to each other with the alerting signal module with digital signal processor module, demonstration.
A kind of 77GHz vehicle anticollision radar transmit-receive device of the utility model, concrete job step is:
Step 1; The digital signal processor module produces the sweep voltage signal; The DAC module converts is the analog voltage signal input synthesizer that transmits with this sweep voltage conversion of signals down in system sequence control module control, and is used for the detection of a target by the voltage controlled oscillator emitting radio frequency signal of radio-frequency module.
3.1 each road analog intermediate frequency is received signal to be amplified;
3.2 the signal to step 3.1 after big carries out LPF, filter away high frequency noise;
3.3 the filtered signal of step 3.2 is carried out secondary to be amplified;
3.4 each the road analog receiving signal to after the amplification of step 3.3 secondary carries out equilibrium treatment;
5.1 each circuit-switched data is carried out forward modem section data latching and negative sense modem section data latching respectively;
5.2 ask mould to carrying out FFT through step 5.1 latched data;
Ask information behind the mould to carry out the target detection of thresholding 5.3 step 5.2 is carried out FFT, be about to information to be detected and thresholding and do comparison, then think target greater than thresholding;
5.4 the detected target of step 5.3 is carried out clutter elimination and moving-target pairing;
5.5 the target to after step 5.4 processing is carried out measurement of angle;
5.6 the information to after the measurement of step 5.5 angle on target is carried out correlation tracking, to surpassing the target outputting alarm information of warning distance;
Step 6 is exported the result of calculation of step 5.3 and 5.6, and putting in order is to show and alerting signal, sees off to the display screen demonstration, and final the realization found range and tested the speed.
Beneficial effect
The utlity model has following advantage:
(1) emitting antenna and receiving antenna work in the 77GHz millimeter wave frequency band, make system stability and sensitivity precision obtain reliable assurance;
(2) adopt integration module modularity design radio-frequency module, cooperate programmable amplifier and low noise amplifier in the Anneta module, the high precision angle-measuring of realization receiving antenna reaches fast and switches;
(3) multiple receive antenna will receive the several echoed signal of coming and handle through the radio-frequency module that some integrated packages constitute, and wherein integrated package frequency spare makes each assembly work in the mode of frequency division multiplexing through control clock synchronization sweep voltage zero-time;
(4) to adopt the radio frequency integrated package that radar front end is carried out integrated for radio-frequency module, greatly reduces radio-frequency module volume and cost;
(5) signal processing module; Circuit is succinct, take that vehicle-mounted space is little, cost is low, low in energy consumption; Signal-processing board has carried out effective amplification and filtering to the signal that radar antenna receives, and especially in the middle of secondary amplifies, has adopted high-performance low noise filter chip, effectively reduces high frequency noise; Guarantee the accuracy of sampled data, effectively improved the dynamic range of signal;
(6) Anneta module adopts the mode that lens and antenna combine, and the dirigibility that has increased design and realized has reduced design difficulty, has guaranteed stability, sensitivity and the precision of system; Have necessary antenna measurement structure; The radio-frequency module that adopts integration module component Design single-shot to overcharge; Cooperate the control of programmable amplifier, low noise amplifier and outside high-speed figure device in the Anneta module, realize the high precision angle-measuring of receiving antenna and switching fast.
Description of drawings
Fig. 1 is system's general diagram of the utility model;
Fig. 2 is " single-shot four is received antenna " plan structure synoptic diagram of Anneta module among the embodiment;
Fig. 3 is " single-shot four is received antenna " profile structural representation of Anneta module among the embodiment;
Fig. 4 is the test effect figure among the embodiment.
Label declaration:
The 1-receiving antenna, 2-emitting antenna, 3-Teflon lens support plate, 4-microwave circuit support plate, 5-antenna measurement device interface, 6-lens, 7-pillar.
Embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is further specified.
Fig. 1 is the overall construction drawing of the utility model, specifically comprises Anneta module, radio-frequency module, signal processing module, peripheral module and power module.
