Vehicle obstacle avoidance method and device based on ultrasonic ranging

An ultrasonic and vehicle technology, which is applied in the field of vehicle obstacle avoidance method and device based on ultrasonic ranging, can solve the problems of long ranging time and low precision, and achieve the effects of low cost, easy upgrade, and improved obstacle avoidance ability

Pending Publication Date: 2021-10-26
中交信捷科技有限公司
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0006] In the prior art, the vehicle obstacle avoidance scheme based on ultrasonic ranging has the problems of long ranging time and low accuracy, and cannot well meet the actual needs of vehicle obstacle avoidance. There is an urgent need for a more efficient and fast ranging and Positioning solution to meet the increasingly high-precision vehicle obstacle avoidance requirements

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  • Vehicle obstacle avoidance method and device based on ultrasonic ranging
  • Vehicle obstacle avoidance method and device based on ultrasonic ranging
  • Vehicle obstacle avoidance method and device based on ultrasonic ranging

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Embodiment Construction

[0070] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

[0071] The present invention uses the transit time method. The attenuation of the ultrasonic propagation model mainly consists of the following three categories:

[0072] Scatter attenuation. Since the ultrasonic transmitter does not emit a standard plane wave, there is a certain beam angle. When the sound wave propagates, the original energy is dispersed due to the increase in the area of ​​the wave front, so that the energy per unit area gradually decreases. If the emitter head is idealized as a point sound source, the attenuation of the sound intensity scattering produced by it can be deduced by the following formula:

[0073]

[0074] L 1 =L W -10 lg S

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Abstract

The invention discloses a vehicle obstacle avoidance method and device based on ultrasonic ranging. The method comprises the steps: carrying out the positioning and speed measurement of a vehicle according to a Beidou positioning system, and calculating a safety time threshold value through combining with the distance of an obstacle in front of the vehicle; obtaining the distance change between the vehicle and the obstacle according to the ultrasonic ranging, and obtaining the time value when the vehicle arrives at the obstacle according to the distance change; comparing the time value of the vehicle arriving at the obstacle with a safety time threshold value; and when the time value of the vehicle arriving at the obstacle is smaller than a safety time threshold value, carrying out braking intervention on the vehicle. According to the embodiment of the invention, ultrasonic ranging and a Beidou positioning test are combined, the high-precision positioning effect of the Beidou system is utilized, and the obstacle avoidance capability of the vehicle is improved.

Description

technical field [0001] The invention relates to the technical field of vehicle control, in particular to a vehicle obstacle avoidance method and device based on ultrasonic ranging. Background technique [0002] With the rise of artificial intelligence technology, more and more attention has been paid to the problem of motion path planning with autonomous vehicles as the research object. Obstacle avoidance path planning is a key part of autonomous vehicles, which is of great significance to the research of autonomous vehicles. During the driving process of autonomous vehicles, accurate obstacle avoidance is a basic requirement for intelligent vehicles. A good obstacle avoidance path planning algorithm can safely avoid obstacles in real time, and has high ride comfort, thereby improving travel efficiency. [0003] Vehicle obstacle avoidance technology mainly uses advanced sensor technology to enhance the vehicle's perception of the driving environment, feeds back real-time i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S15/931G01S15/08G01S19/42G01S19/52
CPCG01S15/931G01S15/08G01S19/42G01S19/52
Inventor 薛广月卢洋洋杨东凯李博闻
Owner 中交信捷科技有限公司
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