Vehicle omni-directional following method based on UWB and laser radar sensor

A laser radar and sensor technology, applied in the field of electronic information, can solve problems such as difficult to support intensive work instructions, the obstacle avoidance function has not been perfectly reflected, and data processing has not reached high-efficiency data processing, so as to reduce the difficulty of calculation and improve Calculation efficiency and high accuracy of mapping

Active Publication Date: 2020-06-05
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0004] (1) The obstacle avoidance function has not been combined with intelligent speed control, direction control and other functions to a high degree, resulting in the obstacle avoidance function not being perfectly reflected;
[0005] (2) High-efficiency data processing is not achieved in data process...

Method used

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  • Vehicle omni-directional following method based on UWB and laser radar sensor
  • Vehicle omni-directional following method based on UWB and laser radar sensor
  • Vehicle omni-directional following method based on UWB and laser radar sensor

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Embodiment

[0057] combine figure 1 , the present invention is based on UWB and laser radar sensor vehicle all-round following method, comprises the following steps:

[0058] Step 1. Establish vehicle coordinate system, laser radar coordinate system and UWB sensor coordinate system;

[0059] combine figure 2 , the vehicle’s lidar coordinate system and UWB sensor coordinate system are X 3 o 3 Y 3 , X 2 o 2 Y 2 ;

[0060] Base station 1 of the UWB sensor system is located at the right rear of the vehicle platform; base station 2 is located at the left rear of the vehicle platform, and is symmetrical to base station 1 about the central axis of the vehicle, and the distance between base station 1 and base station 2 is m; base station 3 is located at the vehicle platform The left front part of , is symmetrical with base station 1 about the center of the vehicle, and the distance between base station 3 and base station 2 is n; UWB sensor system coordinate system X 3 o 3 Y 3 That is,...

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Abstract

The invention discloses a vehicle omni-directional following method based on UWB and a laser radar sensor. The method comprises the following steps: firstly, establishing a vehicle coordinate system,a laser radar coordinate system and a UWB sensor coordinate system, establishing a world coordinate system, and performing coordinate mapping between the world coordinate system and the vehicle coordinate system; then, enabling the vehicle to sense the position and posture of the vehicle in a world coordinate system with an artificial origin in real time; acquiring obstacle information by using the laser radar sensor, converting coordinates of an obstacle in a laser radar coordinate system into coordinates in the vehicle coordinate system, and constructing an occupied grid map by using a binary Bayesian filtering algorithm; and finally, enabling the vehicle to realize real-time following in any direction based on an occupied grid map and an automatic following and obstacle avoidance algorithm based on a parallel genetic algorithm. The method is simple in algorithm and high in positioning precision, and can realize omnibearing real-time following of the autonomous vehicle around the user.

Description

technical field [0001] The invention belongs to the technical field of electronic information, in particular to a vehicle omnidirectional following method based on UWB and laser radar sensors. Background technique [0002] Autonomous vehicles are an important part of intelligent transportation systems and information-based automotive products. Autonomous vehicles have a certain amount of artificial intelligence, and need to realize four functions: on-board communication, information processing, environment detection, and auxiliary control. Adjust the speed according to traffic conditions and road surface characteristics to avoid collisions and rear-end collisions with other vehicles; automatically change lanes and overtake; park safely on the road; the on-board assisted driving system can find the destination in the intelligent traffic network environment The best path, as well as distress alarm and self-rescue, etc. [0003] In the development of autonomous vehicle techno...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05D1/00H04W4/02H04W4/44H04W64/00
CPCG05D1/024G05D1/0285G05D1/0088H04W4/023H04W4/44H04W64/00
Inventor 马勇朱亚涛唐程郎锐
Owner NANJING UNIV OF SCI & TECH
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