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Automatic obstacle avoidance method of pilotless vehicle

A technology of unmanned vehicles and vehicles, applied in the field of unmanned vehicles, can solve immature problems, achieve the effects of improving accuracy, adapting to changes in the environment, and shortening obstacle avoidance time

Inactive Publication Date: 2019-04-26
JIANGSU UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the complex and changeable external environment, our current technological level is not mature enough to solve dynamic obstacles, and there are still many problems to be solved

Method used

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  • Automatic obstacle avoidance method of pilotless vehicle
  • Automatic obstacle avoidance method of pilotless vehicle
  • Automatic obstacle avoidance method of pilotless vehicle

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Experimental program
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Embodiment Construction

[0028] The present invention comprises the following steps:

[0029] Step 1, data processing of vehicles and obstacles in the barrier of the mobile environment;

[0030] Step 1.1 Velodyne output data preprocessing;

[0031] Velodyne output data is in point cloud format, intelligent speed limits within the framework of free-entry mode; highway vehicles typically model, analyze environment during evasion intelligently, minimum safe distance required; withdrawn lidar sensor, GPS and communication protocol data , The establishment of an intelligent external environment. First of all, it is necessary to preprocess these cloud data and study the preprocessing method of UAV. The projected mesh is the power of the mesh based on the information projected at each point in the network.

[0032] The main control of the exit behavior of the decision is the intelligent car's driving flow, the control strategy and the longitudinal control strategy, and the lateral supervision strategy of ...

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Abstract

The invention provides an automatic obstacle avoidance method of a pilotless vehicle. To guarantee that a vehicle safely runs in a complicated and crowded driving environment, sensing of dynamic information is more precise, based on a vehicle recognition technology of a vision sensor, by introducing combined monitoring, four-wire laser radar Ibeo and three-dimensional Velodyne laser radar sensor data input and map Velodyne laser preprocessing, obstacles can be divided into two types according to different time environments, that is to say, flowing obstacle barrier static fence movement and temporary movement of fences stored during Ibeo and information movement of static partition walls. By means of the method, the performance of a monitoring system of the pilotless vehicle can be improved; optimal overcoming of overall performance defects of the pilotless vehicle can be achieved, and a horizontal and intelligent system management running mechanism can be reinforced and stabilized.

Description

technical field [0001] The invention relates to unmanned vehicles, in particular to an obstacle avoidance method for an autonomous obstacle avoidance system of an unmanned vehicle. Background technique [0002] Cars have brought convenience to human beings and improved people's travel and lifestyle. However, while automobiles have a positive impact on people, they also have negative impacts, especially the negative impact on traffic accidents is very serious. [0003] At present, driverless car technology has attracted the attention of the society, and more and more scientists are focusing on the scientific research of driverless cars. Since more than 92% of traffic accidents in the world are caused by human factors, such as drunk driving, speeding, fatigue driving and careless driving; in order to avoid or even avoid road traffic accidents, the most important solution is to make cars more intelligent . [0004] An unmanned vehicle is an autonomous vehicle, which not only...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01S13/93G01S17/93
CPCG01S13/931G05D1/0214G05D1/0231G05D1/0257G01S17/931
Inventor 杨平乐周塔沈真马杰王书培张天宇
Owner JIANGSU UNIV OF SCI & TECH