《智能传感器装调与测试（双语）》课件-1.智能驾驶环境感知系统认知

智能驾驶环境感知系统认知KnowledgeofIntelligentDrivingEnvironmentalPerceptionSystem导入Import如何实现周围环境的感知？Howtoperceivethesurroundingenvironment?PART01环境感知EnvironmentalPerception环境感知技术的感与知SensingandPerceptionofEnvironmentalSensingTechnology作为自动驾驶的第一个环节，环境感知是智能车辆与外界环境信息交互的关键，其核心在于使智能驾驶车辆更好地模拟、最终超越人类驾驶员的感知能力，准确的感知并理解车辆自身和周边环境的驾驶态势。Asthefirststepofautonomousdriving,environmentalperceptionisthekeytotheinformationinteractionbetweenanintelligentvehicleandtheexternalenvironment.Thecoreliesinenablingintelligentvehiclestobettersimulateandultimatelysurpasstheperceptionabilityofhumandrivers,andaccuratelyperceiveandunderstandthedrivingsituationofthevehiclesandthesurroundingenvironment.环境感知技术的感与知SensingandPerceptionofEnvironmentalSensingTechnology智能汽车环境感知技术

Intelligentvehicleenvironmentalperceptiontechnology感：传感器技术

Sensing:sensortechnology知：识别技术

Perception:recognitiontechnology超声波技术Ultrasonictechnology毫米波雷达技术Millimeterwaveradartechnology激光雷达技术

LiDARtechnology夜视技术

NightvisiontechnologyCCD技术

CCDtechnology数据处理

Dataprocessing数据分析

Dataanalysis数据理解

Dataunderstanding深度学习技术

Deeplearningtechnology经典模式识别技术

Classicpatternrecognitiontechnology被动红外技术

Passiveinfraredtechnology主动红外技术

ActiveinfraredtechnologyPART02传感器技术的不同类型DifferentTypesofSensorTechnologies超声波雷达UltrasonicRadar超声波雷达是利用超声波的特性研制而成的传感器，是在超声波频率范围内将交变的电信号转换成声信号或将外界声场中的声信号转换为电信号的能量转换器件。超声波雷达信号如图所示。Ultrasonicradarisasensordevelopedusingthefeaturesofultrasound.Itisanenergyconversiondevicethatconvertsalternatingelectricalsignalsintoacousticsignalswithintheultrasonicfrequencyrangeorconvertsacousticsignalsintheexternalsoundfieldintoelectricalsignals.Theultrasonicradarsignalisshowninthefigure.超声波雷达UltrasonicRadar毫米波雷达Millimeterwaveradar毫米波雷达是工作在毫米波频段的雷达，它通过发射与接收高频电磁波来探测目标，后端信号处理模块利用回波信号计算出目标的距离、速度和角度等信息。Millimeterwaveradarisatypeofradarthatoperatesinthemillimeterwavefrequencyband.Itemitsandreceiveshigh-frequencyelectromagneticwavestodetecttargets.Thesignalprocessingmoduleattherearendusestheechosignalstocalculateinformationsuchasthedistance,speed,andangleofthetarget.毫米波雷达的定义及其应用DefinitionandApplicationsofMillimeterWaveRadar毫米波雷达及其应用

MillimeterWaveRadarandItsApplication毫米波雷达Millimeterwaveradar毫米波雷达

Millimeterwaveradar24G赫兹：用于盲点监测和变道辅助24GHzForblindspotmonitoringandlanechangeassistance77G赫兹：用于实现紧急制动和自适应巡航77GHzForachievingemergencybrakingandadaptivecruisecontrol毫米波雷达Millimeterwaveradar激光雷达通过向目标发射激光束，然后将接收到的从反射目标返回来的信号与发射信号进行对比，做适当处理后，就可以得到目标的距离，方位，高度，速度，姿态，形状等参数。LiDARemitsalaserbeamtothetarget,andthencomparesthereceivedsignalreturnedfromthereflectiontargetwiththetransmittedsignal.Afterproperprocessing,thetarget'sdistance,azimuth,altitude,speed,attitude,shapeandotherparameterscanbeobtained.激光雷达Laserradar激光雷达

Laserradar通过扫描可以得到周围环境的三维模型，运用相关算法对比上一帧和下一帧环境的变化，可以轻松探测出车辆和行人，并进行障碍物的追踪A3Dmodelofthesurroundingenvironmentcanbeobtainedbyscanning.Byusingrelevantalgorithmstocomparethechangesintheenvironmentbetweenthepreviousframeandthenextframe,vehiclesandpedestrianscanbeeasilydetectedandobstaclescanbetracked.三维环境感知3Denvironmentalperception指激光雷达通过扫描到的点云数据实现同步创建地图。TheLiDARusesthescannedpointclouddatatorealizethesynchronouscreationofmaps.slam加强定位slamenhancedpositioning夜视技术Nightvisiontechnology一种介于光电成像器件实现夜间传感器的光电技术，其分为主动红外夜视技术和被动红外夜视技术。Itisanoptoelectronictechnologythatrealizesnightsensorsbetweenoptoelectronicimagingdevices,includingactiveinfrarednightvisiontechnologyandpassiveinfrarednightvisiontechnology.CCDCCD成像原理是当光线与图像从镜头透过投射到CCD表面时，CCD就会产生电流，将感应到的内容转换成数码资料储存起来。CCD像素数目越多，单一像素尺寸越大，收集到的图像就会越清晰。TheimagingprincipleisthatwhenlightandimagesareprojectedfromthelensontothesurfaceoftheCCD,theCCDwillgenerateanelectriccurrenttoconvertthesensedcontentintodigitaldataforstorage.MoreCCDpixelsandlargersizeofasinglepixelresultinclearercollectedimage.数据识别技术DataIdentificationTechnology▶数据处理：从大量的，可能是杂乱无章的，难以理解的数据中抽取并推导出对于某些特定的人们来说是有价值的，有意义的数据。Dataprocessing:Itextractsandderivesdatathatisvaluableandmeaningfultocertainspecificpeoplefromalargeamountofdatathatmaybedisorganizedanddifficulttounderstand.▶数据分析：适当的统计方法对收集来的大量数据进行分析，将它们加以汇总和理解，以求最大化的开发数据的功能，发挥数据的作用。Dataanalysis:Itusesappropriatestatisticalmethodstoanalyzethelargeamountofdatacollected,summarizeandunderstandtheminordertomaximizethedevelopmentofdatafu