CN104483667A - Vehicle-mounted radar device - Google Patents
Vehicle-mounted radar device Download PDFInfo
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- CN104483667A CN104483667A CN201510000130.XA CN201510000130A CN104483667A CN 104483667 A CN104483667 A CN 104483667A CN 201510000130 A CN201510000130 A CN 201510000130A CN 104483667 A CN104483667 A CN 104483667A
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- vehicle
- signal
- lateral attitude
- same object
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9321—Velocity regulation, e.g. cruise control
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides a vehicle-mounted radar device which comprises an oscillator, an amplifier, a distributor, a transmitting antenna, a plurality of receiving antennas, a receiving switch, a frequency mixer, a filter, an analog-digital converter and a signal processor. The vehicle-mounted radar device is used for transmitting radar waves in the advancing direction of a vehicle provided with the device. The vehicle is referred to as the vehicle provided with the radar in the following statement. The vehicle-mounted radar device is used for receiving the radar waves reflected from an object so as to obtain information of the object. The oscillator generates radio frequency (RF) signals in a millimetric wave band for conducting frequency modulation through modulation signals. Each cycle is provided with an ascending range with the frequency of the modulation signals being linearly increased along with time and a descending range with the frequency of the modulation signals being linearly decreased along with time.
Description
Technical field
The present invention is specifically related to mobile unit, particularly a kind of for transmitting with receiving radar ripple with the trailer-mounted radar device of the object of detection of reflected radar wave.
Background technology
Known trailer-mounted radar device per predetermined time interval transmits the radar wave of such as laser wave or millimeter wave and so on predetermined scanning angle, and receive the radar wave of the object reflection from the vehicle periphery being provided with radar installations, thus detect the object around this car.Such trailer-mounted radar device is used in auto-cruising control (ACC) system etc., this automatic cruise control system etc. is suitable for detecting in the track identical with this car, to be traveling in this front side vehicle (being called as front truck), and control the car speed of this car, thus the distance between Ben Che and front truck is maintained or keeps constant.
In order to prevent, during this car is turned, the vehicle of advancing in the track different from this track (track that this garage enters) is detected as front truck improperly, as disclosed in No. H08-27909th, Japan patent applicant announce, the ACC system that this car is installed is based on the radius-of-curvature in this track and the vehicle of advancing in this front side position relative to this car, the vehicle calculating this front side is traveling in the possibility in this track, and based on calculated possibility, determine whether the vehicle of advancing in this front side is the front truck of advancing in this track.In ACC system, when the vehicle determining this front side is front truck, the distance between front truck and Ben Che is controlled as and maintains or keep constant.
Front truck not only can comprise the reflection spot at the rear portion being positioned at front truck, and can comprise the reflection spot of the inside being positioned at front truck, and term " reflection spot " refers to the point or spot that reflect radar wave.Usually, by use the reflection spot being positioned at the rear portion of front truck determine front truck relative to this car position.No matter during the straightaway of front truck or during the turning of front truck, the position be detected of front truck will change in time.Therefore, the front truck being traveling in same track from this car may be improperly detected as the vehicle for advancing in different track.
Summary of the invention
The object of the invention is, for solving above-mentioned deficiency, to provide a kind of trailer-mounted radar device.
The object of the invention is to be achieved through the following technical solutions:
A kind of trailer-mounted radar device, comprise oscillator, amplifier, distributor, transmit antenna, multiple receiving antenna, receiving key, frequency mixer, wave filter, analog to digital converter and signal processor, described trailer-mounted radar device for transmitting radar wave in the working direction of vehicle being provided with described device, described vehicle is called as following the vehicle being provided with radar, described trailer-mounted radar device is for receiving from the radar wave of object reflection to obtain the information about described object, described oscillator is created on radio frequency (RF) signal undertaken by modulation signal in warbled millimere-wave band, the last transition that the frequency of the first transition that the frequency that each cycle has modulation signal increases linearly over time and modulation signal reduces linearly over time, described amplifier is amplified in the radiofrequency signal generated in oscillator 21, the output of amplifier is divided into transmission signal Ss and local signal L by described distributor, described transmission antenna response launches radar wave in transmission signal Ss, described receiving key selects multiple receiving antenna successively, and Received signal strength Sr is carried out forwarding for further process from selected receiving antenna, the Received signal strength Sr amplified through amplifier and local signal L is carried out mixing to generate beat signal BT by described frequency mixer, described wave filter removes unnecessary component of signal from the beat signal BT generated frequency mixer, the output of described analog to digital converter to wave filter samples that beat signal BT is converted to numerical data, described signal processor controls the operation of oscillator and the sampling of beat signal BT via ADC36, by using the analysis of sampled data executive signal, and carry out communicating with the information needed for Received signal strength analysis with distance ECU3 and transport through the information that signal analysis obtains.
