《智能传感器装调与测试（双语）》课件-2.智能驾驶感知传感器分类

智能驾驶感知传感器分类ClassificationofIntelligentDrivingPerceptionSensorsEyes眼睛Ears耳朵Tactilenerves触觉神经为什么有的智能车能在暴雨天精准识别障碍物，而有的车在强光下会“看不清”车道线？Whycansomeintelligentvehiclesaccuratelyidentifyobstaclesinheavyrain,whileotherscannotseelanelinesunderstronglight?为什么高阶自动驾驶需要搭载十几种甚至几十种传感器？Whydoesadvancedautonomousdrivingneedmorethanadozenorevendozensofsensors?-ACC靠毫米波雷达测量前车距离和速度，LKA靠相机识别车道线-ACCusesmillimeterwaveradartomeasurethedistanceandspeedofthevehicleahead,whileLKAreliesoncamerastoidentifylanelines.-城市道路需要精准识别行人、非机动车-Itisrequiredtoaccuratelyidentifypedestriansandnon-motorvehiclesontheurbanroads.PART01智能驾驶感知的五大核心设备FiveCoreDevicesforIntelligentDrivingPerception智能驾驶感知的五大核心设备FiveCoreDevicesforIntelligentDrivingPerception设备名称Equipmentname英文缩写Englishabbreviation核心功能Corefunctions典型安装位置Typicalinstallationpositions视觉传感器VisionsensorCamera识别语义信息(车道线、信号灯、行人)Recognizesemanticinformation(lanelines,trafficlightsandpedestrians)前挡风玻璃、后视镜、保险杠Frontwindshield,rearviewmirrorandbumper毫米波雷达MillimeterwaveradarMillimeterWaveRadar测量距离、速度、角度(全天候)Measuredistance,speedandangle(all-weather)前后保险杠Frontandrearbumpers激光雷达LaserradarLiDAR生成三维点云，高精度环境建模Generate3Dpointcloudandhigh-precisionenvironmentalmodeling车顶、前保险杠Roofandfrontbumper惯性测量单元InertialmeasurementunitIMU测量角速率、加速度，输出姿态Measureangularrate,accelerationandoutputattitude车辆质心附近Nearthecenterofmassofvehicle全球导航卫星系统GlobalnavigationsatellitesystemGNSS获取绝对位置(经纬度、高程)Obtainabsoluteposition(latitudeandlongitude,elevation)车顶天线Roofantenna智能驾驶感知的五大核心设备FiveCoreDevicesforIntelligentDrivingPerception视觉传感器Visionsensor安装在车辆前挡风玻璃后视镜处InstalledattheFrontWindshieldRearviewMirroroftheVehicle智能驾驶感知的五大核心设备FiveCoreDevicesforIntelligentDrivingPerception毫米波雷达Millimeterwaveradar-毫米波成像雷达ARS430-MillimeterwaveimagingradarARS430-77GHz长距雷达ARS408-21SC3-77GHzlong-rangeradarARS408-21SC3-77GHz长距雷达ARS404-77GHzlong-rangeradarARS404-77GHz长距雷达ARS308-77GHzlong-rangeradarARS308-24GHz宽角雷达SRR308-24GHzwide-angleradarSRR308-24GHz宽角雷达SRR208-24GHzwide-angleradarSRR208激光雷达Laserradar-激光雷达点云图-LiDARPointCloudMap惯性测量单元Inertialmeasurementunit弥补GPS：在GPS信号丢失或者很弱情况下，暂时填补GPS留下的空缺，用积分法取得最接近真实的三维高精度定位MakeupforGPS:WhentheGPSsignalislostorveryweak,theIMUcantemporarilyfillthegapleftbyGPSandusetheintegralmethodtoobtaintheclosest3Dhigh-precisionpositioningtoreality.配合激光雷达：GPS+IMU为激光雷达的空间位置和脉冲发射姿态提供高精度定位，建立激光雷达云点的三维坐标系CooperatewithLiDAR:GPS+IMUprovidehigh-precisionpositioningforthespatialpositionandpulseemissionattitudeofLiDAR,andestablisha3DcoordinatesystemofLiDARcloudpoints.RTK（实时动态差分技术）搭配GNSS系统Real-timeKinematicTechnology(RTK)withGNSSPART02智能网联汽车传感器的特点和分类FeaturesandClassificationofIntelligentConnectedVehicleSensors高可靠高精度实时三大核心要求ThreeCoreRequirementsforHighReliability,HighPrecisionandReal-timePerformance高可靠性Highreliability工作温度-40℃~85℃，抗雨、雪、雾、强光干扰，10年级车规寿命，确保全气候无故障运行。Operatingtemperatureof-40°Cto85°C,resistanttorain,snow,fogandstronglightinterference,10-yearautomotive-gradeservicelife,ensuringtrouble-freeoperationinallweatherconditions.高精度Highprecision测距误差厘米级，角度误差≤1°，满足L3+定位与感知精度，直接决定功能安全边界。Rangingerrorofcentimeter-level,angleerror≤1°,meetingL3+positioningandsensingprecision,anddirectlydeterminingthefunctionalsafetyboundary.实时性Real-timeperformance数据刷新≥10Hz，激光达100Hz，毫秒级延迟捕捉动态目标，保障决策响应时间小于100ms。Datarefresh≥10Hz,laserupto100Hz,milliseconddelayincapturingdynamictargets,ensuringthatthedecisionresponsetimeislessthan100ms三维分类框架解构传感器家族3DClassificationFrameworkDeconstructstheSensorFamily分类维度

