Technology analysis and low-cost design of automotive radar for adaptive cruise control system

Recently, the advanced driver assistance system (ADAS), which helps mitigate car accidents, has been developed using environmental detection sensors, such as long and short range radar, lidar, wide dynamic range cameras, ultrasonic sensors and laser scanners. Among these detection sensors, radars can quickly provide drivers with reliable information about the velocity, distance and direction of a target obstacle, as well as information about the vehicle in changing weather conditions. In the adaptive cruise control system (ACCS), three radar sensors are usually needed because two short range radars are used to detect objects in the adjacent lane and one long range radar is used to detect objects in-path. In this paper, low-cost radar based on a single sensor, which can detect objects in both the adjacent lane and in-path, is proposed for use in the ACCS. Before designing the proposed radar, we analyzed the world-wide radar technology and market trends for ACCS. Based on this analysis, we designed a novel radar sensor for the ACCS using radar components, such as an antenna, transceiver module, transceiver control module and signal processing algorithm. Finally, target detection experiments were conducted. In the experimental results, the proposed single radar can successfully complete the detection required for the ACCS. In the conclusion, the perspective and issues in the future development of the ACCS radar are described.     

汽车驾驶室电器在线检测系统开发

针对汽车驾驶室电器检测需求,采用模块化的设计方法开发了能够对多种汽车驾驶室电器进行在线检测的控制和信息处理平台。基于可编程控制技术设计了驾驶室电器检测模块和驾驶室ECU线束检测模块;采用计算机信息集成管理技术开发了汽车驾驶室电器检测信息管理模块,检测结果可通过Intranet进行远程查询。试验结果表明,该检测平台完全满足汽车驾驶室总装线的生产节拍要求,运行稳定可靠。     

Low cost design of parallel parking assist system based on an ultrasonic sensor

This paper presents a low cost design and implementation of a parallel parking assist system (PPAS) based on ultrasonic sensors. Generally, a PPAS requires several types of sensors, such as an ultrasonic sensor, camera sensor, radar sensor and laser sensor for parking space detection. However, our proposed PPAS only requires two ultrasonic sensors on the front and lateral sides for parking space detection. Moreover, a steering angle sensor and wheel speed sensor installed in the vehicle are used to obtain vehicle position information for localization in ultrasonic range data. The hardware architecture of the PPAS based on an electronic control unit (ECU) module, sensor modules and a human machine interface (HMI) module was proposed. Moreover, the software architecture of the PPAS is based on system initialization, scheduling, recognition and a control algorithm. In particular, a novel sensor algorithm was proposed to minimize the vehicle corner error of the ultrasonic sensor. A prototype of the PPAS based on the proposed architecture was constructed. The experimental results demonstrate that the implemented prototype is robust and successfully performs parking space detection and automatic steering control. Finally, the low cost design and implementation of the PPAS was possible due to the cheap ultrasonic sensors, simple hardware design and low computational complexity of the proposed algorithm.     

Isrss: Integrated side/rear safety system

As driver assistant systems (DAS) and active safety vehicles (ASV) with various functions become popular, it is not uncommon for multiple systems to be installed on a vehicle. If each function uses its own sensors and processing unit, it will make installation difficult and raise the cost of the vehicle. As a countermeasure, research integrating multiple functions into a single system has been pursued and is expected to make installation easier, decrease power consumption, and reduce vehicle pricing. This paper proposes a novel side/rear safety system using only one scanning laser radar, which is installed in the rear corner of the driver’s side. Our proposed system, ISRSS (integrated side/rear safety system), integrates and implements four system functions: BSD (blind spot detection), RCWS (rear collision warning system), semi-automatic perpendicular parking, and semi-automatic parallel parking. BSD and RCWS, which operate while the vehicle is running, share a common signal processing result. The target position designation for perpendicular parking and parallel parking situations is based on the same signal processing. Furthermore, as system functions during running and those during automatic parking operate in exclusive situations, they can share common sensors and processing units efficiently. BSD and RCWS system functions were proved with 13025 and 2319 frames, respectively. The target position designation for perpendicular and parallel parking situations was evaluated with 112 and 52 situations and shows a success rate of 98.2% and 92.3%, respectively.     

探地雷达检测公路结构层裂缝实用方法研究

在简要介绍探雷达基本原理及裂缝在雷达剖面上的波组特征基础上,从垂直裂缝数学模型开始,由简单到复杂,按照理论分析数值模拟——物理模拟——现场试验这一流程对探地雷达检测裂缝的理论、方法和实际应用效果进行了系统的分析研究。总结出由单一均匀介质到多层均匀介质等不同情况下裂缝的波组特征规律和检测裂缝的基本方法。由公路工程探测实践表明数值模拟、物理模拟和检测应用具有很好的一致性。采用探地雷达检测公路结构层中的垂直裂缝具有充分的理论依据,实践上是切实可行性的。探地雷达检测裂缝时应选取足够小的横向采样点距和适当主频的天线,并采用合理的处理参数对雷达资料进行分析处理,才能得到直观、可靠的裂缝检测结果。该方法可以对公路结构层中隐含的裂缝进行准确定位,为高速公路路况监控和养护提供了一种新的检测手段。     

