考虑大气条件影响的自动泊车系统超声波雷达建模  

Ultrasonic Radar Modeling of Automatic Parking System Considering Atmospheric Conditions Effect

作　　者：马天飞[1] 李波[1] 朱冰[1] 赵健[1] Ma Tianfei;Li Bo;Zhu Bing;Zhao Jian(Jilin University,State Key Laboratory of Automotive Simulation and Control,Changchun 130022)

机构地区：[1]吉林大学,汽车仿真与控制国家重点实验室,长春130022

出　　处：《汽车工程》2023年第9期1646-1654,共9页Automotive Engineering

基　　金：国家自然科学基金(U22A20247);吉林省科技发展计划产业关键核心技术攻关项目(20220201023GX)资助。

摘　　要：超声波雷达是自动泊车系统最常用的环境感知传感器,而超声波雷达的精确建模是自动泊车系统仿真分析的难点。本文提出了一种考虑大气条件影响的超声波雷达建模方法,将空气温度、湿度、大气压力这3项大气条件纳入建模体系。首先分析了超声波雷达的工作机理,明确了超声波雷达模型应由检测范围模型与检测距离模型两部分组成;而后推导了大气条件、目标物特性和超声波吸收能量损失、传播能量损失之间的定量关系,建立了检测范围模型;并根据大气条件求解真实声速,进一步将距离真值修正为真实超声波雷达检测值,建立了检测距离模型;最后对建立的超声波雷达模型进行了测试验证。结果表明,所建立的超声波雷达模型可以精确模拟超声波雷达在自动泊车场景中的检测范围与检测距离。The ultrasonic radar is the most commonly used environment sensing sensor in the automatic parking system,and the accurate modeling of the ultrasonic radar is the difficulty of simulation analysis of the automatic parking system.In this paper,a modeling method of ultrasonic radar considering the influence of atmospheric conditions is proposed,including the three atmospheric conditions of air temperature,humidity and atmospheric pressure in the modeling system.Firstly,the working mechanism of ultrasonic radar is analyzed,and it is clarified that the ultrasonic radar model should consist of two parts:the detection range model and the detection distance model.Then the quantitative relationship between atmospheric conditions,target characteristics and ultrasonic absorption energy loss,transmission energy loss is derived,and the detection range model is established.The real sound velocity is calculated according to atmospheric conditions,and the true range value is further modified to the real ultrasonic radar detection value,and the detection range model is established.Finally,the ultrasonic radar model is tested and verified.The results show that the ultrasonic radar model can accurately simulate the detection range and detection distance of the ultrasonic radar in the auto parking scene.

关 键 词：车辆工程 自动泊车 超声波雷达建模 大气条件 仿真测试 

分 类 号：TN957.51[电子电信—信号与信息处理] U463.67[电子电信—信息与通信工程]