A method for unmanned vehicles to avoid dynamic vehicles based on standard particle swarm optimization algorithm
A standard particle, unmanned vehicle technology, applied in vehicle position/route/height control, motor vehicle, non-electric variable control and other directions, can solve problems such as low accuracy and inability to meet the accuracy requirements of unmanned vehicles for collision avoidance , to avoid collision
Active Publication Date: 2022-05-13
JIANGSU UNIV OF TECH
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Problems solved by technology
[0003] The purpose of the present invention is to provide a method for unmanned vehicles to avoid dynamic vehicles based on the standard particle swarm algorithm, so as to solve the problem that the accuracy of dynamic obstacle recognition algorithms based on contour features and motion states in the prior art is low and cannot meet the requirements of unmanned vehicles. Accuracy Requirements for Driving Auto Collision Avoidance
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[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0030] see Figures 1 to 4 , the present invention provides a technical solution: a method for an unmanned vehicle to avoid a dynamic vehicle based on a standard particle swarm algorithm, the steps of which are:
[0031] (1) First scan the driving environment in front of the unmanned vehicle with lidar;
[0032] (2) If there is a dynamic vehicle ahead, the vehicle speed sensor, acceleration sensor and displacement sensor start to work;
[0033] (3) Track and...
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The invention relates to the technical field of unmanned vehicles, in particular to a method for an unmanned vehicle based on a standard particle swarm algorithm to avoid dynamic vehicles. The steps are: (1) first scanning the driving environment in front of the unmanned vehicle with laser radar; (2) ) If there is a dynamic vehicle in front, the vehicle speed sensor, acceleration sensor and displacement sensor start to work; (3) track and measure the speed V at any moment of the dynamic vehicle ahead i ={V i1 ,V i2 ,V i3 ,V in}; (4) The displacement sensor tracks the position X of the dynamic vehicle in front at any time i ={X i1 ,X i2 ,X i3 ,X in}; (5) Calculate the speed of the next second according to the standard particle swarm algorithm, and the present invention can prevent collisions during the avoidance process.
Description
technical field [0001] The invention relates to the technical field of unmanned vehicles, and specifically relates to a method for an unmanned vehicle to avoid dynamic vehicles based on a standard particle swarm algorithm. Background technique [0002] As the number of cars increases, the traffic congestion and the incidence of traffic accidents continue to rise. As an important means to solve this problem, the research on driverless cars is becoming more and more urgent. Driverless cars will inevitably interact with other traffic participants when driving in a complex traffic environment. During the interaction process, all potential collisions must be avoided to ensure driving safety. At present, unmanned vehicles avoid obstacles by tracking the trajectory of simulated obstacles, but the current method based on a single contour feature has low accuracy and speed in the process of dynamic obstacle detection and tracking, and cannot meet the requirements of dynamic obstacle ...
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IPC IPC(8): G05D1/02
CPCG05D1/0257
Inventor 薛婷贝绍轶李波毛坤鹏谭琛凯王文豪丁月杭玉迪陈雪俊
Owner JIANGSU UNIV OF TECH