CN104345309A - Vehicle speed measuring method and device - Google Patents

Vehicle speed measuring method and device Download PDF

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Publication number
CN104345309A
CN104345309A CN201310348082.4A CN201310348082A CN104345309A CN 104345309 A CN104345309 A CN 104345309A CN 201310348082 A CN201310348082 A CN 201310348082A CN 104345309 A CN104345309 A CN 104345309A
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China
Prior art keywords
radar
vehicle
detected
vehicle speed
speed measuring
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Pending
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CN201310348082.4A
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Chinese (zh)
Inventor
徐刚
何树营
余丽艳
金轲
杨继红
吴现卫
杨娜娜
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Shantui Chutian Construction Machinery Co Ltd
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Shantui Chutian Construction Machinery Co Ltd
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Application filed by Shantui Chutian Construction Machinery Co Ltd filed Critical Shantui Chutian Construction Machinery Co Ltd
Priority to CN201310348082.4A priority Critical patent/CN104345309A/en
Publication of CN104345309A publication Critical patent/CN104345309A/en
Pending legal-status Critical Current

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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
    • 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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The invention discloses a vehicle speed measuring method, which comprises the following steps that a first radar and a second radar with the emission frequency respectively being f0 are respectively arranged on a vehicle to be detected, the emission direction of the first radar is consistent with the advancing direction of the vehicle to be detected, in addition, an included angle alpha is formed between the emission direction of the first radar and the ground plane, the emission direction of the second radar is consistent with the opposite direction of the advancing direction of the vehicle to be detected, and in addition, an included angle alpha is also formed between the emission direction of the second radar and the ground plane; the first feedback signal frequency f2 received by the first radar and the second feedback signal frequency f2' received by the second radar are respectively obtained; the advancing speed vF of the vehicle to be detected is obtained through calculation according to a formula. The vehicle speed measuring method provided by the invention can effectively solve the problem of vehicle speed measurement errors caused by vehicle pitching. The invention also provides a vehicle speed measuring device, which can also effectively solve the problem of vehicle speed measurement errors caused by vehicle pitching.

Description

A kind of vehicle speed measuring method and device
Technical field
The present invention relates to velocity measuring technique field, particularly relate to method and the speed measuring device of the range rate error that a kind of elimination produces because of pitching.
Background technology
In the research and design test of the vehicle such as engineering machinery, farm machinery, the speed of travel of vehicle is a very important parameter, can Measurement accuracy vehicle to run length velocity relation to the performance of car load.
Vehicle speed measurement can adopt the method for installing velocity radar on car body.The principle of radar velocity measurement is application Doppler effect, namely mobile object has the effect of frequency displacement to received electromagnetic wave, radar meter is the movement velocity drawing testee according to the calculating of reflection wave frequency shift amount received, radar velocity measurement has following characteristics: 1. radar wave speed is large compared with the shadow surface of laser, therefore radar velocity measurement requires low, without the need to fine sight to reflecting surface.2. radar velocity measurement equipment can be installed onboard, realizes at the volley detecting the speed of a motor vehicle.3. radar meter technology maturation, moderate.The principle of radar velocity measurement is as described below.
When wave source and observer have a relative motion, the phenomenon that the frequency that observer receives is not identical with wave source transmission frequency is called Doppler effect.Such as, when the train of blowing a whistle is to platform, the whistling that the observer on platform hears comes to a point, and namely frequency raises; On the contrary, when train leaves platform, the whistling frequency heard reduces.Following three kinds of situations are now discussed.
(1) set the frequency of wave source as f s, the frequency f that observer receives r, wave frequency f, velocity of wave is u.
Relative to medium, wave source is motionless, and observer is with speed v rmove towards wave source.
Then f R = u + v R λ = u + v R u / f = u + v R u f - - - ( 1 )
(2) motionless relative to medium observer, wave source is with speed v stowards motion of an observer.Because two adjacent in phase vibration states that wave source sends send in different location, the distance that these two places are separated by is v st s, wherein the wave source cycle is T s.If wave source is towards motion of an observer, the distance between this rear place to the nearest same phase point in front is the wavelength X in present medium.
