实现了图像的灰度化并进一步用于视频监视控，关于超声波倒车雷达测距的，直线阵采用切比学夫加权控制主旁瓣比。- Achieve a grayscale image and further control for video surveillance, About ultrasonic parking radar ranging, Linear array using cut than learning laid upon the right control of the main sidelobe ratio.