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decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"\/wp-content\/uploads\/2023\/02\/v2-a711fd8e88795b3ad8ab6cdeb5a9e7c3_b.jpg\" width=\"685\" data-rawwidth=\"685\" data-caption=\"\" data-size=\"normal\" data-rawheight=\"636\" data-original=\"https:\/\/pic4.zhimg.com\/v2-a711fd8e88795b3ad8ab6cdeb5a9e7c3_r.jpg\" \/><\/p>\n<p>\u56fe2.3\u8f66\u8f7d\u6fc0\u5149\u96f7\u8fbe\u6d4b\u8ddd\u539f\u7406<\/p>\n<p>\u6fc0\u5149\u96f7\u8fbe\u5e38\u7528\u7684\u6027\u80fd\u6307\u6807\u4e3b\u8981\u6709\uff1a\u6700\u5927\u8f90\u5c04\u529f\u7387\u3001\u6c34\u5e73\u89c6\u91ce\u3001\u5782\u76f4\u89c6\u573a\u3001\u5149\u6e90\u6ce2\u957f\u3001\u8981\u6d4b\u91cf\u7684\u6700\u5927\u8ddd\u79bb\u3001\u6d4b\u91cf\u65f6\u95f4\/\u5e27\u901f\u7387\u3001\u6df1\u5ea6\u5206\u8fa8\u7387\u3001\u89d2\u5206\u8fa8\u7387;\u3001\u8ddd\u79bb\u6d4b\u91cf\u7cbe\u5ea6\u3002<\/p>\n<p>2.2 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RCNN\u8fdb\u884c\u8bc6\u522b\u3002\u540e\u8005\u9700\u8981\u5f3a\u5927\u7684\u8ba1\u7b97\u8d44\u6e90\uff0c\u5904\u7406\u901f\u5ea6\u76f8\u5bf9\u8f83\u6162\uff0cFaster RCNN\u88ab\u516c\u8ba4\u4e3a\u56fe\u50cf\u8bc6\u522b\u9886\u57df\u7684\u6700\u4f73\u65b9\u6cd5\u3002\u6fc0\u5149\u96f7\u8fbe\u7684\u53e6\u4e00\u4e2a\u4f18\u70b9\u662f\u64c5\u957f\u9884\u6d4b\u548c\u8ddf\u8e2a\u8fd0\u52a8\u7269\u4f53\u7684\u8f68\u8ff9\uff0c\u8fd9\u662f\u884c\u4e3a\u51b3\u7b56\u7684\u57fa\u7840\uff0c\u5c31\u50cf\u4eba\u7c7b\u9a7e\u9a76\u5458\u4e00\u6837\uff0c\u5b83\u53ef\u4ee5\u9884\u6d4b\u884c\u4eba\u6216\u5176\u4ed6\u8f66\u8f86\u7684\u4e0b\u4e00\u6b65\u8fd0\u52a8\uff0c\u5e76\u6839\u636e\u8be5\u9884\u6d4b\u505a\u51fa\u51b3\u7b56\u3002<\/p>\n<p>\u6fc0\u5149\u96f7\u8fbe\u5929\u751f\u5177\u6709\u8f68\u8ff9\u9884\u6d4b\u80fd\u529b\uff0cVelodyne 16\u7ebf\u6fc0\u5149\u96f7\u8fbe\u53ef\u4ee5\u51c6\u786e\u9884\u6d4b\u56db\u5206\u536b\u5728\u7f8e\u56fd\u8d85\u7ea7\u7897\u4e2d\u6295\u63b7\u7403\u540e\u7684\u8fd0\u52a8\uff0c\u4f7f\u7528\u6fc0\u5149\u96f7\u8fbe\u8ba1\u7b97\u548c\u9884\u6d4b\u8f68\u8ff9\u6bd4\u4f7f\u7528\u5149\u6d41\u65b9\u6cd5\u8981\u5feb\u5f97\u591a\uff0c\u5e76\u4e14\u8ba1\u7b97\u8d44\u6e90\u7684\u6d88\u8017\u4e5f\u4f4e\u5f97\u591a\u3002<\/p>\n<p>\u76ee\u524d\uff0c\u901a\u8fc7\u6fc0\u5149\u96f7\u8fbe\u68c0\u6d4b\u8f66\u9053\u7ebf\u7684\u65b9\u6cd5\u4e3b\u8981\u67094\u79cd\u3002\u7b2c\u4e00\u4e2a\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u56de\u6ce2\u5bbd\u5ea6\uff0c\u7b2c\u4e8c\u79cd\u662f\u6839\u636e\u6fc0\u5149\u96f7\u8fbe\u53cd\u5c04\u5f3a\u5ea6\u4fe1\u606f\u5f62\u6210\u7684\u7070\u5ea6\u56fe\u50cf\u6216\u5f3a\u5ea6\u4fe1\u606f\u4e0e\u9ad8\u7a0b\u4fe1\u606f\u7684\u7ec4\u5408\u8fc7\u6ee4\u6389\u65e0\u6548\u4fe1\u606f\uff0c\u7b2c\u4e09\u79cd\u662f\u6fc0\u5149\u96f7\u8fbeSLAM\u4e0e\u9ad8\u7cbe\u5ea6\u5730\u56fe\u7684\u7ed3\u5408\uff0c\u53ef\u4ee5\u68c0\u6d4b\u8f66\u9053\u7ebf\u5e76\u5b9a\u4f4d\u8f66\u8f86\u3002\u7b2c\u56db\u79cd\u662f\u6839\u636e\u8def\u8fb9\u7684\u9ad8\u5ea6\u4fe1\u606f\u6216\u7269\u7406\u53cd\u5c04\u4fe1\u606f\u68c0\u6d4b\u8def\u8fb9\uff0c\u7136\u540e\u6839\u636e\u8ddd\u79bb\u548c\u8def\u5bbd\u8ba1\u7b97\u8f66\u9053\u7ebf\u4f4d\u7f6e\uff0c\u8fd9\u79cd\u65b9\u6cd5\u4e0d\u9002\u7528\u4e8e\u67d0\u4e9b\u8fb9\u7f18\u4e0e\u8def\u9762\u9ad8\u5ea6\u5dee\u5c0f\u4e8e3\u5398\u7c73\u7684\u9053\u8def\u3002\u540e\u4e09\u79cd\u65b9\u6cd5\u81f3\u5c11\u9700\u898116\u7ebf\u6fc0\u5149\u96f7\u8fbe\uff0c\u524d\u8005\u53ef\u4ee5\u4e0e 4 \u7ebf\u6216 1 \u7ebf\u6fc0\u5149\u96f7\u8fbe\u914d\u5408\u4f7f\u7528\u3002\u76ee\u524d\uff0c\u7b2c\u4e8c\u79cd\u65b9\u6cd5\u662f\u4f7f\u7528\u6700\u5e7f\u6cdb\u7684\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u7684\u7279\u70b9\u662f\u6fc0\u5149\u96f7\u8fbe\u5e94\u5c3d\u53ef\u80fd\u9760\u8fd1\u9053\u8def\u6216\u9762\u5411\u9053\u8def\uff0c\u4ee5\u83b7\u5f97\u66f4\u591a\u7684\u53cd\u5c04\u5f3a\u5ea6\u4fe1\u606f\u3002\u4e30\u7530\u548c\u8c37\u6b4c\u90fd\u5728\u6c7d\u8f66\u7684\u524d\u4fdd\u9669\u6760\u4e0a\u5b89\u88c5\u4e86\u6fc0\u5149\u96f7\u8fbe\uff0c\u901a\u7528\u6c7d\u8f66\u5728\u4fdd\u9669\u6760\u9644\u8fd1\u67099\u6beb\u7c73\u6ce2\u96f7\u8fbe\u548c1\u4e2a\u6444\u50cf\u5934\uff0c\u56e0\u6b64\u7531\u4e8e\u5b89\u88c5\u7a7a\u95f4\u53ef\u80fd\u4e0d\u8db3\uff0c\u6fc0\u5149\u96f7\u8fbe\u53ea\u80fd\u653e\u7f6e\u5728\u5c4b\u9876\u4e0a\u3002<\/p>\n<p>2.3 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km\uff08\u8fd9\u5bf9\u4e8e\u5fae\u6ce2\u96f7\u8fbe\u6765\u8bf4\u662f\u4e0d\u53ef\u80fd\u7684\uff09\u3002\u540c\u65f6\uff0c\u8fd8\u53ef\u4ee5\u8ddf\u8e2a\u591a\u4e2a\u76ee\u6807\uff0c\u8ddd\u79bb\u5206\u8fa8\u7387\u53ef\u4ee5\u8fbe\u52300.1m\uff0c\u901f\u5ea6\u5206\u8fa8\u7387\u53ef\u4ee5\u8fbe\u523010m\/s\u4ee5\u5185\uff0c\u8ddd\u79bb\u548c\u901f\u5ea6\u7684\u9ad8\u5206\u8fa8\u7387\u610f\u5473\u7740\u53ef\u4ee5\u4f7f\u7528\u8ddd\u79bb-\u591a\u666e\u52d2\u6210\u50cf\u6280\u672f\u83b7\u5f97\u76ee\u6807\u7684\u6e05\u6670\u56fe\u50cf\uff0c\u53734D\u70b9\u4e91\u6210\u50cf\u3002<\/p>\n<p>\uff082\uff09\u9690\u853d\u6027\u597d\uff0c\u6297\u4e3b\u52a8\u5e72\u6270\u80fd\u529b\u5f3a<\/p>\n<p>\u6fc0\u5149\u4ee5\u8f83\u7a84\u7684\u65b9\u5411\u6027\u76f4\u7ebf\u4f20\u64ad\uff0c\u5e76\u4e14\u53ea\u80fd\u5728\u5176\u4f20\u64ad\u8def\u5f84\u4e2d\u63a5\u6536\uff0c\u6545\u5f88\u96be\u88ab\u62e6\u622a\uff0c\u4e14\u6fc0\u5149\u96f7\u8fbe\u53d1\u5c04\u7cfb\u7edf\uff08\u53d1\u5c04\u671b\u8fdc\u955c\uff09\u7684\u5b54\u5f84\u5c0f\uff0c\u63a5\u6536\u533a\u57df\u7a84\uff0c\u6545\u610f\u5e72\u6270\u4fe1\u53f7\u4f20\u8f93\u5230\u63a5\u6536\u5668\u7684\u53ef\u80fd\u6027\u975e\u5e38\u4f4e\u3002\u6b64\u5916\uff0c\u4e0e\u5fae\u6ce2\u96f7\u8fbe\u5bb9\u6613\u53d7\u5230\u81ea\u7136\u754c\u4e2d\u5e7f\u6cdb\u7684\u7535\u78c1\u6ce2\u7684\u5f71\u54cd\u4e0d\u540c\uff0c\u5f88\u5c11\u6709\u4fe1\u53f7\u6e90\u53ef\u4ee5\u5e72\u6270\u6fc0\u5149\u96f7\u8fbe\