Collision avoidance method and device for unmanned vehicles

Abstract

The embodiment of the invention discloses an unmanned vehicle collision avoidance method and device, which relate to the technical field of computers. The method comprises steps: i) corresponding driving states of a to-be-monitored vehicle pair are determined according to received unmanned vehicle driving parameters; ii) based on the corresponding driving states of the to-be-monitored vehicle pair, a collision avoidance reference gap between the to-be-monitored vehicle pair is calculated; and iii) when the collision avoidance reference gap is smaller than or equal to a safety distance, a braking command is sent to the rear vehicle in the to-be-monitored vehicle pair. Through the above steps, soft collision avoidance of the unmanned vehicle can be realized. Furthermore, a detection blind zone of hard collision avoidance can be filled, and the vehicle passing efficiency can also be improved.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a collision avoidance method and device for an unmanned vehicle. Background technique [0002] The route of the unmanned vehicle will be split into multiple small road sections according to the reference point. Exemplary, such as figure 1 As shown, if you want the unmanned vehicle to go from 4 o'clock to 1 o'clock, you need to issue the instruction 4→3→2→1 to the forklift, so that the unmanned vehicle will be positioned according to the reference point, and the way points 4, 3, 2 eventually reaches point 1. Among them, directed line segments such as 4→3, 3→2, and 2→1 are called road segments, and the direction of the arrow represents the direction of the front of the vehicle. [0003] Collision avoidance between unmanned vehicles has always been a very important issue. If the collision avoidance is not done well, the unmanned vehicles will not be able to complete their resp...

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Problems solved by technology

[0005] In the process of realizing the present invention, the inventor found that there are at least the following problems in the prior art: First, the hard collision avoidance has the following disadvantages: the sensor usually has a detection blind spot, and if the vehicle in front is just in the detection blind spot, it is likely to cause the front The car cannot be detected, so it cannot bring a good collision avoidance effect; second, the locking mechanism has the following disadvantages: if the locking mechanism is adopted, only one unmanned vehicle can pass at the same time on a road section, or even two There is only one unmanned vehicle passing through each road section at the same time, which leads to poor traffic efficiency

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