Wave source moves, the wavelength in medium:
λ = λ 0 - v s T s = ( u - v s ) T s = u - v s f s - - - ( 2 )
Corresponding wave frequency is: (velocity of wave is constant, the wavelength variations of equivalence)
f = u λ = u u - v s f s - - - ( 3 )
Because observer is static, so the frequency that he receives is exactly wave frequency:
f R = f = u u - v s f s ,
(3) relative to medium, wave source and observer move simultaneously, then have as follows:
Only during motion of an observer, the frequency received by observer as (1) formula,
Only during wave source motion, in medium, wave frequency is as (3) formula,
F in (3) formula is substituted into (1) formula,
f R = u + v R u - v s f s - - - ( 4 ) ,
Please refer to Fig. 1, Fig. 1 is speed measuring device schematic diagram in prior art.
In prior art, vehicle is provided with radar 01, the setting angle of radar 01 is α, and the angle namely between the microwave of radar emission and surface level is α, and the microwave signal frequency that radar 01 is launched is f 0, speed is light velocity c, and vehicle pace is v fif the echo frequency of ground return is f 1, now can regard wave source as away from motion of an observer, the situation that observer is static.Then have
f 1 = c c + v F cos α f 0 - - - ( 5 )
When radar 01 is got back in microwave reflection, if the frequency that radar 01 receives is f 2, now can regard that wave source is static as, the situation that observer moves away from wave source, then have
f 2 = c - v F cos α c f 1 = f 0 c - v F cos α c + v F cos α - - - ( 6 )
Therefore Doppler shift Δf = f 0 - f 2 = f 0 2 · v F cos α c + v F cos α , And vehicle ground speed
v F = c cos α · f 0 - f 2 f 2 + f 0 ≈ 1 2 · c cos α · Δf f 0 - - - ( 7 )
By reading radar receive frequency f in actual measurement 2convert speed of a motor vehicle v f.Such as: radar setting angle is α=35 °, light velocity c=3 × 10 8m/s=1.08 × 10 9km/h, radar emission fundamental frequency f 0=24.125 × 10 9hz, now
v F ≈ f 0 - f 2 2 cos α · f 0 / c = Δf 36.6 km / h .
Known by above reasoning, during single radar velocity measurement, the change of angle of pitch α can cause measured value v ftruly can not reflect body speed of vehicle, and then cause vehicle speed measurement error.
Therefore, how to solve because of vehicle pitch, and cause the problem of vehicle speed measurement error, become those skilled in the art's important technological problems to be solved.
Summary of the invention
The invention provides a kind of vehicle speed measuring method, it can effectively solve the problem causing vehicle speed measurement error because of vehicle pitch.Present invention also offers a kind of vehicle speed measuring device, it can solve the problem causing vehicle speed measurement error because of vehicle pitch equally.
A kind of vehicle speed measuring method provided by the invention, comprising:
Vehicle to be detected arranges transmission frequency respectively and is f 0the first radar and the second radar, the transmit direction of described first radar is consistent with the working direction of described vehicle to be detected, and and angle between ground level be α, the transmit direction of described second radar is consistent with the opposite direction of the working direction of described vehicle to be detected, and and angle between described ground level be also α;
Obtain the first feedback frequency signal f that described first radar receives respectively 2with the second feedback frequency signal f that described second radar receives 2';
According to formula wherein, c is the light velocity, calculates the gait of march v of described vehicle to be detected f.
Preferably, vehicle to be detected arranges transmission frequency respectively and be f 0the first radar and the second radar, specifically comprise:
Described first radar is arranged at the forward position of described vehicle to be detected;
Described second radar is arranged at the rear positions of described vehicle to be detected.
Preferably, vehicle to be detected arranges transmission frequency respectively and be f 0the first radar and the second radar, specifically comprise: be arranged in same plane by the transmitting axis of the transmitting axis of described first radar and described second radar, this plane is perpendicular with described ground level and parallel with the direct of travel of described vehicle to be detected.
