CN100549725C - The astern radar device of no control enclosure - Google Patents
The astern radar device of no control enclosure Download PDFInfo
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- CN100549725C CN100549725C CNB2005100824873A CN200510082487A CN100549725C CN 100549725 C CN100549725 C CN 100549725C CN B2005100824873 A CNB2005100824873 A CN B2005100824873A CN 200510082487 A CN200510082487 A CN 200510082487A CN 100549725 C CN100549725 C CN 100549725C
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Abstract
The present invention is a kind of astern radar device that does not have control enclosure, comprises at least one main sensor (Master) and one or more subordinate sensor (Slave); Wherein: this main sensor is connected with the subordinate sensor by a gating circuit and a telecommunication circuit by a microprocessor, to control the work opportunity of each subordinate sensor, and the testing result of gathering each subordinate sensor, itself also carries out barrier detection main sensor, whether its microprocessor will touch a circuit for alarming according to the testing result decision that itself reaches the subordinate sensor, and the driver is alarmed; The radar for backing car that utilizes aforementioned master-slave mode sensor to constitute need not use independently control enclosure, and the present invention can effectively solve the assembling and the detection problem of traditional radar for backing car by this.
Description
Technical field
The present invention refers to a kind of radar for backing car of being made up of master-slave mode (Master/Slave) sensor especially about a kind of astern radar device that does not have control enclosure; Wherein, this main sensor has barrier detection concurrently and coordinates each subordinate sensor work opportunity, and collects the function of its testing result.
Background technology
Because the prosperity of electronics technology makes the mass society masses all can enjoy flourishing facility and the assistance that is brought of science and technology.For example radar for backing car is exactly a very concrete example.The car owner installs radar for backing car on its seat coach, moveing backward or during curb parking, can assist it to finish reversing or parking smoothly, and the sensitivity of radar for backing car have direct relation with the quantity number that setting and sensor are installed by the barrier detection function of radar for backing car.
As shown in Figure 4, the radar for backing car that generally has many sensors connects several ultrasonic sensing methods 81～84 with a control enclosure 80, and each ultrasonic sensing method 81～84 is connected to control enclosure 80 by cable, and carries out barrier detection under the coordination of control enclosure 80.
In Fig. 4, stube cable between each ultrasonic sensing method 81～84 and the control enclosure 80 comprises power supply signal line and bidirectional data transfers line at least, therefore each ultrasonic sensing method 81～84 must be connected with control enclosure 80 by a quad respectively, and when adopting above-mentioned connected mode, because of control enclosure 80 is installed in the car body, each ultrasonic sensing method 81～84 generally is installed on the bumper bar of vehicle, under this situation, cable length between control enclosure 80 and the ultrasonic sensing method 81～84 usually can't be less than 2.5 meters, under this situation, not only the wire rod cost is higher, and long data line also causes interference easily.
In installation and measuring, also meet with problem on the other hand, ultrasonic sensing method 81～84 o'clock are being installed by depot, because of control enclosure 80 is installed in the car body, 81～84 of ultrasonic sensing methods are installed on the bumper bar, before bumper bar is installed to car body, because of control enclosure 80 is not connected as yet with each ultrasonic sensing method 81～84, so can't test to radar for backing car, thereby can only after the car load installation, could test radar for backing car, so the installation and measuring operation is very inconvenient, thereby be unfavorable for the raising of production efficiency.
Summary of the invention
From the above, the radar for backing car of many sensors of prior art is no matter the detection before installation or on the economization of wire rod all is subject to the control enclosure that is installed in the car body.In other words, if can get rid of the influence of control enclosure, the problems referred to above can be resolved effectively.
Therefore, fundamental purpose of the present invention is to provide a kind of astern radar device that does not have control enclosure, because the present invention does not use control enclosure, so not only can solve the detection problem before installing, the use that also can save wire rod.
