CN1472545A - Method anjd apparatus for reducing dead detecting angle of radar for back running vehicle - Google Patents
Method anjd apparatus for reducing dead detecting angle of radar for back running vehicle Download PDFInfo
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- CN1472545A CN1472545A CNA021274509A CN02127450A CN1472545A CN 1472545 A CN1472545 A CN 1472545A CN A021274509 A CNA021274509 A CN A021274509A CN 02127450 A CN02127450 A CN 02127450A CN 1472545 A CN1472545 A CN 1472545A
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- 238000000034 method Methods 0.000 title claims description 9
- 238000002604 ultrasonography Methods 0.000 claims description 35
- 230000004888 barrier function Effects 0.000 claims description 25
- 230000003534 oscillatory effect Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 239000003990 capacitor Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000003321 amplification Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000003199 nucleic acid amplification method Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 206010049669 Dyscalculia Diseases 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- PLQDLOBGKJCDSZ-UHFFFAOYSA-N Cypromid Chemical compound C1=C(Cl)C(Cl)=CC=C1NC(=O)C1CC1 PLQDLOBGKJCDSZ-UHFFFAOYSA-N 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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Abstract
The device installes two sets of inducters having quite large emission angle at tail of vehicle in order to narrow dead angle of area of ultrasonic emitted by those two inducters. The ultrasonic emitting/receiving of two inducters are controlled by a central control circuit which applies channel switching manner to let only one inducter emitt ultrasonic as well as only one receive ultrasonic, also ignores reflecting ultrasonic received at specific time to avoid error operation caused by cross-receiving signal emitted from the other one.
Description
Technical field
The invention relates to method and device that a kind of radar for backing car dwindles dead detecting angle, refer to that especially a kind of the utilization changes cooperation channel switching of inductor emission ultrasound wave angle and method and the device of mistiming principle to dwindle dead detecting angle.
Background technology
When general radar for backing car is worked, be barrier to be complied with far and near difference to the distance of vehicle be distinguished into several sections, when barrier dropped on different distance segment, radar for backing car was with different auditory tone cues drivers.And when barrier entered nearest section, radar for backing car was promptly noted the distance of vehicle to barrier with very rapid auditory tone cues driver.
The sensing range of relevant radar for backing car, be rectangle (as shown in Figure 4) ideally, wherein in the rectangular extent near the tailstock two inductor A, B section a1 recently, apart from inferior closely, far away and farthest the rectangular extent of the rectangular extent of two inductor A, B then is time nearly section a2, section a3 far away, section a4 farthest in regular turn.
Yet in fact the ultrasonic signal that radar for backing car sends is propagated along curved surface, and in Fig. 4, the ultrasound wave that inductor A sends is fan-shaped propagation, and the ultrasound wave that inductor B sends also is fan-shaped propagation.In this case, when barrier is positioned at the relative exterior lateral area b2 of regional b1 that two fan-shaped emitting areas overlap and two sector regions, radar for backing car will judge barrier for being positioned at time closely section a2, and give the prompting of driver's mistake; When barrier is arranged in the regional b3 that Fig. 4 two fan-shaped emitting areas do not contain, then radar for backing car will detect the situation that occurs failing to report less than any object.
Obviously, the problems referred to above will cause radar for backing car gross error to occur when detecting obstacle distance, especially when barrier is positioned at nearest section a1, and any wrong report or fail to report all and may cause the vehicle clobber.The key that addresses this problem is to dwindle the area in zones such as b1, b2 among Fig. 4, b3.As shown in Figure 5, if can be with the surveyed area of inductor by the fan-shaped ellipse that becomes, the wrong report of radar for backing car and rate of failing to report can significantly reduce.