Preferably, 30 ° of < α < 50 °.
Present invention also offers a kind of vehicle speed measuring device, comprising:
First radar and the second radar, be arranged on vehicle to be detected, and the transmission frequency of described first radar and described second radar is f 0the transmit direction of described first radar is consistent with the working direction of described vehicle to be detected, and and angle between ground level be α, the transmit direction of described second radar is consistent with the opposite direction of the working direction of described vehicle to be detected, and and angle between described ground level be also α;
Processor, obtains the first feedback frequency signal f that described first radar receives respectively 2with the second feedback frequency signal f that described second radar receives 2', and according to formula wherein, c is the light velocity, calculates the gait of march v of described vehicle to be detected f.
Preferably, described first radar is arranged at the forward position of described vehicle to be detected, and described second radar is arranged at the rear positions of described vehicle to be detected.
Preferably, the transmitting axis of described first radar and the transmitting axis of described second radar are arranged in same plane, and this plane is perpendicular with described ground level and parallel with the direct of travel of described vehicle to be detected.
Preferably, 30 ° of < α < 50 °.
Speed-measuring method provided by the invention, different from speed-measuring method of the prior art, by arranging two radars.In addition, it should be noted that, the transmit direction of the first radar is consistent with the working direction of vehicle to be detected, not the transmit direction of finger first radar parallels with the working direction of vehicle to be detected, but be acute angle with the working direction of vehicle to be detected, equally, the transmit direction of the second radar is consistent with the opposite direction of the working direction of vehicle to be detected, also not the transmit direction of finger first radar parallels with the working direction of vehicle to be detected, but is acute angle with the opposite direction of the working direction of vehicle to be detected.In addition, angle between the transmit direction of the first radar and the second radar and ground level is α, by controlling the setting position of the first radar and the second radar, when vehicle generation pitching to be detected, angle between the transmit direction of the first radar and ground level increases or reduces an angular metric, and the transmit direction of the second radar correspondingly reduces with the angle between ground level or increases an identical angular metric.Setting like this, by formula, it doesn't matter for the known car speed that calculates and vehicle pitch rate, eliminates the impact of the angle of pitch on vehicle speed measuring error.
Equally, vehicle speed measuring device provided by the invention, by arranging the first radar and the second radar and processor, can realize above-mentioned speed-measuring method, therefore, vehicle speed measuring device provided by the invention, also can eliminate vehicle pitch and the range rate error caused.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is speed measuring device schematic diagram in prior art;
Fig. 2 is that vehicle tests the speed when facing upward schematic diagram.
Embodiment
This embodiment provides a kind of vehicle speed measuring method, and it can effectively solve the problem causing vehicle speed measurement error because of vehicle pitch.This embodiment additionally provides a kind of vehicle speed measuring device, and it can solve the problem causing vehicle speed measurement error because of vehicle pitch equally.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The vehicle speed measuring method that this embodiment provides, comprising:
Vehicle to be detected arranges transmission frequency respectively and is f 0the first radar and the second radar, the transmit direction of described first radar is consistent with the working direction of described vehicle to be detected, and and angle between ground level be α, the transmit direction of described second radar is consistent with the opposite direction of the working direction of described vehicle to be detected, and and angle between described ground level be also α;
Obtain the first feedback frequency signal f that described first radar receives respectively 2with the second feedback frequency signal f that described second radar receives 2';
According to formula wherein, c is the light velocity, calculates the gait of march v of described vehicle to be detected f.