For reaching aforementioned purpose, the major technique means that the present invention adopts provide a kind of astern radar device that does not have control enclosure, are made up of at least one main sensor and more than one subordinate sensor; Wherein:
This main sensor possesses the detection of obstacles function, and coordinates the work schedule of each subordinate sensor of control, and this main sensor includes at least:
One microprocessor, as a control core, it is responsible for producing the ultrasonic pulse, gathers the A/D transformation result, the communication of subordinate sensor, dyscalculia thing be to the distance and the alert driver function of vehicle;
One ultrasonic radiating circuit is connected with the output terminal of microprocessor, so that the electric potential signal of its output is boosted, delivers to a ultrasonic transceiver that is connected again with the emission ultrasonic;
One reflection wave testing circuit, its input end is connected with the ultrasonic transceiver, output terminal then is connected to microprocessor, after running into barrier, the ultrasonic of previous emission returns the ultrasonic transceiver, after the reflection wave signal that the reflection wave testing circuit arrives the ultrasonic transceiver detection amplifies, deliver to microprocessor processes;
One gating circuit is connected with microprocessor and other subordinate sensor respectively, selects to desire the object of communication for microprocessor;
One circuit for alarming is connected with aforementioned microprocessor, and whether decision drives alarm and produce according to the testing result of main sensor itself or other subordinate sensor by microprocessor;
This main sensor is connected with each subordinate sensor, and utilizes timesharing and polling mode, controlling the work schedule of each subordinate sensor, and collects its testing result.
Wherein:
Main sensor removes possesses the detection of obstacles function, and tunable is controlled the work opportunity of each subordinate sensor simultaneously, replaces the control enclosure function of general radar for backing car;
This main sensor also is connected with each subordinate sensor by the single communication line, and it utilizes time sharing principle and polling mode, controlling the work opportunity of each subordinate sensor, and collects its testing result;
Because aforesaid astern radar device is with the function of main sensor replacement control enclosure, under the situation of no control enclosure, when all sensors finish be installed on the bumper bar after, can detect, need not wait until that bumper bar is mounted to car body, so can significantly promote production efficiency; In addition, only utilize the single communication line to link between master/slave sensor, can significantly save the use wire rod, and reduce cost.
Aforementioned main sensor can further connect a display, and this display is connected with microprocessor by gating circuit, to show that barrier is to the distance between the tailstock.
Aforementioned subordinate sensor includes:
One microprocessor, as a control core, it is responsible for producing the ultrasonic pulse, gathers the A/D transformation result, with main sensor communication;
One ultrasonic radiating circuit is connected with the output terminal of the microprocessor of subordinate sensor, so that the electric potential signal of its output is boosted, delivers to a ultrasonic transceiver that is connected again with the emission ultrasonic;
One reflection wave testing circuit, its input end is connected with the ultrasonic transceiver of subordinate sensor, output terminal then is connected to the microprocessor of subordinate sensor, after running into barrier, the ultrasonic of previous emission returns the ultrasonic transceiver of subordinate sensor, after the reflection wave signal that the reflection wave testing circuit arrives the ultrasonic transceiver detection of subordinate sensor amplifies, deliver to the microprocessor processes of subordinate sensor;
One telecommunication circuit is connected with the microprocessor of subordinate sensor, and merges in order to merge transmission/reception data line, and the subordinate sensor is connected with main sensor by the single communication line.
By above-mentioned technical characterictic, the present invention compared with prior art possesses following advantage at least:
1. the present invention adopts the master-slave mode sensor structure, makes main sensor both be responsible for detecting barrier, also is responsible for coordinating the work opportunity of subordinate sensor, promptly replaces the function of control enclosure with main sensor.The subordinate sensor then detects barrier under the coordination of main sensor.By this, radar for backing car promptly need not be provided with control enclosure, thereby can get rid of the influence of control enclosure.
2. because master-slave mode sensor structure of the present invention, when main sensor with after the subordinate sensor is connected, because the length of car insurance bar is generally less than 2 meters, the stube cable length between main sensor and the subordinate sensor can reduce the wire rod cost less than 1.5 meters.Simultaneously, because the data line contraction in length also can effectively reduce transmission and disturb.
3. no matter be main sensor or subordinate sensor with control enclosure function, be installed on the car insurance bar, when depot's assembling automobile, radar for backing car can directly be tested on bumper bar, can test on the vehicle and need not earlier bumper bar be assembled to, so reduced the test step of car load, improved the production efficiency of depot.
Description of drawings
Figure 1A, Figure 1B are system block diagrams of the present invention.
Fig. 2 is the detailed circuit diagram of master's sensor of the present invention.
Fig. 3 is the detailed circuit diagram of subordinate sensor of the present invention.
Fig. 4 is the calcspar of many sensors radar for backing car of prior art.
