Dubins path based obstacle avoidance control device and method for driverless car

Abstract

The invention provides a Dubins path based obstacle avoidance control device and method for a driverless car. The device comprises a camera arranged outside the left A pillar of the driverless car, acamera arranged outside the right A pillar of the driverless car as well as a laser radar arranged on the roof of the driverless car. The method comprises the following steps: the radar performs positioning and speed measurement on obstacles entering a camera monitoring range; a sequence of an obstacle to collide with the smart car is determined with an obstacle avoidance algorithm; the smart carreplans the current obstacle avoidance path according to the new obstacle sequence to finish the obstacle avoidance operation. By arranging the cameras in the middles of the two A pillars of the driverless car, the problem about bind area of the driverless car is solved effectively, and perfect and accurate degree of information acquisition is increased; different obstacle avoidance judgment algorithms are adopted for different obstacles in driverless operation, and obstacle avoidance accuracy and precision of the driverless car are improved.

Description

technical field [0001] The invention belongs to the field of automobiles, and relates to an unmanned vehicle obstacle avoidance control device and control method based on Dubins path. Background technique [0002] With the continuous development and improvement of automobile technology, unmanned driving technology has emerged in due course. Unmanned driving relies on the cooperation of artificial intelligence, visual computing, radar, monitoring devices and global positioning systems, allowing computers to operate without any active human operation. , to automatically and safely operate motor vehicles. Its main principle is to perceive the road environment through the vehicle-mounted sensor system, automatically plan the driving route and control the vehicle to reach the predetermined target; at the same time, the vehicle-mounted sensor senses the surrounding environment, and controls the vehicle's movement according to the road, vehicle position and obstacle information obt...

AI Technical Summary

Problems solved by technology

[0003] However, the current unmanned driving technology mainly has the following two problems: 1. There are identification obstacles in the sensor, the perception of the surrounding environment by radar and camera is greatly affected by the weather and the environment, the sensor technology is not perfect and there are often monitoring dead spots, Unable to accurately obtain information about nearby obstacles; 2. Smart car processors cannot correctly recognize the behavior of vehicles and pedestrians like the human brain, and have cognitive defects; 3. People do not trust driverless technology

[0004] The first two major problems both lead to the inability of unmanned vehicles to accurately avoid obstacles, and also exacerbate the third problem. At this stage, many patents do not solve the problem of unmanned vehicle obstacle avoidance.

[0005] The patent application number 201610782894.3 discloses a laser obstacle avoidance method and system for unmanned vehicles. The system includes a driving control module, a laser component, and an autonomous obstacle avoidance module. To control the driving of unmanned vehicles, the laser transmitter sends laser light to the outside world and receives the laser light reflected by external obstacles, and sends the laser signal to the autonomous obstacle avoidance module of the unmanned vehicle for obstacle avoidance. The reflected laser signal is used to judge obstacles and realize the automatic obstacle avoidance of unmanned vehicles; the patent application number 201610749321.0 discloses an obstacle avoidance method and system for unmanned vehicles, the system includes an information collection module and an information processing module , the driving control module, the information collection module uses the laser ranging array to collect the three-dimensional scene information in the forward direction of the unmanned vehicle, and the information processing module detects the obstacle points in front of the unmanned vehicle according to the collected three-dimensional scene information Determine the obstacle avoidance path, and control the unmanned vehicle to drive according to the obstacle avoidance path; however, although the above two patents can accurately avoid static obstacles, they cannot play a good obstacle avoidance role for dynamic obstacles.

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