摘要
超声波障碍物检测是智能泊车系统的基础模块,为了精确计算障碍物距离,采用两点定位法,即利用同一个超声波探头不同时刻的2个点,分别测量得到障碍物距离发波点的距离信息,通过三角函数计算出车辆周围的障碍物坐标及距离车辆最近的障碍物距离。并采用多个传感器的计算数据进行校对,从而可以计算出更加精确的、可靠的障碍物距离,形成了完整的、精确的超声传感器障碍物检测方法,为轨迹规划模块、车位搜寻模块及车辆控制模块提供了决策的依据。
Ultrasonic obstacle detection is the basic module of the intelligent parking system.In order to accurately calculate the distance of the obstacle,the two-point positioning method was adopted,that is,two points on the same ultrasonic probe at different times were used to measure separately for the distance information between the obstacle and the radiation point.The coordinates of obstacles around the vehicle and the distance of obstacles closest to the vehicle were calculated through trigonometric functions.Using the calculated data of multiple sensors for proofreading can calculate a more accurate and reliable obstacle distance,forming a complete and accurate obstacle detection method of ultrasonic sensor,which provides the basis for decision-making of the trajectory planning module,the parking space search module,and the vehicle control module.
作者
冉光伟
王金华
张毅
李艳明
RAN Guangwei;WANG Jinhua;ZHANG Yi;LI Yanming(Automobile Engineering Institute,Guangzhou Automobile Group Co.,Ltd.,Guangzhou Guangdong 510640,China)
出处
《汽车零部件》
2021年第1期85-90,共6页
Automobile Parts
基金
广州市重点领域研发计划资助项目(202007050003)。
关键词
超声波
障碍物检测
两点定位
自动泊车
Ultrasonic
Obstacle detection
Two-point position
Automatic parking