Symbol description among the figure:
10 main sensor 11 gating circuits
12 ultrasonic radiating circuits, 13 reflection wave testing circuits
14 circuit for alarming, 15 telecommunication circuits
20 subordinate sensors, 21 ultrasonic radiating circuits
22 reflection wave testing circuits, 23 telecommunication circuits
80 control enclosurees
81～84 ultrasonic sensing methods
Embodiment
As shown in Figure 1, disclosing has system block diagrams of the present invention, is made up of with a plurality of subordinate sensor 20 a main sensor 10; Wherein: each subordinate sensor 20 can be respectively be connected with main sensor 10 and communicate by letter by circuit independently, but also can pass through single order wire connection jointly and communicate by letter; No matter be which kind of connected mode, this main sensor 10 all communicates with mode and each subordinate sensor 20 of poll, and each subordinate sensor 20 also only when receiving the polling order of main sensor 10, just gives the detection data of itself and gives main sensor 10.
Detailed circuit as for main sensor 10 1 possible embodiments is constructed as shown in Figure 2, and it includes:
One microprocessor U1, in present embodiment, the ATMEGA8 chip of being produced by atmel corp constitutes, it is responsible for producing the 40KHz square wave and detects reflected signal from barrier, and pass through a gating circuit 11 (74HC4016) and communicate by letter with other subordinate sensor 20, use the job order of coordinating each subordinate sensor 20, and receive the testing result that each subordinate sensor 20 is sent; In addition microprocessor U1 and in have the 12bit A/D converter;
One ultrasonic radiating circuit 12, form by transistor Q1, step-up coil L1, wherein transistor Q1 base stage is connected with the pin 12 of microprocessor U1, so that the 40KHz square-wave signal that microprocessor U1 is sent boosts, send ultrasonic by the ultrasonic transceiver (not shown) that piezoelectric ceramic piece constituted again;
One reflection wave testing circuit 13, by resistance R 1, R2, capacitor C 5 and several operational amplifiers U5C, U5D, the amplifying circuit that U5A constituted is formed, after the ultrasonic radiating circuit sends ultrasonic by piezoelectric ceramic piece, in the ultrasonic communication process if run into barrier, part ultrasonic signal is reflected back toward piezoelectric ceramic piece, piezoelectric ceramic piece is converted to faint electric signal with the reflection wave signal that reflects, again by aforementioned resistance R1, R2, delivering to amplifying circuit after the capacitor C 5 amplifies, after amplifying faint electric signal, amplifying circuit delivers to the analog input mouth (ADC0) of microprocessor U1, owing to have the A/D converter of 12bit in the microprocessor U1, so the analog electrical signal after amplifying can be converted to digital signal, according to the mistiming of signal amplitude and " emission ultrasonic/receive reflection wave ", calculate the distance of barrier again to sensor.
One circuit for alarming 14 connects a hummer (BUZZER) by a transistor Q4 and is constituted, and wherein transistor Q4 base stage is connected with the control pin 14 of microprocessor U1; And microprocessor U1 can or gather result from other subordinate sensor 20 obstruction detections according to main sensor 10 itself, and whether decision produces alarm song; When needs produced alarm song, microprocessor U1 promptly drove hummer by transistor Q4, and when the different current potential of microprocessor U1 control pin 14 outputs, hummer can produce the alarm song of different frequency.
Can understand the detailed circuit structure of aforementioned main sensor 10 by above-mentioned explanation, except that previous constructions, this main sensor 10 also can an external display (DISPLAY), this display is connected with the output terminal of microprocessor U1 by aforesaid gating circuit 11, to show the tailstock, for the visual grasp afore-mentioned distance of driver to the distance between the barrier.
In present embodiment, aforesaid gating circuit 11 can be made of the integrated circuit of numbering 74HC4016, it has No. 16 electronic switches, the object of changeable microprocessor U1 communication, when microprocessor U1 need be with a certain subordinate sensor 20 communications, even electronic switch corresponding on the gating circuit 11 is connected, can form path with corresponding subordinate sensor 20.In addition in present embodiment, communication between this main sensor 10 and the display is also by gating circuit 11 gatings, it is similar to the binding of subordinate sensor 20, when microprocessor U1 need be with the display communication, even electronic switch corresponding with display on the microprocessor U1 gating circuit 11 is connected, signal can be delivered on the display and be play.
