Multi-sensor fused unmanned vehicle detection obstacle avoidance system and obstacle avoidance method

A multi-sensor fusion, unmanned vehicle technology, applied in the field of multi-sensor fusion unmanned vehicle detection and obstacle avoidance systems, can solve the problems of camera performance degradation, weakening the safety of unmanned vehicles, causing traffic accidents, etc., and improving stability. and dynamic performance, strong program portability, and enhanced anti-interference ability.
CN112180941APending Publication Date: 2021-01-05LEITON FUTURE RES INSTITUTION JIANGSU CO LTD +2
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
LEITON FUTURE RES INSTITUTION JIANGSU CO LTD
Publication Date
2021-01-05

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Abstract

The invention provides a multi-sensor fused unmanned vehicle detection obstacle avoidance system and obstacle avoidance method. The obstacle avoidance system comprises a plurality of single-line laserradars, double CCD cameras, microwave radars, front and rear blind area ultrasonic sensor groups and a three-core controller based on ARM + FPGA + NUC. A plurality of single-line laser radar signalsare processed by the NUC microcomputer, binocular vision graphic data of the CCD camera are jointly processed by the ARM + FPGA controller, functions of blind area detection and obstacle avoidance, ahuman-computer interface, path planning, online output and the like are independently completed by the STM32F767, and the ARM + FPGA controller outputs control signals through decoding to accurately control the direct-current brushless servo motor, and drives an unmanned vehicle to run. According to the invention, the unmanned vehicle can discover obstacles in a complex environment in an all-weather and farther manner and quickly realize effective obstacle avoidance, so the safety and stability of the unmanned vehicle during high-speed driving are improved.
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Description

technical field

[0001] The invention belongs to the technical field of unmanned driving, and in particular relates to a multi-sensor fusion unmanned vehicle detection and obstacle avoidance system and an obstacle avoidance method. Background technique

[0002] With the rapid economic development, cars have become an increasingly important part of people's lives. The negligence of drivers will lead to many accidents. Therefore, car manufacturers concentrate on designing systems that can ensure the safety of cars. Safety is one of the main factors driving the growth of demand for driverless cars; Traffic congestion makes driving not so beautiful. Artificial intelligence driverless cars can completely solve traffic congestion and other problems. In addition, poor air conditions are also a "catalyst" for the promotion of driverless cars.

[0003] A driverless car is a smart car that senses the road environment through an on-board sensor system, automatically plans a driving rou...

Claims

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