Dynamic obstacle avoidance method for automatic driving sightseeing vehicle

Abstract

The invention discloses a dynamic obstacle avoidance method for an automatic driving sightseeing vehicle, which relates to the field of dynamic obstacle avoidance, and comprises the following steps: S1, obtaining sightseeing destination information and sightseeing starting position information, and obtaining an initial path through a path planning module; and S2, the condition that the sightseeing vehicle encounters obstacles in the driving process is monitored through the radar, and then the driving state of the sightseeing vehicle is controlled through the whole vehicle controller. According to the invention, based on the front radar and the rear radar, monitoring of different obstacle scenes can be realized, based on control of the whole vehicle controller, avoidance of various selections based on different obstacle scenes can be realized, and an avoidance mode of only braking a sightseeing vehicle in the prior art is replaced.

Description

Technical Field

[0001] The present invention relates to the technical field of dynamic obstacle avoidance, and in particular to a dynamic obstacle avoidance method for an autonomous driving sightseeing vehicle. Background Art

[0002] Sightseeing buses are an important means of transportation in tourism, parks and other scenarios. With the development of autonomous driving technology, autonomous driving sightseeing buses have been widely used, but the safety and reliability of their autonomous driving technology are particularly important.

[0003] The existing patent "An automatic driving electric sightseeing car obstacle avoidance system" (patent number: CN201620689244.X) discloses an automatic driving electric sightseeing car obstacle avoidance system, including a controller, a positioning module, a deceleration and braking module, and an obstacle monitoring module. The controller is connected to the positioning module, the deceleration and braking module, and the obstacle monitoring module respectively. Automatic driving, deceleration and braking, and obstacle avoidance of the electric sightseeing car are realized.

[0004] Although the above patent realizes automatic avoidance of sightseeing cars, usually when there is an obstacle on the front side, the sightseeing car brakes and waits for the obstacle to be removed before continuing to drive. It cannot realize the judgment of complex situations when encountering obstacles. For this reason, we provide a dynamic obstacle avoidance method for an autonomous driving sightseeing car to solve the above problem. Summary of the invention

[0005] In response to the problems existing in the above-mentioned prior art, the present invention provides a dynamic obstacle avoidance method for an autonomous driving sightseeing vehicle, which solves the problem that although the prior art realizes automatic avoidance of the sightseeing vehicle, the sightseeing vehicle usually stops when there is an obstacle on the front side and waits for the obstacle to be removed before the sightseeing vehicle can continue to travel, and it cannot realize the judgment of complex situations when encountering obstacles.

[0006] In order to achieve the above-mentioned purpose, a dynamic obstacle avoidance method for an autonomous driving sightseeing vehicle adopted by the present invention comprises the following steps:

[0007] S1: Obtain the information of the sightseeing destination and the location information of the sightseeing starting point, and obtain the initial path through the path planning module;

[0008] S2: Use radar to monitor obstacles encountered by the sightseeing car during driving, and then control the driving state of the sightseeing car through the vehicle controller, including:

[0009] The radar is divided into front radar and rear radar. The front radar is used to monitor obstacles in front of the sightseeing car, and the rear radar is used to monitor obstacles behind the sightseeing car.

[0010] If the front radar and the rear radar simultaneously detect obstacles in front and behind the sightseeing car, the vehicle controller controls the brake-by-wire module to start and brake the sightseeing car;

[0011] If the front radar detects an obstacle in front of the sightseeing car, and the rear radar detects no obstacle behind the sightseeing car, the vehicle controller controls the wire-controlled drive module to start, and the sightseeing car moves backward to avoid the obstacle;

[0012] If the rear radar detects an obstacle behind the sightseeing car and the front radar detects no obstacle in front of the sightseeing car, the vehicle controller controls the wire-controlled drive module to start and the sightseeing car moves forward.

[0013] As a further optimization of the above solution, the radar also includes a side radar, which is used to monitor obstacles on the side of the sightseeing car;

[0014] If the front radar detects an obstacle in front of the sightseeing car, and the side radar detects no obstacle on the side of the sightseeing car, the vehicle controller controls the wire-controlled rotation module to control the sightseeing car to turn and avoid the obstacle.

[0015] As a further optimization of the above solution, the wire-controlled drive module controls the sightseeing vehicle to move forward or backward.

