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

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...

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

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