Non-motor vehicle obstacle avoidance and collision avoidance system and method based on DTOF laser radar

Abstract

The invention discloses a non-motor vehicle obstacle avoidance and collision avoidance system and method based on a DTOF laser radar, and belongs to the technical field of vehicle safety, and the system comprises a laser radar module which obtains obstacle information, and scans a range to cover a key area through a specific installation mode; the control module is used for receiving the data transmitted by the laser radar module, dividing a scanning area into high, medium and low priority subareas according to a preset subarea scanning strategy, respectively scanning at different frequencies and precisions, and calculating barrier related parameters and judging the early warning level according to an early warning grading rule; the warning module is used for warning according to different early warning level instructions sent by the control module; and the braking module executes corresponding braking operation according to the instruction of the control module. According to the non-motor vehicle obstacle avoidance and collision avoidance system, through cooperative work of all the modules, the problems in the aspects of partition scanning and early warning grading in the prior art are effectively solved, and the overall performance and safety of the non-motor vehicle obstacle avoidance and collision avoidance system are improved.

Description

Technical Field

[0001] The present invention belongs to the field of vehicle safety technology, and specifically relates to a non-motor vehicle obstacle avoidance and collision avoidance system and method based on DTOF laser radar. Background Art

[0002] With the development of urban transportation, the number of non-motor vehicles is increasing, and their safety issues on the road are receiving more and more attention. Frequent non-motor vehicle traffic accidents not only cause physical harm to drivers, but also cause social and economic losses. DTOF laser radar is a time and frequency technology that works by measuring the time it takes for light to be emitted from the light source to the target surface and then return to the light receiver. It has been widely used in the field of motor vehicle autonomous driving.

[0003] When traditional lidar is used in driving scenarios, a fixed scanning mode is usually adopted, that is, the entire scanning range is scanned with a uniform frequency and accuracy. It does not make a reasonable zoning plan for the scanning area, and does not fully consider the differences in the degree of safety threats posed by obstacles in different directions and areas during the driving of non-motor vehicles. For example, for the area directly in front of the non-motor vehicle, this area is directly related to the safety of the vehicle's driving path, but the traditional scanning method may not be able to provide a high enough scanning frequency and accuracy, resulting in insufficient and inaccurate detection of small obstacles or fast-moving obstacles in this critical area, increasing the risk of collision. For the lateral and rear areas, in some cases, excessive scanning may be performed, wasting system resources, reducing the overall efficiency of the system, and also increasing unnecessary costs and energy consumption.

[0004] At the same time, existing non-motor vehicles rely on a single factor such as distance for obstacle avoidance and collision warning. A warning is only issued when an obstacle enters a fixed close range. It is unable to distinguish the speed of the obstacle and the impact of its movement direction on the non-motor vehicle. When encountering an obstacle with a faster speed and facing the non-motor vehicle, this single warning method based on distance may not be able to remind the driver in time, resulting in insufficient driver reaction time. On the contrary, for some obstacles that are slow and gradually moving away, unnecessary warnings may be generated, interfering with the driver's normal driving, reducing the effectiveness and reliability of the warning, and failing to truly help the driver respond to potential dangers efficiently. Summary of the invention

[0005] The purpose of the present invention is to provide a non-motor vehicle obstacle avoidance and collision avoidance system and method based on DTOF laser radar to solve the problems faced in the above-mentioned background technology.

[0006] The purpose of the present invention can be achieved by the following technical solutions: A non-motor vehicle obstacle avoidance and collision prevention system based on DTOF laser radar, the system comprising: The laser radar module uses a DTOF laser radar sensor, which determines the distance between the obstacle and the non-motor vehicle by emitting laser pulses and measuring the flight time of the reflected light, and connects with the control module through a data transmission line and transmits the scanning data in real time; The control module is used to receive data transmitted by the laser radar module. The control module has a built-in storage unit for storing partition scanning strategies, warning classification rules and temporary data during system operation, and adjusts the scanning frequency and accuracy of the radar according to data analysis, and generates corresponding warning instructions and braking instructions; The warning module includes a sound warning device and a light warning device, which is used to issue sound and light warnings of different intensities according to the warning instructions of the control module; The brake module includes an electronic control unit, a brake actuator and an adapter interface with the original brake system of the non-motor vehicle. The electronic control unit is used to receive the brake command issued by the control module and control the action of the brake actuator according to the command. The brake actuator is an electromagnetic brake, which is connected to the brake line of the non-motor vehicle through the adapter interface. Communication module, used for various data transmission of the system.

