An obstacle avoidance method for unmanned vehicles

Abstract

The invention provides an obstacle avoidance method for an unmanned vehicle. The method comprises the following steps: a time-of-flight TOF camera disposed on an unmanned vehicle shoots a driving environment according to an image collection instruction, obtains three-dimensional point cloud data, and transmits the three-dimensional point cloud data to a main controller; when judging that an obstacle is within the driving path range of the unmanned vehicle according to the recognition information of the obstacle obtained by obstacle recognition, the main controller sends the position information of the obstacle to a local path planning module, and performs calculation according to the position information of the obstacle, the driving state data and the original global path data to obtain obstacle avoidance path data; when the main controller judges that the offset of the obstacle avoidance path data and the original global path data is smaller than a preset offset threshold value, the main controller carries out calculation according to the obstacle avoidance path and the vehicle driving data to obtain a target speed and a target steering angle and sends the target speed and the target steering angle to a vehicle body controller; and the vehicle body controller performs driving control on the vehicle according to the target speed and the target steering angle.

Description

technical field [0001] The invention relates to the field of data processing, in particular to an obstacle avoidance method for unmanned vehicles. Background technique [0002] In recent years, with the development of urbanization and the popularization of automobiles, the problem of traffic accidents caused by speeding, occupancy, fatigue driving, drunk driving, and untimely avoidance has become more and more serious. The emergence of unmanned vehicles provides the possibility to improve vehicle driving safety and reduce traffic accidents. At present, the enthusiasm for the research and development of unmanned driving is increasing day by day, but it is generally aimed at vehicle internal control technology and environment recognition technology, and there is not enough research on the intelligent behavior of unmanned vehicles. [0003] In order to better ensure that the vehicle can drive safely in complex environments, the function of emergency avoidance is very important...

AI Technical Summary

Problems solved by technology

However, the detection method based on binocular vision has a large amount of calculation, and the requirements for the illumination of the external environment are relatively high.

Images