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Unmanned vehicle intelligent obstacle avoidance method and system

A technology for unmanned vehicles and obstacle avoidance, which is applied in control/regulation systems, motor vehicles, vehicle position/route/height control, etc., and can solve the problems of slow convergence of neural networks, constraints on reinforcement learning applications, easy to fall into local minimum, etc. problems, to achieve the effect of strong adaptability and broad application prospects

Active Publication Date: 2017-08-18
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

[0019] However, the neural network has problems such as slow convergence speed, easy to fall into local minimum, poor selection of the number of hidden layers of the network, etc., and the learning effect is often related to the initial value, and it is difficult to converge to a unique optimal decision, which restricts reinforcement learning. further application of

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  • Unmanned vehicle intelligent obstacle avoidance method and system
  • Unmanned vehicle intelligent obstacle avoidance method and system
  • Unmanned vehicle intelligent obstacle avoidance method and system

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Embodiment 1

[0033] LMS151 is a single-line laser radar commonly used in unmanned vehicles. The main features of this radar are: large-scale monitoring, a maximum scanning angle of 270°, and an angular resolution of 0.5°; the longest scanning distance is 50 meters, 10 Under the premise of % reflectivity, the scanning distance can reach 18 meters; the scanning frequency is 50Hz; small size, light weight, multi-echo technology, and self-checking function.

[0034] Install the laser radar at the position of the license plate directly in front of the vehicle, set the scanning angle of the single-line laser radar to 180°, and divide the scanning area into 8 parts, each with an angle of 22.5°, and label them as area 1, area 2... area 8, such as figure 2 shown.

[0035] Judging the state based on the data scanned by the lidar, when obstacles are detected in areas 3, 4, 5, and 6, the unmanned vehicle chooses obstacle avoidance behavior, otherwise it is considered that there are no obstacles in t...

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Abstract

The present invention provides an unmanned vehicle intelligent obstacle avoidance method and system. The system comprises a perception portion, a decision portion, a control portion and an execution portion. The perception portion performs detection of a barrier area through a single-line laser radar to realize barrier information obtaining; the decision portion determines whether the obstacle avoidance of the unmanned vehicle is required at the next moment or not according to the barrier detection condition, if the obstacle avoidance of the unmanned vehicle is required, the control portion inputs the state information of the perception portion to a reinforcement learning model, the model performs trial and error learning to converge to a stable state to calculate the steering wheel corner required by the unmanned vehicle, and the execution portion of the unmanned vehicle is configured for execution so as to realize the obstacle avoidance function.

Description

technical field [0001] The present invention relates to an unmanned vehicle obstacle avoidance method and system, more particularly, refers to an unmanned vehicle intelligent obstacle avoidance method and system based on reinforcement learning. Background technique [0002] With the development of science and technology, unmanned vehicle technology has been in-depth development and research, realizing autonomous obstacle avoidance in complex and unknown dynamic environments is a key part of the practical application of unmanned vehicles. The traditional obstacle avoidance method uses expert experience programming, obtains its own position and attitude information and external obstacle information through on-board sensors, and then compares the vehicle's own information with external obstacles to calculate the steering wheel angle and speed required by the unmanned vehicle. These methods require certain expert knowledge, and their adaptive ability in complex and unknown envir...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/024G05D1/0257G05D1/0276G05D1/0278
Inventor 徐国艳宗孝鹏余贵珍
Owner BEIHANG UNIV
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