汽车超声波雷达近距离障碍物探测报警降级问题的研究  

Research on the Problem of Short-Range Obstacle Detection and Alarm Degradation of Automotive Ultrasonic Radar

作　　者：吴红涛 李明 高见举 WU Hongtao;LI Ming;GAO Jianju(China Intelligent and Connected Vehicle(Beijing)Research Institute Co.,Ltd.,Beijing 100176,China;Hozon New Energy Automobile Co.,Ltd.,Shanghai 200333,China)

机构地区：[1]国汽(北京)智能网联汽车研究院有限公司,北京100176 [2]合众新能源汽车股份有限公司,上海200333

出　　处：《自动化应用》2024年第15期222-224,共3页Automation Application

摘　　要：在研某车型搭载的超声波雷达启动前有障碍物处于雷达探测的长鸣区域内,启动超声波雷达发现汽车未发出长鸣报警,只发出间歇声音报警。报警降级易引起驾驶员对障碍物距离的误判而造成碰撞。分析汽车雷达对障碍物的探测报警策略、雷达余振波形发现,当超声波雷达在未上电激活状态下,有障碍物位于超声波雷达探测的长鸣区域,雷达余振波形与障碍物回波的重合度大于超声波雷达设置的最大有效余振L(雷达自学习后设置的最大有效余振值,防止雷达探测到拖车钩、地面而导致汽车长鸣)。汽车长鸣报警策略要求汽车雷达距离障碍物的距离不大于L_(1),雷达在上电循环周期内输出的最小障碍物距离为L,若L>L_(1),则使得雷达在长鸣区探测到障碍物时,汽车无法长鸣报警。通过增加判断逻辑,将超声波雷达最大有效余振设置为L'且L'=L_(1)-1,使超声波余振波形与障碍物回波不再重合,有效解决了障碍物在雷达长鸣区域报警降级的问题。Before the ultrasonic radar equipped with a model under development,there is an obstacle in the long sound area of radar detection,and the ultrasonic radar is started and it is found that the car does not send out a long sound alarm,but only sends out an intermittent sound alarm,and the alarm degradation is easy to cause the driver to misjudge the distance of the obstacle and cause a collision.Through the analysis of the obstacle detection alarm strategy and radar residual waveform of automobile radar,it is found that when the ultrasonic radar is not powered on and activated,some obstacles are located in the long sound area detected by the ultrasonic radar,and the overlap between the radar residual waveform and the obstacle echo is greater than the maximum effective aftershock L set by the ultrasonic radar(the maximum effective residual vibration value set by the radar after self-learning prevents the radar from detecting the trailer coupler and the ground and causing the car to beef).The long-honk alarm strategy requires that the distance between the radar of the car and the obstacle is not greater than L1,and the minimum obstacle distance output by the radar in the power-on cycle is L,and L is greater than L_(1),so that when the radar detects the obstacle in the long-ring area,the car cannot give the long-honking alarm.By adding the judgment logic,the maximum effective residual vibration of the ultrasonic radar is set to L'and L'=L_(1)-1,which eliminates the overlap between the ultrasonic aftershock waveform and the obstacle echo,and effectively solves the problem of obstacle alarm degradation in the radar long-sounding area.

关 键 词：超声波雷达 最大有效余振 报警降级 

分 类 号：U463.6[机械工程—车辆工程] TN958[交通运输工程—载运工具运用工程]