Three-dimensional-radar-based unmanned vehicle autonomous overtaking trajectory planning system
A trajectory planning and three-dimensional laser technology, applied in signal devices, control devices, etc., can solve the problems of not considering the impact, ignoring the overtaking habits and driving intentions of human drivers, and achieving the effect of ensuring safety and reliability
Inactive Publication Date: 2019-08-09
NORTH CHINA UNIVERSITY OF TECHNOLOGY
View PDF11 Cites 3 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0004] However, although the above two invention patents have established overtaking conditions and can dynamically generate overtaking trajectories, they ignore the overtaking habits and driving intentions of human drivers, and do not consider the influence of the geometry of the preceding vehicle on overtaking trajectory planning.
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0052] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0053] This embodiment adopts an unmanned vehicle equipped with a Velodyne 16-line three-dimensional laser radar and a W221 wheel speed sensor.
[0054] Such as figure 1 As shown, the environment perception unit collects the traffic environment information around the vehicle, the speed acquisition unit collects the speed information of the vehicle, the data processing unit processes the collected state information of the vehicle and the vehicle in front, and the overtaking behavior decision-making unit determines that the vehicle performs After the overtaking operation, the overtaking trajectory planning unit generates and updates the overtaking trajectory in real time, and finally displays it on the cockpit display.
[0055] Such as figure 2 As shown, a three-dimensional lidar-based autonomous vehicle overtaking trajectory planning system...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention provides a three-dimensional-radar-based unmanned vehicle autonomous overtaking trajectory planning system. The three-dimensional-radar-based unmanned vehicle autonomous overtaking trajectory planning system includes a data acquisition unit composed of an environment sensing unit and a speed collecting unit, the signal output end of the data acquisition unit is connected with a dataprocessing unit, the signal output end of the data processing unit is connected with an overtaking behavior decision-making unit, the overtaking behavior decision-making unit is connected with an overtaking trajectory planning unit, the overtaking trajectory planning unit is connected with a cabin display screen, and the cabin display screen is used for displaying an overtaking trajectory generated by the overtaking trajectory planning unit. According to the three-dimensional-radar-based unmanned vehicle autonomous overtaking trajectory planning system, compared with the prior art, the influence of a geometric size and a motion state of a front vehicle on an overtaking intention and trajectory planning of the vehicle is fully considered based on overtaking habits of human drivers, an optimal overtaking trajectory is chosen, so that the occurrence of overtaking accidents is effectively avoided, and the three-dimensional-radar-based unmanned vehicle autonomous overtaking trajectory planning system is suitable for popularization and use.
Description
technical field [0001] The invention relates to the field of intelligent driving and active safety, in particular to a three-dimensional laser radar-based autonomous vehicle overtaking trajectory planning system. Background technique [0002] Overtaking is a common driving behavior in the process of vehicle driving. Relevant statistics show that road traffic accidents caused by overtaking account for about 20% of the total number of accidents every year, most of which are caused by human factors. During the overtaking process, due to the limitations of their own perception ability, it is difficult for human drivers to accurately obtain the surrounding driving environment information, and fail to plan the overtaking trajectory reasonably, thus causing traffic accidents. Unmanned vehicles can obtain rich environmental information through on-board perception sensors, and plan safe driving trajectories in real time in combination with changes in the driving conditions of the veh...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/18B60W50/14B60Q9/00
CPCB60Q9/00B60W30/18163B60W50/14B60W2050/146
Inventor 张名芳李华建王力王庞伟闫佳庆龚博
Owner NORTH CHINA UNIVERSITY OF TECHNOLOGY