摘要
文章以77GHz车载毫米波前雷达作为传感器,设计、开发、验证了前方碰撞预警(FCW)功能。毫米波雷达通过发射调频连续波信号来探测目标物的距离、速度、方位角度等信息。前向碰撞预警功能以亳米波雷达感知目标信息和车身状态为输人,以安全距离模型和预碰撞时间(time to collision,TTC)模型作为预警控制策略。为了保证弯道工况的预警准确率,该系统能在估计自车转弯半径后对于横向距离进行补偿,以剔除相邻车道容易引|起误报的目标。根据智能汽车集成系统试验区(i-VISTA)定义的标准测试场景为测试用例,经过仿真测试得出功能性能均符合法规要求。基于南京楚航科技已量产的77GHz前向毫米波雷达软硬件平台,进行了该功能的实车测试。测试表明,在直道和弯道城市道路工况下,预警控制策略均可以及时触发报警,并且在弯道横向距离补偿后有效避免了相邻车道车辆误触发,整体性能符合期望指标。
Front collision warning(FCW)function was designed,implemented,and verified based on a 77GHz automotive millimeter wave radar sensor.Frequency modulated continuous wave(FMCW)radar is capable to detect range,velocity,and angle of surrounding objects in real time.Combining these detected targets information and the dynamic behavior of the ego vehicle,in the front of which the radar sensor is mounted,FCW function can be designed as its name indicates.To accurately trigger the warning signal,a safe distance model and a time to collision(TTC)model are applied as warning control strategy.In addition,an estimation of the curve radius of the ego vehicle is also necessary to perform.With the estimated curve radius,the lateral distance of the potential detected warning object can be well compensated,so that the false alarm due to objects in adjacent driving lanes by turning a comer can be eliminated.The designed FCW system wasverifiedbysimulationthrough all standard test scenarios defined by i-Vista.Thesimulated function perfonnance is consistent with the requirements of regulation.Furthermore,the designed FCW function was implemented and integratedinto the software and hardware platform of a 77GHz front radar sensor.A test vehicle mounted with the FCW enabled front radar sensor was tested in real traffic scenario.The designed warning control strategy could trigger the warning signal in time on straight and curvy urban roads.The false alarmdue to vehicles in adjacent driving lanes was effectively suppressed as well.
作者
卫一真
李明虎
翟志广
王开宇
吴军
张洁
楚咏焱
张我弓
WEI Yizhen;LI Minghu;ZHAI Zhiguang;WANG Kaiyu;WU Jun;ZHANG Jie;CHU Yongyan;ZHANG Wogong(Nanjing Chuhang Technology Co.,Ltd.,Anqing/Hefei/Shanghai/Nanjing 211899,China;Dongfeng Motor Corporation/TechnologyCenter/Intelligent Software Center,Wuhan 430000,China)
出处
《汽车零部件》
2022年第S01期69-77,共9页
Automobile Parts
作者简介
卫一真(1989-),女,硕士,研究方向为ADAS功能以及传感器融合算法。E-mail:weiyizhen@chuhang.tech;李明虎(1985-),男,学士,主要从事汽车ADAS传感器系统设计、传感器软件设计工作。E-mail:liminghu@dfrmc.com.cn。