[0016] As a further optimization of the above solution, the vehicle controller is also connected to a voice prompt module;

[0017] When the front radar and the rear radar simultaneously detect obstacles in front and behind the sightseeing car, the vehicle controller controls the wire control brake module to start and brake the sightseeing car. At the same time, the voice prompt module broadcasts voice prompts to avoid. When the obstacle is removed, the vehicle controller controls the wire control drive module to start and the sightseeing car continues to drive.

[0018] When the front radar detects that there is an obstacle in front of the sightseeing car and the rear radar detects that there is no obstacle behind the sightseeing car, the vehicle controller controls the wire-controlled drive module to start, and the sightseeing car retreats to avoid the obstacle. At the same time, the voice prompt module broadcasts voice prompts to avoid. When the obstacle is removed, the vehicle controller controls the wire-controlled drive module to start, and the sightseeing car continues to drive;

[0019] If the rear radar detects an obstacle behind the sightseeing car and the front radar detects no obstacle in front of the sightseeing car, the vehicle controller controls the wire-controlled drive module to start, and the sightseeing car moves forward. At the same time, the voice prompt module is not started.

[0020] As a further optimization of the above solution, the vehicle controller is also connected to a lighting control module;

[0021] When the current radar detects an obstacle in front of the sightseeing car, the vehicle controller controls the lighting control module to start. After the lighting control module is started, a prompt light is generated to remind the driver to move the obstacle away. When the obstacle is removed, the vehicle controller controls the wire-controlled drive module to start and the sightseeing car continues to drive.

[0022] As a further optimization of the above solution, the output end of the radar is connected to the input end of the vehicle controller;

[0023] The output end of the vehicle controller is connected to the input end of the lighting control module;

[0024] The input ends of the wire-controlled drive module, the wire-controlled steering module and the wire-controlled brake module are all connected to the output end of the vehicle controller.

[0025] As a further optimization of the above solution, the radar uses a laser radar or an ultrasonic radar.

[0026] As a further optimization of the above solution, the vehicle controller uses chips with models HW3.0 and HW2.5.

[0027] The present invention provides a method for dynamic obstacle avoidance for an autonomous sightseeing vehicle, which has the following beneficial effects:

[0028] The present invention discloses a dynamic obstacle avoidance method for an autonomous driving sightseeing vehicle. The present invention is based on radars divided into front and rear radars, which can realize the monitoring of different obstacle scenes. Based on the control of the whole vehicle controller, a variety of avoidance options can be realized based on different obstacle scenes, replacing the avoidance method of only braking the sightseeing vehicle in the prior art.

[0029] Based on the setting of the side radar in the present invention, it is possible to monitor whether there is an obstacle on the side of the sightseeing car, so as to control the sightseeing car to turn and avoid the obstacle, thereby achieving the purpose of avoiding obstacles in a variety of complex ways.

[0030] The present invention is based on the provision of a voice prompt module, which can achieve the purpose of providing voice prompts to assist in obstacle avoidance when the sightseeing car avoids obstacles, reduce the difficulty of obstacle avoidance, speed up the obstacle avoidance process, and is particularly suitable for use in automatic driving sightseeing cars.

[0031] The method for dynamic obstacle avoidance of the automatic driving sightseeing vehicle in the present invention can dynamically select different obstacle avoidance methods according to various obstacle situations to solve the problem that obstacle avoidance reduces driving efficiency.

[0032] The present invention is based on the setting of the lighting control module, which can assist in obstacle avoidance and light up the obstacle to prompt avoidance.

[0033] With reference to the following description and drawings, a specific embodiment of the present invention is disclosed in detail, indicating the manner in which the principles of the present invention can be adopted. It should be understood that the scope of the embodiments of the present invention is not limited thereby, and within the spirit and scope of the appended claims, the embodiments of the present invention include many changes, modifications and equivalents. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of a dynamic obstacle avoidance system for an autonomous sightseeing vehicle of the present invention;

[0035] Figure 2Schematic diagram of the steps of the dynamic obstacle avoidance method for the autonomous driving sightseeing vehicle of the present invention. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail below through the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0037] Please refer to the instruction manual Figure 1-2 The present invention provides a technical solution: a dynamic obstacle avoidance method for an autonomous driving sightseeing vehicle, comprising the following steps:

[0038] S1: Obtain the information of the sightseeing destination and the location information of the sightseeing starting point, and obtain the initial path through the path planning module;

[0039] S2: Use radar to monitor obstacles encountered by the sightseeing car during driving, and then control the driving state of the sightseeing car through the vehicle controller, including:

[0040] The radar is divided into front radar and rear radar. The front radar is used to monitor obstacles in front of the sightseeing car, and the rear radar is used to monitor obstacles behind the sightseeing car.