The radio-frequency module of present embodiment comprises a sending module and four receiver modules; The radio-frequency receiving-transmitting integrated package that adopts infenion company to produce; In the single integrated RF transmitting-receiving integrated package; The local oscillator carrier wave of VCO output outputs to two directional couplers through power splitter; Power splitter wherein is 180 phase shift power splitters, i.e. have the phase shift of 180 degree between the two-way of power splitter output signal.Two-way output signal is integrated transmission and receiving function under the effect of directional coupler, and sending function is to realize local oscillation signal and intermediate-freuqncy signal mixing output, and receiving function is that radiofrequency signal and local oscillator mixing are exported intermediate-freuqncy signal.Single integrated RF transmitting-receiving integrated package comprises two single functional module and two/receipts functional modules received, and can realize that two four are received function.Wherein send out/receive functional module and can not when receiving, guarantee to send and mourn in silence and do not have antenna integratedly, emissive power be low.Adopt the radio-frequency receiving-transmitting integrated package of two this type to realize that single-shot four receives functions in the present embodiment, corresponding programmable amplifier and low noise amplifier are joined in order to join with antenna in the outside simultaneously.
Each integrated RF transmitting-receiving integrated package respectively forbids one and sends out/receive function, and also be that each assembly forms single-emission and double-receiving configuration, receive to transmit among Fig. 1 control of synthesizer of two independent emission functions makes VCO output receive the local frequency of voltage signal control; Emission function feeds back in the digital signal processing module that transmits synthesizer and be attached thereto among Fig. 1 through frequency tuning simultaneously.Two independent emission functions carry out power and merge after programmable amplifier and low noise amplifier insert same broad beam antenna, and 4 receiver modules of two radio-frequency receiving-transmitting integrated packages are connected respectively to 4 narrow beam antennas.Voltage controlled oscillator in above-mentioned two radio-frequency receiving-transmitting integrated packages differs Tdelay through adjustment frequency sweep zero-time synchronously and realizes.
" Anneta module " in the present embodiment; Be installed on the automobile chassis; For single-shot 4 is received antenna structure; The mode that adopts antenna to combine with lens is made up of lens support plate, microwave circuit support plate, 5 di-lenses, 1 emitting antenna, 4 receiving antennas and corresponding mission controller and reception controller thereof.
Above-mentioned emitting antenna is that coverage is the single beam Wide antenna of 16 degree, and 4 receiver antennas are narrow beam antenna, and each antenna beam angle of coverage is 4 degree, and antenna pattern is a rectangle, is convenient to connect di-lens.
It is as shown in Figure 2 that single-shot 4 is received the antenna plan structure, and the profile structure is as shown in Figure 3, and wherein each di-lens diameter and focal length are 60mm; Receiving antenna is of a size of 1mm*1mm; Emitting antenna is of a size of 2mm*1.3mm, receives emitting antenna and all is positioned on the antenna pedestal of microwave circuit support plate, and the lens that each antenna is corresponding are positioned on the Teflon lens support plate; Link to each other through the scalable pillar between lens support plate and microwave circuit support plate, the elemental height of pillar is 60mm.The beam coverage of each receiving antenna is 4 degree in the present embodiment, and 4 receiving antennas arrange successively, cover 16 degree scopes altogether.
Adopt the low noise amplifier AD8655 of ANALOG DEVICES company to accomplish amplification and filter function in said filtering amplification and the balance module, the discrete gadget of balanced employing is built.
Master chip ADC in the described high precision analogue conversion module adopts 16 chip AD7980 of ANALOG DEVICES company.
Described DAC module mainly is made up of DAC conversion chip and subsequent decay chip, and master chip wherein adopts 12 chip AD5626 of ANALOG DEVICES company; Output voltage after the DAC conversion also will be decayed, and is used for producing a simulating signal more by a small margin, and this device adopts the AD8655 of ANALOG DEVICES company.
Master chip adopts the Cyclone III family chip EP3C25F256 of altera corp in the described digital signal processing module, realizes the function of this device through programming.