In order further to reduce the wire rod cost, transmission/reception data line between aforementioned main sensor 10 and the subordinate sensor 20 can be merged into single order wire, and, guarantee can not send simultaneously/receive data by the sequential that the microprocessor U1 of main sensor 10 controls transmission/reception.For reaching aforementioned purpose, this main sensor 10 further includes a telecommunication circuit 15, this telecommunication circuit 15 is by two transistor Q2, Q3 forms, wherein a transistor Q2 is PNP, another transistor Q3 is NPN, the collection utmost point of this transistor Q2 and the base stage of transistor Q3 are connected to an order wire (DATA) jointly, this order wire (DATA) is connected with other subordinate sensor 20 by gating circuit 11, the base stage of the transistor Q2 collection utmost point that is connected to the TXD pin transistor Q3 of microprocessor U1 then is connected to the RXD pin of microprocessor U1 again, and microprocessor U1 is promptly by the two transistor Q2 on the telecommunication circuit 15, Q3 is to send and to receive data.
And the data between main sensor 10 and the subordinate sensor 20 are with anti-phase transmission noble potential for example, transmit with electronegative potential during actual transmissions: when order wire Data is used to send data, the TXD pin of microprocessor U1 is that no datat sends or send noble potential, this moment, transistor Q2 ended, and was electronegative potential on the order wire Data; If the TXD pin of microprocessor U1 sends electronegative potential, then transistor Q2 conducting presents noble potential on the order wire Data.Otherwise, when order wire Data as receiving the data time spent, if do not receive data as yet or receive the actual noble potential that is sent as of electronegative potential, transistor Q3 ends, the RXD pin of microprocessor U1 is a noble potential; When presenting noble potential, order wire Data is sent as electronegative potential, transistor Q3 conducting, and the RXD pin of microprocessor U1 will detect electronegative potential.
When circuit was in idle condition, the TXD pin of all microprocessors was noble potential on main sensor 10 and the subordinate sensor 20, and this moment, order wire Data was electronegative potential, so the RXD pin of all microprocessors all is noble potential.When a certain microprocessor need send data, promptly earlier the TXD pin is set at electronegative potential Start Bit, this moment, order wire Data became noble potential, and the RXD pin of other microprocessor will detect electronegative potential (Start Bit).
Can understand the principles of the detailed construction of main sensor 10 and itself and 20 transmission of subordinate sensor data by above-mentioned explanation, can be as shown in Figure 3 as for the detailed construction of subordinate sensor 20, it comprises:
One microprocessor U1 still can be made of the ATMEGA8 chip of atmel corp, and it is responsible for producing the 40KHz square wave and detects reflected signal from barrier, and in have the 12bitA/D converter;
One ultrasonic radiating circuit 21, form by transistor Q3, step-up coil L1, wherein transistor Q3 base stage is connected with the pin 12 of microprocessor U1, so that the 40KHz square-wave signal that microprocessor U1 is sent boosts, again by the ultrasonic transceiver that piezoelectric ceramic piece constituted transmission ultrasonic not shown in the figures;
One reflection wave testing circuit 22, by resistance R 1, R2, capacitor C 5 grades and several operational amplifiers U2A, U2B, the amplifying circuit that U2C constituted is formed, after ultrasonic radiating circuit 21 sends ultrasonic by piezoelectric ceramic piece, in the ultrasonic communication process if run into barrier, part ultrasonic signal is reflected back toward piezoelectric ceramic piece, piezoelectric ceramic piece is converted to faint electric signal with the reflection wave signal that reflects, again by aforementioned resistance R1, R2, delivering to amplifying circuit after the capacitor C 5 amplifies, after amplifying faint electric signal, amplifying circuit delivers to the analog input mouth ADC0 of microprocessor U1, owing to have the A/D converter of 12bit in the microprocessor U1, so the analog electrical signal after amplifying can be converted to digital signal, according to the mistiming of signal amplitude and " emission ultrasonic/receive reflection wave ", calculate the distance of barrier again to sensor.
And for example before take off described, in order further to reduce the wire rod cost, transmission/reception data line between aforementioned main sensor 10 and the subordinate sensor 20 is merged into single order wire, for this reason, each subordinate sensor 20 further includes a telecommunication circuit 23, this telecommunication circuit 23 is by two transistor Q1, Q2 forms, wherein a transistor Q2 is PNP, another transistor Q2 is NPN, the collection utmost point of this transistor Q1 and the base stage of transistor Q2 are connected to an order wire (DATA) jointly, the base stage of transistor Q1 is connected to the TXD pin of microprocessor U1 again, the collection utmost point of transistor Q2 then is connected to the RXD pin of microprocessor U1, and microprocessor U1 is promptly by the two transistor Q1 on the telecommunication circuit 23, Q2 is to send and to receive data.Data transmission between this subordinate sensor 20 and the main sensor 10 is still with for it anti-phase, and its principle is identical with the telecommunication circuit 15 of main sensor 10, holds not to be described in further detail.