基于分时复用原理的多通道探地雷达时序控制模块设计及应用

为实现对隧道衬砌空洞和地质病害的无损、高效检测，基于分时复用原理，通过FPGA编程和时序电路设计实现一种瞬态脉冲型多通道探地雷达时序控制模块，并应用于多频多通道隧道病害检测探地雷达系统。该时序控制模块可以产生多路同频等相位差时钟，分时触发各个通道脉冲信号的单次收发，从时间上分离通道间串扰信号和有效雷达回波，实现探地雷达多频段多通道的高效工作。试验测试和实地验证结果表明： 该时序控制模块在脉冲重复频率为500 kHz时，能实现8通道雷达测试系统相邻通道间240 ns左右的触发时差，并在触发时差范围内保证观察时窗内雷达回波信号的稳定性； 同时，该模块也能应用于3频段6通道隧道病害检测探地雷达系统，并在距离介质分界面65 cm时反映出实际隧道预埋病害的深度和尺寸信息。     

多车道自由流收费系统实现方法研究

对多车道自由流收费技术进行了探讨.介绍了自主研发的多车道自由流收费系统构成,在分析现有视频设备的基础上,提出了一种新的对多车道车辆视频检测准确定位方法,运用计算机操作系统实时多任务的设计方法对系统各个模块协调控制进行分析和设计.     

探地雷达对隧道工程脱空缺陷及处理检测的应用

探地雷达检测技术作为一种无损伤、高精度的物理探测方法,对隧道的缺陷及处理效果检测有着重要意义。介绍了探地雷达的工作原理及检测方法,并以二广高速某隧道的检测情况为例,介绍了雷达检测技术在隧道缺陷的发现及处理效果方面的应用。     

车载ADAS传感器毫米波雷达解析

ADAS-汽车驾驶辅助系统正在当前的汽车市场中迅速普及。车载雷达作为ADAS系统的重要组成,其技术发展直接影响着汽车智能化进程。毫米波雷达因为其波长的物理特性不受恶劣的环境影响,同时相比激光雷达又有较大的价格优势,已经成为当前厂家的首选。与24 GHz传感器相比,77 GHz传感器的分辨率和精度更高,体积小,正逐渐成为当前汽车领域的主流传感器。同国外雷达传感器供应商相比,国内车载毫米波雷达仍属于起步阶段,国内企业要在市场上与外企竞争并占有一席之地还有很长的路要走。     

基于探地雷达的路基脱空病害图像自动识别

道路病害快速检测对于确保道路的安全和可靠运行至关重要。而探地雷达技术在道路病害检测中具有快速、无损和高分辨率等特征,因此被广泛应用。然而,以往的雷达图像处理和解译主要依赖人员的主观经验,易导致误判和漏判。为了解决这一问题,通过研究基于YOLO算法的图像识别方法,结合深度学习技术,开发一种智能化的道路病害识别系统,能够自动提取探地雷达图像中各类病害的特征,并实现高效、智能的识别,并通过钻孔验证,以确保识别结果的准确性,有效预防突发性道路塌陷的发生,提高道路的安全性和可靠性。     

基于神经网络的智能驾驶模式识别研究

为满足智能驾驶汽车高级驾驶辅助系统(ADAS)功能研发和验证的需求,提高ADAS功能的准确性,设计了一款基于神经网络的智能驾驶模式识别程序,该程序由数据采集、目标检测、场景识别预测3个模块组成.数据采集模块利用ESR毫米波雷达、前置摄像头对交通环境及周围车辆的数据信息进行采集;目标监测模块通过控制算法选择判断触发各类A...     

智能车辆非结构化路面障碍检测

为在非结构化路面条件下进行有效障碍检测,提出一套利用雷达和图像进行一般障碍特征提取的算法和一种利用多层技术专门适用于负障碍检测的轮廓提取方法.然后讨论通过双传感器融合进行障碍物识别的方法和框架.最后通过实车试验验证整套检测算法的准确性和可靠性.     

基于探地雷达的隧道衬砌空洞高精度正演识别研究

隧道衬砌空洞易引发衬砌破坏、渗漏水等工程问题,但因衬砌内部金属(如钢筋、钢拱架)对雷达波的屏蔽作用,会增加雷达剖面的复杂性,进而影响检测效果。依托MATLAB软件平台,采用高阶时域有限差分法分别对400 MHz天线和900 MHz天线时隧道衬砌矩形空洞和三角形空洞进行正演模拟。结果表明:高阶时域有限差分法能高精度模拟雷达波在衬砌中的传播特性,展示衬砌中钢筋、空洞、工字钢的反射波、绕射波的能量、振幅、相位特征;900 MHz天线可分辨出长度在0.3 m及以上的界面,远高于400MHz天线的检测精度,但检测界面相对于真实界面小。     