From the above, when the sensing range of radar for backing car is as shown in Figure 6: when radar for backing car detects wherein a sector region, receive the ultrasound wave of himself launching by inductor A emission ultrasound wave and by inductor A, radar for backing car calculates the distance (hyperacoustic velocity of propagation be 340m/s) of barrier to radar for backing car according to sending ultrasound wave and the mistiming that receives reflection wave; When radar for backing car detects another sector region, receive the ultrasound wave that himself sends by inductor B emission ultrasound wave and by inductor B, radar for backing car is according to sending ultrasound wave and the mistiming that receives reflection wave, and the dyscalculia thing is to the distance of radar for backing car; To receive ultrasound wave by inductor B by inductor A emission ultrasound wave during radar for backing car surveyed area b1, radar for backing car sends the mistiming that ultrasound wave and inductor B receive reflection wave according to inductor A, with the distance of disturbance in judgement thing to radar for backing car, radar for backing car can't detect the barrier that is positioned at dead angle area b3, so must dwindle the size of this dead angle area b3 as far as possible.
Summary of the invention
Therefore, fundamental purpose of the present invention is promptly providing a kind of radar for backing car that can effectively dwindle the dead detecting angle zone.
Desiring to reach the major technique means that aforementioned purpose takes is to adopt the bigger inductor of emission angle to replace the less inductor of emission angle, effectively to dwindle the scope of dead angle area.
Shown in Fig. 7 A, Fig. 7 B, the emission angle of inductor shown in Fig. 7 B is greater than the emission angle of inductor shown in Fig. 7 A, so the regional b3 among Fig. 7 B is less than the regional b3 of Fig. 7 A.In fact, because ripple has the existence of characteristics such as reflection, diffraction, ultrasound wave is not strictly along rectilinear propagation, so the regional b3 among Fig. 7 B in fact also can further dwindle.In other words, see through and select suitable inductor, dead angle area b3 can be narrowed down to the acceptable scope.
The present invention's time purpose is providing a kind of radar for backing car that can effectively avoid misoperation:
After the regional b3 among Fig. 7 B narrowed down to a certain degree, inductor A sends ultrasound wave may directly propagate into inductor B, and by inductor A emission ultrasound wave, and caused wrong report when receiving reflection wave by inductor B.Suppose that inductor A is ncm to the distance of inductor B, hyperacoustic velocity of propagation is 340m/s, so ultrasound wave directly propagates into the shared time t=n/34 of inductor B by inductor A.Because any leg-of-mutton both sides sum is permanent in the 3rd limit.So no matter barrier is positioned at any point of rear view of vehicle, its signal reflex that inductor A is sent to time of inductor B all greater than time t.
Around this principle, when radar for backing car is operated in inductor A emission and inductor B receptive pattern, radar for backing car is not handled any reflection wave in the t time, and radar for backing car calculates and plays the mistiming of receiving reflection wave constantly from t, and according to the distance of this mistiming dyscalculia thing to radar for backing car.
Suppose that barrier A is x, is y (as shown in Figure 8) to the distance of inductor B to the distance of inductor A, according to the character of ellipse, in the regional b4 any point to the distance of inductor A and inductor B with should be smaller or equal to x+y.Around this principle, if when radar for backing car was in the mode of operation that inductor A emission, inductor B receive, its detected obstacle distance was m, suppose that inductor A is k to the air line distance of inductor B, then ought
During k＜m＜x+y, can think that barrier is positioned at first section, to improve the accuracy of detecting, reduce the probability of wrong report by this.
Another object of the present invention is providing a kind of radar for backing car control circuit that can effectively dwindle the dead detecting angle zone, and it includes:
One central processing unit is made up of single-chip and peripheral circuit thereof, has functions such as the characteristic frequency of generation pulse wave, computed range, control alarm and selective channel;
One warning circuit mainly is made of hummer, and under the control of central processing unit, with the distance of different sound prompting drivers apart from barrier, distance is near more, and the sound of hummer is compact more;
One booster circuit, with the pulse wave signal of central processing unit output boost handle after, its output terminal is to be connected with the ultrasonic sensing device, launches ultrasound wave to drive the ultrasonic sensing device;
One channel selectivity circuit is under the control of central processing unit, selects the ultra-weak electronic signal (reflection wave signal) from special ultrasonic ripple inductor;
One amplifying circuit is that channel selectivity circuit selects the ultra-weak electronic signal (reflection wave signal) of the special ultrasonic ripple inductor of exporting to carry out processing and amplifying.