Claims (15)
1. an astern radar device that does not have control enclosure is made up of at least one main sensor and more than one subordinate sensor; It is characterized in that:
This main sensor possesses the detection of obstacles function, and coordinates the work schedule of each subordinate sensor of control, and this main sensor includes at least:
One microprocessor, as a control core, it is responsible for producing the ultrasonic pulse, gathers the A/D transformation result, the communication of subordinate sensor, dyscalculia thing be to the distance and the alert driver function of vehicle;
One ultrasonic radiating circuit is connected with the output terminal of microprocessor, so that the electric potential signal of its output is boosted, delivers to a ultrasonic transceiver that is connected again with the emission ultrasonic;
One reflection wave testing circuit, its input end is connected with the ultrasonic transceiver, output terminal then is connected to microprocessor, after running into barrier, the ultrasonic of previous emission returns the ultrasonic transceiver, after the reflection wave signal that the reflection wave testing circuit arrives the ultrasonic transceiver detection amplifies, deliver to microprocessor processes;
One gating circuit is connected with microprocessor and other subordinate sensor respectively, selects to desire the object of communication for microprocessor;
One circuit for alarming is connected with aforementioned microprocessor, and whether decision drives alarm and produce according to the testing result of main sensor itself or other subordinate sensor by microprocessor;
This main sensor is connected with each subordinate sensor, and utilizes timesharing and polling mode, controlling the work schedule of each subordinate sensor, and collects its testing result.
2. the astern radar device that does not have control enclosure according to claim 1, it is characterized in that, this main sensor further includes a telecommunication circuit, this telecommunication circuit is connected with aforementioned gating circuit, in order to merge transmission/reception data line, main sensor is connected with other subordinate sensor by the single communication line.
3. as the astern radar device of no control enclosure as described in the claim 2, it is characterized in that, have an A/D converter in this microprocessor.
4. as the astern radar device of no control enclosure as described in the claim 2, this ultrasonic radiating circuit is made up of transistor, step-up coil, it is characterized in that transistor base is connected with the square wave output connecting pin of microprocessor, so that the square-wave signal that microprocessor is sent boosts.
5. as the astern radar device of no control enclosure as described in the claim 2, it is characterized in that, this reflection wave testing circuit is made up of the amplifying circuit that resistance, electric capacity and several operational amplifiers constituted, and its input end is connected with the ultrasonic transceiver, and output terminal then is connected to microprocessor.
6. as the astern radar device of no control enclosure as described in the claim 2, it is characterized in that, this telecommunication circuit is made up of two transistor Q2, Q3, wherein a transistor Q2 is that PNP, another transistor Q3 are NPN, the collection utmost point of this transistor Q2 and the base stage of transistor Q3 are connected to an order wire jointly, the base stage of transistor Q2 is connected to the TXD pin of microprocessor again, and the collection utmost point of transistor Q3 then is connected to the RXD pin of microprocessor.
7. as the astern radar device of no control enclosure as described in the claim 2, it is characterized in that this ultrasonic transceiver is a piezoelectric ceramic piece.
8. as the astern radar device of no control enclosure as described in arbitrary in the claim 1 to 6, it is characterized in that this main sensor further connects a display, this display is connected with microprocessor by gating circuit, with the demonstration barrier to the distance between the tailstock.
9. do not have the astern radar device of control enclosure according to claim 1, it is characterized in that, this subordinate sensor includes:
One microprocessor, as a control core, it is responsible for producing the ultrasonic pulse, gathers the A/D transformation result, with main sensor communication;
One ultrasonic radiating circuit is connected with the output terminal of the microprocessor of subordinate sensor, so that the electric potential signal of its output is boosted, delivers to a ultrasonic transceiver that is connected again with the emission ultrasonic;
One reflection wave testing circuit, its input end is connected with the ultrasonic transceiver of subordinate sensor, output terminal then is connected to the microprocessor of subordinate sensor, after running into barrier, the ultrasonic of previous emission returns the ultrasonic transceiver of subordinate sensor, after the reflection wave signal that the reflection wave testing circuit arrives the ultrasonic transceiver detection of subordinate sensor amplifies, deliver to the microprocessor processes of subordinate sensor.
