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基于毫米波雷達的智能車(chē)輛縱橫向主動(dòng)避障控制系統設計
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成都農業(yè)科技職業(yè)學(xué)院

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TP242????

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Design of Intelligent Vehicle Longitudinal and Transverse Active Obstacle Avoidance Control System Based on Millimeter Wave RadarXu Yan 1, Xiao Hong 2, Yuan Xin 3
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    摘要:

    智能車(chē)輛所搭載監測設備對障礙物目標的識別準確性,影響行駛車(chē)輛的縱橫向避障能力。為避免車(chē)輛與障礙物發(fā)生碰撞,提升智能車(chē)輛的縱橫向避障能力,設計基于毫米波雷達的智能車(chē)輛縱橫向主動(dòng)避障控制系統。在底層控制單元中,按需連接縱橫向導航控制元件與毫米波雷達攝像頭,完成智能車(chē)輛縱橫向主動(dòng)避障控制系統的部件結構設計。利用毫米波雷達監測所得的車(chē)輛避障圖像,定義空間坐標系轉換條件,通過(guò)標定雷達相機參數的方式,實(shí)現基于毫米波雷達的智能車(chē)輛避障路徑規劃。建立車(chē)輛縱橫向運動(dòng)模型,根據避障安全距離計算結果,完善具體控制流程,聯(lián)合各級硬件應用結構,完成基于毫米波雷達的智能車(chē)輛縱橫向主動(dòng)避障控制系統的設計。實(shí)驗結果表明,所設計系統可在智能車(chē)輛通過(guò)障礙物目標時(shí),保證車(chē)體與障礙物之間的距離大于0.3m,能夠避免碰撞行為發(fā)生,對于車(chē)載監測設備而言,其對于障礙物目標的準確識別能力得到了保障,能夠有效提升智能車(chē)輛縱橫向避障能力。

    Abstract:

    The accuracy of monitoring equipment carried by intelligent vehicles in identifying obstacle targets affects the vertical and horizontal obstacle avoidance ability of driving vehicles. To avoid collisions between vehicles and obstacles and improve the longitudinal and transverse obstacle avoidance ability of intelligent vehicles, a millimeter wave radar based intelligent vehicle longitudinal and transverse active obstacle avoidance control system is designed. In the bottom control unit, connect the longitudinal and transverse navigation control components and millimeter wave radar cameras as needed to complete the component structure design of the intelligent vehicle longitudinal and transverse active obstacle avoidance control system. Using the vehicle obstacle avoidance images obtained from millimeter wave radar monitoring, define the spatial coordinate system conversion conditions, and achieve intelligent vehicle obstacle avoidance path planning based on millimeter wave radar by calibrating radar camera parameters. Establish a vehicle longitudinal and transverse motion model, based on the calculation results of obstacle avoidance safety distance, improve the specific control process, and combine the hardware application structures at all levels to complete the design of an intelligent vehicle longitudinal and transverse active obstacle avoidance control system based on millimeter wave radar. The experimental results show that the designed system can ensure that the distance between the vehicle body and the obstacle is greater than 0.3m when the intelligent vehicle passes through the obstacle target, and can avoid collision behavior. For the on-board monitoring equipment, its accurate recognition ability for the obstacle target is guaranteed, and it can effectively improve the vertical and horizontal obstacle avoidance ability of the intelligent vehicle.

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徐燕,肖紅,袁新.基于毫米波雷達的智能車(chē)輛縱橫向主動(dòng)避障控制系統設計計算機測量與控制[J].,2024,32(6):78-84.

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  • 收稿日期:2023-06-20
  • 最后修改日期:2023-07-24
  • 錄用日期:2023-07-24
  • 在線(xiàn)發(fā)布日期: 2024-06-18
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