[0041] If the front radar and the rear radar simultaneously detect obstacles in front and behind the sightseeing car, the vehicle controller controls the brake-by-wire module to start and brake the sightseeing car;

[0042] If the front radar detects an obstacle in front of the sightseeing car, and the rear radar detects no obstacle behind the sightseeing car, the vehicle controller controls the wire-controlled drive module to start, and the sightseeing car moves backward to avoid the obstacle;

[0043] If the rear radar detects an obstacle behind the sightseeing car and the front radar detects no obstacle in front of the sightseeing car, the vehicle controller controls the wire-controlled drive module to start and the sightseeing car moves forward.

[0044] The radar in the present invention is divided into front and rear radars, which can realize the monitoring of different obstacle scenes. Based on the control of the vehicle controller, multiple options of avoidance can be realized based on different obstacle scenes, replacing the existing avoidance method of only braking the sightseeing car.

[0045] The radar also includes a side radar, which is used to monitor obstacles on the side of the sightseeing car;

[0046] If the front radar detects an obstacle in front of the sightseeing car, and the side radar detects no obstacle on the side of the sightseeing car, the vehicle controller controls the wire-controlled rotation module to control the sightseeing car to turn and avoid the obstacle.

[0047] Moreover, based on the setting of the side radar in the present invention, it is possible to monitor whether there is an obstacle on the side of the sightseeing car, thereby controlling the sightseeing car to turn and avoid the obstacle, thereby achieving the purpose of avoiding obstacles in a variety of complex ways.

[0048] The wire-controlled drive module controls the sightseeing car to move forward or backward. The wire-controlled drive module, wire-controlled steering module and wire-controlled brake module are all existing technologies, and can use the engine, automobile steering system and chips of model HW3.0 and HW2.5 respectively, which will not be described in detail here.

[0049] The vehicle controller is also connected to the voice prompt module;

[0050] When the front radar and the rear radar simultaneously detect obstacles in front and behind the sightseeing car, the vehicle controller controls the wire control brake module to start and brake the sightseeing car. At the same time, the voice prompt module broadcasts voice prompts to avoid. When the obstacle is removed, the vehicle controller controls the wire control drive module to start and the sightseeing car continues to drive.

[0051] When the front radar detects that there is an obstacle in front of the sightseeing car and the rear radar detects that there is no obstacle behind the sightseeing car, the vehicle controller controls the wire-controlled drive module to start, and the sightseeing car retreats to avoid the obstacle. At the same time, the voice prompt module broadcasts voice prompts to avoid. When the obstacle is removed, the vehicle controller controls the wire-controlled drive module to start, and the sightseeing car continues to drive;

[0052] If the rear radar detects an obstacle behind the sightseeing car and the front radar detects no obstacle in front of the sightseeing car, the vehicle controller controls the wire-controlled drive module to start, and the sightseeing car moves forward. At the same time, the voice prompt module is not started.

[0053] The present invention is based on the provision of a voice prompt module, which can achieve the purpose of providing voice prompts to assist in obstacle avoidance when the sightseeing car avoids obstacles, reduce the difficulty of obstacle avoidance, speed up the obstacle avoidance process, and is particularly suitable for use in automatic driving sightseeing cars.

[0054] As is known to all, existing self-driving cars usually brake when encountering an obstacle in front and wait for the obstacle to be removed before continuing to drive. This obstacle avoidance method often leads to traffic jams and the like. Therefore, the dynamic obstacle avoidance method of the self-driving sightseeing car in the present invention can dynamically select different obstacle avoidance methods according to various obstacle situations to solve the problem that obstacle avoidance reduces driving efficiency.

[0055] The vehicle controller is also connected to the lighting control module;

[0056] When the current radar detects an obstacle in front of the sightseeing car, the vehicle controller controls the lighting control module to start. After the lighting control module is started, a prompt light is generated to remind the driver to move the obstacle away. When the obstacle is removed, the vehicle controller controls the wire-controlled drive module to start and the sightseeing car continues to drive.

[0057] The present invention is based on the setting of the lighting control module, which can assist in obstacle avoidance and light up the obstacle to prompt avoidance.