Classificationdimensions具体类别

Specificcategory代表传感器

Representativesensors感知原理

Principleofperception主动式传感器

Activesensor激光雷达、毫米波雷达

LiDARandmillimeterwaveradar被动式传感器

Passivesensor视觉传感器

Visionsensor功能用途

Functionandpurpose环境感知传感器

Environmentalperceptionsensor相机、毫米波雷达、激光雷达

Camera,millimeterwaveradarandLiDAR定位传感器

PositioningsensorGNSS姿态传感器

AttitudesensorIMU安装位置

Installationposition前向传感器

Forwardsensor前视相机、前向LiDAR

Frontviewcamera,forward-facingLiDAR侧向传感器

Lateralsensor侧视雷达、侧视相机

Side-viewradar,side-viewcamera后向传感器

Backwardsensor后视相机、后向雷达

Rear-viewcamera,backwardradar车载传感器

On-boardsensorIMU、GNSS接收机

IMU,GNSSreceiverPART03传感器发展趋势SensorDevelopmentTrend融合集成与低成本智能化演进IntegrationandLow-costIntelligentEvolution多传感器融合集成：激光雷达+相机+雷达一体化模块共享电源与冷却，体积减小30%，成本降20%，微秒级同步提升融合精度。Multi-sensorintegration：TheintegratedmoduleofLiDAR+camera+radarsharespowersupplyandcooling,thusreducingthevolumeby30%andthecostby20%,andimprovingtheintegrationprecisionatthemicrosecondlevel.高精度低成本与智能诊断：固态MEMSLiDAR价格下探500美元，4D雷达增加高程，边缘计算实现传感器端自诊断与目标预筛选，降低域控算力需求20%。Highprecision,lowcostandintelligentdiagnosis:Thepriceofsolid-stateMEMSLiDARhasdroppedbyUSD500,the4Dradarhasincreaseditselevation,andedgecomputinghasachievedself-diagnosisandtargetpre-screeningatthesensorend,reducingthedomaincontrolcomputingpowerdemandby20%.感知基础支撑融合决策回顾ReviewofPerceptionInfrastructureSupportIntegrationDecision-making核心要点回顾Reviewofkeypoints五大设备构成感知网络，三大特点定义车规门槛，三维分类指导系统选型，三大趋势引领融合集成、低成本与智能化，共同支撑智能驾驶后续融合与决策功能。Fivemajordevicesconstitutetheperception