Abstract: In order to improve the situation that the detection range of the perception system based on ultrasonic is insufficient and can’t provide the warning of rear-ending vehicles. An automatic parking perception system based on ultrasonic sensor and millimeter wave radar is proposed by analyzing the principle of detection and parameter characteristics. The perception system solution uses shortrange-radar as a rear detection sensor to expand the detection range behind the vehicle and improve the safety of parking.

Key words: Automatic parking perception system; Ultrasonic sensor; Millimeter wave radar; Perception system

摘要： 为改善自动泊车感知系统中超声波雷达探测距离过短，无法提前预警后向车辆问题的 现状。通过分析超声波雷达和毫米波雷达的测距原理和参数特性，提出了一种基于超声波雷 达和毫米波雷达的自动泊车感知系统方案，采用短距毫米波雷达作为后向探测传感器，扩大 车辆后方检测范围，提升泊车的安全性。

关键词: 自动泊车感知；超声波雷达；毫米波雷达；感知系统