Multiple sensor-integrated medium-speed unmanned vehicle detection and obstacle avoidance system

Abstract

The invention belongs to the technical field of unmanned driving and discloses a multiple sensor-integrated medium-speed unmanned vehicle detection and obstacle avoidance system, which comprises a control system, a vehicle roof laser radar, a vehicle-mounted monocular vision camera, a front laser radar group and a rear laser radar group, wherein the vehicle roof laser radar is used for detecting ups and downs of a road in front of the unmanned vehicle and together with the front laser radar group, detecting the obstacle condition in a front motion path of the unmanned vehicle; the front laserradar group is also used for detecting the obstacle condition in a left front motion path and a right front motion path of the unmanned vehicle; the rear laser radar group is used for detecting the obstacle condition in the rear side of the unmanned vehicle; the vehicle-mounted monocular vision camera is used for recognizing a sign in front of the unmanned vehicle and together with the vehicle roof laser radar and the front laser radar group in match, detecting the obstacle condition; and the control system comprises an upper computer and a lower computer; and the lower computer is a dual-corecontroller formed by an FPGA and an ARM. The price is low, the cost performance is relatively high, and the practicability is strong.

Description

technical field [0001] The invention belongs to the technical field of unmanned driving, and in particular relates to a multi-sensor fusion medium-speed unmanned vehicle detection and obstacle avoidance system. Background technique [0002] With the rapid economic development, cars have become an increasingly important part of people's lives. The negligence of drivers will lead to many accidents. About 1 million people die in traffic accidents all over the world every year. In my country, nearly 100,000 people die in traffic accidents every year. Since drivers make many mistakes, automakers must of course concentrate on designing systems that can ensure vehicle safety. Safety is one of the main factors driving the growth of demand for driverless vehicles; It’s so beautiful, letting artificial intelligence unmanned vehicles replace human driving can completely solve problems such as traffic congestion; in addition, poor air conditions are also a “catalyst” for the promotion ...

AI Technical Summary

Problems solved by technology

[0008] (1) Since the unmanned vehicle is disturbed by unstable factors in the surrounding environment, the controller based on the single-chip microcomputer has poor anti-interference ability, and abnormalities often occur, causing the unmanned vehicle to lose control

[0009] (2) The existing unmanned vehicles all use low-level DSP and ARM series chips, and the maximum operating frequency is only about 100 MHz, which cannot meet the fast calculation of complex data of unmanned vehicles

[0010] (3) Affected by the performance of the PC of the unmanned vehicle, the data collected by the sensor of the unmanned vehicle cannot be quickly calculated and stored

[0011] (4) The data acquired by the single-line laser radar is 2D data, and information such as the height of the target cannot be distinguished. Some small objects will be ignored and eventually become obstacles. Single single-line laser radar sensor navigation has become a bottleneck in the automotive field

[0012] (5) A single single-line laser radar cannot obtain road surface information, and it needs to cooperate with other sensors to read and judge ground information

[0013] (6) Although multi-line laser radar can realize 2.5D or 3D data, can judge the height of obstacles, process ground information, etc., but the price is relatively expensive. A 64-beam laser radar can cost as much as 700,000 RMB Large-scale promotion and use

[0014] (7) A single single-line laser radar cannot detect information such as corners and road cliffs. It needs to be used with other sensors to read the surrounding obstacle signals or locate the sensor signs

[0015] (8) The current unmanned vehicles basically only consider forward detection and obstacle avoidance, and do not consider the information of obstacles in the rear. Sometimes obstacles appearing in the rear will damage the body of the unmanned vehicle, but the unmanned vehicle cannot realize Accelerate to dodge

[0016] (9) Based on a single single-line lidar unmanned vehicle, there is a detection blind spot at the moment of start-up. Once an obstacle is in the blind spot, it is easy to cause traffic accidents

[0017] (10) Unmanned vehicles based on a single single-line lidar will also have blind spots in the actual driving process. Once obstacles enter the blind spot during movement, traffic accidents will also occur

[0018] (11) The unmanned vehicle based on the single-line lidar has a slow speed of collecting images of the road ahead, which affects the rapid progress of the unmanned vehicle

[0019] (12) During long-distance driving, unmanned vehicles based on single-line lidar have poor recognition of the surrounding environment and cannot achieve precise positioning

[0020] (13) In the regular traffic, there are various traffic signs on the ground of the driving path of the unmanned vehicle, but the single-line lidar cannot be recognized, and the auxiliary navigation when the unmanned vehicle is moving fast is lost

[0021] (14) In regular traffic, there are signs such as traffic lights in the air on the driving path of unmanned vehicles, but the single-line laser radar cannot recognize them, which weakens the safety of unmanned vehicles moving quickly

[0022] (15) Affected by the price and performance of lidar, the detection range of generally cost-effective lidar is less than 100 meters. This distance is not conducive to the judgment of obstacles in the rapid travel of unmanned vehicles

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