摘要
近年來，汽車行業的飛速發展使得我國的汽車保有量快速增長，但由此引發的交通事故導致的人員傷亡數量仍居高不下。從保護人身安全和降低交通事故發生的可能性的角度出發，車輛防碰撞系統能夠使駕駛員在沒注意到與前方車輛有碰撞危險的情況下采取自動緊急制動措施，避免與前車發生碰撞或者減緩與前車直接碰撞造成的危害，越來越受到大眾的青睞。車輛防碰撞系統的關鍵技術是依靠其安裝在車身前端的傳感器來探測前方目標，精準的獲取車輛前方目標的有效信息，并且能對前方目標的跟蹤預測其下一步的運動狀態然后采取相應的措施。隨著人們對汽車安全性能要求的日益提高，對于車輛防碰撞系統的研究得到越來越多研究機構和汽車企業的重視。
為了解決汽車車輛防碰撞系統的信息傳感、目標檢測及識別跟蹤問題，本文基于傳感器融合算法，開展了如下工作：
首先，比較了適用于汽車車輛防碰撞系統中用來目標檢測的傳感器差別，本文選用雷達和視覺融合作為車輛防碰撞系統的傳感器，詳細介紹了毫米波雷達和視覺在車輛防碰撞系統中的主要功能。
并設計了一種基于毫米波雷達和視覺相機的車輛前方目標精確檢測的方法，通過對毫米波雷達和視覺相機輸出的目標進行數據預處理，使其能精確識別前方目標，并通過試驗進行了驗證。
其次，根據汽車行駛的特點，對汽車前方車輛的運動狀態進行分析研究，并建立汽車前方車輛目標運動模型。比較幾種目標運動模型的特點，然后選取合適的目標運動模型進行目標跟蹤理論分析。針對車輛前方目標運動特點，在Simulink軟件環境下搭建仿真模型，進行目標跟蹤仿真對比試驗。
最后，在保證雷達和攝像頭安裝精度的前提下，對基于毫米波雷達和視覺相機的車輛防碰撞系統搭建實車試驗平臺，使用基于當前統計模型卡爾曼濾波跟蹤算法對車輛前方目標進行實車跟蹤試驗，結果表明，本文所采用的目標跟蹤算法效果良好，能準確的對前方車輛進行跟蹤。基于該目標算法進行了防碰撞試驗，采用靜止目標作為前方目標進行了實車試驗，驗證了車輛防碰撞系統及其算法的有效性。
關鍵詞：車輛防碰撞；毫米波雷達；視覺相機；融合算法；仿真
Abstract
In recent years, the rapid development of the automobile industry has made the total number of vehicles in our country increase rapidly, but the number of casualties caused by traffic accidents is still high. From the perspective of protecting personal safety and reducing the possibility of traffic accidents, vehicle anti-collision system can enable drivers to take automatic emergency braking measures when they are unaware of the danger of collision with the vehicle in front, so as to avoid collision with the vehicle in front or mitigate the harm caused by direct collision with the vehicle in front, which is increasingly favored by the public. The key technology of vehicle anti-collision system relies on its sensor installed in the front of the body to detect the target in front of the vehicle, accurately obtain the effective information of the target in front of the vehicle, and can track the target in front of the next motion state and then take corresponding measures. With the increasing demand of automobile safety performance, more and more research institutions and automobile enterprises pay attention to the research of vehicle anti-collision system.
In order to solve the problem of information sensing, target detection, identification and tracking of vehicle anti-collision system, this paper carried out the following work based on sensor fusion algorithm:
Firstly, the difference of sensors used for target detection in vehicle anti-collision system is compared. In this paper, radar and vision fusion are selected as the sensors of vehicle anti-collision system, and the main functions of millimeter-wave radar and vision in vehicle anti-collision system are introduced in detail.
A precise detection method of vehicle forward target based on millimeter-wave radar and vision camera is designed. By preprocessing the data of the target output by millimeter-wave radar and vision camera, it can identify the target in front of the vehicle accurately, and it is verified by experiments.
Secondly, according to the driving characteristics of the vehicle, the motion state of the vehicle in front of the vehicle is analyzed and studied, and the target motion model of the vehicle in front of the vehicle is established. The characteristics of several target motion models are compared, and then the appropriate target motion model is selected for the theoretical analysis of target tracking. According to the characteristics of vehicle forward target movement, a simulation model was built under Simulink software environment, and the target tracking simulation and comparison test were carried out.
Keywords: Vehicle collision prevention; Millimeter wave radar; Visual camera; Fusion algorithm; simulation
目錄
摘要............................................................................................................................. I
Abstract.................................................................................................................... II
第一章 緒論............................................................................................................. 1
1.1 研究課題背景........................................................................................... 1
1.2 國內外發展現狀....................................................................................... 2
1.3 課題研究意義........................................................................................... 4
1.4 仿真工具MATLAB/Simulink簡介........................................................ 4
1.5 課題的研究內容及章節安排.................................................................. 6
第二章 基于毫米波雷達的汽車防碰撞系統...................................................... 8
2.1 汽車防碰撞系統簡介............................................................................... 8
2.2 毫米波雷達簡介....................................................................................... 9
2.3 毫米波雷達結構及原理........................................................................... 9
第三章 基于視覺的汽車防碰撞系統................................................................. 12
3.1 車輛檢測基礎算法................................................................................. 12
3.1.1 HOG特征描述符......................................................................... 12
3.1.2 SVM算法原理............................................................................. 13
3.2 相關濾波算法......................................................................................... 15
第四章 目標識別及跟蹤算法............................................................................. 17
4.1 前方目標跟蹤原理................................................................................. 17
4.2 車輛檢測跟蹤算法框架........................................................................ 18
4.3 車輛檢測的類型..................................................................................... 19
4.3.1 只包含檢測算法的類型............................................................. 19
4.3.2 先檢測后跟蹤算法的類型......................................................... 19
4.4 常見的車輛檢測算法............................................................................. 20
4.4.1 基于特征的方法......................................................................... 20
4.4.2 基于機器學習的方法................................................................. 21
4.4.3 基于光流的方法......................................................................... 21
4.4.4 基于模型的方法......................................................................... 22
4.5 常見的車輛跟蹤算法............................................................................. 22
4.5.1 基于三維模型的方法................................................................. 22
4.52 基于 Kalman 濾波的方法......................................................... 23
第五章 基于MATLAB車輛防碰撞系統建模仿真設計................................ 24
5.1 車輛防碰撞系統的模型搭建................................................................ 24
5.1.1 車輛防碰撞系統控制器與傳感器融合.................................... 25
5.1.2 車輛與環境搭建......................................................................... 27
5.2 車輛防碰撞系統的仿真分析................................................................ 28
5.3 本章小結.................................................................................................. 34
第六章 總結........................................................................................................... 35
參考文獻................................................................................................................. 36
致??? 謝................................................................................................................. 38
完整論文點擊如下鏈接下載：
https://download.csdn.net/download/weixin_45905610/88603896
基于MATLAB車輛防碰撞系統仿真資源-CSDN文庫
matlab建模仿真分析點擊如下鏈接下載：
基于MATLAB車輛防碰撞系統仿真-matlab仿真資源-CSDN文庫