u3002\u56e0\u6b64\uff0c\u6fc0\u5149\u96f7\u8fbe\u5177\u6709\u5f88\u5f3a\u7684\u6297\u4e3b\u52a8\u5e72\u6270\u80fd\u529b\uff0c\u9002\u5408\u5728\u65e5\u76ca\u590d\u6742\u7684\u4fe1\u606f\u73af\u5883\u4e2d\u5de5\u4f5c\u3002<\/p>\n<p>\uff083\uff09\u4e0d\u9519\u7684\u4f4e\u7a7a\u63a2\u6d4b\u6027\u80fd<\/p>\n<p>\u7531\u4e8e\u5404\u79cd\u5730\u9762\u7269\u4f53\u56de\u6ce2\u7684\u5f71\u54cd\uff0c\u5fae\u6ce2\u96f7\u8fbe\u5728\u4f4e\u7a7a\u5b58\u5728\u4e00\u5b9a\u7684\u76f2\u533a\uff08\u65e0\u6cd5\u63a2\u6d4b\u7684\u533a\u57df\uff09\u3002\u5bf9\u4e8e\u6fc0\u5149\u96f7\u8fbe\u6765\u8bf4\uff0c\u53ea\u6709\u76ee\u6807\u4f1a\u5f15\u8d77\u53cd\u5c04\uff0c\u5e76\u4e14\u6ca1\u6709\u5730\u9762\u56de\u6ce2\u7684\u5f71\u54cd\uff0c\u56e0\u6b64\u5b83\u53ef\u4ee5\u5728\u96f6\u9ad8\u5ea6\u5de5\u4f5c\u3002\u5176\u4f4e\u7a7a\u63a2\u6d4b\u6027\u80fd\u8fdc\u4f18\u4e8e\u5fae\u6ce2\u96f7\u8fbe\uff0c\u901a\u5e38\u53ef\u4ee5\u7528\u6fc0\u5149\u4f5c\u4e3a\u8865\u76f2\u63a2\u6d4b\u3002<\/p>\n<p>\uff084\uff09\u4f53\u79ef\u5c0f\uff0c\u91cd\u91cf\u8f7b<\/p>\n<p>\u4e00\u822c\u6765\u8bf4\uff0c\u666e\u901a\u5fae\u6ce2\u96f7\u8fbe\u7684\u4f53\u79ef\u662f\u5de8\u5927\u7684\uff0c\u6574\u4e2a\u7cfb\u7edf\u7684\u91cd\u91cf\u8fbe\u5230\u5428\u7ea7\uff0c\u5c04\u9891\u5929\u7ebf\u7684\u5b54\u5f84\u8fbe\u5230\u51e0\u7c73\u751a\u81f3\u51e0\u5341\u7c73\u3002\u6fc0\u5149\u96f7\u8fbe\u66f4\u52a0\u4fbf\u643a\uff0c\u900f\u5c04\u671b\u8fdc\u955c\u7684\u5b54\u5f84\u4e00\u822c\u5728\u5398\u7c73\u7ea7\uff0c\u6574\u4e2a\u7cfb\u7edf\u7684\u6700\u5c0f\u91cd\u91cf\u53ef\u4ee5\u53ea\u6709\u51e0\u5341\u516c\u65a4\uff0c\u5b89\u88c5\u548c\u62c6\u5378\u975e\u5e38\u5bb9\u6613\u3002\u800c\u4e14\uff0c\u6fc0\u5149\u96f7\u8fbe\u7684\u7ed3\u6784\u76f8\u5bf9\u7b80\u5355\uff0c\u6613\u4e8e\u7ef4\u62a4\u548c\u64cd\u4f5c\u3002<\/p>\n<p>\u6fc0\u5149\u96f7\u8fbe\u7684\u7f3a\u70b9\u5982\u4e0b\uff1a<\/p>\n<p>\u9996\u5148\uff0c\u5b83\u53d7\u5929\u6c14\u548c\u5927\u6c14\u7684\u5f71\u54cd\u5f88\u5927\u3002\u4e00\u822c\u6765\u8bf4\uff0c\u6fc0\u5149\u7684\u8870\u51cf\u5c0f\uff0c\u5728\u6674\u6717\u7684\u5929\u6c14\u4e0b\u4f20\u64ad\u8ddd\u79bb\u957f\u3002\u4f46\u5728\u5927\u96e8\u3001\u4e0b\u96ea\u3001\u70df\u96fe\u7b49\u6076\u52a3\u5929\u6c14\u4e0b\uff0c\u8870\u51cf\u6025\u5267\u589e\u52a0\uff0c\u4f20\u64ad\u8ddd\u79bb\u53d7\u5230\u660e\u663e\u5f71\u54cd\u3002\u53e6\u5916\uff0c\u5927\u6c14\u73af\u6d41\u8fd8\u4f1a\u5f15\u8d77\u6fc0\u5149\u675f\u7578\u53d8\u548c\u6296\u52a8\uff0c\u76f4\u63a5\u5f71\u54cd\u6fc0\u5149\u96f7\u8fbe\u7684\u6d4b\u91cf\u7cbe\u5ea6\u3002<\/p>\n<p>\u5176\u6b21\uff0c\u7531\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684\u6ce2\u675f\u975e\u5e38\u7a84\uff0c\u641c\u7d22\u76ee\u6807\u53ef\u80fd\u5f88\u56f0\u96be\uff0c\u76f4\u63a5\u5f71\u54cd\u975e\u5408\u4f5c\u76ee\u6807\u7684\u62e6\u622a\u6982\u7387\u548c\u63a2\u6d4b\u6548\u7387\uff0c\u5b83\u53ea\u80fd\u5728\u5c0f\u8303\u56f4\u5185\u641c\u7d22\u548c\u6355\u83b7\u76ee\u6807\u3002\u56e0\u6b64\uff0c\u6fc0\u5149\u96f7\u8fbe\u5f88\u5c11\u7528\u4e8e\u72ec\u7acb\u641c\u7d22\u548c\u68c0\u6d4b\u3002<\/p>\n<p>\u6700\u540e\uff0c\u5c31\u662f\u6fc0\u5149\u96f7\u8fbe\u4ef7\u683c\u5f88\u6602\u8d35\uff0c\u4f1a\u589e\u52a0\u6c7d\u8f66\u7cfb\u7edf\u7684\u6210\u672c\u3002\u4f46\u968f\u7740\u6280\u672f\u7684\u53d1\u5c55\uff0c\u6fc0\u5149\u96f7\u8fbe\u7684\u6210\u672c\u53ef\u80fd\u4f1a\u964d\u4f4e\uff0c\u6211\u4eec\u62ed\u76ee\u4ee5\u5f85\uff01<\/p>\n<p>2.4 \u6fc0\u5149\u96f7\u8fbe\u7684\u5546\u4e1a\u5316<\/p>\n<p>\u6fc0\u5149\u96f7\u8fbe\u7684\u4f4e\u5ec9\u4ef7\u683c\u5c06\u662f\u5176\u5927\u89c4\u6a21\u5546\u4e1a\u5e94\u7528\u7684\u57fa\u7840\u548c\u6838\u5fc3\uff0c\u76ee\u524d\uff0c\u6fc0\u5149\u96f7\u8fbe\u7684\u5e7f\u6cdb\u4f7f\u7528\u8fd8\u6709\u5f88\u957f\u7684\u8def\u8981\u8d70\u3002\u5e38\u7528\u8f66\u8f7d\u6fc0\u5149\u96f7\u8fbe\u7684\u6027\u80fd\u6307\u6807\u548c\u4ef7\u683c\u5982\u56fe2.5\u6240\u793a\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"\/wp-content\/uploads\/2023\/02\/v2-7586d8f17673b0273ed64e37381a311e_b.jpg\" width=\"685\" data-rawwidth=\"685\" data-caption=\"\" data-size=\"normal\" data-rawheight=\"595\" data-original=\"https:\/\/pic3.zhimg.com\/v2-7586d8f17673b0273ed64e37381a311e_r.jpg\" \/><\/p>\n<p>\u56fe2.5\u8f66\u8f7d\u6fc0\u5149\u96f7\u8fbe\u7684\u6027\u80fd\u6307\u6807\u53ca\u4ef7\u683c<\/p>\n<p>Velodyne\u8bde\u751f\u4e8e\u7f8e\u56fd\u52a0\u5229\u798f\u5c3c\u4e9a\u5dde\uff0c\u4e8e2007\u5e74\u5f00\u59cb\u4ee580\uff0c000\u7f8e\u5143\u7684\u4ef7\u683c\u9500\u552e\u5176\u9996\u6b3e\u6fc0\u5149\u96f7\u8fbe\u4ea7\u54c1\uff0c\u7ecf\u8fc7\u4e0d\u65ad\u7684\u7814\u53d1\uff0c\u4ef7\u683c\u73b0\u5df2\u964d\u81f38000\u7f8e\u5143\u5de6\u53f3\u30022020\u5e74\u6fc0\u5149\u96f7\u8fbe\u7684\u5e02\u573a\u89c4\u6a21\u5df2\u7ecf\u8d85\u8fc7\u4e8610\u4ebf\uff0c\u5176\u4ef7\u683c\u964d\u81f3250\u7f8e\u5143\u5de6\u53f3\u3002\u4e8b\u5b9e\u4e0a\uff0c\u4e3a\u4e86\u964d\u4f4e\u6fc0\u5149\u96f7\u8fbe\u7684\u6210\u672c\uff0c\u5404\u4e2a\u5382\u5546\u90fd\u5728\u4e0d\u65ad\u5c1d\u8bd5\uff0c\u901a\u8fc7\u7f29\u5c0f\u6c34\u5e73\u89c6\u56fe\u548c\u9650\u5236\u68c0\u6d4b\u8303\u56f4\u6765\u964d\u4f4e\u6210\u672c\u7684\u4ea7\u54c1\u5c06\u6295\u653e\u5e02\u573a\uff0c\u8fd8\u6709\u4e00\u4e9b\u5236\u9020\u5546\u8bd5\u56fe\u901a\u8fc7\u51cf\u5c11\u6fc0\u5149\u5149\u7ebf\u6570\u91cf\u6216\u7528\u96c6\u6210\u82af\u7247\u66ff\u6362\u4f20\u611f\u5668\u548c\u5904\u7406\u5668\u6765\u964d\u4f4e\u6210\u672c\u3002<\/p>\n<p>3\u3001\u6beb\u7c73\u6ce2\u96f7\u8fbe<\/p>\n<p>3.1 \u6beb\u7c73\u6ce2\u96f7\u8fbe\u7684\u6280\u672f\u539f\u7406<\/p>\n<p>\u6beb\u7c73\u6ce2\u96f7\u8fbe\u662f\u4e00\u79cd\u9ad8\u7cbe\u5ea6\u96f7\u8fbe\u4f20\u611f\u5668\uff0c\u5de5\u4f5c\u5728\u6beb\u7c73\u6ce2\u6ce2\u6bb5\uff0c\u7528\u4e8e\u6d4b\u91cf\u7269\u4f53\u7684\u76f8\u5bf9\u8ddd\u79bb\u3001\u76f8\u5bf9\u901f\u5ea6\u548c\u65b9\u4f4d\u89d2\u3002\u6beb\u7c73\u6ce2\u662f\u630730-300 