The present invention also has some technical characteristics like this:
Described signal processor comprises object detection unit, represents target selection unit, same object target selection unit and object's position determining unit, and described object detection unit act as transmission and receiving radar ripple with the position of the target of detection of reflected radar wave, representing target selection unit is select in target that meet predetermined representative target specification condition, that detected by described object detection unit, and described predetermined representative target specification condition is used to specify the representative of the target detected by described object detection unit, described same object target selection unit is from the target that described object detection unit detects, select the target meeting predetermined same object target choice condition, described predetermined same object target choice condition for which target determining in the target that described object detection unit detects belongs to represents the identical object of target with described, describedly represent target and form same object target group by described same object target selection Unit selection together from the described different target of target that represents, and the object belonging to each target in described same object target group is called as specific reflection object following, described object's position determining unit is the value of the predefined function of the lateral attitude of two or more targets calculating described same object target group, as described specific reflection object, along the described lateral attitude being provided with the vehicle-width direction of radar.
Described device also comprises oversize vehicle determining unit and primary importance is determined to forbid unit, described oversize vehicle determining unit determines whether described specific reflection object is oversize vehicle, described primary importance is determined to forbid that unit is when described oversize vehicle determining unit determines that described specific reflection object is not oversize vehicle, forbids that described object's position determining unit calculates the lateral attitude of predefined function as described specific reflection object of the lateral attitude of two or more targets of described same object target group.
Described oversize vehicle determining unit determines whether the target numbers of described same object target group is equal to or greater than the predetermined threshold targets number determined for oversize vehicle, and when determining that the target numbers of described same object target group is equal to or greater than the predetermined threshold targets number determined for oversize vehicle, determine that described specific reflection is to liking oversize vehicle, whether the reflection wave received power of the reflection wave received power of whether be equal to or greater than in the target of the described same object target group of target choice condition determining in the target of the described same object target group meeting predetermined target choice condition is equal to or greater than oversize vehicle determining unit and is used for determining that whether described specific reflection object is the target of oversize vehicle, and when determining that the reflection wave received power of the target meeting described predetermined target choice condition is equal to or greater than the predetermined threshold receive power determined for oversize vehicle, determine that described specific reflection is to liking oversize vehicle, described predetermined target choice condition specifies to be used for determining that described specific reflection object be whether the target of oversize vehicle is in described same object target group by described oversize vehicle determining unit, there is the target of the maximum frequency peak strength in the power spectrum of reflection wave.
Described object's position determining unit selects the rightmost side target seen from the described vehicle being provided with radar and the leftmost side target seen from the described vehicle being provided with radar from the target of described same object target group, and calculate the lateral attitude of center as described specific reflection object of the lateral attitude of described rightmost side target and the lateral attitude of described leftmost side target, calculate the mean value of the lateral attitude of all targets of described same object target group, as the lateral attitude of described specific reflection object, calculate the weighted mean value of the lateral attitude of all targets of described same object target group, as the lateral attitude of described specific reflection object, and be used as weight by the amplitude of the reflection wave received power of each target by described same object target group and determine described weighted mean value.
Described device also comprises turning determining unit, whether the vehicle being provided with radar described in determining turns, when the vehicle being provided with radar described in described turning determining unit is determined is turned, described object's position determining unit calculates the lateral attitude of value as described specific reflection object of predefined function, and described function is defined as making the relatively described lateral attitude displacement representing target on the direction relative with turn direction of the lateral attitude of described specific reflection object.
