基于超声波雷达的APS环境感知模块研究

Research on APS Environment Perception Module Based on Ultrasonic Radar

自动泊车系统(Automatic Parking System,APS)环境感知模块作为其前端感知部分,旨在为后续的路径规划与跟踪提供详细准确的环境数据,对泊车的成功率有着决定性的作用。目前主流的两种车位检测方法为雷达测距和图像处理,本文以超声波传感器用的原理入手,探讨在不同车位下测距的规律变化,确定不同车位的约束条件,并识别车位类型。

The Automatic Parking System(APS)environment perception module,as its front-end perception part,aims to provide detailed and accurate environment data for subsequent path planning and tracking,which has a decisive effect on the success rate of parking.Currently,the two mainstream parking detection methods are radar ranging and image processing.This article starts with the principle of ultrasonic sensors,discusses the regular changes of ranging in different parking spaces,determines the constraint conditions of different parking spaces,and identifies the type of parking spaces.