前向毫米波雷达系统自动校准功能

毫米波雷达作为车辆主动安全技术的核心传感器之一,在预警系统中,雷达的安装误差会导致其坐标系与上层应用不一致,影响系统性能甚至安全性。雷达自动校准功能借助整车运行环境中的静止目标,通过解算静止目标物相对雷达运行速度与整车实际运行速度的矢量关系,并采取批量自学习的方法以确定雷达初始安装偏差角度值,进而使用软件补偿的方式对偏差值进行修正,使雷达传感器与整车坐标系保持一致。     

汽车前方静动目标状态转移机理与分类算法EI北大核心CSCD

为解决利用雷达回波实现静止目标和运动目标的准确识别这一驾驶辅助系统的关键技术问题,本文中基于地面目标运动状态转移机理提出了一种基于时间窗的汽车前方静动目标状态分类方法。在地面静动目标运动状态与转移机理分析的基础上,将目标分为静止目标、同向运动目标、反向运动目标、起停目标和未分类目标等5类,建立了在固定时间窗内的目标运动状态的转移状态机模型,并确定了目标状态转移的条件阈值和时间窗长度,最终在驾驶辅助试验车上进行了前方同向或反向行驶车辆、树木等静止物体和制动停车车辆等各种典型工况下的识别试验,为实现基于毫米波雷达的自适应巡航与自动紧急制动的驾驶辅助系统的工程化提供了技术支撑。     

博世驾驶员辅助系统提升安全性和舒适性

<正>博世在主动安全和被动安全基础上推出了驾驶员辅助系统,可以满足人们对于车辆安全性和舒适性越来越高的要求,欧洲新车评价规程出台了新的标准,确定了未来驾驶员辅助系统的重要性。博世的驾驶员辅助系统以雷达或摄像头来探测车辆周围情况并进行分析计算,为驾驶员提供支持。中距离雷达传感器能够安装在汽车的前后部,也可安装在位于视野盲区的保险杠后方。传感器的探测距离及     

地质雷达与TGP206在楚阳隧道超前地质预报中的应用

针对地质超前预报,首先,分析对比了地质雷达和TGP206这2套超前地质预报系统的探测原理,以巫奉高速公路楚阳隧道出口ZK2 +446 ～ZK2 +346、YK2+ 750 ～ YK2+ 670和YK2+ 180～YK1 +980地段为工程实例,介绍了地质雷达和TGP206在探测楚阳隧道掌子面前方不良地质工况的原理和方法,验证了探测结果和实际施工情况基本吻合.其次,通过对这2种物探方法在楚阳隧道超前地质预报中的各自特点比较可以看出,它们都能及时提供隧道掌子面前方以及隧道周围地质条件变化信息,但两者又有不同的特点,地质雷达探测距离虽短,但准确度较高;TGP探测距离较长,准确性也较好,但设备成本相对比较高.它们各自的特点可为类似公路隧道施工中地质预报设备的选择提供参考.     

Forewarn(R) Dual-beam Radar Back-up Aid配备双超声波雷达的预警后视辅助系统

概述 预警雷达后视辅助系统(BUA)能帮助驾驶员在倒车时,探测到盲点区域内的宠物、儿童、车辆和其他物体,同时它也能在紧急停车的情况下辅助倒车.车辆在倒车时,BUA系统会自动启动.当车辆处于倒车状态时,全雷达后视辅助系统借助安装在后保险杠面板内的24GHz双声波雷达传感器自动监测车后16.4英尺范围(相当于5米范围).通过声音警告或视觉警告,随着车辆与障碍物不断靠近,警告会变得更加频繁.     

变道辅助系统弯道目标车辆位置识别方法

识别弯道上行驶的后方目标车辆相对自车所在的车道是变道辅助系统的难点。文中提出一种基于雷达传感器识别弯道上行驶的后方目标车辆所在车道的方法,根据自车的转向角及车身结构参数计算自车的转弯半径,再根据雷达探测的目标车辆的方位角和相对自车的距离计算后方目标车辆的转弯半径,通过比较两者的大小,判别后方目标车相对自车的位置关系。     

1036/雷达传感器

<正>Q:请问现在的自适应定速巡航系统(ACC)中的雷达分几种?各自的区别是什么?读者:ACC A:您好,目前市面上的自适应定速巡航系统大多来自博世,而博世提供的雷达传感器有中距雷达(MRR)和长距雷达(LRR),其中中距雷达的探测距离约为160m,探测角度近距离±45°,远距离±6°;长距离雷达的探测距离为250m,探测角度近距离±20°,远距离±6°。这两款雷达都     