The present invention has effect useful as follows:
The present invention for transmitting radar wave in the working direction of vehicle being provided with this device, this vehicle is called as following the vehicle being provided with radar, and this trailer-mounted radar device to receive from the radar wave of object reflection to obtain the information about object, can reduce the trailer-mounted radar of the change of the detection position of front truck.
Accompanying drawing explanation
Fig. 1 is radar installations automatic cruise control system schematic diagram of the present invention.
Fig. 2 is the signal processor process flow diagram of radar installations of the present invention.
Fig. 3 is the process flow diagram of the target information generating process performed in signal processor of the present invention.
Fig. 4 is the method for the lateral attitude of correction front truck of the present invention.
Fig. 5 is the curve map of the lateral attitude relative time of front truck before and after the lateral attitude of correction front truck of the present invention.
Fig. 6 is the process flow diagram that the target performed in signal processor of the present invention has curve information generating process.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further illustrated:
embodiment 1
A kind of trailer-mounted radar device, comprise oscillator 7, amplifier 8, distributor 9, transmit antenna 10, multiple receiving antenna 11, receiving key 12, frequency mixer 13, wave filter 14, analog to digital converter 15 and signal processor 16, described trailer-mounted radar device for transmitting radar wave in the working direction of vehicle being provided with described device, described vehicle is called as following the vehicle being provided with radar, described trailer-mounted radar device is for receiving from the radar wave of object reflection to obtain the information about described object, described oscillator is created on radio frequency (RF) signal undertaken by modulation signal in warbled millimere-wave band, the last transition that the frequency of the first transition that the frequency that each cycle has modulation signal increases linearly over time and modulation signal reduces linearly over time, described amplifier is amplified in the radiofrequency signal generated in oscillator 21, the output of amplifier is divided into transmission signal Ss and local signal L by described distributor, described transmission antenna response launches radar wave in transmission signal Ss, described receiving key selects multiple receiving antenna successively, and Received signal strength Sr is carried out forwarding for further process from selected receiving antenna, the Received signal strength Sr amplified through amplifier and local signal L is carried out mixing to generate beat signal BT by described frequency mixer, described wave filter removes unnecessary component of signal from the beat signal BT generated frequency mixer, the output of described analog to digital converter to wave filter samples that beat signal BT is converted to numerical data, described signal processor controls the operation of oscillator and the sampling of beat signal BT via ADC36, by using the analysis of sampled data executive signal, and carry out communicating with the information needed for Received signal strength analysis with distance ECU3 and transport through the information that signal analysis obtains, described signal processor comprises object detection unit, represent target selection unit, same object target selection unit and object's position determining unit, described object detection unit act as transmission and receiving radar ripple with the position of the target of detection of reflected radar wave, representing target selection unit is select in target that meet predetermined representative target specification condition, that detected by described object detection unit, and described predetermined representative target specification condition is used to specify the representative of the target detected by described object detection unit, described same object target selection unit is from the target that described object detection unit detects, select the target meeting predetermined same object target choice condition, described predetermined same object target choice condition for which target determining in the target that described object detection unit detects belongs to represents the identical object of target with described, describedly represent target and form same object target group by described same object target selection Unit selection together from the described different target of target that represents, and the object belonging to each target in described same object target group is called as specific reflection object following, described object's position determining unit is the value of the predefined function of the lateral attitude of two or more targets calculating described same object target group, as described specific reflection object, along the described lateral attitude being provided with the vehicle-width direction of radar, described device also comprises oversize vehicle determining unit and primary importance is determined to forbid unit, described oversize vehicle determining unit determines whether described specific reflection object is oversize vehicle, described primary importance is determined to forbid that unit is when described oversize vehicle determining unit determines that described specific reflection object is not oversize vehicle, forbid that described object's position determining unit calculates the lateral attitude of predefined function as described specific reflection object of the lateral attitude of two or more targets of described same object target group, described oversize vehicle determining unit determines whether the target numbers of described same object target group is equal