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Dynamic obstacle avoiding method based on collision detection

A dynamic obstacle and collision detection technology, applied in the direction of motor vehicles, measuring devices, mapping and navigation, etc., can solve problems such as failure to avoid dynamic obstacles, and achieve the effect of traffic efficiency and smoothness

Active Publication Date: 2019-07-02
BEIJING INSTITUTE OF TECHNOLOGYGY +2
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, because dynamic obstacles have a certain speed, reactive processing often leads to failure to avoid dynamic obstacles

Method used

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  • Dynamic obstacle avoiding method based on collision detection
  • Dynamic obstacle avoiding method based on collision detection
  • Dynamic obstacle avoiding method based on collision detection

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Embodiment Construction

[0059] Preferred embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and are used together with the embodiments of the present invention to explain the principle of the present invention.

[0060] The embodiment of the invention discloses a dynamic obstacle avoidance method based on collision detection, which can be used for motion planning of an unmanned vehicle to avoid dynamic obstacles in real time.

[0061] Such as figure 1 As shown, the specific methods include:

[0062] S101. Preliminary planning step: perform preliminary planning on the driving path and speed of the vehicle during the driving process of the vehicle, obtain the expected path and expected speed data of the vehicle, and construct the expected trajectory of the vehicle;

[0063] S102. Collision detection step: perform collision detection based on the received predicte...

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Abstract

The invention, which belongs to the technical field of unmanned vehicles, relates to a dynamic obstacle avoiding method based on collision detection. A desired vehicle trajectory is constructed by initial planning; according to a received dynamic obstacle prediction trajectory and the desired vehicle trajectory, collision detection is performed; the driving speed and / or path of the vehicle are / isplanned again to obtain collision-free driving speed and / or path data of the vehicle are obtained; and a desired vehicle trajectory is reconstructed to avoid the dynamic obstacle. Therefore, the unmanned vehicle can avoid the dynamic obstacle autonomously. According to the invention, with the collision detection method for the automatic driving vehicle, the high collision detection accuracy is ensured and the collision detection efficiency is improved in a dynamic environment. On the basis of the re-planning method, the high traffic efficiency, the high traffic smoothness and the good trafficsafety effect are considered simultaneously.

Description

technical field [0001] The invention relates to the technical field of unmanned vehicles, in particular to a dynamic obstacle avoidance method based on collision detection. Background technique [0002] As the cutting-edge technology of today's vehicles, unmanned driving technology has attracted extensive attention from scholars from all over the world. The motion planning technology of unmanned vehicles is one of the core technologies of unmanned vehicles, which can be subdivided into path planning and speed planning. The goal of the path planning system is to realize the driving of the unmanned vehicle in the space feasible area, and the goal of the speed planning system is to realize the driving of the unmanned vehicle in the time feasible area. [0003] At present, most of the unmanned vehicle motion planning systems only deal with static obstacles, and most of the dynamic obstacles are treated as static obstacles for reactive avoidance. But because dynamic obstacles h...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01C21/34
CPCG05D1/0223G05D1/0214G05D1/0221G05D1/0276G01C21/3415G01C21/3446
Inventor 熊光明王超张玉齐建永龚建伟吴绍斌
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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