CAJ | 학술논문

在地面自主车辆的导航与控制研究中,超声测障系统对于提高自主车的环境感知能力具有重要作用。面向野外环境自主车应用,设计并实现了一个远距离超声测障系统。该系统由超声传感器阵列、CAN总线通信模块,以及障碍检测上位机软件构成。通过时变增益电路提高了超声传感器的发射功率并减小了死区距离;基于自主车控制系统的CAN总线,设计并实现了超声测障系统的通信模块,实现了超声传感器信号的实时采集,并通过CAN总线传送到上位机。野外环境中的实验结果表明,超声测障系统具有良好的探测范围与测距精度。
재지면자주차량적도항여공제연구중,초성측장계통대우제고자주차적배경감지능력구유중요작용。면향야외배경자주차응용,설계병실현료일개원거리초성측장계통。해계통유초성전감기진렬、CAN총선통신모괴,이급장애검측상위궤연건구성。통과시변증익전로제고료초성전감기적발사공솔병감소료사구거리;기우자주차공제계통적CAN총선,설계병실현료초성측장계통적통신모괴,실현료초성전감기신호적실시채집,병통과CAN총선전송도상위궤。야외배경중적실험결과표명,초성측장계통구유량호적탐측범위여측거정도。
In the research area of the navigation and control of Autonomous Land Vehicle（ALV）,the obstacle detection system based on sonar sensor is going to play important role for the improvement of the environment perceive capability of ALV.Aiming for the application of cross-country ALV,a large range sonar sensor based obstacle detection system is designed and implemented.The obstacle detection system is made up of three parts,including the sonar sensor array,the communication module based on CAN bus,and the obstacle detection software.A new time varying gain control circuit is designed to magnify the transmit power,at the same time reduce the blind distance.Based on the onboard CAN bus of ALV,the communication module of the sonar obstacle detection system is implemented to collect the sonar signal and transport to the upper machine through CAN bus with real-time performance.Field experiment results show that the sonar obstacle detection system possesses satisfactory detection range and accuracy.