to or greater than the predetermined threshold targets number determined for oversize vehicle, and when determining that the target numbers of described same object target group is equal to or greater than the predetermined threshold targets number determined for oversize vehicle, determine that described specific reflection is to liking oversize vehicle, whether the reflection wave received power of the reflection wave received power of whether be equal to or greater than in the target of the described same object target group of target choice condition determining in the target of the described same object target group meeting predetermined target choice condition is equal to or greater than oversize vehicle determining unit and is used for determining that whether described specific reflection object is the target of oversize vehicle, and when determining that the reflection wave received power of the target meeting described predetermined target choice condition is equal to or greater than the predetermined threshold receive power determined for oversize vehicle, determine that described specific reflection is to liking oversize vehicle, described predetermined target choice condition specifies to be used for determining that described specific reflection object be whether the target of oversize vehicle is in described same object target group by described oversize vehicle determining unit, there is the target of the maximum frequency peak strength in the power spectrum of reflection wave, described object's position determining unit selects the rightmost side target seen from the described vehicle being provided with radar and the leftmost side target seen from the described vehicle being provided with radar from the target of described same object target group, and calculate the lateral attitude of center as described specific reflection object of the lateral attitude of described rightmost side target and the lateral attitude of described leftmost side target, calculate the mean value of the lateral attitude of all targets of described same object target group, as the lateral attitude of described specific reflection object, calculate the weighted mean value of the lateral attitude of all targets of described same object target group, as the lateral attitude of described specific reflection object, and be used as weight by the amplitude of the reflection wave received power of each target by described same object target group and determine described weighted mean value, described device also comprises turning determining unit, whether the vehicle being provided with radar described in determining turns, when the vehicle being provided with radar described in described turning determining unit is determined is turned, described object's position determining unit calculates the lateral attitude of value as described specific reflection object of predefined function, described function is defined as making the relatively described lateral attitude displacement representing target on the direction relative with turn direction of the lateral attitude of described specific reflection object.
embodiment 2
Automatic cruise control system 1 is installed on vehicle, comprises radar installations 2, distance electronic control unit (distance ECU) 3, engine electronic control unit (engine ECU) 4, braking electronic control unit (braking ECU) 5.ECU3,4,5 is connected to each other via LAN (Local Area Network) in car 6, and thus allows to export and receive data.Radar installations 2 to detect the object of such as front truck or roadside object with the form of the so-called millimetre-wave radar of FMCW type by transmitting and receive millimeter wave, generate the target information about the front truck being traveling in this front side based on testing result, and target information is sent to distance ECU3.Target information at least comprises speed relative to the front truck of this car and position.ECU5 is not only based on the Detection Information received from rotation direction sensor (not shown) and/or yaw rate sensor (not shown) (steering angle and/or yaw speed) in braking, and based on the Detection Information received from master cylinder (MC) pressure transducer, determine brake pedal status, and determined brake pedal status is sent to distance ECU3.In addition, braking ECU5 receives the information comprising aimed acceleration and brake request from distance ECU3, and in response to received information and determined brake pedal status, drive brake actuator, this brake actuator opens and closes the supercharger control valve and pressure reduction control valve that relate in braking hydraulic circuit, thus controls damping force.Engine ECU4 is sent to distance ECU3 from the Detection Information of vehicle speed sensor (not shown), throttle position sensor (not shown), car speed, the slave mode of engine and the mode of operation of throttle that accelerator pedal position sensor (not shown) receives respectively by comprising.Engine ECU4 receives the information comprising aimed acceleration and oil-break request from distance ECU3, and enable command is outputted to throttle actuator, this throttle actuator in response to the operating conditions of being specified by the information received to adjust the throttle position of internal combustion engine.Distance ECU3 receives the slave mode etc. of car speed and engine from engine ECU4, and receives the slave mode etc. of steering angle, yaw speed and detent from braking ECU5.In addition, based on the setting value set via cruise control switch (not shown) and target range configuration switch (not shown) etc. and the target information received from radar installations 2, aimed acceleration and oil-break request etc. are sent to engine ECU4 by distance ECU3, and aimed acceleration and brake request etc. are sent to braking ECU5, as the control command for maintaining the suitable distance between this car and front truck.