This amplifying circuit will amplify from the ultra-weak electronic signal of ultrasonic sensing device, and the electric signal after will amplifying is sent into central processing unit and handled;
The workflow of central processing unit is as follows again: it makes the ultrasonic sensing device send ultrasound wave with the frequency of 40KHz, after disappearing, the aftershock of wait inductor detects its reflection wave signal immediately, have subwave and be reflected back toward inductor because of running into barrier in the ultrasonic propagation way, so need only calculate and send ultrasound wave, can calculate the distance of barrier according to the aerial velocity of propagation 340m/s of sound wave to inductor to the mistiming of receiving reflection wave.
The ultrasonic sensing device transmits and receives ultrasound wave in the round-robin mode under the control of central controller again, and make and have only ultrasonic sensing device emission ultrasound wave in each time, also have only inductor to receive ultrasound wave, see through channel selectivity circuit again and switch from the reflection wave signal of ultrasonic sensing device and be sent to amplifying circuit and amplify.
Description of drawings
Fig. 1 is a circuit block diagram of the present invention;
Fig. 2 A, Fig. 2 B, Fig. 2 C are detailed circuit diagram of the present invention;
Fig. 3 is a workflow diagram of the present invention;
Fig. 4 is the ultrasonic emitting area schematic of general radar for backing car;
Fig. 5 is the radar for backing car ultrasonic emitting area schematic through revising;
Fig. 6 is the dead detecting angle area schematic of general radar for backing car;
Fig. 7 A, Fig. 7 B are the emitting area synoptic diagram of different emission angle inductors;
Fig. 8 is the detection area synoptic diagram of radar for backing car.
The figure number explanation:
(10) central processing unit (20) warning circuit
(30) booster circuit (31) (32) boosting unit
(33) (34) ultrasonic transmit circuit
(40) channel selectivity circuit (50) amplifying circuit
(60) mu balanced circuit
Embodiment
At first, relevant radar for backing car control circuit block diagram of the present invention as shown in Figure 1, it includes:
One central processing unit 10 mainly is made of a single-chip, has functions such as the characteristic frequency of generation pulse wave, computed range, control alarm and selective channel;
One warning circuit 20 mainly is made of hummer, and it is under the control of central processing unit 10, and with the distance of different sound prompting drivers apart from barrier, distance is near more, and the sound of hummer is compact more;
One booster circuit 30, its be pulse wave signal with central processing unit 10 output boost handle after, its output terminal is to be connected with the ultrasonic sensing device, launches ultrasound wave to drive the ultrasonic sensing device;
One channel selectivity circuit 40 is under the control of central processing unit 10, selects the ultra-weak electronic signal (reflection wave signal) from special ultrasonic ripple inductor;
One amplifying circuit 50 is to select the ultra-weak electronic signal (reflection wave signal) of the special ultrasonic ripple inductor of exporting to carry out processing and amplifying to channel selectivity circuit 40, and sends into central processing unit 10 and carry out calculation process; Wherein:
About further detailed construction of aforementioned circuit and principle of work, see also shown in the 2A, this central processing unit 10 is that the PIC16C54 chip that Microchip company produces constitutes, and adopts the time sequence frequency (sequential of this frequency can produce the square wave of 40KHz ± 0.5%) of 3.798MHz.Central processing unit 10 is to form the central controller circuit with its peripheral circuit IC4, capacitor C 13, C14, C15, resistance R 32, diode D4 and the sub-CY1 that vibrates etc. again, and wherein capacitor C 13, C14 and the sub-CY1 that vibrates form an outside oscillatory circuit; Voltage detector IC4, capacitor C 15, resistance R 32 and diode D4 form an electrify restoration circuit, this electrify restoration circuit is to see through voltage detector IC4 to detect mains voltage variations, and then the pin that resets of control central processing unit 10, malreduction (initialization the is bad) problem that is caused during with solution power supply high-speed switch (ON/OFF).
