自动驾驶汽车中的 3 种自动车辆传感器

（ 3 Types of Autonomous Vehicle Sensors in Self‑driving Cars ）

QNS2202-0018 2022 年 03 月 31 《五道口电力电子观察》

日
来源 : https://www.itransition.com/blog/autonomous-vehicle-sensors 作者： Sandra Khvoynitskaya|February 11, 2020

自动驾驶汽车中的 3 种自动车辆传感器

自动驾驶既是一项快速发展的技术，也是一个备受争议的话题。在一个极端，人们认为自动驾驶汽车将
确保一个更美好的未来，因为它将提高道路安全，降低基础设施成本，并增强儿童、老人和残疾人的机
动性。在另一个极端，许多人害怕汽车黑客事件，致命车祸的风险，以及与驾驶相关的工作。美国汽车
协会 2019 年关于消费者对自动驾驶的态度的调查发现，四分之三的美国成年人害怕乘坐自动驾驶汽车。
毫无疑问，对很多人来说，自动驾驶是一项复杂且有争议的技术。为了更好地理解只是自动驾驶汽车有
多安全 , 重要的是要弄清楚它们是如何工作的 , 以及什么类型的传感器在自动车辆帮助他们知道去哪里
和识别对象在路上 , 防止车祸。但首先，让我们来看看自动驾驶的不同水平，以及它们在当今汽车软件
开发中的地位。

文章链接 : https://www.itransition.com/blog/autonomous-vehicle-sensors
Source : https://www.itransition.com/blog/autonomous-vehicle-sensors Author: Sandra Khvoynitskaya|February 11, 2020

3 Types of Autonomous Vehicle Sensors in Self‑driving Cars

Autonomous driving is both a rapidly advancing technology and a subject of controversy. At one extreme,
people believe autonomous cars will ensure a better future with increased safety on the roads, reduced
infrastructure costs, and enhanced mobility for children, the elderly, and the disabled. At the other extreme,
many people are afraid of automotive hacking incidents, the risks of fatal crashes, and the loss of jobs related
to driving. The American Automobile Association’s 2019 survey on consumers’ attitudes to autonomous
driving found that 3 in 4 US adults are afraid of riding in a self-driving vehicle.
Without a doubt, autonomous driving is a complex and contentious technology for many people. In order to
better understand just how safe self-driving cars are, it is important to figure out exactly how they work, as
well as what types of sensors in autonomous vehicles help them to know where to go and to recognize objects
on the road so as to prevent car accidents. But first, let’s look at the different levels of autonomous driving
and their standing within automotive software development today.
 自动驾驶汽车中的 3 种自动车辆传感器
如果没有传感器，自动驾驶汽车将不可能实现 : 传感器  Autonomous vehicles would be impossible without sensors: they allow the
vehicle to see and sense everything on the road, as well as to collect the
可以让车辆看到和感知道路上的一切，并收集安全驾驶 information needed in order to drive safely. Furthermore, this information is
所需的信息。此外，为了建立从 A 点到 B 点的路径，并 processed and analyzed in order to build a path from point A to point B and to
向汽车的控制发送适当的指令，如转向、加速和刹车， send the appropriate instructions to the controls of the car, such as steering,
acceleration, and braking.
这些信息会被处理和分析。  Moreover, the information collected with the sensors in autonomous vehicles,
此外，自动驾驶汽车的传感器收集的信息，包括实际的 including the actual path ahead, traffic jams, and any obstacles on the road,
前方道路、交通堵塞、道路上的任何障碍物等，也可以 can also be shared between cars that are connected through M2M technology.
This is called vehicle-to-vehicle communication, and it can be an incredibly
在通过 M2M 技术连接的汽车之间共享。这被称为车与 helpful resource for driving automation.
车之间的通信，它对自动化驾驶非常有帮助。  The majority of today’s automotive manufacturers most commonly use the
当今大多数汽车制造商最常用的三种自动驾驶汽车传感 following three types of sensors in autonomous vehicles: cameras, radars, and
lidars.
器 : 相机、雷达和激光雷达。

文章链接 : https://www.itransition.com/blog/autonomous-vehicle-sensors
 自动驾驶汽车中的 3 种自动车辆传感器

