基于毫米波雷达的智能车辆纵横向主动避障控制系统设计

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

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,影响行驶车辆的纵横向避障能力。为避免车辆与障碍物发生碰撞,提升智能车辆的纵横向避障能力,设计基于毫米波雷达的智能车辆纵横向主动避障控制系统。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,完成智能车辆纵横向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0.3m,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纵横向避障能力。

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.