CN205844522U - Radar system, the vehicles and unmanned plane - Google Patents
Radar system, the vehicles and unmanned plane Download PDFInfo
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- CN205844522U CN205844522U CN201620678651.0U CN201620678651U CN205844522U CN 205844522 U CN205844522 U CN 205844522U CN 201620678651 U CN201620678651 U CN 201620678651U CN 205844522 U CN205844522 U CN 205844522U
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Abstract
This application discloses radar system, the vehicles and unmanned plane, this radar system includes: Anticollision Radar antenna system, synthetic aperture radar antenna system, radio-frequency front-end, it coupled to Anticollision Radar antenna system and synthetic aperture radar antenna system, for generating the signal launched for Anticollision Radar antenna system and synthetic aperture radar antenna system, and the reflected signal received by Anticollision Radar antenna system and synthetic aperture radar antenna system is formed echo data；Processor, for by the detection carrying out target from the echo data of Anticollision Radar antenna system；And/or, for the image by generating from the echo data of synthetic aperture radar antenna system.Solving the vehicles of the prior art uses Anticollision Radar cannot provide the user with the problem of more help, improves the effect of radar target acquisition and identification.
Description
Technical field
The application relates to field of radar, in particular to radar system, the vehicles and unmanned plane.
Background technology
At present, being generally fitted with Anticollision Radar on a vehicle, general trailer-mounted radar provides automobile forward direction collision report
Alarm system (Forward Collision Warning Systems, referred to as FCWS), forward direction Active collision avoidance system (Forward
Collision Avoidance Systems, referred to as FCAS), adaptive cruise control system (Adaptive Cruise
Control, referred to as ACC) etc. function.
Wherein, collision warning system is exactly to observe the thing after car when driver driving, and trailer-mounted radar is permissible
Play and there is the distance between object and object and automobile after prompting driver.Forward direction Active collision avoidance system is a kind of active
Force automobile safety system.Adaptive cruise control system is the travel speed utilizing radar system actively to control automobile, thus
The automobile that can realize driving travels with the speed set.
In the prior art, Anticollision Radar is due to bore and the restriction of cost, and the azimuth resolution of target is limited, crashproof thunder
Reaching the use at the vehicles, unmanned plane cannot be more to user (such as driver and the manipulator etc. of unmanned plane of the vehicles)
Help.
Use Anticollision Radar cannot provide the user with the problem of more help, not yet for the vehicles of the prior art
Solution is proposed.
Summary of the invention
This application provides a kind of radar system, the vehicles and unmanned plane, at least to solve traffic of the prior art
Instrument uses the problem that Anticollision Radar cannot provide more help to driver.
An aspect according to the application, it is provided that a kind of radar system, including: Anticollision Radar antenna system, including: extremely
A few transmitting antenna, for launching the signal that radio-frequency front-end generates；At least one reception antenna, for receiving by the vehicles
The target around reflected signal to launching the signaling reflex formation that antenna is launched；Synthetic aperture radar antenna system, including: extremely
A few transmitting antenna, for launching the signal that above-mentioned radio-frequency front-end generates；At least one reception antenna, for receiving by traffic
The target around the instrument reflected signal to launching the signaling reflex formation that antenna is launched；Above-mentioned radio-frequency front-end, coupled to above-mentioned
Anticollision Radar antenna system and above-mentioned synthetic aperture radar antenna system, for generating for above-mentioned Anticollision Radar antenna system and
The signal that above-mentioned synthetic aperture radar antenna system is launched, and will be by above-mentioned Anticollision Radar antenna system and above-mentioned synthesis hole
The reflected signal that footpath radar antenna system receives forms echo data；Above-mentioned processor, for by from above-mentioned crashproof thunder
The echo data reaching antenna system carries out the detection of above-mentioned target；And/or, for by from above-mentioned synthetic aperture radar antenna
The image that the echo data of system generates.
Further, above-mentioned radar system also includes: alarm module, for according to above-mentioned Anticollision Radar antenna system
The result of detection that echo data obtains, and/or the image generated according to the echo data of above-mentioned synthetic aperture radar antenna system
Judge, and carry out situation about reporting to the police at needs, report to the police.
