Unmanned vehicle emergency steering obstacle avoidance method based on obstacle motion prediction

Abstract

The invention discloses an unmanned vehicle emergency steering obstacle avoidance method based on obstacle motion prediction. A data acquisition module acquires road boundary information, real-time state information and obstacle information in the automobile driving process. Obstacle information is input into an obstacle motion prediction module; the obstacle motion prediction module predicts thelanding position and landing time of an obstacle to obtain corresponding data, the prediction data, the state information of the vehicle and the road boundary information are input into an unmanned vehicle obstacle avoidance track generation module to generate a corresponding steering obstacle avoidance trajectory, the generated obstacle avoidance trajectory data and the vehicle state informationare input into a neural network control module to solve a steering wheel angle required for the unmanned vehicle to track the steering obstacle avoidance trajectory, and the steering wheel of the unmanned vehicle is controlled to complete a corresponding obstacle avoidance task. According to the steering obstacle avoidance method, the unmanned vehicle can complete the emergency steering obstacle avoidance task when an obstacle suddenly falls down in front of the vehicle, and the driving safety of the unmanned vehicle and the rapidity of emergency steering obstacle avoidance are improved.

Description

technical field [0001] The invention relates to the technical field of automobile safety, in particular to an emergency steering and obstacle avoidance method for an unmanned vehicle based on obstacle motion prediction. Background technique [0002] With the rapid development of the global economy, the number of cars in my country is increasing year by year, and urban roads are becoming more and more congested. As the driver who is the most unstable factor in the "car-road-human" closed-loop system, how to reduce The resulting traffic accident rate has become an urgent problem to be solved. [0003] There will be various obstacles in the driving process of unmanned vehicles, so how to safely and effectively avoid obstacles and continue to drive safely has become a research hotspot for scholars. However, most of the current research is limited to obstacles that remain stationary or travel at a constant speed, and are on the same road as the vehicle, and rarely consider the si...

AI Technical Summary

Problems solved by technology

However, most of the current research is limited to obstacles that remain stationary or travel at a constant speed, and are on the same road as the vehicle, and rarely consider the situation where an obstacle suddenly falls from the front of the vehicle. In this case, an unmanned vehicle is required. Faster reaction speed and higher obstacle avoidance efficiency can effectively avoid accidents

Images