Unmanned obstacle avoidance driving method and terminal based on laser radar and UWB array

A technology of laser radar and driving method, applied in the direction of electromagnetic wave re-radiation, radio wave measurement system, utilization of re-radiation, etc., can solve the problems of mission failure, automatic obstacle avoidance, economic loss, etc. Reduce the effect of 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 there are obstacles in the unmanned driving path, and the vehicle cannot actively avoid the obstacles, accidents such as crashes and rollovers will occur, which will not only cause economic losses, but also cause failure to

Method used

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  • Unmanned obstacle avoidance driving method and terminal based on laser radar and UWB array
  • Unmanned obstacle avoidance driving method and terminal based on laser radar and UWB array
  • Unmanned obstacle avoidance driving method and terminal based on laser radar and UWB array

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Example Embodiment

[0082] Please refer to Figure 1 , Figure 3 Sum Figure 4 Embodiments of the present invention one as:

[0083] An unmanned avoidance driving method based on laser radar and UWB array, including:

[0084] S1, start the laser radar, acquire real-time positioning information based on the area positioning coordinate system established based on the preset UWB array, and control the vehicle along the pre-acquired path trajectory according to the real-time positioning information;

[0085] In this embodiment, the real-time positioning information includes real-time positioning coordinates and real-time navigation angles, and the regional positioning coordinate system created based on the preset UWB array is specifically: obtaining the vehicle and various described in accordance with preset intervals. The distance between the UWB base station acquires the base station coordinates of the nearest four of the UWB base stations, select two of the base station coordinates in which the longitudi...

Example Embodiment

[0122] Please refer to figure 2 Embodiment 2 of the present invention:

[0123] An unmanned avoidance driving terminal 1 based on laser radar and UWB array, including processor 2, memory 3, and computer program stored on memory 3 and can run on processor 2, the processor 2 performs said processor 2. The steps in the above embodiment are implemented in the computer program.

[0124] In summary, an unmanned avoidance driving method based on laser radar and UWB array is positioned, and the UWB-based regions established based on the UWB array, determines the UWB of the obstacle according to the laser radar point cloud data. The coordinates and 3D data, and determine whether the obstacle is harmed according to the laser radar coordinates and three-dimensional data, thereby realizing the automatic avoidance of the vehicle's unmanned tracking, not only judging the location of the obstacle, but also Whether the height of the obstacle will judge the vehicle, it can reduce unnecessary avoid...

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Abstract

The invention discloses an unmanned obstacle avoidance driving method and terminal based on a laser radar and a UWB array. According to the method, the laser radar is started, and real-time positioning information is acquired according to the regional positioning coordinate system established based on the preset UWB array, so that the vehicle is controlled to run along the pre-acquired path track; according to point cloud data of a laser radar, obstacle identification is carried out, three-dimensional data of an obstacle and coordinates of the laser radar of the obstacle are acquired, UWB coordinates of the obstacle are calculated, whether obstacle avoidance is needed or not is judged, and if yes, an obstacle avoidance route is generated according to a preset obstacle avoidance algorithm when a vehicle is away from the obstacle by a preset distance, and the vehicle runs along the obstacle avoidance route until bypassing the obstacle and returning to the pre-acquired path track; according to the invention, automatic obstacle avoidance of unmanned tracking driving of the vehicle can be realized, judgment is carried out according to the position and height of the obstacle, unnecessary avoidance can be reduced, the obstacle avoidance efficiency is improved, and the system can run without a GPS and is more stable.

Description

technical field [0001] The present invention relates to the technical field of unmanned driving, in particular to an unmanned obstacle avoidance driving method and terminal based on laser radar and UWB array. Background technique [0002] Unmanned tracking driving is a very common way for unmanned vehicles to drive autonomously. Tracking driving refers to the automatic tracking driving of a car according to a pre-set route. When there are obstacles in the unmanned driving path, and the vehicle cannot actively avoid the obstacles, accidents such as crashes and rollovers will occur, which will not only cause economic losses, but also cause failure to perform tasks, limiting the use of unmanned vehicles. service life. And in some positions where the GPS signal strength is weak or the GPS signal is lost, it will hinder the automatic obstacle avoidance of unmanned tracking driving. Contents of the invention [0003] The technical problem to be solved by the present invention...

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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