Unmanned obstacle avoidance method and terminal based on laser radar and GPS

A lidar, unmanned technology, applied in the direction of electromagnetic wave re-radiation, radio wave measurement system, utilization of re-radiation, etc., can solve the problems of economic loss, mission failure, limiting the use range and service life of unmanned vehicles, etc. , to achieve the effect of reducing avoidance and improving the efficiency of obstacle avoidance

Pending Publication Date: 2021-08-24
福建盛海智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When obstacles appear on the path of unmanned driving, and the vehicle cannot actively avoid obstacles, accidents such as crashes and rollovers will occur,

Method used

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  • Unmanned obstacle avoidance method and terminal based on laser radar and GPS
  • Unmanned obstacle avoidance method and terminal based on laser radar and GPS
  • Unmanned obstacle avoidance method and terminal based on laser radar and GPS

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Embodiment 1

[0082] Please refer to figure 1 , image 3 and 4 , Embodiment 1 of the present invention is:

[0083] An unmanned driving obstacle avoidance method based on lidar and GPS, comprising:

[0084] S1, start the laser radar, and control the vehicle to drive along the pre-collected path track according to the current GPS information;

[0085] S2. Perform obstacle identification according to the point cloud data of the laser radar, and obtain the three-dimensional data of the obstacle and the laser radar coordinates of the obstacle, calculate the GPS coordinates of the obstacle according to the laser radar coordinates of the obstacle, and calculate the GPS coordinates of the obstacle according to the GPS coordinates of the obstacle and the three-dimensional data to judge whether it is necessary to circumvent the obstacle, if it is necessary to circumvent the obstacle, then enter step S3, otherwise continue to drive along the path track;

[0086] Wherein, in the step S2, the obsta...

Embodiment 2

[0112] Please refer to figure 2 , the second embodiment of the present invention is:

[0113] An unmanned obstacle avoidance terminal 1 based on lidar and GPS, comprising a processor 2, a memory 3 and a computer program stored on the memory 3 and operable on the processor 2, the processor 2 executes the computer The program implements the steps in the first embodiment above.

[0114] To sum up, the present invention provides an unmanned driving obstacle avoidance method and terminal based on lidar and GPS. The GPS coordinates and three-dimensional data of obstacles are determined according to the lidar point cloud data, and the three-dimensional data are determined according to the lidar coordinates and three-dimensional data. Judging whether the obstacle will cause harm to the vehicle, so as to realize the automatic obstacle avoidance of the unmanned driving of the vehicle, and because the judgment is based on GPS coordinates and three-dimensional data, not only the locatio...

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Abstract

The invention discloses an unmanned obstacle avoidance method and terminal based on a laser radar and a GPS. The method comprises the following steps: starting a laser radar, and controlling a vehicle to run along a pre-collected path track according to current GPS information; carrying out obstacle identification according to point cloud data of a laser radar, obtaining three-dimensional data of an obstacle and a laser radar coordinate of the obstacle, calculating a GPS coordinate of the obstacle, judging whether obstacle avoidance needs to be carried out according to the GPS coordinate of the obstacle and the three-dimensional data, and if the obstacle avoidance needs to be carried out, when a vehicle is away from the obstacle by a preset distance, generating an obstacle avoidance route according to a preset obstacle avoidance algorithm, and the robot travelling along the obstacle avoidance route until the robot bypasses an obstacle and returning to the pre-collected path track. According to the invention, automatic obstacle avoidance of unmanned tracking driving of the vehicle can be realized, judgment is carried out based on GPS coordinates and three-dimensional data, whether the vehicle will be damaged is judged according to the position and height of the obstacle, unnecessary avoidance can be reduced, and the obstacle avoidance efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of unmanned driving, in particular to an unmanned driving obstacle avoidance method and terminal based on laser radar and GPS. Background technique [0002] Unmanned tracking driving is a very common way in the automatic driving of unmanned vehicles. Unmanned tracking driving refers to the automatic tracking driving of cars according to pre-set routes. When obstacles appear on the path of unmanned driving, and the vehicle cannot actively avoid obstacles, accidents such as crashes and rollovers will occur, which will not only cause economic losses, but also cause failure to perform tasks, thus limiting the use of unmanned vehicles. Scope of use and service life. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide an unmanned driving obstacle avoidance method and terminal based on laser radar and GPS, which can realize automatic obstacle avoidance of...

Claims

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Application Information

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IPC IPC(8): G01S17/931G01S17/86
CPCG01S17/931G01S17/86
Inventor 余平林立言
Owner 福建盛海智能科技有限公司
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