More than show and describe ultimate principle of the present invention, principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and instructions just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof
.
Claims (6)
1. a trailer-mounted radar device, comprises oscillator, amplifier, distributor, transmission antenna, multiple receiving antenna, receiving key, frequency mixer, wave filter, analog to digital converter and signal processor, it is characterized in that:
Described trailer-mounted radar device for transmitting radar wave in the working direction of vehicle being provided with described device, described vehicle is called as following the vehicle being provided with radar, described trailer-mounted radar device is for receiving from the radar wave of object reflection to obtain the information about described object, described oscillator is created on radio frequency (RF) signal undertaken by modulation signal in warbled millimere-wave band, the last transition that the frequency of the first transition that the frequency that each cycle has modulation signal increases linearly over time and modulation signal reduces linearly over time, described amplifier is amplified in the radiofrequency signal generated in oscillator 21, the output of amplifier is divided into transmission signal Ss and local signal L by described distributor, described transmission antenna response launches radar wave in transmission signal Ss, described receiving key selects multiple receiving antenna successively, and Received signal strength Sr is carried out forwarding for further process from selected receiving antenna, the Received signal strength Sr amplified through amplifier and local signal L is carried out mixing to generate beat signal BT by described frequency mixer, described wave filter removes unnecessary component of signal from the beat signal BT generated frequency mixer, the output of described analog to digital converter to wave filter samples that beat signal BT is converted to numerical data, described signal processor controls the operation of oscillator and the sampling of beat signal BT via ADC36, by using the analysis of sampled data executive signal, and carry out communicating with the information needed for Received signal strength analysis with distance ECU3 and transport through the information that signal analysis obtains.
2. trailer-mounted radar device as claimed in claim 1, is characterized in that:
Described signal processor comprises object detection unit, represents target selection unit, same object target selection unit and object's position determining unit, and described object detection unit act as transmission and receiving radar ripple with the position of the target of detection of reflected radar wave;
Described representative target selection unit is select in target that meet predetermined representative target specification condition, that detected by described object detection unit, and described predetermined representative target specification condition is used to specify the representative of the target detected by described object detection unit;
Described same object target selection unit is from the target that described object detection unit detects, select the target meeting predetermined same object target choice condition, described predetermined same object target choice condition for which target determining in the target that described object detection unit detects belongs to represents the identical object of target with described, describedly represent target and form same object target group by described same object target selection Unit selection together from the described different target of target that represents, and the object belonging to each target in described same object target group is called as specific reflection object following,
Described object's position determining unit is the value of the predefined function of the lateral attitude of two or more targets calculating described same object target group, as described specific reflection object, along the described lateral attitude being provided with the vehicle-width direction of radar.
3. trailer-mounted radar device as claimed in claim 1, is characterized in that:
Described device also comprises oversize vehicle determining unit and primary importance is determined to forbid unit, described oversize vehicle determining unit determines whether described specific reflection object is oversize vehicle, described primary importance is determined to forbid that unit is when described oversize vehicle determining unit determines that described specific reflection object is not oversize vehicle, forbids that described object's position determining unit calculates the lateral attitude of predefined function as described specific reflection object of the lateral attitude of two or more targets of described same object target group.
4. described trailer-mounted radar device as claimed in claim 1, is characterized in that:
Described object's position determining unit selects the rightmost side target seen from the described vehicle being provided with radar and the leftmost side target seen from the described vehicle being provided with radar from the target of described same object target group, and calculate the lateral attitude of center as described specific reflection object of the lateral attitude of described rightmost side target and the lateral attitude of described leftmost side target, calculate the mean value of the lateral attitude of all targets of described same object target group, as the lateral attitude of described specific reflection object, calculate the weighted mean value of the lateral attitude of all targets of described same object target group, as the lateral attitude of described specific reflection object, and be used as weight by the amplitude of the reflection wave received power of each target by described same object target group and determine described weighted mean value.
