智慧公路毫米波雷达感知精度分析与验证  

Analysis and Verification of the Perception Accuracy of Millimeter-wave Radars on Smart Roads

作　　者：赵聪 师钰鹏 丁德隆 暨育雄[1] 杜豫川[1] ZHAO Cong;SHI Yu-peng;DING De-long;JI Yu-xiong;DU Yu-chuan(Key Laboratory of Road and Traffic Engineering of the Ministry of Education,Tongji University,Shanghai 201804,China)

机构地区：[1]同济大学道路与交通工程教育部重点实验室,上海201804

出　　处：《中国公路学报》2024年第1期205-214,共10页China Journal of Highway and Transport

基　　金：国家重点研发计划项目(2021YFB1600403);上海市教育委员会科研创新计划项目(2021-01-07-00-07-E00092)。

摘　　要：毫米波雷达是当前智慧公路中路侧感知系统的重要组成部分,在交通流运行态势感知与智能管控、车路协同与自动驾驶中广泛应用。然而,车辆与毫米波雷达之间的相对位置、相对姿态的变化会对雷达信号回波及点云分布产生影响,导致雷达对车辆的感知结果出现偏差,进而影响交通系统的管控决策。分析毫米波雷达感知精度的空间特征,对于指导毫米波雷达在智慧公路中的应用至关重要。为此,基于毫米波雷达的感知原理,综合考虑毫米波雷达信号处理与点云数据处理2个阶段中的感知误差来源,通过数值仿真与实测试验相结合的方式对目标在不同位置与姿态下毫米波雷达的感知精度特征进行分析与验证。研究表明:雷达纵向感知精度主要受到与车辆相对位置的影响,当车辆与雷达纵向距离小于30 m或大于200 m时,车辆位置感知结果会向车头或车尾方向显著偏移,相应产生的纵向感知误差通常超过0.5 m;雷达横向感知精度主要受到车辆横向位置及相对姿态的影响,当车辆横向位置偏离雷达中心光束超过5 m或车辆行驶的航向角超过40°时,车辆位置感知结果会向车身侧向偏移,相应产生的横向感知误差通常超过0.5 m。得到的影响因素分析结果,可进一步为智慧公路场景中毫米波雷达感知数据的应用与感知设备的部署提供建议。Millimeter-wave(MMW)radars are important components of roadside perception systems on smart roads and have been widely used to monitor the status of traffic flow operation,for intelligent control,vehicle-road collaboration,and autonomous driving.However,changes in the relative position and posture of vehicles in traffic and the MMW radar may affect the radar signal echo and point cloud distribution,leading to deviations in the radar perception results of vehicle positions.It is crucial to analyze the spatial distribution characteristics of the perception accuracy of MMW radars to guide their application on smart roads.Based on the perception principle of the MMW radar,this study comprehensively considers the sources of perception errors in the two stages of MMW radar signal processing and point cloud data processing.Through a combination of numerical simulations and field experiments,qualitative and quantitative analyses were conducted on the perception accuracy characteristics of MMW radar under different relative vehicle positions and postures.The results show that the longitudinal perception accuracy of radar is mainly affected by the relative position of the vehicle.When the vehicle and radar are too close(longitudinal distance less than 30 m)or too far(longitudinal distance more than 200 m),the perception result can significantly shift towards the front or rear of the vehicle,and the longitudinal perception error usually exceeds 0.5 m.The lateral perception accuracy of radar is mainly affected by the lateral position and relative posture of the vehicle.When the vehicle deviates too much from the radar center beam(more than 5 m)or the yaw angle is large(more than 40°),the perception result can significantly shift towards the side of the vehicle body and the lateral perception error usually exceeds 0.5 m.Based on the analysis of the influencing factors,this study further provides guidance for the application of MMW radar perception data and the deployment of perception devices on smart roads.

关 键 词：交通工程 感知精度 数值仿真 毫米波雷达 智慧公路 路侧感知 

分 类 号：U491.25[交通运输工程—交通运输规划与管理]