GHz\uff08\u6ce2\u957f\u4e3a1-10 mm\uff09\u9891\u57df\u4e2d\u7684\u7535\u78c1\u6ce2\uff0c\u65e9\u671f\u88ab\u7528\u4e8e\u519b\u4e8b\u9886\u57df\uff0c\u968f\u7740\u96f7\u8fbe\u6280\u672f\u7684\u53d1\u5c55\uff0c\u5b83\u9010\u6e10\u5e94\u7528\u4e8e\u8bb8\u591a\u5176\u4ed6\u9886\u57df\uff0c\u5982\u6c7d\u8f66\u7535\u5b50\u3001\u65e0\u4eba\u673a\u3001\u667a\u80fd\u4ea4\u901a\u7b49\u3002\u81ea1970\u5e74\u4ee3\u540e\u671f\u4ee5\u6765\uff0c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u5df2\u7528\u4e8e\u8bb8\u591a\u91cd\u8981\u7684\u519b\u4e8b\u548c\u6c11\u7528\u7cfb\u7edf\uff0c\u5982\u77ed\u7a0b\u9ad8\u5206\u8fa8\u7387\u9632\u7a7a\u7cfb\u7edf\uff0c\u5bfc\u5f39\u5236\u5bfc\u7cfb\u7edf\uff0c\u76ee\u6807\u6d4b\u91cf\u7cfb\u7edf\u7b49\u3002<\/p>\n<p>\u8f66\u8f7d\u6beb\u7c73\u6ce2\u96f7\u8fbe\u7684\u5de5\u4f5c\u539f\u7406\u5982\u4e0b\uff1a\u96f7\u8fbe\u901a\u8fc7\u5929\u7ebf\u5411\u5916\u53d1\u5c04\u6beb\u7c73\u6ce2\uff0c\u63a5\u6536\u76ee\u6807\u53cd\u5c04\u4fe1\u53f7\uff0c\u5feb\u901f\u51c6\u786e\u5730\u83b7\u53d6\u8f66\u8f86\u5468\u56f4\u7684\u7269\u7406\u73af\u5883\u4fe1\u606f\uff08\u5982\u8f66\u8f86\u4e0e\u7269\u4f53\u4e4b\u95f4\u7684\u76f8\u5bf9\u8ddd\u79bb\u3001\u76f8\u5bf9\u901f\u5ea6\u3001\u89d2\u5ea6\u3001\u79fb\u52a8\u65b9\u5411\u7b49\uff09\u3002\u7136\u540e\u6839\u636e\u68c0\u6d4b\u5230\u7684\u76ee\u6807\u4fe1\u606f\u8fdb\u884c\u76ee\u6807\u8ddf\u8e2a\u8bc6\u522b\u5206\u7c7b\uff0c\u5e76\u4e0e\u4eba\u4f53\u52a8\u6001\u4fe1\u606f\u8fdb\u884c\u6570\u636e\u878d\u5408\u3002\u6700\u540e\uff0c\u901a\u8fc7\u7535\u5b50\u63a7\u5236\u5355\u5143\u8fdb\u884c\u667a\u80fd\u5904\u7406\u3002\u7ecf\u8fc7\u5408\u7406\u51b3\u7b56\u540e\uff0c\u53ef\u4ee5\u901a\u8fc7\u58f0\u3001\u5149\u3001\u89e6\u7b49\u65b9\u5f0f\u901a\u77e5\u6216\u8b66\u544a\u9a7e\u9a76\u5458\uff0c\u6216\u53ca\u65f6\u4e3b\u52a8\u5e72\u9884\uff0c\u4ece\u800c\u4fdd\u8bc1\u9a7e\u9a76\u7684\u5b89\u5168\u6027\u548c\u8212\u9002\u6027\uff0c\u964d\u4f4e\u4e8b\u6545\u53d1\u751f\u6982\u7387\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u5982\u56fe3.1\u6240\u793a\u3002<img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"\/wp-content\/uploads\/2023\/02\/v2-846e7c2d9efc43a589f1c641a46e136c_b.jpg\" width=\"685\" data-rawwidth=\"685\" data-caption=\"\" data-size=\"normal\" data-rawheight=\"431\" data-original=\"https:\/\/pic1.zhimg.com\/v2-846e7c2d9efc43a589f1c641a46e136c_r.jpg\" \/><\/p>\n<p>\u56fe3.1 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\/><\/p>\n<p>\u56fe3.2\u4e24\u79cd\u6beb\u7c73\u6ce2\u96f7\u8fbe\u7684\u7279\u70b9<\/p>\n<p>FMCW\u96f7\u8fbe\u56e0\u5176\u80fd\u591f\u6d4b\u91cf\u591a\u4e2a\u76ee\u6807\u3001\u5206\u8fa8\u7387\u9ad8\u3001\u4fe1\u53f7\u5904\u7406\u590d\u6742\u5ea6\u4f4e\u3001\u6210\u672c\u4f4e\u3001\u6280\u672f\u6210\u719f\u7b49\u4f18\u70b9\uff0c\u5df2\u6210\u4e3a\u6700\u5e38\u7528\u7684\u8f66\u8f7d\u6beb\u7c73\u6ce2\u96f7\u8fbe\uff0c\u5fb7\u5c14\u798f\u3001\u7535\u88c5\u548c\u535a\u4e16\u7b49\u4e00\u7ea7\u4f9b\u5e94\u5546\u5747\u91c7\u7528FMCW\u8c03\u5236\u6a21\u5f0f\u3002FMCW\u96f7\u8fbe\u7cfb\u7edf\u4e3b\u8981\u5305\u62ec\u6536\u53d1\u5929\u7ebf\u3001\u5c04\u9891\u524d\u7aef\u3001\u8c03\u5236\u4fe1\u53f7\u3001\u4fe1\u53f7\u5904\u7406\u6a21\u5757\u7b49\u3002MMIC\u82af\u7247\uff08\u5355\u7247\u5fae\u6ce2\u96c6\u6210\u7535\u8def\uff09\u548c\u5929\u7ebfPCB\u677f\u662f\u786c\u4ef6\u6838\u5fc3\uff0c\u901a\u8fc7\u5bf9\u63a5\u6536\u4fe1\u53f7\u548c\u53d1\u5c04\u4fe1\u53f7\u8fdb\u884c\u76f8\u5173\u5904\u7406(\u53bb\u659c\u5904\u7406\u6216\u8109\u51b2\u538b\u7f29)\uff0c\u7136\u540e\u5bf9\u76ee\u6807\u7684\u8ddd\u79bb\u3001\u4f4d\u7f6e\u548c\u76f8\u5bf9\u901f\u5ea6\u8fdb\u884c\u68c0\u6d4b\uff0cFMCW\u96f7\u8fbe\u7cfb\u7edf\u7684\u7ec4\u6210\u548c\u5de5\u4f5c\u539f\u7406\u5982\u56fe3.3\u6240\u793a\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"\/wp-content\/uploads\/2023\/02\/v2-28248531ebcc9d95efae8c6d6f185056_b.jpg\" width=\"685\" data-rawwidth=\"685\" data-caption=\"\" data-size=\"normal\" data-rawheight=\"689\" data-original=\"https:\/\/pic3.zhimg.com\/v2-28248531ebcc9d95efae8c6d6f185056_r.jpg\" \/><\/p>\n<p>\u56fe3.3FMCW\u96f7\u8fbe\u7cfb\u7edf\u7684\u7ec4\u6210\u548c\u5de5\u4f5c\u539f\u7406<\/p>\n<p>\u6beb\u7c73\u6ce2\u96f7\u8fbe\u7684\u5173\u952e\u90e8\u4ef6\u524d\u7aef\u5355\u7247\u5fae\u6ce2\u96c6\u6210\u7535\u8def\uff08MMIC\uff09\u6280\u672f\u7531\u56fd\u5916\u534a\u5bfc\u4f53\u516c\u53f8\u63a7\u5236\uff0c\u800c\u9ad8\u9891MMIC\u53ea\u80fd\u7531\u82f1\u98de\u51cc\u3001\u98de\u601d\u5361\u5c14\u7b49\u5c11\u6570\u56fd\u5916\u82af\u7247\u5236\u9020\u5546\u751f\u4ea7\u3002\u4e2d\u56fd\u7684MMIC\u4ecd\u5904\u4e8e\u8d77\u6b65\u9636\u6bb5\uff0c\u53a6\u95e8\u610f\u884c\u534a\u5bfc\u4f53\u516c\u53f8\u548c\u5357\u4eac\u7c73\u52d2\u516c\u53f8\u6b63\u5728\u5f00\u53d1\u96f7\u8fbeMMIC\uff0c\u7ed3\u679c\u6709\u5f85\u9a8c\u8bc1\uff0c\u6b64\u5916\uff0c\u4e1c\u5357\u5927\u5b66\u552f\u4e00\u7684\u6beb\u7c73\u6ce2\u96f7\u8fbe\u56fd\u5bb6\u91cd\u70b9\u5b9e\u9a8c\u5ba4\uff0c\u4e00\u76f4\u5728\u5f00\u53d177GHz\u6beb\u7c73\u6ce2\u96c6\u6210\u7535\u8def\u3002<\/p>\n<p>3.2 \u6beb\u7c73\u6ce2\u96f7\u8fbe\u7684\u4f18\u52bf<\/p>\n<p>\u6beb\u7c73\u6ce2\u96f7\u8fbe\u7684\u4f18\u70b9\u5982\u4e0b\uff1a<\/p>\n<p>\u6beb\u7c73\u6ce2\u5177\u6709\u77ed\u6ce2\u957f\u3001\u5bbd\u9891\u5e26\u548c\u7a84\u6ce2\u675f\uff0c\u5177\u6709\u66f4\u9ad8\u7684\u5206\u8fa8\u7387\uff0c\u5e76\u4e14\u4e0d\u6613\u53d7\u5230\u5e72\u6270\u3002\u6beb\u7c73\u6ce2\u7684\u6ce2\u957f\u4ecb\u4e8e\u5398\u7c73\u6ce2\u548c\u5149\u6ce2\u4e4b\u95f4\uff0c\u5177\u6709\u5fae\u6ce2\u5236\u5bfc\u548c\u5149\u7535\u5236\u5bfc\u7684\u4f18\u70b9\u3002\u4e0e\u5149\u6ce2\u76f8\u6bd4\uff0c\u6beb\u7c73\u6ce2\u548c\u4e9a\u6beb\u7c73\u6ce2\u5728\u5927\u6c14\u4e2d\u4f20\u64ad\u7684\u8870\u51cf\u8f83\u5c0f\uff0c\u53d7\u81ea\u7136\u5149\u548c\u70ed\u8f90\u5c04\u6e90\u7684\u5f71\u54cd\u8f83\u5c0f\u3002\u4e0e\u5398\u7c73\u7ea7\u5bfc\u6ce2\u5668\u76f8\u6bd4\uff0c\u6beb\u7c73\u6ce2\u5bfc\u5f15\u5934\u5177\u6709\u4f53\u79ef\u5c0f\u3001\u91cd\u91cf\u8f7b\u3001\u7a7a\u95f4\u5206\u8fa8\u7387\u9ad8\u7b49\u4f18\u70b9\u3002\u4e0e\u7ea2\u5916\u3001\u6fc0\u5149\u3001\u6444\u50cf\u5934\u7b49\u5149\u5bfc\u5f15\u5934\u76f8\u6bd4\uff0c\u6beb\u7c73\u6ce2\u5bfc\u5f15\u5934\u5177\u6709\u66f4\u5f3a\u7684\u7a7f\u900f\u96fe\u3001\u70df\u3001\u5c18\u7684\u80fd\u529b\uff0c\u5177\u6709\u5168\u5929\u5019\uff08\u5927\u96e8\u9664\u5916\uff09\u548c\u5168\u5929\u7684\u7279\u70b9\u3002\u6b64\u5916\uff0c\u6beb\u7c73\u6ce2\u5bfc\u5f15\u5934\u7684\u6297\u5e72\u6270\u548c\u6297\u9690\u8eab\u80fd\u529b\u4f18\u4e8e\u5176\u4ed6\u5fae\u6ce2\u5bfc\u5f15\u5934\u3002<\/p>\n<p>3.3 \u6beb\u7c73\u6ce2\u96f7\u8fbe\u6c7d\u8f66\u5e94\u7528<\/p>\n<p>\u76ee\u524d\u5404\u56fd\u5206\u914d\u7ed9\u8f66\u8f7d\u6beb\u7c73\u6ce2\u96f7\u8fbe\u7684\u9891\u6bb5\u5982\u56fe3.4\u6240\u793a\uff0c\u4e3b\u8981\u96c6\u4e2d\u572824 GHz\u533a\u57df\uff0821.65-26.65 GHz\uff09\u548c77 GHz\u533a\u57df\uff0876\u201381 GHz\uff09\uff0c\u4e00\u4e9b\u56fd\u5bb6\uff08\u5982\u65e5\u672c\uff09\u4f7f\u7528 60 GHz \u9891\u6bb5\u3002\u6c7d\u8f66\u6beb\u7c73\u6ce2\u96f7\u8fbe\u6700\u5e38\u89c1\u7684\u5de5\u4f5c\u9891\u7387\u7ea6\u4e3a24 GHz\u300177 GHz\u548c79 GHz\u3002\u4e0e24 GHz\u5668\u4ef6\u76f8\u6bd4\uff0c77 GHz\u5668\u4ef6\u5177\u6709\u8bb8\u591a\u4f18\u70b9\uff0c\u5982\u7535\u5b50\u5143\u4ef6\u548c\u5929\u7ebf\u5c3a\u5bf8\u66f4\u5c0f\uff0c\u5355\u82af\u7247\u96c6\u6210\u7ed3\u6784\u66f4\u5bb9\u6613\u5b9e\u73b0\uff0c\u901f\u5ea6\u5206\u8fa8\u7387\u66f4\u9ad8\u7b49\u3002\u672a\u6765\uff0c\u8f66\u8f7d\u6beb\u7c73\u6ce2\u96f7\u8fbe\u7684\u9891\u6bb5\u5c06\u6536\u655b\u523077 GHz\u533a\u57df\uff0876-81 GHz\uff09\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"\/wp-content\/uploads\/2023\/02\/v2-af48904b132a6389473290f165a2a111_b.jpg\" width=\"685\" data-rawwidth=\"685\" data-caption=\"\" data-size=\"normal\" data-rawheight=\"155\" data-original=\"https:\/\/pic2.zhimg.com\/v2-af48904b132a6389473290f165a2a111_r.jpg\" \/><\/p>\n<p>\u56fe3.4 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decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"\/wp-content\/uploads\/2023\/02\/v2-edc80e4f61605c5a7d7d2c6c06285f83_b.jpg\" width=\"880\" data-rawwidth=\"880\" data-caption=\"\" data-size=\"normal\" data-rawheight=\"212\" data-original=\"https:\/\/pic4.zhimg.com\/v2-edc80e4f61605c5a7d7d2c6c06285f83_r.jpg\" \/><\/p>\n<p>\u6beb\u7c73\u6ce2\u96f7\u8fbe\u53ef\u4ee5\u6267\u884c\u9ad8\u7ea7\u9a7e\u9a76\u8f85\u52a9\u7cfb\u7edf\uff08ADAS\uff09\u7684\u529f\u80fd\uff0c\u4f8b\u5982\u81ea\u9002\u5e94\u5de1\u822a\u63a7\u5236\u3001\u524d\u65b9\u78b0\u649e\u8b66\u544a\u3001\u76f2\u70b9\u68c0\u6d4b\u3001\u505c\u8f66\u8f85\u52a9\u548c\u53d8\u9053\u8f85\u52a9\u300224 GHz\u96f7\u8fbe\u7cfb\u7edf\u4e3b\u8981\u6267\u884c\u77ed\u7a0b\u4fa6\u5bdf\uff08SRR\uff09\uff0c\u800c77 GHz\u7cfb\u7edf\u4e3b\u8981\u6267\u884c\u8fdc\u7a0b\u4fa6\u5bdf\uff08LRR\uff09\u3002SRR\u548cLRR\u7684\u7ec4\u5408\u5e94\u7528\u5982\u56fe3.5\u6240\u793a\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"\/wp-content\/uploads\/2023\/02\/v2-f257f7e59ff5847b595deec5d1e9c170_b.jpg\" width=\"685\" data-rawwidth=\"685\" data-caption=\"\" data-size=\"normal\" data-rawheight=\"1392\" data-original=\"https:\/\/pic1.zhimg.com\/v2-f257f7e59ff5847b595deec5d1e9c170_r.jpg\" \/><\/p>\n<p>\u56fe3.5SRR\u548cLRR\u7684\u8054\u5408\u5e94\u7528<\/p>\n<p>\u4e3a\u4e86\u4f7fADAS\u5145\u5206\u53d1\u6325\u5176\u529f\u80fd\uff0c\u9700\u8981\u201c1\u957f+4\u4e2d\u6216\u77ed\u201d\u76845\u4e2a\u6beb\u7c73\u6ce2\u96f7\u8fbe\u3002\u76ee\u524d\uff0c\u65b0\u6b3e\u5965\u8feaA1\u91c7\u75285\u4e2a\u6beb\u7c73\u6ce2\u96f7\u8fbe\uff081\u4e2a\u957f+4\u4e2a\u77ed\uff09\uff0c\u5954\u9a70S\u7ea7\u91c7\u75287\u4e2a\u6beb\u7c73\u6ce2\u96f7\u8fbe\uff081\u4e2a\u957f+6\u4e2a\u77ed\uff09\u3002\u4ee5\u81ea\u52a8\u8f66\u7684ACC\u529f\u80fd\u4e3a\u4f8b\uff0c\u4e00\u822c\u9700\u89813\u4e2a\u6beb\u7c73\u6ce2\u96f7\u8fbe\uff0c\u8f66\u4e2d\u95f4\u6709\u4e00\u4e2a77GHz\u7684LRR\uff0c\u63a2\u6d4b\u8303\u56f4\u4e3a150~250 m\uff0c\u89d2\u5ea6\u7ea6\u4e3a10\u00b0\u3002\u8f66\u5185\u4e24\u4fa7\u670924GHz MRR\uff0c\u89d2\u5ea6\u4e3a30\u00b0\uff0c\u68c0\u6d4b\u8ddd\u79bb\u4e3a50~70m\u3002AEB\u662fADAS\u6700\u5b9e\u7528\u7684\u529f\u80fd\uff0c\u5b83\u5c06\u6210\u4e3a\u672a\u6765\u4e2d\u9ad8\u7aef\u6c7d\u8f66\u7684\u6807\u51c6\u914d\u7f6e\uff0c\u9700\u898177GHz\u7684LRR\u96f7\u8fbe\u3002<\/p>\n<p>\u5728\u7f8e\u56fd\uff0c\u4efb\u4f55\u60f3\u8981\u4f7f\u7528\u672a\u7ecfFCC\uff08\u8054\u90a6\u901a\u4fe1\u59d4\u5458\u4f1a\uff09\u6279\u51c6\u7684\u65e0\u7ebf\u8bbe\u5907\u7684\u4eba\uff0c\u5fc5\u987b\u5148\u7533\u8bf7\u7279\u6b8a\u7684\u4e34\u65f6\u673a\u6784\uff08STA\uff09\u8bb8\u53ef\u8bc1\uff0c\u5426\u5219\u662f\u975e\u6cd5\u7684\u30022017\u5e743\u670817\u65e5\uff0c\u65e5\u672c\u6c7d\u8f66\u7535\u5b50\u4f9b\u5e94\u5546\u963f\u5c14\u5351\u65af\u7535\u6c14\u7533\u8bf7\u4e86STA\u8bb8\u53ef\u8bc1\uff0c\u7528\u4e8e\u6d4b\u8bd5\u4e00\u79cd\u540d\u4e3aUkaza\u7684\u8f66\u8f7d\u6beb\u7c73\u6ce2\u96f7\u8fbe\uff0c\u5176\u5de5\u4f5c\u9891\u7387\u4e3a76~81 GHz\uff0c\u8fd9\u662f\u8be5\u9891\u6bb5\u6beb\u7c73\u6ce2\u96f7\u8fbe\u7684\u9996\u6b21\u516c\u5f00\u6d4b\u8bd5\u3002\u5341\u5929\u540e\uff0c\u901a\u7528\u6c7d\u8f66\u8fd8\u5411FCC\u63d0\u4ea4\u4e86\u7c7b\u4f3c\u7684STA\u8bb8\u53ef\u8bc1\u7533\u8bf7\uff0c\u4ee5\u6d4b\u8bd5Ukaza\u96f7\u8fbe\uff0c\u4e3a\u5176300\u8f86\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u6d4b\u8bd5\u8f66\u961f\u505a\u51c6\u5907\u3002<\/p>\n<p>3.4 \u6beb\u7c73\u6ce2\u96f7\u8fbe\u7684\u884c\u4e1a\u7ed3\u6784\u3001\u4e3b\u6d41\u4ea7\u54c1\u53ca\u53d1\u5c55\u8d8b\u52bf<\/p>\n<p>\u8f66\u8f7d\u6beb\u7c73\u6ce2\u96f7\u8fbe\u7684\u56fd\u5185\u5916\u4ea7\u4e1a\u7ed3\u6784\u5982\u56fe3.6\u6240\u793a\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"\/wp-content\/uploads\/2023\/02\/v2-650b00a79b8a6a6b607c706029f5edcf_b.jpg\" width=\"685\" data-rawwidth=\"685\" data-caption=\"\" data-size=\"normal\" data-rawheight=\"403\" data-original=\"https:\/\/pic4.zhimg.com\/v2-650b00a79b8a6a6b607c706029f5edcf_r.jpg\" \/><\/p>\n<p>\u56fe3.6 \u6beb\u7c73\u6ce2\u96f7\u8fbe\u4ea7\u4e1a\u7ed3\u6784<\/p>\n<p>\u76ee\u524d\uff0c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u6280\u672f\u4e3b\u8981\u88ab\u5927\u9646\u3001\u535a\u4e16\u3001\u7535\u88c5\u3001\u5fb7\u5c14\u798f\u7b49\u4f20\u7edf\u96f6\u90e8\u4ef6\u5de8\u5934\u5784\u65ad\u3002\u7279\u522b\u662f77GHz\u6beb\u7c73\u6ce2\u96f7\u8fbe\u7531\u535a\u4e16\u3001\u5927\u9646\u3001\u5fb7\u5c14\u798f\u3001\u7535\u88c5\u3001\u5929\u5408\u3001\u5bcc\u58eb\u901a\u5929\u3001\u65e5\u7acb\u7b49\u516c\u53f8\u63a7\u5236\u30022015\u5e74\uff0c\u535a\u4e16\u548c\u5927\u9646\u6c7d\u8f66\u96f7\u8fbe\u7684\u5e02\u573a\u4efd\u989d\u5747\u4e3a22%\uff0c\u4f4d\u5c45\u5168\u7403\u7b2c\u4e00\u3002<\/p>\n<p>\u76ee\u524d\uff0c\u4e2d\u56fd\u5e02\u573a\u9ad8\u7aef\u6c7d\u8f66\u7528\u6beb\u7c73\u6ce2\u96f7\u8fbe\u4f20\u611f\u5668\u5168\u90e8\u8fdb\u53e3\uff0c\u5e02\u573a\u88ab\u7f8e\u56fd\u3001\u65e5\u672c\u3001\u5fb7\u56fd\u4f01\u4e1a\u5784\u65ad\uff0c\u4ef7\u683c\u9ad8\uff0c\u56e0\u6b64\u8feb\u5207\u9700\u8981\u81ea\u4e3b\u5236\u9020\u3002\u6c7d\u8f66\u6beb\u7c73\u6ce2\u96f7\u8fbe\u5206\u4e3a\u77ed\u7a0b\u3001\u4e2d\u7a0b\u548c\u957f\u8ddd\u79bb\uff0c\u5176\u5bf9\u5e94\u7684\u4ef7\u683c\u4e5f\u6709\u4f4e\u3001\u4e2d\u3001\u9ad8\uff0c\u5e02\u573a\u4e0a\u4e3b\u6d41\u7684\u6c7d\u8f66\u6beb\u7c73\u6ce2\u96f7\u8fbe\u5982\u56fe3.7\u6240\u793a\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"\/wp-content\/uploads\/2023\/02\/v2-a7584409309ba95e367b75c0155500c2_b.jpg\" width=\"685\" data-rawwidth=\"685\" data-caption=\"\" data-size=\"normal\" data-rawheight=\"973\" data-original=\"https:\/\/pic3.zhimg.com\/v2-a7584409309ba95e367b75c0155500c2_r.jpg\" \/><\/p>\n<p>\u56fe3.7 \u4e3b\u6d41\u6c7d\u8f66\u6beb\u7c73\u6ce2\u96f7\u8fbe\u6982\u8ff0<\/p>\n<p>a)\u535a\u4e16\u4e2d\u8fdc\u7a0b\u96f7\u8fbe\uff0cb\uff09\u5927\u9646\u77ed\u7a0b\u548c\u8fdc\u7a0b\u96f7\u8fbe\uff0cc\uff09\u5fb7\u5c14\u798f\u4e2d\u7a0b\u96f7\u8fbe<\/p>\n<p>\u535a\u4e16\u96f7\u8fbe\u5f88\u5c0f\uff0c\u5fb7\u5c14\u798f\u77ed\u7a0b\u96f7\u8fbe\u548c\u8fdc\u7a0b\u96f7\u8fbe\u3001ZF-TRW(\u91c7\u57c3\u5b5a-\u5929\u5408)\u8fdc\u7a0b\u96f7\u8fbe\u548c\u5965\u6258\u7acb\u592b\u8fdc\u7a0b\u96f7\u8fbe\u5c06\u5728\u672a\u6765\u51e0\u5e74\u5185\u91cf\u4ea7\u3002\u9664\u4e0a\u8ff0\u516c\u53f8\u5916\uff0c\u4e00\u4e9b\u516c\u53f8\uff08\u5982\u5bcc\u58eb\u901a\u5929\u548c\u65e5\u672c\u7535\u4ea7Elesys\uff09\u4e5f\u751f\u4ea7\u6beb\u7c73\u6ce2\u96f7\u8fbe\u3002\u4e2d\u56fd\u8f66\u8f7d\u6beb\u7c73\u6ce2\u96f7\u8fbe\u4ecd\u5904\u4e8e\u5f00\u53d1\u9636\u6bb5\uff0c\u7531\u4e8e\u7814\u53d1\u6210\u672c\u4f4e\uff0c\u7814\u53d1\u7b80\u5355\uff0c\u4e2d\u56fd\u5382\u5546\u4e3b\u8981\u5173\u6ce824GHz\u96f7\u8fbe\uff0c\u9884\u8ba1\u672a\u6765\u4e94\u5e74\uff0c\u81ea\u4e3b\u54c1\u724c\u8f66\u8f7d\u6beb\u7c73\u6ce2\u96f7\u8fbe\u4f20\u611f\u5668\u5c06\u9010\u6b65\u91cf\u4ea7\u5b89\u88c5\u3002\u56fd\u5185\u5916\u91cd\u70b9\u6beb\u7c73\u6ce2\u96f7\u8fbe\u4ea7\u4e1a\u94fe\u5982\u56fe3.8\u6240\u793a\uff1a<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"\/wp-content\/uploads\/2023\/02\/v2-a682d33a06ffb7da5b604f804d71e6fb_b.jpg\" width=\"714\" data-rawwidth=\"714\" data-caption=\"\" data-size=\"normal\" data-rawheight=\"1597\" data-original=\"https:\/\/pic4.zhimg.com\/v2-a682d33a06ffb7da5b604f804d71e6fb_r.jpg\" \/><\/p>\n<p>\u56fe3.8 \u4e16\u754c\u96f7\u8fbe\u4ea7\u4e1a\u94fe\uff08\u56fe\u7247\u6765\u6e90\uff1aitbank\uff09<\/p>\n<p>\u4ece\u957f\u8fdc\u6765\u770b\uff0c\u8f66\u8f7d\u6beb\u7c73\u6ce2\u96f7\u8fbe\u6700\u7ec8\u5c06\u7edf\u4e00\u572877 GHz\u9891\u6bb5\uff0876-81 GHz\uff09\uff0c\u8be5\u9891\u6bb5\u610f\u5473\u7740\u66f4\u5927\u7684\u5e26\u5bbd\u3001\u66f4\u9ad8\u7684\u529f\u7387\u6c34\u5e73\u548c\u66f4\u957f\u7684\u68c0\u6d4b\u8303\u56f4\u3002\u4e0e24GHz\u76f8\u6bd4\uff0c\u7269\u4f53\u5206\u8fa8\u7387\u7cbe\u5ea6\u63d0\u9ad8\u4e862-4\u500d\uff0c\u901f\u5ea6\u548c\u8ddd\u79bb\u6d4b\u91cf\u7cbe\u5ea6\u63d0\u9ad8\u4e863-5\u500d\uff0c\u8fd9\u610f\u5473\u7740\u53ef\u4ee5\u68c0\u6d4b\u5230\u884c\u4eba\u548c\u81ea\u884c\u8f66\u3002\u6b64\u5916\uff0c\u8bbe\u5907\u7684\u4f53\u79ef\u66f4\u5c0f\uff0c\u8fd9\u4f7f\u5f97\u5b83\u66f4\u5bb9\u6613\u5728\u8f66\u8f86\u4e0a\u5b89\u88c5\u548c\u90e8\u7f72\u300277 GHz\u9891\u7387\u8303\u56f4\u662f\u5168\u7403\u6c38\u4e45\u8ba4\u53ef\u7684\u9891\u6bb5\uff0c\u56e0\u6b64\u66f4\u9002\u5408\u5168\u7403\u8f66\u8f7d\u5e73\u53f0\uff0c\u5728\u6b64\u8303\u56f4\u5185\uff0c76-77 GHz\u4e3b\u8981\u7528\u4e8e\u8fdc\u7a0b\u6beb\u7c73\u6ce2\u96f7\u8fbe\uff0c77-81 GHz\u4e3b\u8981\u7528\u4e8e\u4e2d\u77ed\u7a0b\u6beb\u7c73\u6ce2\u96f7\u8fbe\u3002\u672a\u6765\uff0c79 GHz\uff0877-81 GHz\uff09\u4e2d\u77ed\u7a0b\u6beb\u7c73\u6ce2\u96f7\u8fbe\u5c06\u6210\u4e3a\u4e2d\u7a0bMRR\u7684\u4e3b\u6d41\uff0c\u5e76\u6709\u671b\u53d6\u4ee324 