自动驾驶汽车在避障系统上的研究.doc

《光电检测技术及系统》课程设计 ----自动驾驶小车障碍物方位探测系统 学生姓名： 罗明强、吴煌、蔄云鹏 班 级： 光电 131 指导教师： 何景宜 日 期： 2016 年 6 月 11 日  摘 要 目前在车辆避障控制研究中，大部分应用的是单一传感器来感知识别障碍物，由此就会存在探测准确性偏低、控制灵敏度不高等缺点，而随着多传感器信息融合技术的日益发展成熟，其在数据合成和信息融合过程中具有的冗余性和互补性将大大提高应用系统的可靠性和高效性。与单一传感器相比，多传感器信息融合技术所表现出的优越性是很大的，因此在智能车辆上开展多传感器信息融合技术的应用研究具有广阔的前景。本课题通过在一个具有多个和多类传感器系统的智能模型小车上对多传感器信息融合技术在小车智能避障中的应用进行了研究，根据实际的车辆行驶方式和理念，从智能车辆智能控制的思想出发，在车辆行驶过程中对避障做出智能控制。 研究将多传感器信息融合技术应用于智能车辆避障控制中具有极大的研究应用前景，并将极大地增强我国在汽车主动安全系统研究开发领域的竞争力，对提升我国汽车工业自主创新能力和汽车电子产品的研发具有重大的意义。 关键词：红外传感器； 超声波传感器；调制盘  ABSTRACT In the current researches on vehicle avoiding obstacles, most of applications use single sensor to sense the obstacles which may lead to the inaccuracy and control sensitivity problems. With the development of multiple sensor technologies, the redundancy and complementarity will improve the reliability and high efficiency of the application system. Compared to single sensors, multiple sensors show their superiority in information integration technologies. Therefore, the research of applying multiple sensor technologies to smart autos had broad prospects. In this paper, the application of multiple sensor information technology in the vehicle intelligent obstacle avoidance is studied by using the intelligent model which has single and multiple sensors. According to their driving ways and philosophies in practice, they utilize intelligent control for obstacle avoidance during the driving process in terms of intelligence control. The research of applying multiple sensors to intelligent obstacle avoidance by information integration technologies has great prospects and will improve the competitive force of our country in the active safety system research field. It is also of vital significance for improve the innovation of our auto industries and electronic products Key words: Infrared sensor; S