Intelligent obstacle avoidance system and method of autonomous vehicle
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An automatic driving and intelligent obstacle avoidance technology, applied in the direction of control devices, etc., can solve the problems of inability to achieve autonomous obstacle avoidance and low transportation efficiency, and achieve the effect of reducing the probability of collision and increasing the efficiency of traffic.
Active Publication Date: 2019-10-25
深圳数翔科技有限公司
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[0003] The purpose of the present invention is to solve the problem that the automatic guided vehicles in the existing wharf scene cannot realize complete autonomous obstacle avoidance, and the transportation efficiency is not high, and propose an intelligent obstacle avoidance system and method for automatic driving vehicles
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specific Embodiment approach 1
[0032] An intelligent obstacle avoidance system for an automatic driving vehicle in this embodiment, such as figure 1 As shown, its composition includes: an obstacle detection device 1 installed on an automatic driving vehicle, an obstacle trajectory prediction subsystem 2, a vehicle decision-making subsystem 3, and a data set acquisition device 4;
[0033] The obstacle detection device 1 is used to detect other self-driving vehicles, use the detected self-driving vehicles as obstacles, and process the detected data to obtain the coordinates of the obstacle vehicle relative to the sensor;
[0034] The data set acquisition device 4 is used to collect the information of the vehicle trajectory of the obstacle, and record and store the trajectory of the vehicle running in the dock scene; the collected vehicle trajectory is used as the training set of the trajectory prediction algorithm, and the training is performed several times. Save the trained obstacle trajectory prediction a...
specific Embodiment approach 2
[0038] An intelligent obstacle avoidance system for an automatic driving vehicle in this embodiment, the obstacle detection device 1 is realized by a visual sensor and a laser radar sensor;
[0039] The visual sensor detects the vehicle through a target detection method,
[0040] The specific position of the obstacle is detected by the lidar sensor;
[0041] Using the result of the fusion of the lidar sensor and the vision sensor, whether the obstacle is a vehicle is obtained, and the relative position coordinates of the obstacle vehicle relative to the sensor are obtained.
specific Embodiment approach 3
[0043] An intelligent obstacle avoidance system for self-driving vehicles in this embodiment, the data collection device 4 is realized by laser sensors and visual sensors, and the laser sensors and visual sensors are installed on ordinary vehicles, and the driver drives the ordinary vehicles Collect the driving information of other vehicles in the dock environment.
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Abstract
The invention provides an intelligent obstacle avoidance system and method of an autonomous vehicle and belongs to the field of automatic driving. An automatic guided vehicle cannot realize complete autonomous obstacle avoidance under an existing wharf scene so that the transporting efficiency is low. According to the intelligent obstacle avoidance system of the autonomous vehicle, an obstacle detection device, an obstacle trajectory prediction sub system, a vehicle decision sub system and a data collection device are mounted on the autonomous vehicle; an obstacle vehicle coordinate detected by the obstacle detection device is transmitted to an obstacle trajectory prediction algorithm model trained by the data collection device; and a future trajectory of an obstacle is predicated according to a history trajectory of the obstacle; the vehicle decision sub system makes decision according to the future trajectory predicated by the obstacle trajectory prediction algorithm model, performscalibration according to the possible position of the future trajectory of a vehicle and bypasses the calibrated position. According to the intelligent obstacle avoidance system and method of the autonomous vehicle, an obstacle vehicle can be avoided with a better effect. The collision probability of the autonomous vehicles is reduced, and the passing efficiency of the autonomous vehicle under thewharf scene is enhanced.
Description
technical field [0001] The invention relates to an intelligent obstacle avoidance system and method for an automatic driving vehicle. Background technique [0002] With the development of human society, vehicles have become an important means of transportation in human production and life, and vehicles have greatly accelerated social development. In recent years, with the development of artificial intelligence technology and sensor technology, autonomous driving technology has become more mature and more and more commercialized. However, due to the limitations of technology and sensors, it is basically impossible to realize fully automatic driving without human beings. In fact, the realization of so-called autonomous driving is expected to be the first to be realized in closed and semi-closed scenarios. The terminal environment is a closed and semi-closed scene. Compared with human driving, guided vehicles using automatic driving technology can achieve higher efficiency an...
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