Environment Perception For Intelligent Vehicle Based On Combined Millimeter-wave Radar

At the same time the automobile brings convenience to people's lives, it also causes a growing traffic problem and traffic accident, resulting in more and more serious casualties and economic losses. Therefore, people are in the pursuit of comfort, meanwhile the vehicle security requirements have been paid more and more attention. Besides, traditional driver assistance technologies cannot meet the increasingly complex traffic environment, intelligent driving is becoming a development of automobile industry in the future. However, most of the environmental sensing systems mounted in current smart vehicles use expensive sensors, and the high cost makes intelligent driving usually used in the military fields and research areas. So choose cheap sensors, extend the sensing range of sensors can reduce cost while promoting the commercialization of smart vehicles.In this paper, using relatively low cost millimeter-wave radar as the environment perceiving sensor of intelligent vehicle, making use of the forward radar and lateral radar data fusion to achieve the full range of environmental perception around the vehicle, and provided the distribution of obstacles for the decision support system of intelligent vehicle. According to the requirements of intelligent environmental awareness, the paper designed the methods, including target recognition, tracking, data fusion and the selection of passable zones. In details, firstly of all, it achieved the effective target recognition and tracking by millimeter-wave radar, and then through the spatial synchronization of combined millimeter wave radars to realize multi radar data fusion, choosing the passable zones by the distribution of objects after a multi-zone object analysis and fusion, and hence provided the decision making basis for intelligent driving. Finally, the experimental verification of the environmental sending method was carried out. And the effect of target recognition, and tracking, the effect of data fusion of combined millimeter wave radars and the selection of passable zones was verified respectively.Verified by experiments, the environmental perception algorithm of the combined millimeter-wave radars is able to achieve the corresponding function of environmental perception, and the method can recognize the obstacles around the vehicle and track them effectively, it can achieve real-time target detection and display the range of obstacles surrounding vehicle through data fusion, also the correct passable zones can be selected accurately.