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Ultrasonic Doppler speed sensor for autonomous vehicles

机译：用于自动驾驶车辆的超声波多普勒速度传感器

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摘要

A high-resolution ultrasonic Doppler speed sensor was developed to improve the accuracy of speed measurement for autonomous driving systems. The prototype sensor consists of ultrasonic transducers of 200 kHz and electronic circuits of a preamplifier, a tuned amplifier, a frequency multiplier and so on. The frequency of received signal from the ground was multiplied by 5 to improve the resolution and mixed with a reference signal of 950kHz. The reference signal was generated from the same oscillator as used for the transmission signal using a frequency synthesizer. The speed sensor was tested on five types of model ground surface using a linear actuator with a 4 m distance of motion. The sensor could measure the speeds of both forward and reverse motions with relatively high accuracy, and could measure speeds of as low as 10mm/s.
机译：开发了高分辨率超声多普勒速度传感器，以提高自动驾驶系统的速度测量精度。原型传感器由200 kHz的超声换能器以及前置放大器，调谐放大器，倍频器等的电子电路组成。从地面接收的信号的频率乘以5以提高分辨率，并与950kHz的参考信号混合。参考信号是使用频率合成器从与传输信号相同的振荡器产生的。使用运动距离为4 m的线性致动器，在五种类型的模型地面上测试了速度传感器。该传感器可以相对较高的精度测量前进和后退的速度，并且可以测量低至10mm / s的速度。

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