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Self-balance vehicle obstacle avoidance method

A self-balancing vehicle and obstacle avoidance technology, which is applied to motor vehicles, vehicle position/route/height control, non-electric variable control, etc., can solve the problem of long reaction time, improve the safety of use, and improve the reaction time of obstacle avoidance Effect

Inactive Publication Date: 2017-07-07
CHENGDU UNIV OF INFORMATION TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to overcome the problem of long reaction time of the existing self-balancing vehicle obstacle avoidance scheme, and provide a self-balancing vehicle control system and an obstacle-avoiding method for the self-balancing vehicle

Method used

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  • Self-balance vehicle obstacle avoidance method

Examples

Experimental program
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Embodiment 1

[0040] see figure 1 , Embodiment 1 provides a control system for an obstacle-avoidable self-balancing vehicle, including a microcontroller, an acceleration sensor connected to the microcontroller, an ultrasonic ranging sensor, and a motor drive module;

[0041] The acceleration sensor is used to measure the acceleration of the vehicle body, and transmit the acceleration data of the vehicle body to the microcontroller, and the microcontroller calculates a balance parameter according to the acceleration data of the vehicle body, and drives the motor according to the balance parameter The module sends a driving signal;

[0042] The driving signal drives the left and right wheel motors of the self-balancing vehicle to realize the upright, traveling and steering movements of the self-balancing vehicle;

[0043] The ultrasonic ranging sensor is used to measure the separation distance between the vehicle body and the obstacle, and transmit the separation distance to the microcontrol...

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Abstract

The invention relates to a self-balance vehicle, and particularly relates to a self-balance vehicle obstacle avoidance method. The self-balance vehicle comprises a microcontroller and an acceleration sensor, a distance measurement module and a motor driving module which are connected with the microcontroller. The method comprises the steps that step S100, safe distance is set; step S200, the distance measurement module obtains the spacing distance between a front object and the vehicle body; and step S300, whether the spacing distance is less than the preset safe distance is judged; an obstacle avoidance mode is started if the judgment result is yes; or judgment is continued. According to the self-balance vehicle obstacle avoidance method, prejudgment of the front obstacle can be realized so that the obstacle avoidance response time of the self-balance vehicle can be effectively improved and the use safety of the self-balance vehicle can be enhanced.

Description

technical field [0001] The invention relates to a self-balancing vehicle, in particular to an obstacle avoidance method for a self-balancing vehicle. Background technique [0002] Self-balancing vehicles have excellent portability and mobility, and are becoming the best choice for people to solve the last mile of travel. In the existing self-balancing car scheme, when the balancing car encounters an obstacle, the driver usually gets off the car and brakes quickly, or the driver uses the control panel to brake. The above two methods are realized through the driver's subjective consciousness Obstacle avoidance has the disadvantage of long reaction time, and there is a certain probability of error in the way the driver uses the control panel to brake. Especially when the self-balancing vehicle is running at high speed or in an emergency situation, the reactive events and stability of the human operation method will be tested, and accidents may occur if there is a slight carele...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0242G05D1/0255
Inventor 陈姝麒杨定宇黄太星杨军江明英黄春玲
Owner CHENGDU UNIV OF INFORMATION TECH
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