Further, above-mentioned processor, for judging that the echo data from above-mentioned synthetic aperture radar antenna system is
The condition of no satisfied generation image, in the case of meeting, generates above-mentioned image.
Further, above-mentioned processor, it is used for controlling above-mentioned Anticollision Radar antenna system and above-mentioned synthetic aperture radar sky
Wire system either simultaneously or alternately works in time domain.
Further, above-mentioned processor, it is used for controlling above-mentioned Anticollision Radar antenna system and above-mentioned synthetic aperture radar sky
Above-mentioned echo-signal, after multiple pulse repetition periods, is detected and/or according to above-mentioned echo-signal by wire system
Carry out imaging.
Further, above-mentioned radio-frequency front-end is for generating millimeter wave as the above-mentioned signal launched.
Further, above-mentioned Anticollision Radar antenna system and above-mentioned synthetic aperture radar antenna system are same aerial system
System.
According to further aspect of the application, additionally provide a kind of vehicles, including: any one of claim 1 to 5
Above-mentioned radar system.
Further, above-mentioned radar system is arranged at the left side of above-mentioned vehicles direction of displacement, right side, front left side, the right side
Front side, left rear side or right lateral side.
Further, above-mentioned radar system, it is arranged on and makes a reservation for apart from the trailing wheel of above-mentioned vehicle and/or the front-wheel of above-mentioned vehicle
The side of the above-mentioned vehicle of distance.
Further, above-mentioned radar system, it is arranged on and makes a reservation for apart from the headlight of above-mentioned vehicle and/or the back light of above-mentioned vehicle
The side of the above-mentioned vehicle of distance.
Further, the above-mentioned vehicles are vehicle or aircraft.
According to further aspect of the application, additionally provide a kind of unmanned plane, including: the above-mentioned radar system of any one.
Radar system is have employed by the application, including: Anticollision Radar antenna system, including: at least one launches antenna,
For launching the signal that radio-frequency front-end generates；At least one reception antenna, for receiving by the target around the vehicles sending out
Penetrate the reflected signal of the signaling reflex formation that antenna is launched；Synthetic aperture radar antenna system, including: at least one launches sky
Line, for launching the signal that described radio-frequency front-end generates；At least one reception antenna, for receiving by the mesh around the vehicles
Mark the reflected signal launching the signaling reflex formation that antenna is launched；Described radio-frequency front-end, coupled to described Anticollision Radar antenna
System and described synthetic aperture radar antenna system, for generating for described Anticollision Radar antenna system and described synthetic aperture
The signal that radar antenna system is launched, and will be by described Anticollision Radar antenna system and described synthetic aperture radar antenna system
The reflected signal that system receives forms echo data；Described processor, for by from described Anticollision Radar antenna system
Echo data carries out the detection of described target；And/or, for by the number of echoes from described synthetic aperture radar antenna system
According to the image generated.Solving the vehicles of the prior art uses Anticollision Radar cannot provide more help to driver
Problem, improves the effect of radar target acquisition and identification.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing further understanding of the present application, constitutes the part of the application, this Shen
Schematic description and description please is used for explaining the application, is not intended that the improper restriction to the application.Further, for this
For the those of ordinary skill of field, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings
Accompanying drawing.In the accompanying drawings:
Fig. 1 is the structured flowchart of the radar system according to the present embodiment；
Fig. 2 is the flow chart of the detection method according to the present embodiment；
Fig. 3 is the schematic diagram according to the optional radar system of the present embodiment；
Fig. 4 is the schematic diagram of the antenna arrangement of the radar system according to the present embodiment；
Fig. 5 is the workflow schematic diagram of the radar system according to the present embodiment；
Fig. 6 is the work schedule schematic diagram of the radar system according to the present embodiment；
Fig. 7 is the schematic diagram that the radar system according to the present embodiment is applied on the vehicles.
Detailed description of the invention
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Combination mutually.Describe the application below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
It should be noted that can be able to perform to refer at such as one group of computer in the step shown in the schematic flow sheet of accompanying drawing
The computer system of order performs, and, although in schematic flow sheet, show logical order, but in some cases,
Can be to be different from the step shown or described by order execution herein.
SAR imaging radar requires that radar has horizontal displacement, the situation to radar Yu target geo-stationary to testee
Cannot be carried out SAR imaging.