The speed-measuring method that this embodiment provides, different from speed-measuring method of the prior art, need arranging two radars.In addition, it should be noted that, the transmit direction of the first radar is consistent with the working direction of vehicle to be detected, not the transmit direction of finger first radar parallels with the working direction of vehicle to be detected, but be acute angle with the working direction of vehicle to be detected, equally, the transmit direction of the second radar is consistent with the opposite direction of the working direction of vehicle to be detected, also not the transmit direction of finger first radar parallels with the working direction of vehicle to be detected, but is acute angle with the opposite direction of the working direction of vehicle to be detected.In addition, angle between the transmit direction of the first radar and the second radar and ground level is α, by controlling the setting position of the first radar and the second radar, when vehicle generation pitching to be detected, angle between the transmit direction of the first radar and ground level increases or reduces an angular metric, and the transmit direction of the second radar correspondingly reduces with the angle between ground level or increases an identical angular metric.Content is to occur that when vehicle advances the situation that tilt angle is δ is described in detail below.
As shown in Figure 2, Measurement accuracy vehicle relatively face velocity, need on vehicle, two radar Dopplers to be installed, another backward launched of launched microwave signal forward, the Doppler shift Δ f of two different values obtained and Δ f ', now
&Delta;f = f 0 - f 2 = f 0 2 &CenterDot; v F cos ( &alpha; + &delta; ) c + v F cos ( &alpha; + &delta; ) - - - ( 8 )
v F = c cos ( &alpha; + &delta; ) &CenterDot; f 0 - f 2 f 2 + f 0 &ap; 1 2 &CenterDot; c cos ( &alpha; + &delta; ) &CenterDot; &Delta;f f 0 - - - ( 9 )
Δ f ' can refer to inference step above, and Δ f ' result is
&Delta;f &prime; = f 2 &prime; - f 0 = f 0 2 &CenterDot; v F cos ( &alpha; - &delta; ) c + v F cos ( &alpha; - &delta; ) - - - ( 10 )
v F = c cos ( &alpha; - &delta; ) &CenterDot; f 2 &prime; - f 0 f 2 &prime; + f 0 &ap; 1 2 &CenterDot; c cos ( &alpha; - &delta; ) &CenterDot; &Delta;f &prime; f 0 - - - ( 11 )
Known by (9) formula
cos ( &alpha; + &delta; ) = 1 2 &CenterDot; c &CenterDot; &Delta;f v F &CenterDot; f 0 - - - ( 12 )
Known by (11) formula
cos ( &alpha; - &delta; ) = 1 2 &CenterDot; c &CenterDot; &Delta; f &prime; v F &CenterDot; f 0 - - - ( 13 )
Because in gatherer process, δ is in a small amount, cos δ ≈ 1
Cos (α+δ)=cos α cos δ-sin α sin δ (14) again
cos(α-δ)=cosαcosδ+sinαsinδ （15）
(12) formula is added with (13) formula
2 cos &alpha; cos &delta; = 1 2 &CenterDot; c ( &Delta;f + &Delta;f &prime; ) v F &CenterDot; f 0 &ap; 2 cos &alpha; - - - ( 16 )
Thus v F &ap; 1 2 &CenterDot; c cos &alpha; &CenterDot; f 0 &CenterDot; &Delta;f + &Delta;f &prime; 2 = 1 2 &CenterDot; c cos &alpha; &CenterDot; f 0 &CenterDot; f 2 &prime; - f 2 2 - - - ( 17 )
Known by above derivation, two velocity radars are installed and essentially eliminate the impact that angle of pitch δ causes vehicle speed measurement, and fundamental frequency f can be reduced 0error on the impact of vehicle speed measurement.
As preferred and citing, vehicle to be detected arranges transmission frequency respectively and is f 0the first radar and the second radar, specifically comprise:
First radar is arranged at the forward position of vehicle to be detected;
Second radar is arranged at the rear positions of vehicle to be detected;
So, the first radar and the second radar are separately positioned on forward position and the rear positions of vehicle, the wave beam of the first radar and the second radar emission can not be blocked by vehicle, ensures the accuracy tested the speed.
In addition, vehicle to be detected arranges transmission frequency respectively and be f 0the first radar and the second radar, specifically comprise: be arranged in same plane by the transmitting axis of the first radar and the transmitting axis of the second radar, this plane is perpendicular with described ground level and parallel with the direct of travel of described vehicle to be detected.
