Simulation vehicle obstacle avoidance driving method based on road data

Abstract

The invention relates to a simulation vehicle obstacle avoidance driving method based on road data, and belongs to the technical field of automatic driving. The method is characterized in that ray detection is used, rays are emitted from the middle point of a vehicle and the two sides of the vehicle to detect whether obstacles exist in front of the vehicle or not, whether obstacles exist in laneson the two sides of the vehicle or not is detected in advance, a proper point can be calculated as a target point during obstacle avoidance, and driving detection and obstacle avoidance behaviors of areal vehicle can be achieved in a simulated mode. According to the method, the rays are used as obstacle detection means, so that the performance consumption is extremely low, and lane changing can be achieved according to traffic rules; and the safety distance is set according to speed, and the time for lane changing is judged, so that most obstacle avoidance requirements of the simulation vehicle are met.

Description

technical field [0001] The invention relates to a road data-based simulation car avoiding obstacle driving method, which belongs to the technical field of automatic driving. Background technique [0002] Autonomous driving simulation needs to imitate the real road environment. After the road data has been generated, the simulation car needs to have the function of detecting and avoiding obstacles to simulate the driving behavior of real vehicles. At present, most of the obstacle detection and obstacle avoidance driving in unity are realized by using the navigation pathfinding module that comes with unity module, but the navigation pathfinding module will only find the shortest path to avoid obstacles when encountering obstacles instead of following the traffic To change lanes according to the rules, it is impossible to judge when to change lanes according to the speed, and it is impossible to detect whether the road conditions of other variable lanes can be changed. Therefor...

AI Technical Summary

Problems solved by technology

At present, most of the obstacle detection and obstacle avoidance driving in unity are realized by using the navigation pathfinding module that comes with unity module, but the navigation pathfinding module will only find the shortest path to avoid obstacles when encountering obstacles instead of f...