电动汽车防追尾预警刹车系统的设计

随着电动汽车及车联网的发展,电动汽车越来越偏向于智能化,文章采用车载雷达测距装置实时测量汽车的状态,在一定的刹车距离之内通过电脑算法计算来防止车辆追尾,撞击静止物体(如静止的车辆)而研发的智能预警自动刹车装置,该装置通过车载雷达信息采集、电脑系统主控实时算法计算、蜂鸣器报警和自动刹车三个单元模块组成,通过人的主动控制和装置的辅助控制使汽车在行驶中始终与前车保持足够的安全距离。最后的自动刹车更是摒除了人工操作的不足,能够减少疲劳驾驶、醉酒状态下驾驶的车辆追尾事故。     

激光测距在汽车智能防撞系统中的应用

随着汽车技术的发展，特别是无人驾驶技术的飞速发展，各种测距装置层出不穷。目前，车辆的测距主要有四种方法：毫米波雷达测距、成像系统测距、激光测距、超声波测距。毫米波雷达的电磁干扰和成像系统的成本很高，很难在车辆上推广。激光测距时间短、测量范围大、精度高，能够满足车辆由低速向高速行进的需要，并能有效地解决车辆在高速运动中由于测距速度过慢而导致的测距误差。据此，将激光测距技术用于汽车智能防撞系统，其目的是在多种行驶状态下，通过多方位探测和检测出与周边障碍物之间的距离，并在一定范围内向驾驶员发出警告，以帮助司机及时采取应对措施。     

一种匝道车辆汇入主干道安全性提示系统

针对车辆经匝道汇入主干道时容易与后方车辆发生碰撞事故,提出了一种匝道车辆汇入主干道安全性提示系统。该系统采用安装在匝道口末端的毫米波雷达探测本车与周围车辆之间的位置速度关系,用不同TTC值确定车辆汇入主干道的安全性等级。该系统可有效避免车辆进入主干道时发生交通事故。     

用于汽车ADAS系统测试的软目标车研究进展

软目标车在汽车高级驾驶辅助系统(Advanced Driving Assistance System,ADAS)测试中发挥着重要作用,它提高了试验的安全性和效率。介绍了软目标车研发的关键技术和研究进展,通过分析乘用车的电磁散射特性、视觉及光学特性,论述了软目标车对于毫米波雷达、视觉传感器以及激光雷达在特征识别方面的设计要求,重点阐述了软目标车对毫米波雷达的探测及识别目标的响应特征——雷达散射截面(Radar Cross Section,RCS)的特征分布及其测量和数据处理方法,为软目标车的开发和使用提供参考依据。     

A model-based traction control strategy non-reliant on wheel slip information

A traction control system (TCS) for two-wheel-drive vehicles can conveniently be realised by means of slip control. Such a TCS is modified in this paper in order to be applicable to four-wheel-drive vehicles and anti-lock braking systems, where slip information is not readily available. A reference vehicle model is used to estimate the vehicle velocity. The reference model is excited by a saw-tooth signal in order to adapt the slip for maximum tyre traction performance. The model-based TCS is made robust to vehicle modelling errors by extending it with (i) a superimposed loop of tyre static curve gradient control or (ii) a robust switching controller based on a bi-directional saw-tooth excitation signal. The proposed traction control strategies are verified by experiments and computer simulations.     

Twenty First Century Transportation System Solutions - a New Type of Small, Relatively Tall and Narrow Active Tilting Commuter Vehicle

There are many problems that face transportation systems as the twenty-first century approaches, and many solutions will be required. Mass transportation systems are one large area of research that will provide some solutions. This paper presents another possible solution at the other end of the spectrum, small relatively tall and narrow tilting commuter vehicles for individual transportation. A historical overview of the various types of tilting vehicles built or proposed over the last forty years is shown and the results of these studies are discussed. If one considers a relatively tall and narrow vehicle, (under 1.0 meters or 40“ wide), to maintain high speed performance in cornering it becomes necessary to bank the vehicle into a corner to prevent overturning. The design of a modem active tilting suspension and control law for a small narrow, one-half width, commuter vehicles is presented. Analysis of the static and dynamic tipping limits illustrates which vehicles are considered tall and narrow requiring active tilting. The performance of such vehicles as they enter a steady corner is considered and how tilt dynamics may feel to passengers is discussed.     