So, can ensure when pitching appears in vehicle, the angle that the transmit direction of the first radar increases with the angle between ground level or the transmit direction of the angle that reduces and the second radar reduces with the angle between ground level or increase is equal, and when determining installation site on vehicle of the first radar and the second radar, after the plane paralleled with vehicle direct of travel while of only need determining perpendicular with ground level, first radar and the second radar are mounted to the appropriate location of this plane, there is good operability.
It should be noted that, angle between the transmit direction of above-mentioned first radar and the second radar and ground level range preferably from 30 ° of < α < 50 °, so can ensure when vehicle generation pitching, first radar and the second radar still can transmit a signal to ground level, and will be transmitted by ground level reflects again.
This embodiment additionally provides a kind of vehicle speed measuring device, comprising:
First radar and the second radar, be arranged on vehicle to be detected, and the transmission frequency of described first radar and described second radar is f 0the transmit direction of described first radar is consistent with the working direction of described vehicle to be detected, and and angle between ground level be α, the transmit direction of described second radar is consistent with the opposite direction of the working direction of described vehicle to be detected, and and angle between described ground level be also α;
Processor, obtains the first feedback frequency signal f that described first radar receives respectively 2with the second feedback frequency signal f that described second radar receives 2', and according to formula wherein, c is the light velocity, calculates the gait of march v of described vehicle to be detected f.
Equally, by above-mentioned setting, vehicle speed measuring method in above-mentioned embodiment can be realized, and then the vehicle speed measurement error can vehicle pitch avoided and cause, the derivation of the beneficial effect that the derivation of this beneficial effect and above-mentioned measuring method are brought is substantially similar, therefore repeats no more herein.
As preferred and citing, the first radar is arranged at the forward position of vehicle to be detected, and the second radar is arranged at the rear positions of vehicle to be detected.Setting like this, is separately positioned on forward position and the rear positions of vehicle by the first radar and the second radar, the wave beam of the first radar and the second radar emission can not be blocked by vehicle, ensures the accuracy tested the speed.
In addition, the speed measuring device that this embodiment provides, can be arranged in same plane by the transmitting axis of the transmitting axis of the first radar and the second radar, and this plane is perpendicular with described ground level and parallel with the direct of travel of vehicle to be detected.
Setting like this, can ensure when pitching appears in vehicle, the angle that the transmit direction of the first radar increases with the angle between ground level or the transmit direction of the angle that reduces and the second radar reduces with the angle between ground level or increase is equal, and when determining installation site on vehicle of the first radar and the second radar, after the plane paralleled with vehicle direct of travel while of only need determining perpendicular with ground level, first radar and the second radar are mounted to the appropriate location of this plane, there is good operability.
Equally, scope as the angle between the transmit direction of preferably above-mentioned first radar and the second radar and ground level is 30 ° of < α < 50 °, so can ensure when vehicle generation pitching, first radar and the second radar still can transmit a signal to ground level, and will be transmitted by ground level reflects again.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.

Claims (8)

1. a vehicle speed measuring method, is characterized in that, comprising:
Vehicle to be detected arranges transmission frequency respectively and is f 0the first radar and the second radar, the transmit direction of described first radar is consistent with the working direction of described vehicle to be detected, and and angle between ground level be α, the transmit direction of described second radar is consistent with the opposite direction of the working direction of described vehicle to be detected, and and angle between described ground level be also α;
Obtain the first feedback frequency signal f that described first radar receives respectively 2with the second feedback frequency signal f that described second radar receives 2';
According to formula wherein, c is the light velocity, calculates the gait of march v of described vehicle to be detected f.
2. vehicle speed measuring method as claimed in claim 1, is characterized in that, vehicle to be detected arranges transmission frequency respectively and is f 0the first radar and the second radar, specifically comprise:
Described first radar is arranged at the forward position of described vehicle to be detected;
Described second radar is arranged at the rear positions of described vehicle to be detected.