GHz\u77ed\u7a0b\u96f7\u8fbe\uff0c\u65f6\u95f4\u53d6\u51b3\u4e8e\u6bcf\u4e2a\u56fd\u5bb6\u7684\u5de5\u4e1a\u53d1\u5c55\u3001\u5e02\u573a\u8d8b\u52bf\u548c\u653f\u7b56\u3002<\/p>\n<p>3.4MIMO\u96f7\u8fbe\u865a\u62df\u9635\u5217\u548c2D\u6210\u50cf<\/p>\n<p>MIMO\uff08\u591a\u8f93\u5165\u591a\u8f93\u51fa\uff09\u6700\u521d\u662f\u63a7\u5236\u7cfb\u7edf\u4e2d\u7684\u4e00\u4e2a\u6982\u5ff5\uff0c\u8fd9\u610f\u5473\u7740\u7cfb\u7edf\u5177\u6709\u591a\u4e2a\u8f93\u5165\u548c\u591a\u4e2a\u8f93\u51fa\uff0c\u5982\u679c\u5c06\u79fb\u52a8\u901a\u4fe1\u7cfb\u7edf\u7684\u4f20\u8f93\u4fe1\u9053\u89c6\u4e3a\u4e00\u4e2a\u7cfb\u7edf\uff0c\u5219\u53d1\u9001\u7684\u4fe1\u53f7\u53ef\u4ee5\u770b\u4f5c\u662f\u79fb\u52a8\u4fe1\u9053\uff08system\uff09\u7684\u8f93\u5165\u4fe1\u53f7\uff0c\u63a5\u6536\u7684\u4fe1\u53f7\u53ef\u4ee5\u770b\u4f5c\u662f\u79fb\u52a8\u4fe1\u9053\u7684\u8f93\u51fa\u4fe1\u53f7\u3002MIMO\u96f7\u8fbe\u7684\u57fa\u672c\u542b\u4e49\u662f\uff1a\u96f7\u8fbe\u5229\u7528\u591a\u4e2a\u53d1\u5c04\u5929\u7ebf\u540c\u65f6\u53d1\u5c04\u6b63\u4ea4\u4fe1\u53f7\u7167\u5c04\u76ee\u6807\uff0c\u5229\u7528\u591a\u4e2a\u63a5\u6536\u5929\u7ebf\u63a5\u6536\u76ee\u6807\u56de\u6ce2\u4fe1\u53f7\uff0c\u7136\u540e\u5bf9\u5176\u8fdb\u884c\u7efc\u5408\u5904\u7406\uff0c\u63d0\u53d6\u76ee\u6807\u7684\u7a7a\u95f4\u4f4d\u7f6e\u548c\u8fd0\u52a8\u72b6\u6001\u3002<\/p>\n<p>MIMO \u96f7\u8fbe\u865a\u62df\u9635\u5217\u7684\u5178\u578b\u5e94\u7528\u662f\u4e8c\u7ef4\u96f7\u8fbe\u6210\u50cf\uff0c\u4e8c\u7ef4\u96f7\u8fbe\u6210\u50cf\u7684\u8ddd\u79bb\u5206\u8fa8\u7387\u4e3b\u8981\u53d6\u51b3\u4e8e\u96f7\u8fbe\u4fe1\u53f7\u7684\u5e26\u5bbd\uff0c\u65b9\u4f4d\u5206\u8fa8\u7387\u4e3b\u8981\u53d6\u51b3\u4e8e\u5929\u7ebf\u7684\u6ce2\u675f\u5bbd\u5ea6\u3002\u4e3a\u4e86\u63d0\u9ad8\u6210\u50cf\u7684\u8ddd\u79bb\u5206\u8fa8\u7387\uff0c\u4e00\u79cd\u76f8\u5bf9\u7b80\u5355\u7684\u65b9\u6cd5\u662f\u589e\u52a0\u96f7\u8fbe\u4fe1\u53f7\u7684\u5e26\u5bbd\uff1b\u4e3a\u4e86\u63d0\u9ad8\u96f7\u8fbe\u4fe1\u53f7\u7684\u65b9\u4f4d\u5206\u8fa8\u7387\uff0c\u4e0d\u53ef\u907f\u514d\u5730\u8981\u589e\u52a0\u5929\u7ebf\u6216\u9635\u5217\u7684\u5b54\u5f84\uff0c\u8fd9\u5728\u5b9e\u8df5\u4e2d\u662f\u56f0\u96be\u7684\uff0c\u5e76\u4e14\u53d7\u5230\u8bb8\u591a\u56e0\u7d20\u7684\u9650\u5236\u3002\u76ee\u524d\u5e7f\u6cdb\u4f7f\u7528\u7684\u89e3\u51b3\u65b9\u6848\u662f\uff1a\u5229\u7528\u5408\u6210\u5b54\u5f84\u6280\u672f\u5728\u4e0d\u589e\u52a0\u5929\u7ebf\u7269\u7406\u5c3a\u5bf8\u7684\u60c5\u51b5\u4e0b\u83b7\u5f97\u5927\u5b54\u5f84\u9635\u5217\u3002\u4e0e\u5408\u6210\u5b54\u5f84\u7684\u601d\u60f3\u4e0d\u540c\uff0cMIMO\u96f7\u8fbe\u5229\u7528\u591a\u4e2a\u53d1\u5c04\u5668\u548c\u591a\u4e2a\u63a5\u6536\u5668\u7684\u5929\u7ebf\u7ed3\u6784\uff0c\u5f62\u6210\u865a\u62df\u7684\u5927\u5b54\u5f84\u9635\u5217\uff0c\u4ee5\u83b7\u5f97\u9ad8\u65b9\u4f4d\u89d2\u5206\u8fa8\u7387\uff0c\u8fd9\u79cd\u865a\u62df\u9635\u5217\u7684\u5f62\u6210\u662f\u5b9e\u65f6\u7684\uff0c\u53ef\u4ee5\u907f\u514d\u4f20\u7edfISAR\u6210\u50cf\u4e2d\u7684\u8fd0\u52a8\u8865\u507f\u95ee\u9898\uff0c\u6545MIMO\u96f7\u8fbe\u5728\u6210\u50cf\u5e94\u7528\u4e2d\u5177\u6709\u5176\u72ec\u7279\u7684\u4f18\u52bf\u3002<\/p>\n<p>\u6069\u667a\u6d66(NXP)\u4e8e2018\u5e741\u670811\u65e5\u63a8\u51fa\u5178\u578b\u7684\u7ea7\u8054\u8bbe\u8ba1MR3003\u548cS32R274\u96f7\u8fbe\uff0cMR3003\u662f\u4e00\u6b3e\u6beb\u7c73\u6ce2\u96f7\u8fbe\u6536\u53d1\u5668\uff0c\u5177\u6709\u4e09\u4e2a\u53d1\u5c04\u5668\u548c\u56db\u4e2a\u63a5\u6536\u5668\u3002NXP\u7684\u6700\u4f4e\u7ea7\u8054\u8bbe\u8ba1\u662f\u7ea7\u8054\u56db\u4e2aMR3003\uff0c\u5305\u62ec12\u4e2a\u53d1\u5c04\u673a\u548c16\u4e2a\u63a5\u6536\u673a\u3002\u4ee5S32R274\u4e3a\u5904\u7406\u5668\uff0c\u5b83\u53ef\u4ee5\u7ea7\u8054\u591a\u8fbe20\u4e2aMR3003\uff0c\u5f62\u6210\u4e00\u4e2a\u60ca\u4eba\u768460\u53d1\u5c04\u5668\u548c80\u63a5\u6536\u5668\u6beb\u7c73\u6ce2\u96f7\u8fbe\uff0c\u8fd9\u8db3\u4ee5\u7528\u4e8e\u6210\u50cf\uff0c\u7ea7\u8054\u5b9e\u9645\u4e0a\u7c7b\u4f3c\u4e8eMIMO\u7cfb\u7edf\u3002<\/p>\n<p>\u4e00\u5bf9\u53d1\u5c04\u9635\u5143\u548c\u63a5\u6536\u9635\u5143\u53ef\u4ee5\u6a21\u62df\u4e00\u4e2a\u53d1\u5c04-\u63a5\u6536\u9635\u5143\uff0c\u5bf9\u4e8e\u5177\u6709m\u4e2a\u53d1\u5c04\u5668\u548cn\u4e2a\u63a5\u6536\u5668\u7684MIMO\u96f7\u8fbe\uff0c\u6709m*n\u5bf9\u53d1\u5c04\u9635\u5143\u548c\u63a5\u6536\u9635\u5143\uff0c\u8fd9\u610f\u5473\u7740\u53ef\u4ee5\u6a21\u62dfm*n\u53d1\u9001-\u63a5\u6536\u9635\u5143\uff0cm*n\u901a\u5e38\u6bd4n\u5927\u5f97\u591a\uff0c\u8fd9\u5bfc\u81f4\u4e86\u9635\u5217\u5b54\u5f84\u7684\u6269\u5927\u3002\u5fb7\u5dde\u4eea\u5668 \uff08TI\uff09 \u53ef\u4ee5\u4f7f\u7528\u56db\u4e2a\u5e26\u6709\u4e09\u4e2a\u53d1\u5c04\u5668\u548c\u56db\u4e2a\u63a5\u6536\u5668\u7684 AWR1243 \u96f7\u8fbe\uff0c\u7ec4\u6210 192 \u4e2a\u865a\u62df\u901a\u9053\uff08\u5929\u7ebf\u6216\u9635\u5217\uff09\uff0c\u5982\u56fe 3.9\u6240\u793a\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"\/wp-content\/uploads\/2023\/02\/v2-43357989b3645997cacfee5767d31d08_b.jpg\" width=\"685\" data-rawwidth=\"685\" data-caption=\"\" data-size=\"normal\" data-rawheight=\"444\" data-original=\"https:\/\/pic1.zhimg.com\/v2-43357989b3645997cacfee5767d31d08_r.jpg\" \/><\/p>\n<p>\u56fe3.9\u56db\u4e2aTIAWR1243\u96f7\u8fbe(3T4R)<\/p>\n<p>\u56fe 3.10 \u663e\u793a\u4e86\u5fb7\u5dde\u4eea\u5668\u7684\u56db\u4e2a AWR1243 \u7ea7\u8054\u96f7\u8fbe\u7684\u53c2\u6570,\u8fdc\u7a0b\u5206\u8fa8\u7387\u5927\u5927\u63d0\u9ad8,\u572840m\u5904\u53ef\u4ee5\u5b9e\u73b01\u00b0\u7684\u65b9\u4f4d\u89d2\u5206\u8fa8\u7387\uff0c\u53734.5 cm\u7684\u5206\u8fa8\u7387\u548c9 cm\u5de6\u53f3\u7684\u7269\u4f53\u5206\u8fa8\u7387\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"\/wp-content\/uploads\/2023\/02\/v2-c10fd6382c4d41537f66db801d6b82a9_b.jpg\" width=\"685\" data-rawwidth=\"685\" data-caption=\"\" data-size=\"normal\" data-rawheight=\"603\" data-original=\"https:\/\/pic2.zhimg.com\/v2-c10fd6382c4d41537f66db801d6b82a9_r.jpg\" \/><\/p>\n<p>\u56fe3.10\u56db\u4e2aAWR1243\u7ea7\u8054\u96f7\u8fbe\u53c2\u6570<\/p>\n<p>\u4f7f\u752845\u00b0FOV\u7684\u767e\u4e07\u50cf\u7d20\u76f8\u673a\uff0c\u65b9\u4f4d\u89d2\u5206\u8fa8\u7387\u572840m\u5904\u4ec5\u4e3a\u7ea620\u50cf\u7d20\uff0c\u65e0\u6cd5\u533a\u5206\u884c\u4eba\u548c\u9a91\u81ea\u884c\u8f66\u7684\u4eba\u3002MIMO\u5177\u6709\u975e\u5e38\u5bbd\u7684\u89c6\u573a\uff0c\u50cf\u5fb7\u5dde\u4eea\u5668\u90a3\u6837\u7684\u56db\u7ea7\u8054\u96f7\u8fbe\u7684\u89c6\u573a\u9ad8\u8fbe192\u00b0\uff08\u6444\u50cf\u673a\u