Twenty First Century Transportation System Solutions - a New Type of Small,Relatively Tall and Narrow Active Tilting Commuter Vehicle

SUMMARY

There are many problems that face transportation systems as the twenty-first century approaches, and many solutions will be required. Mass transportation systems are one large area of research that will provide some solutions. This paper presents another possible solution at the other end of the spectrum, small relatively tall and narrow tilting commuter vehicles for individual transportation. A historical overview of the various types of tilting vehicles built or proposed over the last forty years is shown and the results of these studies are discussed. If one considers a relatively tall and narrow vehicle, (under 1.0 meters or 40“ wide), to maintain high speed performance in cornering it becomes necessary to bank the vehicle into a corner to prevent overturning. The design of a modem active tilting suspension and control law for a small narrow, one-half width, commuter vehicles is presented. Analysis of the static and dynamic tipping limits illustrates which vehicles are considered tall and narrow requiring active tilting. The performance of such vehicles as they enter a steady corner is considered and how tilt dynamics may feel to passengers is discussed.     

大型营运客车在高速公路的换道安全性辨识

为了给大型营运客车换道预警系统设计提供参考,采用毫米波雷达、激光雷达、车道线识别传感器、GPS、视频监控系统以及控制器局域网（CAN）总线数据采集仪等设备,基于小型乘用车搭建浮动车采集平台。通过在试验线路上进行1.5×10⁴ km的驾驶试验,获取1 200余次营运客车的真实换道数据。以Jula提出的换道安全性模型为基础,结合营运客车的换道行为特征,通过分析换道进程结束后客车需要与周围车辆保持的安全距离,建立适合于营运客车的3类换道安全性识别模型（客车与自车道前方车辆、目标车道前方车辆、目标车道后方车辆）,并利用真实数据对3类模型进行验证。研究结果表明：客车换道持续时间均值为10.4 s,换道起始时刻与目标车道后方车辆的距离为10.0~40.0 m;所有换道样本中,73.3%的换道过程中客车速度要高于目标车道后方车辆,且超过90%的换道过程是由前方慢车引起;不同的速度区间下,车速和航向角联合变化情况下,驾驶人控制营运客车的横向偏移速度保持稳定,可认为客车驾驶人的心理预期换道进程存在固定经验模式,这与小型车换道的研究结论存在较大差异,传统的TTC预警算法识别率较低,在不同速度区间情况下,所提出的模型对客车与自车道前方车辆、目标车道前方车辆、目标车道后方车辆的换道安全识别评价准确率均超过了90%。     

基于最小临近点迹和航迹关联的多源目标融合方法

针对智能车辆多传感器的目标融合问题,提出了一种改进的基于欧氏距离与余弦相似度的点迹和航迹数据关联的车用多传感器目标跟踪融合算法。该方法需获取由毫米波雷达系统和Mobileye视觉系统检测到的目标物数据列表,并对两个传感系统检测到的目标物数据进行匹配关联;然后对目标物进行匹配跟踪,更新目标物的生命周期状态;最后对上述两个传感系统输出的目标物的数据进行融合。该算法能够融合视觉系统和雷达系统两个传感系统的优点,以达到精确感知环境信息的目的,从而解决单一传感器难以满足感知系统精度及可靠性需求的问题。     

纯电动汽车故障诊断案例分析

纯电动汽车作为市场上最普遍的新能源汽车,厂家大量生产,深受消费者的喜爱,要推动纯电动汽车的持续发展,必须要提高纯电动汽车的售后维修服务质量。维修人员要掌握纯电动汽车好的结构原理、检测维修技术,从而提升售后服务质量。本文从纯电动汽车故障诊断案例入手,分析纯电动汽车的维修检测方法,以供纯电动汽车维修人员参考。     

探究新能源汽车的驱动电机系统

驱动电机系统存在驱动功能,为新能源汽车的一个重要组成结构,能够确定新能源汽车具体驾驶方向。为改善驱动电机系统对应运转情况,减少新能源汽车对应能耗,应充分了解新能源汽车对应驱动电机系统状况。本文主要分析新能源汽车涉及驱动电机系统对应现状情况,总结驱动电机系统具体类型状况,了解驱动电机系统详细驱动方式,进而促使新能源汽车相关驱动电机系统的推广运用。     

Radar Health Monitoring for Highway Vehicle Applications

Monitoring the health of the radar sensor on a highway vehicle poses a special challenge. This is because the radar measures the distance to other independent vehicles on the highway and the motion of these other vehicles may be completely unknown to the fault detection system. Traditional observer-based approaches to fault diagnostic system design cannot be used. A number of new approaches are therefore explored in this paper in an attempt to create a reliable fault detection system for the radar. These include: (a) Use of inter-vehicle communication; (b) Use of a geographic database of pre-identified roadside radar targets; (c) Detection of abrupt failures using fuzzy logic and a knowledge of vehicle acceleration abilities; (d) Use of a redundant sensor that is inexpensive but of poor quality. The performance of each of these approaches is evaluated. Experimental results indicate that a combination of approaches (c) and (d) would provide the most reliable method for radar health monitoring. This combination would work effectively even in the absence of inter-vehicle communication in a realistic highway environment.