Providing a kind of imaging radar in the present embodiment, Fig. 1 is the structured flowchart of the radar system according to the present embodiment,
As it is shown in figure 1, this radar system includes:
Anticollision Radar antenna system 10, including: at least one launches antenna, for launching the signal that radio-frequency front-end generates；
At least one reception antenna, for receive by the target around the vehicles to launch antenna launch signaling reflex formed anti-
Penetrate signal；
Synthetic aperture SAR radar antenna system 20, including: at least one launches antenna, is used for launching radio-frequency front-end and generates
Signal；At least one reception antenna, for receiving by the target around the vehicles launching the signaling reflex that antenna is launched
The reflected signal formed；
Radio-frequency front-end 30, coupled to Anticollision Radar antenna system and synthetic aperture radar antenna system, is used for for generation
The signal that Anticollision Radar antenna system and synthetic aperture radar antenna system are launched, and will by Anticollision Radar antenna system with
The reflected signal that synthetic aperture radar antenna system receives forms echo data；
Processor 40, for by the detection carrying out target from the echo data of Anticollision Radar antenna system；And/or,
For the image by generating from the echo data of synthetic aperture radar antenna system.
By said system, utilize SAR imaging radar requirement radar to have horizontal placement property to testee, add and submit
The movement of logical instrument, such that it is able to carry out imaging.Solving the vehicles of the prior art use Anticollision Radar cannot be to driving
The person of sailing provides the problem of more help, improves the effect of radar target acquisition and identification.
In an optional embodiment, this system can also include: alarm module, for according to Anticollision Radar antenna
The result of detection that the echo data of system obtains, and/or the figure generated according to the echo data of synthetic aperture radar antenna system
As judging, and carry out situation about reporting to the police at needs, report to the police.
In some cases, if being unsatisfactory for image-forming condition, then the effect of imaging can be weakened.An optional enforcement
In mode, the judgement to image-forming condition can be increased.That is, processor, for judging from synthetic aperture radar antenna system
Whether echo data meets the condition generating image, in the case of meeting, generates image.
The mode that Anticollision Radar antenna system and synthetic aperture radar antenna system are operated has a variety of, in this enforcement
In example, processor, may be used for controlling Anticollision Radar antenna system and synthetic aperture radar antenna system in time domain simultaneously or
Alternation.It addition, the opportunity of detection and imaging can also be defined for the ease of processing, such as, processor, it is used for controlling
Anticollision Radar antenna system processed and synthetic aperture radar antenna system are after multiple pulse repetition periods, to echo-signal
Carry out detecting and/or carrying out imaging according to echo-signal.
The signal that antenna system is launched is multiple, such as, decimetric wave, centimeter wave etc., have employed millimeter wave in the present embodiment
As the signal launched.It addition, Anticollision Radar antenna system and synthetic aperture radar antenna system are same antenna system.
Additionally provide a kind of vehicles (such as, vehicle or aircraft) in the present embodiment, including: above-mentioned radar
System.The position of radar system can be as desired to be configured, and such as, radar system can be arranged at vehicles displacement
The left side in direction, right side, front left side, forward right side, left rear side or right lateral side.
The most such as, radar system can be arranged on the trailing wheel of distance vehicle and/or the vehicle of the front-wheel preset distance of vehicle
Side；Or, radar system can be arranged on the side of the vehicle of the headlight of distance vehicle and/or the back light preset distance of vehicle
Face.
Additionally providing a kind of unmanned plane in the present embodiment, this unmanned plane can also comprise above-mentioned radar system, at this
Repeat no more.
Additionally providing a kind of detection method in the present embodiment, Fig. 2 is the flow chart of the detection method according to the present embodiment,
As in figure 2 it is shown, this flow process includes:
Step S202, receive respectively Anticollision Radar antenna system and synthetic aperture radar antenna system by vehicles week
The target the enclosed reflected signal to launching the signaling reflex formation that antenna is launched；
Step S204, the reflected signal that will be received by Anticollision Radar antenna system and synthetic aperture radar antenna system
Form echo data；
Step S206, by carrying out the detection of target from the echo data of Anticollision Radar antenna system；And/or, pass through
The image generated from the echo data of synthetic aperture radar antenna system.