768480\u00b0\u89c6\u573a\u88ab\u8ba4\u4e3a\u662f\u5e7f\u89d2\uff09\uff0c\u56e0\u6b64\u5728\u8fb9\u7f18\u53ef\u80fd\u5b58\u5728\u5e7f\u89d2\u7578\u53d8\u3002<\/p>\n<p>\u56fe3.11\u663e\u793a\u4e86\u5fb7\u5dde\u4eea\u5668\u6d4b\u8bd5\u7684\u591a\u7ea7\u8054\u96f7\u8fbe\uff08MIMO\uff09\u7684FFT\u8f93\u51fa\u56fe\u3002\u53ef\u4ee5\u770b\u51fa\uff0c\u901a\u9053\u8d8a\u591a\uff0c\u5206\u8fa8\u7387\u8d8a\u9ad8\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"\/wp-content\/uploads\/2023\/02\/v2-d40a7cdd50862a7512f03d96824b8f08_b.jpg\" width=\"685\" data-rawwidth=\"685\" data-caption=\"\" data-size=\"normal\" data-rawheight=\"376\" data-original=\"https:\/\/pic1.zhimg.com\/v2-d40a7cdd50862a7512f03d96824b8f08_r.jpg\" \/><\/p>\n<p>\u56fe3.11\u5fb7\u5dde\u4eea\u5668\u591a\u7ea7\u8054\u96f7\u8fbeFFT\u7ed3\u679c<\/p>\n<p>4\u3001\u8d85\u58f0\u6ce2\u96f7\u8fbe<\/p>\n<p>\u5f53\u6fc0\u5149\u96f7\u8fbe\u5b89\u88c5\u5728\u8f66\u9876\u65f6\uff0c\u5728\u8f66\u5e95\u5f62\u6210\u4e00\u4e2a\u65e0\u6cd5\u6d4b\u91cf\u7684\u5706\u5f62\u533a\u57df\uff0c\u8fd9\u4e5f\u662f\u6fc0\u5149\u96f7\u8fbe\u7684\u76f2\u533a\u3002\u7528\u4e8e\u81ea\u9002\u5e94\u5de1\u822a\u63a7\u5236\u7684\u6beb\u7c73\u6ce2\u96f7\u8fbe\u7528\u4e8e\u8fdc\u8ddd\u79bb\u6d4b\u91cf\uff0c\u4f46\u77ed\u8ddd\u79bb\u6d4b\u91cf\u7cbe\u5ea6\u4e0d\u591f\uff0c\u81ea\u52a8\u6cca\u8f66\u7684\u7cbe\u5ea6\u5fc5\u987b\u8fbe\u5230\u5398\u7c73\u7ea7\uff0c\u8fd9\u662f\u6fc0\u5149\u96f7\u8fbe\u548c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u65e0\u6cd5\u8fbe\u5230\u7684\uff0c\u56e0\u6b64\uff0c\u53ef\u4ee5\u4f7f\u7528\u64c5\u957f\u8fd1\u8ddd\u79bb\u6d4b\u91cf\u7684\u8d85\u58f0\u6ce2\u96f7\u8fbe\u3002\u5012\u8f66\u96f7\u8fbe\u901a\u5e38\u662f\u8d85\u58f0\u6ce2\u96f7\u8fbe\uff0c\u5b89\u88c5\u5728\u540e\u8f6e\u9644\u8fd1\uff0c\u8c37\u6b4c\u7684\u539f\u578b\u65e0\u4eba\u9a7e\u9a76\u6c7d\u8f66\u5728\u540e\u8f6e\u9644\u8fd1\u914d\u5907\u4e86\u8d85\u58f0\u6ce2\u96f7\u8fbe\uff0c\u7528\u4e8e\u8fd1\u8ddd\u79bb\u6d4b\u91cf\uff0c\u4e3b\u8981\u7528\u4e8e\u81ea\u52a8\u6cca\u8f66\u3002<\/p>\n<p>5\u3001\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u96f7\u8fbe\u7cfb\u7edf\u914d\u7f6e\u793a\u4f8b<\/p>\n<p>5.1\u901a\u7528\u5de1\u822a\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66<\/p>\n<p>GM Cruise\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u96f7\u8fbe\u7cfb\u7edf\u7684\u914d\u7f6e\u5982\u56fe5.1\u6240\u793a\uff0c\u5177\u67095\u4e2a\u6fc0\u5149\u96f7\u8fbe\u548c21\u6beb\u7c73\u6ce2\u96f7\u8fbe\uff0c\u8fd8\u670916\u4e2a\u6444\u50cf\u5934\u3002\u8fd9\u4e94\u4e2a\u6fc0\u5149\u96f7\u8fbe\u662fVelodyne VLP16 16\u7ebf\u6fc0\u5149\u96f7\u8fbe\uff0c2018\u5e741\u6708\u521d\uff0cVelodyne\u5c06VLP16\u7684\u4ef7\u683c\u4ece7999\u7f8e\u5143\u4e0b\u8c03\u81f33999\u7f8e\u5143\u3002\u572821\u4e2a\u6beb\u7c73\u6ce2\u96f7\u8fbe\u4e2d\uff0c12\u4e2a79 GHz\u96f7\u8fbe\u7531\u65e5\u672c\u963f\u5c14\u5351\u65af\u5c71\u516c\u53f8\u63d0\u4f9b\uff0c\u4e24\u4e2a\u524d\u5411\u548c\u4e24\u4e2a\u540e\u5411\u8fdc\u7a0b\u96f7\u8fbe\u53ef\u80fd\u7531\u5fb7\u56fd\u516c\u53f8\u63d0\u4f9b\uff0c\u578b\u53f7\u4e3aARS408\u3002\u535a\u4e16\u516c\u53f8\u63d0\u4f9b\u4e86\u4e94\u4e2a\u9ad8\u5206\u8fa8\u7387\uff08\u901a\u7528\u6c7d\u8f66\u79f0\u4e3a\u94f0\u63a5\u5f0f\uff09\u6beb\u7c73\u6ce2\u96f7\u8fbe\uff0c\u5b83\u4eec\u4e3b\u8981\u5b89\u88c5\u5728\u6c7d\u8f66\u7684\u4e24\u4fa7\u548c\u524d\u90e8\uff0c\u5e26\u5bbd\u662f\u4f20\u7edf77GHz\u96f7\u8fbe\u76848\u500d\uff0c\u56e0\u6b64\u5206\u8fa8\u7387\u53ef\u8fbe4cm\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"\/wp-content\/uploads\/2023\/02\/v2-e645fff9b2276d8ac60563c65bf5b2ea_b.jpg\" width=\"685\" data-rawwidth=\"685\" data-caption=\"\" data-size=\"normal\" data-rawheight=\"314\" data-original=\"https:\/\/pic3.zhimg.com\/v2-e645fff9b2276d8ac60563c65bf5b2ea_r.jpg\" \/><\/p>\n<p>\u56fe5.1\u901a\u7528\u5de1\u822a\u81ea\u52a8\u9a7e\u9a76\u8f66\u7684\u96f7\u8fbe\u7cfb\u7edf<\/p>\n<p>12\u4e2a79 GHz\u6beb\u7c73\u6ce2\u96f7\u8fbe\u4ee5\u7ea7\u8054\u6a21\u5f0f\u5de5\u4f5c\uff0c\u8db3\u4ee5\u751f\u6210\u6e05\u6670\u7684360\u00b0\u73af\u89c6\u5168\u666f\u56fe\u50cf\uff0c\u540c\u65f6\u8ddf\u8e2a\u6570\u5343\u4e2a\u76ee\u6807\u300212\u4e2a79 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5.2 \u6240\u793a\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"\/wp-content\/uploads\/2023\/02\/v2-60aebe762e5866eb3be566c81ffd2e14_b.jpg\" width=\"685\" data-rawwidth=\"685\" data-caption=\"\" data-size=\"normal\" data-rawheight=\"425\" data-original=\"https:\/\/pic1.zhimg.com\/v2-60aebe762e5866eb3be566c81ffd2e14_r.jpg\" \/><\/p>\n<p>\u56fe5.2 \u8c37\u6b4c\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u8c37\u6b4c\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u4f20\u611f\u5668\u7cfb\u7edf\u7684\u914d\u7f6e\u5982\u56fe5.3\u6240\u793a\uff0c\u5b83\u914d\u5907\u4e86\u56db\u4e2a\u6beb\u7c73\u6ce2\u96f7\u8fbe\uff08\u4e09\u4e2a\u5728\u524d\uff0c\u4e00\u4e2a\u5728\u540e\uff0c\u5982\u56fe5.4\u6240\u793a\uff09\u548c\u4e00\u4e2a\u5c4b\u98763D\u6fc0\u5149\u96f7\u8fbe\uff08Velodyne HDL-64E\uff09\u3002\u6beb\u7c73\u6ce2\u96f7\u8fbe\u7528\u4e8e\u8ba1\u7b97\u5176\u4ed6\u6c7d\u8f66\u4e0e\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u4e4b\u95f4\u7684\u76f8\u5bf9\u901f\u5ea6\uff0c\u5e76\u9884\u6d4b\u901f\u5ea6\u53d8\u5316\uff0cHDL-64E\u96f7\u8fbe\u5728\u65cb\u8f6c\u65f6\u8fde\u7eed\u53d1\u5c0464\u7ebf\u6fc0\u5149\u675f\uff0c\u6700\u5927\u5c04\u7a0b\u4e3a120 m\uff0c\u5e76\u63a5\u6536\u53cd\u5c04\u5149\u675f\uff0c\u6839\u636e\u53d1\u5c04\u548c\u63a5\u6536\u7684\u65f6\u95f4\u5dee\uff0c\u8ba1\u7b97\u7269\u4f53\u4e0e\u6c7d\u8f66\u4e4b\u95f4\u7684\u8ddd\u79bb\uff0c\u5e76\u7ed8\u5236\u6c7d\u8f66\u5468\u56f4\u7684\u5b9e\u65f6\u4e09\u7ef4\u5730\u5f62\u56fe\uff0c\u7efc\u5408\u68c0\u6d4b\u6570\u636e\u540e\uff0c\u8fd8\u53ef\u4ee5\u5224\u65ad\u7269\u4f53\u7684\u5f62\u72b6\u3001\u5927\u5c0f\u548c\u4e00\u822c\u8fd0\u52a8\u8f68\u8ff9\uff0c\u8fd9\u662f\u884c\u52a8\u51b3\u7b56\u7684\u57fa\u7840\u4e4b\u4e00\u3002HDL-3E \u6bcf\u79d2\u53ef\u4ee5\u4e3a\u8c37\u6b4c\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u5904\u7406\u5668\u63d0\u4f9b 64 \u4e07\u7ec4\u6570\u636e\uff0c\u8fd9\u610f\u5473\u7740\u63d0\u4f9b\u7684\u4fe1\u606f\u51e0\u4e4e\u662f\u5b9e\u65f6\u7684\uff0cHDL-1E\u773c\u4e2d\u7684\u4e16\u754c\u5982\u56fe5.5\u6240\u793a\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"\/wp-content\/uploads\/2023\/02\/v2-b3eddee9f07c6a9a66c96f23287238c3_b.jpg\" width=\"685\" data-rawwidth=\"685\" data-caption=\"\" data-size=\"normal\" data-rawheight=\"393\" data-original=\"https:\/\/pic4.zhimg.com\/v2-b3eddee9f07c6a9a66c96f23287238c3_r.jpg\" \/><\/p>\n<p>\u56fe5.3\u8c37\u6b4c\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u4f20\u611f\u5668\u7cfb\u7edf\u7684\u914d\u7f6e<img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"\/wp-content\/uploads\/2023\/02\/v2-8e2ea2d7029799411ddd55db6d64f206_b.jpg\" width=\"685\" data-rawwidth=\"685\" data-caption=\"\" data-size=\"normal\" data-rawheight=\"282\" data-original=\"https:\/\/pic3.zhimg.com\/v2-8e2ea2d7029799411ddd55db6d64f206_r.jpg\" \/><\/p>\n<p>\u56fe5.4\u8f66\u8f86\u524d\u6beb\u7c73\u6ce2\u96f7\u8fbe<img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"\/wp-content\/uploads\/2023\/02\/v2-5d6787040f979d3d4329fb28fce44b81_b.jpg\" width=\"685\" data-rawwidth=\"685\" data-caption=\"\" data-size=\"normal\" data-rawheight=\"303\" data-original=\"https:\/\/pic2.zhimg.com\/v2-5d6787040f979d3d4329fb28fce44b81_r.jpg\" \/><\/p>\n<p>\u56fe5.5Velodyne HDL-64E\u6fc0\u5149\u96f7\u8fbe\u73af\u5883\u5b9e\u6d4b<\/p>\n<p>\u9664\u4e86\u96f7\u8fbe\u7cfb\u7edf\uff0c\u8c37\u6b4c\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u8fd8\u914d\u5907\u4e86\u8f66\u9053\u4fdd\u6301\u89c6\u89c9\u7cfb\u7edf\u3001\u7ea2\u5916\u6444\u50cf\u5934\u3001\u7acb\u4f53\u89c6\u89c9\u3001GPS\u548c\u60ef\u6027\u5bfc\u822a\u7cfb\u7edf\u3001\u8f66\u8f6e\u7f16\u7801\u5668\u7b49\u3002<\/p>\n<p>5.3Waymo\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66<\/p>\n<p>\u81ea2017\u5e7410\u6708\u4e2d\u65ec\u4ee5\u6765\uff0c\u8c37\u6b4c\u7684Waymo\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u5728\u4e9a\u5229\u6851\u90a3\u5dde\u5f00\u59cb\u4e86\u516c\u5f00\u8def\u8bd5\u3002\u6d4b\u8bd5\u573a\u666f\u548c\u4f20\u611f\u5668\u914d\u7f6e\u5982\u56fe5.6\u6240\u793a\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"\/wp-content\/uploads\/2023\/02\/v2-6707c269e725db6ab43047c9fe9a286e_b.jpg\" width=\"685\" data-rawwidth=\"685\" data-caption=\"\" data-size=\"normal\" data-rawheight=\"947\" data-original=\"https:\/\/pic3.zhimg.com\/v2-6707c269e725db6ab43047c9fe9a286e_r.jpg\" \/><\/p>\n<p>\u56fe5.6Waymo\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u6d4b\u8bd5\u573a\u666f\u548c\u4f20\u611f\u5668\u914d\u7f6e<\/p>\n<p>Waymo\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u4f20\u611f\u5668\u914d\u7f6e\u5982\u4e0b\uff1a<\/p>\n<p>\u6fc0\u5149\u96f7\u8fbe\u7cfb\u7edf\uff1a\u5305\u62ec\u4e09\u79cd\u6fc0\u5149\u96f7\u8fbe\uff1a\u53ef\u63d0\u4f9b360\u00b0\u5168\u666f\u89c6\u91ce\u7684\u77ed\u8ddd\u79bb\u6fc0\u5149\u96f7\u8fbe\u3001\u9ad8\u6e05\u4e2d\u8ddd\u79bb\u6fc0\u5149\u96f7\u8fbe\u548c\u53ef\u7a7f\u900f\u8fd1\u4e09\u4e2a\u8db3\u7403\u573a\u7684\u65b0\u4e00\u4ee3\u8fdc\u7a0b\u6fc0\u5149\u96f7\u8fbe\uff0c\u8be5\u7cfb\u7edf\u652f\u6301\u65e5\u591c\u6b63\u5e38\u5de5\u4f5c\u3002<\/p>\n<p>\u6beb\u7c73\u6ce2\u96f7\u8fbe\u7cfb\u7edf\uff1a\u4f7f\u7528\u591a\u4e2a\u6ce2\u957f\uff0824G\u548c77G\uff09\u6765\u68c0\u6d4b\u7269\u4f53\u548c\u8fd0\u52a8\uff0c\u96f7\u8fbe\u6ce2\u53ef\u4ee5\u7ed5\u8fc7\u96e8\u6ef4\u7b49\u7269\u4f53\uff0c\u4e0d\u53d7\u96e8\u5929\u3001\u96ea\u5929\u3001\u96fe\u5929\u548c\u591c\u95f4\u5f71\u54cd\u3002Waymo\u7684\u96f7\u8fbe\u7cfb\u7edf\u5177\u6709360\u00b0\u5168\u666f\u89c6\u91ce\uff0c\u56e0\u6b64\u53ef\u4ee5\u6d4b\u91cf\u8f66\u8f86\u524d\u65b9\u3001\u540e\u65b9\u548c\u4e24\u4fa7\u9053\u8def\u53c2\u4e0e\u8005\u7684\u901f\u5ea6\u3002<\/p>\n<p>\u89c6\u89c9\uff08\u6444\u50cf\u5934\uff09\u7cfb\u7edf\uff1a\u89c6\u89c9\u7cfb\u7edf\u5305\u62ec\u8bbe\u8ba1\u6210\u50cf\u4eba\u7c7b\u4e00\u6837\u770b\u5468\u56f4\u4e16\u754c\u7684\u6444\u50cf\u5934\uff0c\u4f46\u5b83\u5177\u6709360\u00b0\u540c\u6b65\u89c6\u91ce\uff0c\u800c\u4eba\u7c7b\u9a7e\u9a76\u5458\u53ea\u80fd\u770b\u5230120\u00b0\u7684\u89c6\u91ce\u3002\u7531\u4e8e\u9ad8\u6e05\u89c6\u89c9\u7cfb\u7edf\u53ef\u4ee5\u68c0\u6d4b\u989c\u8272\uff0c\u56e0\u6b64\u53ef\u4ee5\u5e2e\u52a9\u7cfb\u7edf\u8bc6\u522b\u4ea4\u901a\u4fe1\u53f7\u706f\u3001\u65bd\u5de5\u533a\u57df\u3001\u6821\u8f66\u548c\u6551\u62a4\u8f66\u7684\u9891\u95ea\u706f\u3002Waymo\u7684\u89c6\u89c9\u7cfb\u7edf\u7531\u8bb8\u591a\u9ad8\u6e05\u6444\u50cf\u5934\u7ec4\u6210\uff0c\u65e8\u5728\u5728\u767d\u5929\u548c\u5f31\u5149\u6761\u4ef6\u4e0b\u770b\u5230\u8fdc\u5904\u7684\u7269\u4f53\u3002<\/p>\n<p>\u5176\u4ed6\u7684\u4f20\u611f\u5668\uff1aWaymo\u8fd8\u6709\u8bb8\u591a\u5176\u4ed6\u4f20\u611f\u5668\uff0c\u5305\u62ec\u4e00\u4e2a\u97f3\u9891\u68c0\u6d4b\u7cfb\u7edf\uff0c\u53ef\u4ee5\u542c\u5230\u8b66\u8f66\u548c\u6551\u62a4\u8f66\u7684\u8b66\u7b1b\u58f0\u3002<\/p>\n<p>\u4f9d\u9760\u4f20\u611f\u5668\u548c\u8f6f\u4ef6\u7684\u914d\u5408\uff0cWaymo\u53ef\u4ee5\u611f\u77e5\u5468\u56f4\u7684\u4e16\u754c\uff0c\u5b83\u53ef\u4ee5\u8bc6\u522b\u8f66\u8f86\u3001\u884c\u4eba\u3001\u81ea\u884c\u8f66\u3001\u969c\u788d\u7269\uff0c\u8fd8\u53ef\u4ee5\u533a\u5206\u4ea4\u901a\u4fe1\u53f7\u706f\u3001\u4e34\u65f6\u505c\u8f66\u6807\u5fd7\u7b49\u7684\u989c\u8272\u3002Waymo\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u770b\u5230\u7684\u4e16\u754c\u5982\u56fe5.7\u6240\u793a\u3002<\/p>\n<p><img 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