3. vehicle speed measuring method as claimed in claim 1, is characterized in that, vehicle to be detected arranges transmission frequency respectively and is f 0the first radar and the second radar, specifically comprise: be arranged in same plane by the transmitting axis of the transmitting axis of described first radar and described second radar, this plane is perpendicular with described ground level and parallel with the direct of travel of described vehicle to be detected.
4. vehicle speed measuring method as claimed in claim 1, is characterized in that, 30 ° of < α < 50 °.
5. a vehicle speed measuring device, is characterized in that, comprising:
First radar and the second radar, be arranged on vehicle to be detected, and the transmission frequency of described first radar and described second radar is f 0the transmit direction of described first radar is consistent with the working direction of described vehicle to be detected, and and angle between ground level be α, the transmit direction of described second radar is consistent with the opposite direction of the working direction of described vehicle to be detected, and and angle between described ground level be also α;
Processor, obtains the first feedback frequency signal f that described first radar receives respectively 2with the second feedback frequency signal f that described second radar receives 2', and according to formula wherein, c is the light velocity, calculates the gait of march v of described vehicle to be detected f.
6. vehicle speed measuring device as claimed in claim 5, it is characterized in that, described first radar is arranged at the forward position of described vehicle to be detected, and described second radar is arranged at the rear positions of described vehicle to be detected.
7. vehicle speed measuring device as claimed in claim 5, it is characterized in that, the transmitting axis of described first radar and the transmitting axis of described second radar are arranged in same plane, and this plane is perpendicular with described ground level and parallel with the direct of travel of described vehicle to be detected.
8. vehicle speed measuring device as claimed in claim 5, is characterized in that, 30 ° of < α < 50 °.
CN201310348082.4A 2013-08-09 2013-08-09 Vehicle speed measuring method and device Pending CN104345309A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109598947A (en) * 2018-12-26 2019-04-09 武汉万集信息技术有限公司 A kind of vehicle identification method and system
CN110346787A (en) * 2019-07-25 2019-10-18 芜湖易来达雷达科技有限公司 A kind of radar system of bidimensional tachometric survey
CN110461682A (en) * 2017-02-23 2019-11-15 汽车驾驶解决有限公司 The speed control and orbital transfer detecting devices of railway
WO2020083117A1 (en) * 2018-10-25 2020-04-30 华为技术有限公司 Radar signal processing method and apparatus, and storage medium
CN111751817A (en) * 2020-07-21 2020-10-09 成都阶跃时进科技有限公司 Vehicle driving parameter measuring device and method

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JPH0915332A (en) * 1995-06-30 1997-01-17 Toyota Motor Corp Detecting device of vehicle ground speed
CN1885062A (en) * 2005-06-24 2006-12-27 西门子公司 Vehicle speed sensor

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EP0371346A2 (en) * 1988-12-01 1990-06-06 TEMIC TELEFUNKEN microelectronic GmbH Device for measuring the horizontal and/or vertical speed components of a first object moving relative to a second object
EP0504993A1 (en) * 1991-03-22 1992-09-23 Philips Electronics Uk Limited Doppler radar speed sensor
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110461682A (en) * 2017-02-23 2019-11-15 汽车驾驶解决有限公司 The speed control and orbital transfer detecting devices of railway
WO2020083117A1 (en) * 2018-10-25 2020-04-30 华为技术有限公司 Radar signal processing method and apparatus, and storage medium
CN111103586A (en) * 2018-10-25 2020-05-05 华为技术有限公司 Radar signal processing method, device and storage medium
CN111103586B (en) * 2018-10-25 2023-05-09 华为技术有限公司 Radar signal processing method, device and storage medium
CN109598947A (en) * 2018-12-26 2019-04-09 武汉万集信息技术有限公司 A kind of vehicle identification method and system
CN110346787A (en) * 2019-07-25 2019-10-18 芜湖易来达雷达科技有限公司 A kind of radar system of bidimensional tachometric survey
CN111751817A (en) * 2020-07-21 2020-10-09 成都阶跃时进科技有限公司 Vehicle driving parameter measuring device and method

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Application publication date: 20150211