A method of avoiding obstacles for simulated vehicles based on road data

Abstract

The invention relates to a method for a simulated vehicle to avoid obstacles based on road data, and belongs to the technical field of automatic driving. This method uses ray detection, shoots rays from the center point of the vehicle and on both sides of the vehicle to detect whether there are obstacles ahead, and detects whether there are obstacles in the lanes on both sides of the vehicle in advance, and can also calculate the appropriate point as the target point when avoiding obstacles. Realistically realize the driving detection and obstacle avoidance behavior of real vehicles. The present invention uses rays as a means of obstacle detection, which not only consumes very low performance, but also can change lanes according to traffic rules, and further set a safe distance according to the speed to determine when to change lanes, so as to satisfy most of the simulation vehicles. Obstacle avoidance needs.

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 following the traffic To change lanes according to the rules, you can’t judge when to change lanes according to the speed, and you can’t detect whether the road conditions of other variable lanes can change lanes. Therefore, the navigation module that comes with unity cannot meet the needs of simulation.