In above-mentioned steps, utilize SAR imaging radar requirement radar to have horizontal placement property to testee, add and submit
The movement of logical instrument, such that it is able to carry out imaging.Solving the vehicles of the prior art use Anticollision Radar cannot be to driving
The person of sailing provides the problem of more help, improves the effect of radar target acquisition and identification.
As an optional embodiment, the method can also include: according to the number of echoes of Anticollision Radar antenna system
According to the result of detection obtained, and/or the image generated according to the echo data of synthetic aperture radar antenna system judges, and
Carry out situation about reporting to the police at needs, report to the police.
As an optional embodiment, it is judged that whether the echo data from synthetic aperture radar antenna system meets
Generate the condition of image, in the case of meeting, generate image.
As an optional embodiment, control Anticollision Radar antenna system and synthetic aperture radar antenna system time
Either simultaneously or alternately work on territory.
As an optional embodiment, control Anticollision Radar antenna system and synthetic aperture radar antenna system at warp
After spending multiple pulse repetition period, echo-signal is detected and/or carries out imaging according to echo-signal.
Preferably, the application may be provided for one for performing the computer program of above-described embodiment and preserving above-mentioned
The carrier of computer program, i.e. the above embodiments of the present application can carry out meeting certainly by a suitable counting system structure
So running of rule.Although it addition, described in the above-mentioned context the application, but above-mentioned perform based on step by realizing
Calculation machine program is not meant to be restrictive, and described action and each side of operation also can realize with hardware.
Below in conjunction with optional embodiment, it is realized process to be described in detail.
The radar of offer in the present embodiment strengthens the detection to target and also provides high-resolution identification,
It is applicable on the vehicles, particularly applies on automobile and aircraft.Using Anticollision Radar pair in the present embodiment
While target detects, also use SAR imaging radar that target carries out SAR imaging, thus realize target acquisition and high score
Resolution identification.
Fig. 3 is the schematic diagram according to the optional radar system of the present embodiment, as it is shown on figure 3, this radar system includes: crashproof
Antenna and SAR antenna, this two parts antenna includes respectively reception antenna and launch antenna, the quantity of antenna can be one or
Multiple.These antenna is connected with radio-frequency front-end, the signal that radio-frequency front-end is launched by transmitting antenna for generation, and, also use
Reflected, in receiving this signal by reception antenna, the transmitting signal obtained by vehicles surroundings, be then then sent through at information
Reason device processes.By radar system, Anticollision Radar is combined with SAR imaging radar, highly integrated together, shared radio frequency
Front end and signal processor, such that it is able to well carry out the identification of object.
Fig. 4 is the schematic diagram of the antenna arrangement of the radar system according to the present embodiment, and as shown in Figure 4, this radar antenna can
To be distributed in the zones of different of actinal surface, crashproof antenna is made up of one to several transmitting antennas and one or more reception antennas, SAR days
Line is made up of one to several transmitting antennas and one or more reception antennas.The scope that crashproof antenna and SAR antenna beam cover can
With equally, it is also possible to crashproof antenna is more than SAR antenna beam coverage, it is also possible to crashproof antenna covers less than SAR antenna beam
Lid scope, it is also possible to the scope that crashproof antenna and SAR antenna beam cover intersects or different.
Fig. 5 is the workflow schematic diagram of the radar system according to the present embodiment, as it is shown in figure 5, in this workflow,
Anticollision Radar detects radar return, echo-signal carries out FFT (fast Fourier transform) and Power estimation, is examined by CFAR
Survey and target following, complete the detection of target, and target information is delivered to alarm module process.If meeting image-forming condition,
SAR imaging radar combines the object detection information of Anticollision Radar, imaging radar echo is carried out Doppler's parameter estimate, and completes
Radar imagery, is delivered to alarm module by radar image, and alarm module is reported to the police according to corresponding warning strategy.
Fig. 6 is the work schedule schematic diagram of the radar system according to the present embodiment, as shown in Figure 6, crashproof detection and imaging
Radar alternation.After multiple PRT (pulse repetition period), echo-signal is detected or imaging.