Please cooperate and consult shown in Fig. 2 A, Fig. 2 B, Fig. 2 C, the 10th, 11,12,13 pins of this central processing unit 10 are used to produce the square wave of 40KHz, and these square-wave signals are sent to booster circuit 30 and amplify; 17 pin of central processing unit 10 are used for control channel and select circuit 40 (electronic switch by numbering 74HC4052 (IC1) constitutes), under the control of this pin, channel selectivity circuit 40 will be delivered to amplifying circuit 50 from the reflection wave electric signal of ultrasonic sensing device selectively and amplify.
The enlargement factor of the 18th pin may command amplifying circuit 50 of central processing unit 10 sees through this pin to suppress the aftershock signal of ultrasonic sensing device;
The 1st pin of central processing unit 10 is in order to receive the amplifying signal from amplifying circuit 50;
The switch of the 8th pin of central processing unit 10 control warning circuit 20, particularly, this pin be see through hummer in resistance R 24, transistor Q6, resistance R 35, the variable resistor VR2 control warning circuit 20 work whether.
Moreover, booster circuit 30 is made up of two boosting units 31,32, each boosting unit 31,32 is made up of two group transistors and resistance respectively, wherein transistor Q2, Q3, resistance R 25, R26 form the boosting unit 31 of inductor 1, the two-way 40KHz square-wave signal opposite to phase place boosts, the ultrasonic transmit circuit 33 emission ultrasound waves that the square-wave signal after boosting is formed through transformer T1, capacitor C 10, inductor 1 (seeing through joint CON1 connects).The reflection wave signal of inductor 1 reception then sees through capacitor C 5 again, resistance R 12 is delivered to channel selectivity circuit 40, when channel selectivity circuit 40 is selected this channel signal, promptly sends into amplifying circuit 50 and amplifies.
In like manner, form the boosting unit 32 of inductor 2 by transistor Q4, Q5, resistance R 29, R30, be connect ultrasonic transmit circuit 34 that transformer T2, capacitor C 7 form and capacitor C 4 respectively, resistance R 3 is formed the reflection wave testing circuits.With see through joint CON2, inductor 2 transmits, or receives the signal that inductor 2 receives through joint CON2.
And this channel selectivity circuit 40 be the reflection wave signal of self- inductor 1,2 in the future under the control of central processing unit 10, select to be attached to amplifying circuit 50.Wherein the truth table of channel selectivity circuit 40 is as follows:
| Input A | Input B | I/O connects situation |
| ????0 | ????0 | X links to each other with X0, Y links to each other with Y0 |
| ????0 | ????1 | X links to each other with X1, Y links to each other with Y1 |
| ????1 | ????0 | X links to each other with X2, Y links to each other with Y2 |
| ????1 | ????1 | X links to each other with X3, Y links to each other with Y3 |
This amplifying circuit 50 is the level Four amplifying circuits that are made of operational amplifier IC2A, IC2B, IC2C, IC2D and peripheral circuit thereof, to amplify the faint reflection wave signal that comes self-inductor, deliver to central processing unit 10 computed ranges through the reflection wave signal after the amplification of level Four amplifier.
Signal from central processing unit 10 the 18th pin is eliminated aftershock through control diode D3 and transistor Q1, and when pin was electronegative potential, transistor Q1 ended, and the amplification quantity of operational amplifier IC2D reduces, thereby suppresses the aftershock of inductor; When this pin is noble potential, transistor Q1 conducting, operational amplifier IC2D has bigger amplification quantity, can amplify effectively reflection wave signal.
Moreover diode D10, voltage stabilizing IC IC6/IC5 and peripheral resistance thereof, electric capacity are to constitute a mu balanced circuit 60, this mu balanced circuit will from the reversing automobile shelves+voltage stabilizing of 12V supply voltage uses for aforementioned circuit to+5V.
Can find out the circuit structure that the present invention is concrete and the principle of work of each main circuit by above-mentioned explanation, as for central processing unit 10.
See also shown in Figure 3, after the radar for backing car energising, promptly carry out initialization, and make hummer send " dripping ", " dripping " two by central processing unit 10, the expression radar for backing car is started working, and central processing unit 10 carries out the oneself to inductor immediately and detects (detecting the aftershock situation of each inductor).
