Abstract:

The ultrasonic radar is the most commonly used environment sensing sensor in the automatic parking system， and the accurate modeling of the ultrasonic radar is the difficulty of simulation analysis of the automatic parking system. In this paper， a modeling method of ultrasonic radar considering the influence of atmospheric conditions is proposed， including the three atmospheric conditions of air temperature， humidity and atmospheric pressure in the modeling system. Firstly， the working mechanism of ultrasonic radar is analyzed， and it is clarified that the ultrasonic radar model should consist of two parts： the detection range model and the detection distance model. Then the quantitative relationship between atmospheric conditions， target characteristics and ultrasonic absorption energy loss， transmission energy loss is derived， and the detection range model is established. The real sound velocity is calculated according to atmospheric conditions， and the true range value is further modified to the real ultrasonic radar detection value， and the detection range model is established. Finally， the ultrasonic radar model is tested and verified. The results show that the ultrasonic radar model can accurately simulate the detection range and detection distance of the ultrasonic radar in the auto parking scene.

Key words: vehicle engineering, automatic parking, ultrasonic radar modeling, atmospheric conditions, simulation test