The 77GHz vehicle anticollision radar transmit-receive device of present embodiment, its course of work is following:
Step 1; The digital signal processor module produces a circuit-switched data and represents the sweep voltage size; The DAC module converts is an analog voltage signal with this road sweep voltage data-switching under system sequence control module control; And with this analog voltage signal input synthesizer that transmits, the radiofrequency signal of the voltage controlled oscillator emission corresponding frequencies of the integrated output signal that transmits control radio-frequency module is used for the detection of a target;
3.1 each the road signal to 4 road analog if signals amplifies;
3.2 LPF, filter away high frequency noise are carried out in each road in 4 tunnel simulating signals to step 3.1 after big;
3.3 secondary is carried out on each road in filtered 4 road signals of step 3.2 to be amplified;
3.4 each the road simulating signal in 4 tunnel simulating signals after the amplification of step 3.3 secondary is carried out equilibrium treatment;
5.1 each circuit-switched data in 4 circuit-switched data is carried out forward modem section data latching and negative sense modem section data latching respectively;
5.2 being carried out FFT, 4 circuit-switched data that latch through step 5.1 ask mould;
Ask 4 tunnel information behind the mould to carry out the thresholding target detection 5.3 step 5.2 is carried out FFT, be about to information to be detected and thresholding 2uV does comparison, 2uV then thinks target greater than thresholding;
5.4 the detected target of step 5.3 is carried out clutter elimination and moving-target pairing;
5.5 the target to after step 5.4 processing is carried out measurement of angle;
5.6 the information to after the measurement of step 5.5 angle on target is carried out correlation tracking, to surpassing the target outputting alarm information of warning distance; At present, false-alarm probability can accomplish that 2uV goes up the no false-alarm of realization.
Step 6, with the output of the result of calculation of step 5.3 and 5.6, putting in order is to show and alerting signal, sees off to display screen to show.
The 77GHz millimeter-wave automotive anticollision radar transmit-receive system and device of present embodiment through system building, and the coherent signal processing links, has been realized the transmitting-receiving and the range finding of radiofrequency signal and has been tested the speed.And based on measured data and experimental data result of calculation be output as show and alerting signal to display screen, system's range finding at present and rate accuracy are respectively 0.3m and 0.5m/s.Its test effect is as shown in Figure 4, and radar finds that there is target in the 3.08m place forwardly, video data and being embodied in the coordinate system in screen.
The above is the preferred embodiment of the utility model, and the utility model should not be confined to the disclosed content of this embodiment and accompanying drawing.Everyly do not break away from the equivalence of accomplishing under the spirit disclosed in the utility model or revise, all fall into the scope of the utility model protection.
Claims (7)
1. a 77GHz millimeter-wave automotive anticollision radar transmit-receive device is characterized in that: comprise Anneta module, radio-frequency module, signal processing module, peripheral module and power module;
Said Anneta module comprises emitting antenna, receiving antenna, mission controller and reception controller; Emitting antenna wherein and receiving antenna are that antenna combines with lens, specifically comprise lens support plate, microwave circuit support plate, di-lens, emitting antenna, a plurality of receiving antenna, pillar; Mission controller comprises programmable amplifier and low noise amplifier, receives controller and comprises many group of received circuit, and every group of corresponding receiving antenna specifically comprises low noise amplifier and isolator; An emitting antenna and a plurality of receiving antenna all are installed on the microwave circuit support plate, the equal independent suspension of each di-lens on the lens support plate, corresponding di-lens of each antenna, and be in same vertical direction with the center of corresponding di-lens; Adopt pillar to be connected between lens support plate and the microwave circuit support plate, the two is parallel;
Said radio-frequency module comprises 76.5GHz VCO synthesizer, shunt and multichannel frequency mixer, all works in the 77GHz frequency range; 76.5GHz the VCO synthesizer is connected with shunt, shunt links to each other with the multichannel frequency mixer; Radio-frequency module adopts the mode of radio frequency integrated package to realize, differing through adjustment frequency sweep zero-time synchronously of voltage controlled oscillator clock realized in the radio frequency integrated package;
Said signal processing module comprises the synthesizer that transmits, power module, system sequence control module, filtering amplification and balance module, high precision analogue conversion module, digital signal processor module, demonstration and alerting signal module, D/A converter module and clock circuit; Clock circuit provides reference clock for the digital signal processor module; The system sequence control module receives the control of radio-frequency module, and its output links to each other with balance module, high precision analogue conversion module, digital signal processor module, D/A converter module with the synthesizer that transmits, filtering amplification respectively; The output of digital signal processor module links to each other with the alerting signal module with D/A converter module, demonstration, and the output of D/A converter module is connected to the synthesizer that transmits; Filtering amplification and balance module output output to the digital signal processor module through the high precision analogue conversion module;
Said peripheral module comprises external sensors such as display screen, CAN bus and serial ports peripheral hardware, GPS;
The annexation of above-mentioned each ingredient is: the synthesizer that transmits of signal processing module links to each other with the 76.5GHz VCO synthesizer of radio-frequency module, and the filtering amplification links to each other with the multichannel frequency mixer with balance module; The shunt of radio-frequency module links to each other with the mission controller of Anneta module, and the multichannel frequency mixer is connected with the low noise amplifier that receives controller; Power module is that signal processing module, radio-frequency module, peripheral module and Anneta module provide working power; Demonstration links to each other with the serial ports peripheral hardware with display screen, CAN bus respectively with the alerting signal module; External sensors such as the GPS of peripheral module link to each other with the alerting signal module with digital signal processor module, demonstration.