After the inductor oneself detected and finishes, inductor 1 launches ultrasound wave and by inductor 1 detection of reflected ripple, radar for backing car is according to sending ultrasound wave to detecting the distance of the used Time Calculation barrier of reflection wave to inductor 1; Inductor 2 emission ultrasound waves and by inductor 2 detection of reflected ripples then, radar for backing car is again according to sending ultrasound wave to detecting the distance of the used Time Calculation barrier of reflection wave to inductor 2.
If less than the critical value that preestablishes nearest section, radar for backing car judges that promptly barrier is positioned at nearest section and drive the hummer alarm to barrier to the distance of inductor 1 or inductor 2.
If barrier to the distance of inductor 1 and inductor 2 all greater than the critical value of section recently, inductor 1 sends ultrasound wave and receives ultrasound wave by inductor 2, radar for backing car is according to sending ultrasound wave to detecting the used Time Calculation distance of reflection wave, if this distance is greater than 2 the air line distance and less than predefined value x+y (referring to the associated description of Fig. 8) from inductor 1 to inductor, radar for backing car judgement barrier is positioned at nearest section and drive hummer and alarm; Otherwise radar for backing car is two minimum value and value relatively, and with minimum value as actual range, the critical value of actual range and predefined each segmentation relatively to determine the sectional area at barrier place, drives the hummer alarm according to the segmentation situation more then.
Radar for backing car constantly repeats said process and cuts off the power supply up to radar.
Can find out circuit structure of the present invention through above-mentioned explanation, it is the workflow of control maincenter that the circuit working principle reaches with central processing unit 10, with these designs is to adopt the bigger ultrasonic sensing device of emission angle to replace the less ultrasonic sensing device of emission angle, shown in Fig. 7 B, when adopting the bigger ultrasonic sensing device of emission angle, two inductor A, present less angle between the fan-shaped emitting area of B and the tailstock, in other words, the dead angle area b3 do not contained mutually of two fan-shaped emitting areas is far beyond adopting the dead angle area b3 of less emission angle ultrasonic sensing device significantly to dwindle among Fig. 7 A.
Again for cooperating the change of two inductor emission angles, the present invention makes has only an inductor to transmit in the same time, also has only an inductor received signal, and the reflected signal that detects in the special time ignored, thus, remove the dead detecting angle effectively to dwindle radar for backing car, more can get rid of and contingently fail to report, report by mistake the facts, and effectively guarantee the detecting accuracy of radar for backing car.
Claims (8)
1. method that radar for backing car dwindles dead detecting angle, mainly be to establish two groups of inductors that emission angle is bigger at tailstock place, and the mode of taking channel to switch, make and have only inductor emission ultrasound wave in the same time, also have only an inductor to receive ultrasound wave, ignore the reflection supersonic wave of special time simultaneously, receive the misoperation that signal was caused that the other side launches to avoid two inductors to intersect with interior reception.
2. radar for backing car according to claim 1 dwindles the method for dead detecting angle, it is characterized in that: the spacing/ultrasound wave transmission speed of two groups of inductors of aforementioned special time t=.
3. radar for backing car control device, it includes:
One central processing unit has the function that produces characteristic frequency pulse wave, computed range, control alarm and selective channel;
One warning circuit, and under the control of central processing unit, remind the distance of driver apart from barrier;
One booster circuit, with the pulse wave signal of central processing unit output boost handle after, its output terminal is connected with the ultrasonic sensing device, launches ultrasound wave with driving ultrasonic sensing device;
One channel selectivity circuit is under the control of central processing unit, selects the reflection wave ultra-weak electronic signal from special ultrasonic ripple inductor;
One amplifying circuit is that channel selectivity circuit selects the reflection wave signal of the special ultrasonic ripple inductor of exporting to carry out processing and amplifying, and sends into central processing unit and handle.
4. radar for backing car control device according to claim 3 is characterized in that: this central processing unit periphery is connected with an outside oscillatory circuit and an electrify restoration circuit respectively, to form a central controller circuit.