冲击回波法精细探测公路隧道衬砌空洞的模型试验及分析

为研究空洞缺陷尺寸以及监测点和震源点的位置对检测结果的影响,根据冲击回波法的特点,设计并进行一系列空洞直径不同时混凝土板的检测试验,模拟检测公路隧道衬砌的壁后空洞。采用快速傅里叶变换分析振动加速度信号,研究应力波的频域信号特征,以探索冲击回波法探测衬砌空洞的可能性与机制。试验结果表明,冲击回波法在探测衬砌空洞缺陷中显示出较为良好的检测效果,影响检测效果的因素主要包括空洞缺陷直径、测点布置和激振位置等。     

Novel stability control strategy for distributed drive electric vehicle based on driver operation intention

In this paper, a novel direct yaw control method based on driver operation intention for stability control of a distributed drive electric vehicle is proposed. It was discovered that the vehicle loses its stability easily under an emergency steering alignment (EA) problem. An emergent control algorithm is proposed to improve vehicle stability under such a condition. A driver operation intention recognition module is developed to identify the driving conditions. When the vehicle enters into an EA condition, the module can quickly identify it and transfer the control method from normal direct yaw control to emergency control. Two control algorithms are designed. The emergency control algorithm is applied to an EA condition while the adaptive control algorithm is applied to other conditions except the EA condition. Both simulation results and real vehicle results show that: The driver module can accurately identify driving conditions based on driver operation intention. When the vehicle enters into EA condition, the emergent control algorithm can intervene quickly, and it has proven to outperform normal direct yaw control for better stabilization of vehicles.     

多感知信息融合的车辆感知方法研究

为提高前方车辆检测的速度和准确率,本文采用一种毫米波雷达与机器视觉融合的感知方法。结果表明,该方法的准确率为93%,单帧数据的处理时间为42 ms,满足智能客车对前方车辆检测的要求。     

基于频率法的索力测量系统

为了在工程现场快速方便地检测斜拉桥的拉索索力,依据随机振动法索力检测原理,开发了一种新型的索力测量系统。通过对随机振动法索力检测方法的概述,介绍了该系统的性能、硬件结构和软件模块,并重点阐述了通过数字滤波抑制快速傅里叶分析(FFT)的混频现象、自动扫描确定主振频率和提高索力计算精度的方法和措施。索力测量系统以AT89C55WD单片机(SCM)为平台,集成了电荷放大器、信号分析仪和计算器的相关功能。在工程现场,只需输入少量参数,拉索振动信号采集、信号的快速傅里叶分析和对应的索力计算即可在线自动完成。     

岩溶隧道超前地质预报几种主要物探方法的选择与实践

超前地质预报的物探方法有多种,由于岩溶发育空间分布的复杂性和岩溶含水介质充填物的多样性,单一的超前地质预报方法都具有局限性,如何针对岩溶的地球物理特征,选择适用的地质预报物探方法,以提高预报成果的准确度非常必要。通过对TSP法、地质雷达法、瞬变电磁法等超前地质预报主要物探方法工作原理、有效探测距离和地球物理特征等进行分析,论述岩溶隧道超前地质预报方法的理论依据和方法选择。以九景衢铁路何家隧道为例,详细论述施工过程中采用的几种主要超前地质预报方法以及组合方法,通过对比分析,验证和总结几种主要物探方法预报成果的适用性和准确度。实践成果表明： 1）单一的超前地质预报方法都具有局限性,难以应对岩溶隧道的复杂地质条件和施工高风险,需采取“三结合”措施,选取不同的超前预报方法作为组合方法,相互验证。2）TSP法未能对是岩溶还是断层破碎带进行区分,必须结合其他方法,进行对比验证才能区分; TSP法+地质雷达法长短结合探测方法,是一般简单岩溶隧道通用的组合。3）瞬变电磁法在岩溶隧道探测中效果明显,判译解释准确度高,适合大型岩溶强发育地段; 超前水平钻+瞬变电磁法+地质雷达法+水文监测地质预报组合,是复杂岩溶隧道超前地质预报可采用的有效组合。叠加超前水平钻与瞬变电磁剖面图进行分析,能详细分析出岩溶的空间分布和形态特征。     

存在车辆干扰的车道线识别

为避免道路上行驶的其它车辆对车道线识别的干扰,提出了一种结合车辆识别的车道线识别方法。融合雷达数据,车辆识别模块首先在图像中识别出车辆占据的区域;对于每一个车道线识别模块挑出的车道线候选点进行判断,去除处于车辆区域的车道线点;如果有效车道线点数目不足,则利用卡尔曼滤波的跟踪结果,确定符合最小风险函数的车道线位置。经过多种工况下的试验验证,该方法能够稳定地对车道线进行识别,准确地提取车道线参数,并且算法对车辆干扰有良好的抵抗能力。     

基于扩展卡尔曼滤波的车道融合跟踪

车道检测算法的研究是智能车辆自动导航的首要环节。与目前基于视觉的车道检测与跟踪系统不同,本文提出一种基于扩展卡尔曼滤波的车道融合跟踪方法。该方法利用毫米波雷达探测到前方车辆的距离信息,并采用扩展卡尔曼滤波技术和图像处理技术,建立车道跟踪的动态视觉窗口,提取车道边界,并判断前方车辆相对于车道的位置。该方法大大缩减了处理时间,且增强了系统的鲁棒性。