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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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  • 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 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

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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Embodiment 1

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

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

[0084] S1. Start the laser radar, obtain real-time positioning information according to the regional positioning coordinate system established based on the preset UWB array, and control the vehicle to drive along the pre-collected path track according to the real-time positioning information;

[0085] In this embodiment, the real-time positioning information includes real-time positioning coordinates and real-time heading angles, and obtaining real-time positioning information according to the regional positioning coordinate system established based on the preset UWB array is specifically: obtaining the vehicle and each of the The distance between the UWB base stations is to obtain the base station coordinates of the four nearest UWB base stations, and select two of the base st...

Embodiment 2

[0122] Please refer to figure 2 , the second embodiment of the present invention is:

[0123] An unmanned obstacle avoidance driving terminal 1 based on laser radar and UWB array, including 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 A computer program realizes the steps in the first embodiment above.

[0124] In summary, the present invention provides an unmanned obstacle-avoiding driving method and terminal based on lidar and UWB array, positioning is based on the regional positioning coordinate system established by the UWB array, and the UWB position of the obstacle is determined according to the lidar point cloud data. Coordinates and three-dimensional data, and judge whether the obstacle will cause harm to the vehicle according to the coordinates and three-dimensional data of the lidar, so as to realize the automatic obstacle avoidance of the unmanned driving of the vehicle, not o...

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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
CPCG01S17/931G01S17/86Y02T10/40
Inventor 余平林立言
Owner 福建盛海智能科技有限公司
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