5. radar for backing car control device according to claim 3 is characterized in that: this warning circuit mainly is made of hummer, and distance is near more, and the sound of hummer is compact more.
6. radar for backing car control device according to claim 3, it is characterized in that: this booster circuit is made up of two boosting units, each boosting unit is made up of two group transistors and resistance respectively, so that the two-way square-wave signal opposite to phase place boosts, and deliver to two ultrasonic transmit circuits respectively.
7. radar for backing car control device according to claim 6 is characterized in that: this ultrasonic transmit circuit is made up of a transformer, electric capacity and a ultrasonic sensing device; The reflection wave signal that this ultrasonic sensing device receives is that the reflection wave receiving circuit that sees through an electric capacity, resistance formation is delivered to channel selectivity circuit.
8. radar for backing car control device according to claim 7 is characterized in that: the input end of this channel selectivity circuit is to connect two reflection wave receiving circuits respectively, and its output terminal then connects amplifying circuit, and this amplifying circuit is made up of the level Four operational amplifier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021274509A CN1293392C (en) | 2002-08-01 | 2002-08-01 | Method anjd apparatus for reducing dead detecting angle of radar for back running vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021274509A CN1293392C (en) | 2002-08-01 | 2002-08-01 | Method anjd apparatus for reducing dead detecting angle of radar for back running vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN1472545A true CN1472545A (en) | 2004-02-04 |
| CN1293392C CN1293392C (en) | 2007-01-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB021274509A Expired - Fee Related CN1293392C (en) | 2002-08-01 | 2002-08-01 | Method anjd apparatus for reducing dead detecting angle of radar for back running vehicle |
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| CN (1) | CN1293392C (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100337121C (en) * | 2004-02-24 | 2007-09-12 | 李世雄 | Radar set in use for backing trailer |
| CN102109598A (en) * | 2011-01-11 | 2011-06-29 | 同致电子科技（昆山）有限公司 | Reverse sensor three-axis actual measurement system |
| CN102508248A (en) * | 2011-10-14 | 2012-06-20 | 深圳市航盛电子股份有限公司 | Distance measurement method of reversing radar |
| CN105353377A (en) * | 2015-09-30 | 2016-02-24 | 上海斐讯数据通信技术有限公司 | Parking sensor monitoring device for motor vehicle |
| CN110749888A (en) * | 2019-12-20 | 2020-02-04 | 广州赛特智能科技有限公司 | Distance measurement method based on ultrasonic distance measurement system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI663418B (en) * | 2018-08-29 | 2019-06-21 | 華碩電腦股份有限公司 | Ultrasonic transducer apparatus |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5987597A (en) * | 1982-11-11 | 1984-05-21 | 日産自動車株式会社 | Obstacle detector for vehicle |
| GB2305287A (en) * | 1995-08-17 | 1997-04-02 | Prothorp Design Ltd | Vehicle manoeuvring aid |
| CN2302500Y (en) * | 1997-06-13 | 1998-12-30 | 同致电子企业股份有限公司 | Radar detector for backup of vehicle |
| CN1331025A (en) * | 2000-06-22 | 2002-01-16 | 张渊 | Multi-channel scan method and device for car-backing radar |
-
2002
- 2002-08-01 CN CNB021274509A patent/CN1293392C/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100337121C (en) * | 2004-02-24 | 2007-09-12 | 李世雄 | Radar set in use for backing trailer |
| CN102109598A (en) * | 2011-01-11 | 2011-06-29 | 同致电子科技（昆山）有限公司 | Reverse sensor three-axis actual measurement system |
| CN102508248A (en) * | 2011-10-14 | 2012-06-20 | 深圳市航盛电子股份有限公司 | Distance measurement method of reversing radar |
| CN105353377A (en) * | 2015-09-30 | 2016-02-24 | 上海斐讯数据通信技术有限公司 | Parking sensor monitoring device for motor vehicle |
| CN110749888A (en) * | 2019-12-20 | 2020-02-04 | 广州赛特智能科技有限公司 | Distance measurement method based on ultrasonic distance measurement system |
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| CN1293392C (en) | 2007-01-03 |
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