低速智能农业车辆多分辨率自适应测速系统设计

Design of Multiresolution Adaptive Speed Measurement System for Low-speed Intelligent Agricultural Vehicle

摘要:

根据智能化农业车辆低速工作的特点，采用CAN总线通信技术和多线程技术，设计并实现了基于脉冲式多普勒雷达的智能测速系统。通过速度分级和可变滑窗灰色预测，为系统建立了多分辨率自适应机制，在保证测量精度的同时降低其对系统资源的消耗。试验表明：启动分辨率自适应机制后，车辆速度为0.2 m/s时，测量平均误差为1.45%，分辨率发生器工作频率降低76.7%；车辆速度为0.8 m/s时，测量平均误差降低到0.61%，分辨率发生器工作频率降低90.0%。变速运动过程中，能够获得9.6 Hz的稳定输出频率，同时大幅降低分辨率发生器工作频率。

Abstract:

A pulse Doppler radar based real-time speed measurement system was designed by using CAN bus communication technology and multithreading technology according to the low speed characteristic of intelligent agricultural vehicle. In order to obtain a high precision result with the least system resource consumption, the multiresolution adaptive policy was designed by dividing speed level and variable sliding-window gray prediction. Experiments showed that the average error was 1.45% and the working frequency of resolution generator was reduced by 76.7% after adaptive policy started when the speed of vehicle was 0.2 m/s. The average error was 0.61% and the working frequency of resolution generator was reduced by 90.0% after policy started when the speed of vehicle was 0.8 m/s. The output frequency of system was steady 9.6 Hz and the frequency of resolution generator was dramatically reduced during variable speed movement. 