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Unmanned driving obstacle avoidance method, device, equipment and medium based on conic section

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: 2021-06-22
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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  • Summary
  • 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

Method used

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  • Unmanned driving obstacle avoidance method, device, equipment and medium based on conic section
  • Unmanned driving obstacle avoidance method, device, equipment and medium based on conic section
  • Unmanned driving obstacle avoidance method, device, equipment and medium based on conic section

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Embodiment 1

[0037] figure 1 The implementation flow of the unmanned driving avoidance method based on the embodiment of the present invention is shown. For convenience of explanation, only the part related to the embodiment of the present invention is shown, as described below:

[0038]In step S101, when monitoring an obstacle in front of an unmanned vehicle, the obstacle information of the obstacle includes an obstacle type, a unmanned vehicle and an obstacle.

[0039] Embodiments of the present invention are suitable for in-vehicle computing devices, for example, inboard computers. Through unmanned vehicles, the sensor such as laser, radar is monitored to the front travel path of the unmanned vehicle preset safety distance to determine whether there is an obstacle in front of the unmanned vehicle, when monitoring in a safe distance ( When there is an obstacle within 100 meters, the obstacle information of the obstacle, the obstacle information includes the type of obstacle, the extreme coo...

Embodiment 2

[0058] Figure 7 A implementation flow of the steering angular velocity of the present invention is provided by the calculation of the driver of the driver to reach the final desired position. For convenience of explanation, only the part related to the embodiment of the present invention is shown, as described below:

[0059] During the driving process of the driver of driver to reach the final desired position, the following steps are performed in a preset data sampling cycle until the driver's vehicle reaches the final expected position:

[0060] In step S701, when the data sampling period is reached, the current position information of the driver vehicle and the obstacle is acquired. The current position information includes a current polar coordinate of a driverless vehicle and an obstacle, an unmanned vehicle current vehicle. Bites.

[0061] In the embodiment of the present invention, the current position of the unmanned vehicle and the obstacle is monitored in a preset data...

Embodiment 3

[0084] Figure 11 A configuration of a conical curve-based unmanned driving avoidance device is shown in Example 3 of the present invention, and only the portion related to the embodiment of the present invention is shown in order to facilitate explanation, including:

[0085] The information acquisition unit 111 is used to obtain obstacle information of the obstacle when monitoring the obstacle in front of the unmanned vehicle, including an obstacle type, a polar coordinate of unmanned vehicle and an obstacle;

[0086] The curve type determining unit 112 is configured to calculate the lateral relative distance of the unmanned vehicle and the obstacle according to the polar coordinates, and determine the type of cone curve of the safety area of ​​the obstacle and the unmanned vehicle according to the type of obstacle, according to the determination. The tapered curve type is set to the target conical curve;

[0087] The short-side radius obtaining unit 113 is configured to derive ...

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Abstract

The invention is applicable to the technical field of unmanned decision-making, and provides an unmanned obstacle avoidance method, device, equipment and medium based on a conic curve. The method includes: acquiring obstacle information of obstacles in front of the unmanned vehicle, Calculate the lateral relative distance between the unmanned vehicle and the obstacle, and determine the type of conic curve suitable for the obstacle, and demarcate the safety area of ​​the obstacle and the unmanned vehicle according to the determined type of the conic curve, and obtain the corresponding The first short side radius and the second short side radius of , when the lateral relative distance is less than the sum of the first and second short side radii, predict the final expected pose of the unmanned vehicle after obstacle avoidance, according to the Finally, the expected pose calculates the steering angular velocity required for the unmanned vehicle to avoid obstacles, so as to control the unmanned vehicle and complete the obstacle avoidance, thereby improving the obstacle avoidance efficiency of the unmanned obstacle avoidance based on the conic curve, thereby improving the unmanned vehicle obstacle avoidance efficiency. Human-driven traffic safety.

Description

Technical field [0001] The invention belongs to the field of driverless decision technology, and more particularly to a driverless avoidance method, apparatus, apparatus, and medium based on a conical curve. Background technique [0002] With the rapid increase in car insurance in my country, road traffic has triggered various issues, while driving safety issues are also increasingly concerned. Automotive Active Operation System can automatically take safety measures before the accident, can effectively reduce the occurrence of automobile collision accidents, so the development of automotive active safety systems is of great significance. Unmanned landing involves key technologies in various fields, such as environmental perceptions and cognitive technology, navigation technology, avoidance strategies and implementation technology, where avoidance ability is a key foundation of drones, and good avoidance capability is determined The overall performance of unmanned vehicles. There...

Claims

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Application Information

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Patent Type & Authority Patents(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