Fig. 7 is the schematic diagram that the radar system according to the present embodiment is applied on the vehicles, as it is shown in fig. 7, for vapour
Car and aircraft applications, crashproof be combined with SAR imaging radar be arranged on automobile or aircraft left and right, left front, right before, left back,
Right lateral side, beam center points to angular deflection campaign fore-and-aft direction about 30 degree to about 150 degree, while Anticollision Radar detects, SAR
Imaging radar utilizes automobile or aircraft displacement to carry out SAR imaging.
The radar system that the present embodiment provides, compared to Anticollision Radar, crashproof is combined Azimuth Resolution with SAR imaging
Higher；Compared to SAR imaging radar, the crashproof radar that is combined with SAR imaging carries out target acquisition faster, and can detect thunder
Reach and the target of target geo-stationary.
Above-mentioned preferred embodiment can be used in combination.It addition, as used in this application, term " module " or
" unit " can refer to software object or the routine performed on said apparatus.Disparate modules described herein and unit can be by realities
Be now the object of (such as, as single thread) or the process of performing on said apparatus, meanwhile, said apparatus use hardware or
The realization of the combination of software and hardware also may and be contemplated.
Obviously, those skilled in the art should be understood that each module of above-mentioned the application or each step can be with general
Calculating device realize, they can concentrate on single calculating device, or be distributed in multiple calculating device and formed
Network on, alternatively, they can with calculate the executable program code of device realize, it is thus possible to by they store
Performed by calculating device in the storage device, or they are fabricated to respectively each integrated circuit modules, or by them
In multiple modules or step be fabricated to single integrated circuit module and realize.So, the application be not restricted to any specifically
Hardware and software combines.
The foregoing is only the preferred embodiment of the application, be not limited to the application, for the skill of this area
For art personnel, the application can have various modifications and variations.All within spirit herein and principle, that is made any repaiies
Change, equivalent, improvement etc., within should be included in the protection domain of the application.
Claims (13)
1. a radar system, it is characterised in that including:
Anticollision Radar antenna system, including: at least one launches antenna, for launching the signal that radio-frequency front-end generates；At least one
Individual reception antenna, is believed the reflection launching the signaling reflex formation that antenna is launched by the target around the vehicles for receiving
Number；
Synthetic aperture radar antenna system, including: at least one launches antenna, for launching the letter that described radio-frequency front-end generates
Number；At least one reception antenna, is formed the signaling reflex launching antenna transmitting by the target around the vehicles for receiving
Reflected signal；
Described radio-frequency front-end, coupled to described Anticollision Radar antenna system and described synthetic aperture radar antenna system, is used for giving birth to
Become the signal launched for described Anticollision Radar antenna system and described synthetic aperture radar antenna system, and will be by described
The reflected signal that Anticollision Radar antenna system and described synthetic aperture radar antenna system receive forms echo data；
Processor, for by the detection carrying out described target from the echo data of described Anticollision Radar antenna system；With/
Or, for the image by generating from the echo data of described synthetic aperture radar antenna system.
Radar system the most according to claim 1, it is characterised in that also include:
Alarm module, for the result of detection obtained according to the echo data of described Anticollision Radar antenna system, and/or according to institute
The image of the echo data generation stating synthetic aperture radar antenna system judges, and carries out situation about reporting to the police at needs, enters
Row is reported to the police.
Radar system the most according to claim 2, it is characterised in that
Described processor, generates image for judging whether to meet from the echo data of described synthetic aperture radar antenna system
Condition, meet in the case of, generate described image.
Radar system the most according to any one of claim 1 to 3, it is characterised in that
Described processor, is used for controlling described Anticollision Radar antenna system and described synthetic aperture radar antenna system in time domain
Either simultaneously or alternately work.
Radar system the most according to any one of claim 1 to 3, it is characterised in that
Described processor, is used for controlling described Anticollision Radar antenna system and described synthetic aperture radar antenna system through too much
After the individual pulse repetition period, echo-signal is detected and/or carries out imaging according to described echo-signal.
Radar system the most according to any one of claim 1 to 3, it is characterised in that described radio-frequency front-end is used for generating
Millimeter wave is as the described signal launched.
Radar system the most according to any one of claim 1 to 3, it is characterised in that described Anticollision Radar antenna system
It is same antenna system with described synthetic aperture radar antenna system.
