摘要
智能车辆所搭载监测设备对障碍物目标的识别准确性,影响行驶车辆的避障能力;为避免车辆与障碍物发生碰撞,提升智能车辆的避障能力,设计基于毫米波雷达的智能车辆主动避障控制系统;在底层控制单元中,按需连接纵横向导航控制元件与毫米波雷达摄像头,完成智能车辆主动避障控制系统的部件结构设计;利用毫米波雷达监测所得的车辆避障图像,定义空间坐标系转换条件,通过标定雷达相机参数的方式,实现基于毫米波雷达的智能车辆避障路径规划;建立车辆纵横向运动模型,根据避障安全距离计算结果,完善具体控制流程,联合各级硬件应用结构,完成基于毫米波雷达的智能车辆纵横向主动避障控制系统的设计;实验结果表明,所设计系统可在智能车辆通过障碍物目标时,保证车体与障碍物之间的距离大于0.3 m,能够避免碰撞行为发生,对于车载监测设备而言,其对于障碍物目标的准确识别能力得到了保障,能够有效提升智能车辆避障能力.
Abstract
The accuracy of obstacle target recognition on monitoring devices carried on intelligent vehicles has a direct influence of the obstacle avoidance ability on vehicles.To avoid collisions between vehicles and obstacles and enhance the obstacle avoidance capa-bility of intelligent vehicles,an intelligent vehicle active obstacle avoidance control system based on millimeter-wave radar is proposed.In the lower-level control unit,the navigation and control elements are connected to the millimeter-wave radar camera as needed to ac-complish the component structure design of the intelligent vehicle active obstacle avoidance control system.The obstacle avoidance im-ages obtained by the millimeter-wave radar are used to define the spatial coordinate system transformation conditions.the intelligent vehicle obstacle avoidance path planning based on millimeter-wave radar is achieved by calibrating the parameters of the radar camera.The longitudinal and lateral motion model of the vehicle is established,and the specific control procedure is developed based on the re-sults of calculating safe distance on obstacle avoidance.The hardware application structure at all levels is combined to complete the de-sign of the intelligent vehicle longitudinal and lateral active obstacle avoidance control system based on millimeter-wave radar.Experi-mental results demonstrate that the designed system can ensure a distance greater than 0.3 m between the vehicle and the obstacle when the intelligent vehicle passes through the obstacle,effectively avoiding collision incidents.It guarantees the accurate recognition ability of the monitoring device for obstacle targets,thereby improving the obstacle avoidance capability of intelligent vehicles.
基金项目
德阳市新能源专用车辆工程技术研究中心科研项目(2022)(XNYCL2202)
NETL
NSTL
万方数据