Conic curve-based self-driving obstacle avoidance method, device, apparatus and medium

A technology of conic section and unmanned vehicle, applied in the field of unmanned decision-making, can solve the problems of large obstacle avoidance path error, low obstacle avoidance efficiency, low safety degree, etc., and achieve the effect of improving driving safety and improving obstacle avoidance efficiency.

Active Publication Date: 2019-01-25
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a method, device, equipment and medium for unmanned driving obstacle avoidance based on conic curves, aiming at solving the problem of unmanned driving due to the inability of the prior art to provide an effective unmanned driving obstacle avoidance method. The planned obstacle avoidance path has large errors, low obstacle avoidance efficiency and low safety

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  • Conic curve-based self-driving obstacle avoidance method, device, apparatus and medium
  • Conic curve-based self-driving obstacle avoidance method, device, apparatus and medium
  • Conic curve-based self-driving obstacle avoidance method, device, apparatus and medium

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Embodiment 1

[0037] figure 1 The implementation flow of the conic curve-based unmanned driving obstacle avoidance method provided by Embodiment 1 of the present invention is shown. For the convenience of description, only the parts related to the embodiment of the present invention are shown, and the details are as follows:

[0038]In step S101, when an obstacle is detected in front of the unmanned vehicle, the obstacle information of the obstacle is obtained, and the obstacle information includes the type of the obstacle, the polar coordinates of the unmanned vehicle and the obstacle.

[0039] Embodiments of the present invention are applicable to vehicle-mounted computing devices, for example, vehicle-mounted computers. Use the built-in camera, laser, radar and other sensors of the unmanned vehicle to monitor the road conditions ahead of the unmanned vehicle at a preset safe distance to determine whether there is an obstacle in front of the unmanned vehicle. For example, when there is a...

Embodiment 2

[0058] Figure 7 It shows the implementation process of calculating the steering angular velocity of the unmanned vehicle to reach the final desired pose provided by the second embodiment of the present invention. For the convenience of description, only the parts related to the embodiment of the present invention are shown, and the details are as follows:

[0059] During the driving process of the unmanned vehicle to reach the final desired pose, the following steps are processed with the preset data sampling period until the unmanned vehicle reaches the final desired pose:

[0060] In step S701, when the data sampling period is reached, the current position information of the unmanned vehicle and the obstacle is collected, the current position information includes the current polar coordinates of the unmanned vehicle and the obstacle, the current vehicle position of the unmanned vehicle pose.

[0061] In the embodiment of the present invention, the current position of the u...

Embodiment 3

[0084] Figure 11 The structure of the conic curve-based unmanned obstacle avoidance device provided by the third embodiment of the present invention is shown. For the convenience of description, only the parts related to the embodiment of the present invention are shown, including:

[0085] The information acquisition unit 111 is used to obtain obstacle information of the obstacle when an obstacle is detected in front of the unmanned vehicle. The obstacle information includes the type of the obstacle, the polar coordinates of the unmanned vehicle and the obstacle;

[0086] The curve type determination unit 112 is used to calculate the lateral relative distance between the unmanned vehicle and the obstacle according to the polar coordinates, and determine the conic curve type suitable for the obstacle and the safety area of ​​the unmanned vehicle according to the obstacle type, according to the determined The conic section type sets the target conic section;

[0087] The shor...

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Abstract

The invention belongs to the field of self-driving decision making technology, and provides a conic curve-based self-driving obstacle avoidance method, a conic curve-based self-driving obstacle avoidance device, an apparatus and a medium. According to the method, the obstacle information of an obstacle in front of a self-driving vehicle is obtained; a lateral relative distance between the self-driving vehicle and the obstacle is calculated according to the obstacle information, and a conic curve type adapted to the obstacle is determined; the safe area of the obstacle and the self-driving vehicle are delineated according to the determined conic curve type, so that a first short side radius and a second short side radius are obtained; when the lateral relative distance is smaller than the sum of the first short side radius and the second short side radius, the final desired attitude of the self-driving vehicle after obstacle avoidance is predicted; steering angular velocity required bythe obstacle avoidance of the self-driving vehicle is calculated according to the final desired attitude, so that the self-driving vehicle is controlled so as to complete obstacle avoidance; and therefore, the obstacle avoidance efficiency of conic curve-based self-driving obstacle avoidance can be improved, and the driving safety of self-driving can be improved.

Description

technical field [0001] The invention belongs to the technical field of unmanned driving decision-making, and in particular relates to a conic curve-based unmanned driving obstacle avoidance method, device, equipment and medium. Background technique [0002] With the rapid increase of the number of automobiles in our country, road traffic has caused various problems, and the problem of driving safety has also attracted people's attention day by day. The vehicle active obstacle avoidance system can automatically take safety measures before the accident, which can effectively reduce the occurrence of vehicle collision accidents. Therefore, the development of the vehicle active safety system is of great significance. The landing of unmanned driving involves key technologies in various fields, such as environmental perception and cognition technology, navigation technology, obstacle avoidance strategy and execution technology, among which obstacle avoidance ability is the key fou...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0212G05D1/0223
Inventor 邹洁李慧云
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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