8. vehicles, it is characterised in that including: radar system according to any one of claim 1 to 5.
The vehicles the most according to claim 8, it is characterised in that described radar system is arranged at described vehicles position
Move the left side in direction, right side, front left side, forward right side, left rear side or right lateral side.
The vehicles the most according to claim 9, it is characterised in that described radar system, are arranged on apart from described traffic
The side of the described vehicles of the trailing wheel of instrument and/or the front-wheel preset distance of the described vehicles.
11. vehicles according to claim 9, it is characterised in that described radar system, are arranged on apart from described traffic
The side of the described vehicles of the headlight of instrument and/or the back light preset distance of the described vehicles.
12. according to Claim 8 to the vehicles according to any one of 11, it is characterised in that the described vehicles are vehicle
Or aircraft.
13. 1 kinds of unmanned planes, it is characterised in that including: radar system according to any one of claim 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620678651.0U CN205844522U (en) | 2016-06-30 | 2016-06-30 | Radar system, the vehicles and unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620678651.0U CN205844522U (en) | 2016-06-30 | 2016-06-30 | Radar system, the vehicles and unmanned plane |
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| CN205844522U true CN205844522U (en) | 2016-12-28 |
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| CN201620678651.0U Active CN205844522U (en) | 2016-06-30 | 2016-06-30 | Radar system, the vehicles and unmanned plane |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018000666A1 (en) * | 2016-06-30 | 2018-01-04 | 北京行易道科技有限公司 | Radar system, transportation vehicle, unmanned aerial vehicle and detection method |
| CN108267734A (en) * | 2016-12-30 | 2018-07-10 | 北京行易道科技有限公司 | Radar |
| CN108267737A (en) * | 2016-12-30 | 2018-07-10 | 北京行易道科技有限公司 | Radar |
| CN108267735A (en) * | 2016-12-30 | 2018-07-10 | 北京行易道科技有限公司 | Radar |
| CN108313124A (en) * | 2017-01-17 | 2018-07-24 | 北京行易道科技有限公司 | The method and apparatus for detecting vehicle-surroundings barrier |
| CN108627837A (en) * | 2017-03-15 | 2018-10-09 | 北京行易道科技有限公司 | Automobile anti-collision radar system |
| US11125873B1 (en) | 2017-09-20 | 2021-09-21 | Fortem Technologies, Inc. | Using radar sensors for collision avoidance |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018000666A1 (en) * | 2016-06-30 | 2018-01-04 | 北京行易道科技有限公司 | Radar system, transportation vehicle, unmanned aerial vehicle and detection method |
| CN107561537A (en) * | 2016-06-30 | 2018-01-09 | 北京行易道科技有限公司 | Radar system, the vehicles, unmanned plane and detection method |
| CN107561537B (en) * | 2016-06-30 | 2024-04-30 | 北京行易道科技有限公司 | Radar system, vehicle, unmanned aerial vehicle and detection method |
| CN108267734A (en) * | 2016-12-30 | 2018-07-10 | 北京行易道科技有限公司 | Radar |
| CN108267737A (en) * | 2016-12-30 | 2018-07-10 | 北京行易道科技有限公司 | Radar |
| CN108267735A (en) * | 2016-12-30 | 2018-07-10 | 北京行易道科技有限公司 | Radar |
| CN108267737B (en) * | 2016-12-30 | 2024-03-22 | 北京行易道科技有限公司 | Radar |
| CN108267735B (en) * | 2016-12-30 | 2024-03-26 | 北京行易道科技有限公司 | Radar |
| CN108313124A (en) * | 2017-01-17 | 2018-07-24 | 北京行易道科技有限公司 | The method and apparatus for detecting vehicle-surroundings barrier |
| CN108313124B (en) * | 2017-01-17 | 2024-04-26 | 北京行易道科技有限公司 | Method and device for detecting obstacle around vehicle |
| CN108627837A (en) * | 2017-03-15 | 2018-10-09 | 北京行易道科技有限公司 | Automobile anti-collision radar system |
| US11125873B1 (en) | 2017-09-20 | 2021-09-21 | Fortem Technologies, Inc. | Using radar sensors for collision avoidance |
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