2. a kind of 77GHz millimeter-wave automotive anticollision radar transmit-receive device according to claim 1, it is characterized in that: the quantity of said di-lens equals emitting antenna and receiving antenna quantity sum; Each di-lens adjustable angle, focal length is identical with its diameter, and the pinpointed focus scope is 60-80mm, posts aluminium foil on it and is used for suppressing and the screened shielded antanna secondary lobe.
3. a kind of 77GHz millimeter-wave automotive anticollision radar transmit-receive device according to claim 1 is characterized in that: said emitting antenna is for can change the single broad beam antenna of emissive power according to system requirements flexibly.
4. a kind of 77GHz millimeter-wave automotive anticollision radar transmit-receive device according to claim 1, it is characterized in that: said receiving antenna adopts a plurality of identical narrow beam antennas, forms the multi-beam receiving antenna.
5. a kind of 77GHz millimeter-wave automotive anticollision radar transmit-receive device according to claim 1, it is characterized in that: said mission controller, emitting antenna, reception controller and receiving antenna all work in the 77GHz frequency range.
6. a kind of 77GHz millimeter-wave automotive anticollision radar transmit-receive device according to claim 1 is characterized in that: the position of fixing each dual-mode antenna of said microwave circuit support plate has the antenna measurement device on it.
7. a kind of 77GHz millimeter-wave automotive anticollision radar transmit-receive device according to claim 1; It is characterized in that: the multichannel intermediate frequency of multichannel frequency mixer output receives signal in said filtering amplification and the balance module received RF module, and each road intermediate frequency is received signal amplifies, LPF and secondary amplification.
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| CN2011205043202U CN202330702U (en) | 2011-12-06 | 2011-12-06 | 77GHz millimeter wave anti-collision radar transmitter-receiver device of automobile |
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| CN2011205043202U CN202330702U (en) | 2011-12-06 | 2011-12-06 | 77GHz millimeter wave anti-collision radar transmitter-receiver device of automobile |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102435981A (en) * | 2011-12-06 | 2012-05-02 | 北京理工大学 | 77GHz millimeter wave radar transmit-receive device for automobile collision resistance |
| CN106581907A (en) * | 2016-10-27 | 2017-04-26 | 江苏金米智能科技有限责任公司 | Intelligent fire fighting truck based on radio-frequency signal |
| CN111052509A (en) * | 2017-08-30 | 2020-04-21 | 株式会社村田制作所 | Antenna module |
-
2011
- 2011-12-06 CN CN2011205043202U patent/CN202330702U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102435981A (en) * | 2011-12-06 | 2012-05-02 | 北京理工大学 | 77GHz millimeter wave radar transmit-receive device for automobile collision resistance |
| CN102435981B (en) * | 2011-12-06 | 2014-01-29 | 北京理工大学 | 77GHz millimeter wave radar transmit-receive device for automobile collision resistance |
| CN106581907A (en) * | 2016-10-27 | 2017-04-26 | 江苏金米智能科技有限责任公司 | Intelligent fire fighting truck based on radio-frequency signal |
| CN111052509A (en) * | 2017-08-30 | 2020-04-21 | 株式会社村田制作所 | Antenna module |
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