10. as the astern radar device of no control enclosure as described in the claim 9, it is characterized in that, this subordinate sensor further includes a telecommunication circuit, this telecommunication circuit is connected with the microprocessor of subordinate sensor, in order to merge transmission/reception data line, the subordinate sensor is connected with main sensor by the single communication line.
11. the astern radar device as no control enclosure as described in the claim 9 is characterized in that, has an A/D converter in the microprocessor of this subordinate sensor.
12. astern radar device as no control enclosure as described in the claim 9, the ultrasonic radiating circuit of this subordinate sensor is made up of transistor, step-up coil, it is characterized in that, this transistor base is connected with the square wave output connecting pin of the microprocessor of subordinate sensor, so that the square-wave signal that the microprocessor of subordinate sensor is sent boosts.
13. astern radar device as no control enclosure as described in the claim 9, it is characterized in that, the reflection wave testing circuit of this subordinate sensor is made up of the amplifying circuit that resistance, electric capacity and several operational amplifiers constituted, its input end is connected with the ultrasonic transceiver of subordinate sensor, and output terminal then is connected to the microprocessor of subordinate sensor.
14. astern radar device as no control enclosure as described in the claim 10, it is characterized in that, the telecommunication circuit of this subordinate sensor is made up of two transistor Q1, Q2, wherein a transistor Q1 is that PNP, another transistor Q2 are NPN, the collection utmost point of this transistor Q1 and the base stage of transistor Q2 are connected to an order wire jointly, the base stage of transistor Q1 is connected to the TXD pin of the microprocessor of subordinate sensor again, and the collection utmost point of transistor Q2 then is connected to the RXD pin of the microprocessor of subordinate sensor.
15. the astern radar device as no control enclosure as described in arbitrary in the claim 9 to 14 is characterized in that the ultrasonic transceiver of this subordinate sensor is a piezoelectric ceramic piece.
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| CNB2005100824873A CN100549725C (en) | 2005-07-05 | 2005-07-05 | The astern radar device of no control enclosure |
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| CNB2005100824873A CN100549725C (en) | 2005-07-05 | 2005-07-05 | The astern radar device of no control enclosure |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102141614B (en) * | 2011-01-06 | 2013-06-12 | 同致电子科技（厦门）有限公司 | Method for connecting multiple probes of hostless parking radar system |
| CN103499817A (en) * | 2013-10-18 | 2014-01-08 | 柳州市华航电器有限公司 | Intelligent reversing radar system and automatic control method thereof |
| CN103592649B (en) * | 2013-10-24 | 2017-12-19 | 同致电子科技（厦门）有限公司 | Integral type parking radar system |
| CN104678912B (en) * | 2013-11-28 | 2017-07-28 | 梅特勒-托利多(常州)精密仪器有限公司 | The measuring system being made up of multiple sensors |
| CN105699979B (en) * | 2016-03-04 | 2018-09-14 | 厦门澳仕达电子有限公司 | A kind of host-free parking radar system and control method |
| CN106842214A (en) | 2017-03-27 | 2017-06-13 | 厦门澳仕达电子有限公司 | A kind of host-free parking radar system |
| US10008117B1 (en) | 2017-09-13 | 2018-06-26 | Tung Thih Electron (Xiamen) Co., Ltd. | Master-slave compatible PDC system |
| EP3457175B1 (en) | 2017-09-13 | 2024-03-06 | Tung Thih Electron (Xiamen) Co., Ltd. | A master-slave compatible pdc system |
| CN107918131A (en) * | 2017-12-26 | 2018-04-17 | 同致电子科技（厦门）有限公司 | Master-slave mode compatible type parking radar auxiliary system |
| CN108594789A (en) * | 2018-03-28 | 2018-09-28 | 吉利汽车研究院（宁波）有限公司 | A kind of off host reverse radar system and control method |
| US11148675B2 (en) * | 2018-08-06 | 2021-10-19 | Qualcomm Incorporated | Apparatus and method of sharing a sensor in a multiple system on chip environment |
| WO2020107176A1 (en) * | 2018-11-26 | 2020-06-04 | 华为技术有限公司 | Obstacle detection method and device |
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Address after: 519000 Guangdong city of Zhuhai province Jinding town High-tech Zone Kwun Tong Sand Hill Industrial Zone, 1 factory buildings Patentee after: ZHUHAI COLIGEN CO., LTD. Address before: 519000 Guangdong city of Zhuhai province Jinding town High-tech Zone Kwun Tong Sand Hill Industrial Zone, 1 factory buildings Patentee before: ZHUHAI COLIGEN CO., LTD. |