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Autonomous obstacle avoidance method for vehicle and autonomous obstacle avoidance system for vehicle

A vehicle and obstacle avoidance technology, which is applied in the field of vehicle autonomous obstacle avoidance method and vehicle autonomous obstacle avoidance system, can solve the problem of high cost, achieve the effects of reducing fatigue, increasing safety and comfort, and saving costs

Active Publication Date: 2019-12-20
WEICHAI POWER CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the above-mentioned obstacle avoidance system requires an additional image processing unit for imaging and calculation of obstacle avoidance routes, and the cost is relatively high.

Method used

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  • Autonomous obstacle avoidance method for vehicle and autonomous obstacle avoidance system for vehicle
  • Autonomous obstacle avoidance method for vehicle and autonomous obstacle avoidance system for vehicle
  • Autonomous obstacle avoidance method for vehicle and autonomous obstacle avoidance system for vehicle

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0053] This embodiment provides a vehicle autonomous obstacle avoidance method, which can be applied to scenarios where obstacle avoidance is required while the vehicle is running, and is especially suitable for vehicles whose driving speed is controlled by hydraulic pumps and hydraulic motors. Through the above vehicle autonomous obstacle avoidance method, the driver's fatigue can be reduced, and the driving safety and comfort can be increased. Moreover, the autonomous obstacle avoidance function can be realized without additional components such as an image processing unit, which saves costs.

[0054] figure 1 It is a flow chart of the vehicle autonomous obstacle avoidance method described in this embodiment, as shown, the vehicle autonomous obstacle avoidance method of this embodiment includes the following steps:

[0055] S1. Obtain message information of multiple detected obstacles, and determine obstacles that need to be avoided according to the message information.

...

Embodiment 2

[0101] This embodiment provides a vehicle autonomous obstacle avoidance method, which adds the calculation of the minimum longitudinal distance and the judgment of the braking distance to the first embodiment. Specifically, such as image 3 As shown, the vehicle autonomous obstacle avoidance method of the present embodiment includes the following steps:

[0102] S1. Obtain message information of multiple detected obstacles, and determine obstacles that need to be avoided according to the message information.

[0103] S10. Calculate the longitudinal distance between the vehicle and the obstacle that needs to be avoided, obtain the minimum value of the longitudinal distance, and define it as the minimum longitudinal distance.

[0104] That is, the longitudinal distance is obtained according to the actual distance and angle in the message information corresponding to the obstacle that needs to be avoided. Since there may be multiple obstacle information that needs to be avoided,...

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PUM

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Abstract

The invention belongs to the technical field of obstacle avoidance, and discloses an autonomous obstacle avoidance method for a vehicle and an autonomous obstacle avoidance system for the vehicle. Themethod comprises the following steps: S1, obtaining message information of a plurality of detected obstacles, and determining an obstacle needing obstacle avoidance; S2, calculating the minimum braking time between the vehicle and the obstacle needing obstacle avoidance; S3, judging whether the minimum braking time is within preset deceleration setting time or not, if not, executing a step S4, and if yes, executing a step S5; S4, keeping the current set vehicle speed of the vehicle; S5, judging whether the driving direction of the obstacle needing obstacle avoidance is consistent with the driving direction of the vehicle, if yes, executing a step S6, if not, executing a step S7; S6, setting the longitudinal speed of the obstacle needing obstacle avoidance as the set vehicle speed of the vehicle; S7, setting the set vehicle speed of the vehicle to be zero; and S8, calculating and adjusting the displacements of a hydraulic pump and a hydraulic motor according to the set vehicle speed ofthe vehicle so as to adjust the actual vehicle speed of the vehicle. An additional obstacle avoidance component is not required, so that the cost is saved.

Description

technical field [0001] The invention relates to the technical field of obstacle avoidance, in particular to a vehicle autonomous obstacle avoidance method and a vehicle autonomous obstacle avoidance system. Background technique [0002] Engineering vehicles are widely used in infrastructure construction such as road surfaces and foundations. During the driving process of engineering vehicles, it is necessary to check the driving status of the front and rear vehicles in time to avoid traffic accidents, vehicle property loss and personal safety damage. [0003] In order to avoid the above problems, the existing engineering vehicles are usually equipped with an obstacle avoidance system. The obstacle avoidance system collects the information of the vehicle in front through the radar, and then constructs a virtual three-dimensional scene according to the collected information, and then performs calculation and processing according to the scene. Get a route that avoids vehicles. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0257G05D1/0223G05D1/0214G05D1/0276Y02T10/40
Inventor 于鹏飞赵金光许力杰张西田
Owner WEICHAI POWER CO LTD