5. described trailer-mounted radar device as claimed in claim 1, is characterized in that:
Described trailer-mounted radar device also comprises turning determining unit, whether the vehicle being provided with radar described in determining turns, when the vehicle being provided with radar described in described turning determining unit is determined is turned, described object's position determining unit calculates the lateral attitude of value as described specific reflection object of predefined function, and described function is defined as making the relatively described lateral attitude displacement representing target on the direction relative with turn direction of the lateral attitude of described specific reflection object.
6. trailer-mounted radar device as claimed in claim 2, is characterized in that:
Described oversize vehicle determining unit determines whether the target numbers of described same object target group is equal to or greater than the predetermined threshold targets number determined for oversize vehicle, and when determining that the target numbers of described same object target group is equal to or greater than the predetermined threshold targets number determined for oversize vehicle, determine that described specific reflection is to liking oversize vehicle, whether the reflection wave received power of the reflection wave received power of whether be equal to or greater than in the target of the described same object target group of target choice condition determining in the target of the described same object target group meeting predetermined target choice condition is equal to or greater than oversize vehicle determining unit and is used for determining that whether described specific reflection object is the target of oversize vehicle, and when determining that the reflection wave received power of the target meeting described predetermined target choice condition is equal to or greater than the predetermined threshold receive power determined for oversize vehicle, determine that described specific reflection is to liking oversize vehicle,
Described predetermined target choice condition specifies to be used for determining described specific reflection object to be whether the target of oversize vehicle be in described same object target group by described oversize vehicle determining unit, the target of the maximum frequency peak strength had in the power spectrum of reflection wave.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510000130.XA CN104483667A (en) | 2015-01-02 | 2015-01-02 | Vehicle-mounted radar device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510000130.XA CN104483667A (en) | 2015-01-02 | 2015-01-02 | Vehicle-mounted radar device |
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| CN104483667A true CN104483667A (en) | 2015-04-01 |
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| CN106066476A (en) * | 2015-04-20 | 2016-11-02 | 株式会社京三制作所 | Train status detection device and train status detection method |
| CN107450064A (en) * | 2016-05-30 | 2017-12-08 | 英飞凌科技股份有限公司 | Radar system and the method for operational radar system |
| CN110609285A (en) * | 2018-06-14 | 2019-12-24 | 安波福电子(苏州)有限公司 | Control device and control method for automatic braking of vehicle |
| CN111587379A (en) * | 2018-01-11 | 2020-08-25 | 罗伯特·博世有限公司 | Radar system with analysis unit integrated in the radar sensor head |
| WO2021184382A1 (en) * | 2020-03-20 | 2021-09-23 | 华为技术有限公司 | Beat frequency signal processing method and apparatus |
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| CN103245946A (en) * | 2012-02-13 | 2013-08-14 | 株式会社电装 | Vechicle-mounted radar apparatus |
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| JP2011247761A (en) * | 2010-05-27 | 2011-12-08 | Honda Motor Co Ltd | Object detector |
| CN102788973A (en) * | 2011-05-17 | 2012-11-21 | 株式会社电装 | Radar device, calibration system and calibration method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106066476A (en) * | 2015-04-20 | 2016-11-02 | 株式会社京三制作所 | Train status detection device and train status detection method |
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| CN107450064A (en) * | 2016-05-30 | 2017-12-08 | 英飞凌科技股份有限公司 | Radar system and the method for operational radar system |
| CN107450064B (en) * | 2016-05-30 | 2021-06-08 | 英飞凌科技股份有限公司 | Radar system and method for operating a radar system |
| CN111587379A (en) * | 2018-01-11 | 2020-08-25 | 罗伯特·博世有限公司 | Radar system with analysis unit integrated in the radar sensor head |
| CN110609285A (en) * | 2018-06-14 | 2019-12-24 | 安波福电子(苏州)有限公司 | Control device and control method for automatic braking of vehicle |
| CN110609285B (en) * | 2018-06-14 | 2023-07-14 | 安波福电子(苏州)有限公司 | Control device and control method for automatic braking of vehicle |
| WO2021184382A1 (en) * | 2020-03-20 | 2021-09-23 | 华为技术有限公司 | Beat frequency signal processing method and apparatus |
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