越野自主车的远距离超声测障系统

摘要

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.%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。