[0058] The present invention also provides a dynamic obstacle avoidance system for an autonomous sightseeing vehicle, wherein the output end of the radar is connected to the input end of the vehicle controller; the output end of the vehicle controller is connected to the input end of the lighting control module; the input ends of the wire-controlled drive module, wire-controlled steering module and wire-controlled brake module are all connected to the output end of the vehicle controller. The radar uses a laser radar or an ultrasonic radar.

[0059] It is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent substitution or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A dynamic obstacle avoidance method for an autonomous sightseeing vehicle, characterized in that: The following steps are involved: S1: Obtain the information of the sightseeing destination and the location information of the sightseeing starting point, and obtain the initial path through the path planning module; S2: Use radar to monitor obstacles encountered by the sightseeing car during driving, and then control the driving state of the sightseeing car through the vehicle controller, including: The radar is divided into front radar and rear radar. The front radar is used to monitor obstacles in front of the sightseeing car, and the rear radar is used to monitor obstacles behind the sightseeing car. If the front radar and the rear radar simultaneously detect obstacles in front and behind the sightseeing car, the vehicle controller controls the brake-by-wire module to start and brake the sightseeing car; If the front radar detects an obstacle in front of the sightseeing car, and the rear radar detects no obstacle behind the sightseeing car, the vehicle controller controls the wire-controlled drive module to start, and the sightseeing car moves backward to avoid the obstacle; If the rear radar detects an obstacle behind the sightseeing car and the front radar detects no obstacle in front of the sightseeing car, the vehicle controller controls the wire-controlled drive module to start and the sightseeing car moves forward.

2. The method for dynamic obstacle avoidance of an autonomous driving sightseeing vehicle according to claim 1, characterized in that: The radar also includes a side radar, which is used to monitor obstacles on the side of the sightseeing car; If the front radar detects an obstacle in front of the sightseeing car, and the side radar detects no obstacle on the side of the sightseeing car, the vehicle controller controls the wire-controlled rotation module to control the sightseeing car to turn and avoid the obstacle.

3. The method for dynamic obstacle avoidance of an automatic driving sightseeing vehicle according to claim 1, characterized in that: The wire-controlled drive module controls the sightseeing vehicle to move forward or backward.

4. The method for dynamic obstacle avoidance of an autonomous driving sightseeing vehicle according to claim 1, characterized in that: The vehicle controller is also connected to the voice prompt module; When the front radar and the rear radar simultaneously detect obstacles in front and behind the sightseeing car, the vehicle controller controls the wire control brake module to start and brake the sightseeing car. At the same time, the voice prompt module broadcasts voice prompts to avoid. When the obstacle is removed, the vehicle controller controls the wire control drive module to start and the sightseeing car continues to drive. When the front radar detects that there is an obstacle in front of the sightseeing car and the rear radar detects that there is no obstacle behind the sightseeing car, the vehicle controller controls the wire-controlled drive module to start, and the sightseeing car retreats to avoid the obstacle. At the same time, the voice prompt module broadcasts voice prompts to avoid. When the obstacle is removed, the vehicle controller controls the wire-controlled drive module to start, and the sightseeing car continues to drive; If the rear radar detects an obstacle behind the sightseeing car and the front radar detects no obstacle in front of the sightseeing car, the vehicle controller controls the wire-controlled drive module to start, and the sightseeing car moves forward. At the same time, the voice prompt module is not started.

5. The method for dynamic obstacle avoidance of an automatic driving sightseeing vehicle according to claim 1, characterized in that: The vehicle controller is also connected to the lighting control module; When the current radar detects an obstacle in front of the sightseeing car, the vehicle controller controls the lighting control module to start. After the lighting control module is started, a prompt light is generated to remind the driver to move the obstacle away. When the obstacle is removed, the vehicle controller controls the wire-controlled drive module to start and the sightseeing car continues to drive.

6. The method for dynamic obstacle avoidance of an autonomous driving sightseeing vehicle according to claim 1, characterized in that: The output end of the radar is connected to the input end of the vehicle controller; The output end of the vehicle controller is connected to the input end of the lighting control module; The input ends of the wire-controlled drive module, the wire-controlled steering module and the wire-controlled brake module are all connected to the output end of the vehicle controller.

7. The method for dynamic obstacle avoidance of an automatic driving sightseeing vehicle according to claim 1, characterized in that: The radar uses a laser radar or an ultrasonic radar.

8. The method for dynamic obstacle avoidance of an autonomous driving sightseeing vehicle according to claim 1, characterized in that: The vehicle controller uses chips with model numbers HW3.0 and HW2.5.

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