文章链接 : https://www.itransition.com/blog/autonomous-vehicle-sensors
 自动驾驶汽车中的 3 种自动车辆传感器
相机的传感器 Camera sensors
 Autonomous cars often have video cameras and sensors in order to see and
自动驾驶汽车通常装有摄像机和传感器，以便像人类司 interpret the objects in the road just like human drivers do with their eyes. By
机的眼睛一样观察和解读道路上的物体。通过在每个角 equipping cars with these cameras at every angle, the vehicles are capable of
度安装这些摄像头，车辆能够保持外部环境的 360° 视角， maintaining a 360° view of their external environment, thereby providing a
broader picture of the traffic conditions around them.
从而提供周围交通状况的更广泛的图片。  Today, 3D cameras are available and utilized for displaying highly detailed
今天， 3D 摄像机可用来显示高度详细和逼真的图像。 and realistic images. These image sensors automatically detect objects,
这些图像传感器会自动检测目标，对目标进行分类，并 classify them, and determine the distances between them and the vehicle. For
example, the cameras can easily identify other cars, pedestrians, cyclists,
确定目标与车辆之间的距离。例如，摄像头可以很容易 traffic signs and signals, road markings, bridges, and guardrails.
地识别其他车辆、行人、自行车、交通标志和信号、道
路标记、桥梁和护栏。

文章链接 : https://www.itransition.com/blog/autonomous-vehicle-sensors
 自动驾驶汽车中的 3 种自动车辆传感器
雷达传感器 Radar sensors
 Radar (Radio Detection and Ranging) sensors make up a crucial contribution
雷达 ( 无线电探测和测距 ) 传感器对自动驾驶的整体功 to the overall function of autonomous driving: they send out radio waves that
能做出了至关重要的贡献 : 它们发出无线电波来探测物 detect objects and gauge their distance and speed in relation to the vehicle in
体，并实时测量物体与车辆的距离和速度。 real time.
 Both short- and long-range radar sensors are usually deployed all around the
短期和长期雷达传感器通常部署在汽车周围，每个都有 car and each one has their different functions. While short range (24 GHz)
其不同的功能。短距离 (24ghz) 雷达应用可以实现盲点 radar applications enable blind spot monitoring, the ideal lane-keeping
监控、理想的车道保持辅助和停车辅助，而远程 assistance, and parking aids, the roles of the long range (77 GHz) radar
sensors include automatic distance control and brake assistance. Unlike
(77ghz) 雷达传感器的作用包括自动距离控制和制动辅 camera sensors, radar systems typically have no trouble at all when
助。与相机传感器不同，雷达系统在雾或雨中识别物体 identifying objects during fog or rain.
时通常没有任何问题。

文章链接 : https://www.itransition.com/blog/autonomous-vehicle-sensors
 自动驾驶汽车中的 3 种自动车辆传感器
激光雷达传感器 Lidar sensors
 Lidar (Light Detection and Ranging) sensors work similar to radar systems,
激光雷达 ( 光探测和测距 ) 传感器的工作原理与雷达系 with the only difference being that they use lasers instead of radio waves.
统类似，唯一的区别是它们使用激光而不是无线电波。 Apart from measuring the distances to various objects on the road, lidar
除了测量到道路上各种物体的距离，激光雷达还可以创 allows creating 3D images of the detected objects and mapping the
surroundings. Moreover, lidar can be configured to create a full 360-degree
建被探测物体的 3D 图像，并测绘周围环境。此外，激 map around the vehicle rather than relying on a narrow field of view. These
光雷达可以配置为围绕车辆创建完整的 360 度地图，而 two advantages make autonomous vehicle manufacturers such as Google,
不是依赖于狭窄的视野。这两大优势使得谷 Uber, and Toyota choose lidar systems.
 Moreover, lidar can be configured to create a full 360° map around the
歌、 Uber 、丰田等自动驾驶汽车厂商纷纷选择激光雷 vehicle rather than simply relying on a narrow field of view. These two
达系统。 advantages have led autonomous vehicle manufacturers such as Google, Uber,
此外，激光雷达可以配置为围绕车辆创建一个完整的 and Toyota to choose lidar systems for their vehicles.
360° 地图，而不是简单地依赖于狭窄的视野。这两大优
势使得谷歌、 Uber 和丰田等自动驾驶汽车制造商纷纷
选择激光雷达系统。

文章链接 : https://www.itransition.com/blog/autonomous-vehicle-sensors
 备注

 备注 1
相机传感器还远远不够完美。雨、雾、雪等恶劣的天气条件会使摄像机无法清楚地看到道路上的障碍物，从而增加事
故发生的可能性。
 备注 2
如今汽车上使用的汽车雷达传感器只能正确识别 90% 到 95% 的行人，这不足以确保道路安全。
 备注 3
激光雷达传感器比自动驾驶汽车使用的雷达传感器昂贵得多。另一个问题是，雪或雾有时会阻碍激光雷达传感器，对
它们探测道路上物体的能力产生负面影响。

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