[0007] Furthermore, the partition scanning strategy is used to determine the radar scanning range of each priority partition of non-motor vehicles, and the determination method is: According to the driving environment and safety requirements of non-motor vehicles, the laser radar scanning area is divided into three main partitions, namely, the area directly in front of the vehicle, the area on both sides of the vehicle, and the area behind the vehicle. Among them, the area directly in front of the vehicle is set as a high priority partition, the area on both sides of the vehicle is set as a medium priority partition, and the area behind the vehicle is set as a low priority partition; By formula Determine the scanning angle range of the high priority zone , through the formula Determine the scanning angle range for the medium priority partition , through the formula Determine the scanning angle range for low priority zones ; in, is the total horizontal scanning angle range of the laser radar, , , It is the proportional coefficient set according to actual needs.

[0008] Furthermore, the control module adjusts the scanning frequency and accuracy of the radar in the following ways: High priority partition: Set the scan frequency to , quickly capture fast-moving and suddenly appearing obstacles, and the accuracy requirement is When a suspected dangerous obstacle is detected in the high priority zone, the approach speed of the obstacle and the vehicle is obtained and distance , through the formula Adjust the scanning frequency to ; When the calculated Exceeding the maximum scanning frequency allowed by the system When ; Medium priority partition: Set the scan frequency to , the accuracy is maintained at ; Low priority partition: Set the scan frequency to , the accuracy is maintained at ± ; in, , as well as They are the high-priority partition accuracy requirements, medium-priority partition accuracy requirements, and low-priority partition accuracy requirements preset by the system. is the adjustment factor.

[0009] Furthermore, the control logic of the control module to implement the partition scanning strategy is: The control module implements the partition scanning strategy by sending specific control instructions to the laser radar. The control instructions include setting the parameters of the scanning start angle, end angle, scanning frequency and data acquisition mode. Before the start of each scanning cycle, the control module calculates the scanning parameters of each partition according to the partition scheme, and packages them into instructions and sends them to the laser radar. After receiving the instructions, the laser radar adjusts the internal scanning mechanism and signal processing unit, and performs scanning operations according to the set parameters.

[0010] Furthermore, the warning instructions include mild warning, moderate warning and severe warning; By formula Predicted collision time ,in is the relative speed of the obstacle to the non-motor vehicle; when and A mild warning is generated when when and A moderate warning is generated when when or when When a severe warning is generated; in, The light warning collision time threshold is set. Set the relative speed threshold for the mild warning Indicates the relative distance between the current obstacle and the non-motor vehicle. The moderate warning collision time threshold is set. The severe warning distance threshold is set.

[0011] Furthermore, the relative speed of the obstacle to the non-motor vehicle is The acquisition method is: The control module receives obstacle data from the laser radar in real time. The distance to the obstacle is measured at , at time The distance measured at , the laser radar scanning angle is , non-motor vehicles at time The speed at , at time The speed at ; Then the relative distance change of the obstacle in the horizontal direction relative to the non-motor vehicle is: , the relative distance change of the obstacle in the vertical direction relative to the non-motor vehicle is: ; The relative speed of the obstacle to the non-motor vehicle is .

[0012] Furthermore, the warning module works as follows: When a mild warning is generated, the sound warning device in the driving warning module emits a soft warning sound, and at the same time controls the light warning device to flash yellow light at a slower frequency; When a moderate warning is generated, the sound warning device in the drive warning module emits a louder and more rapid warning sound, and at the same time controls the light warning device to switch to orange light and flash at a faster frequency, and sends a moderate braking signal to the brake module. The expected braking deceleration during the moderate warning is set to ,in is the initial speed of the vehicle, For medium warning expected stopping distance, the brake module uses the braking deceleration The vehicle is controlled to gradually decelerate; When a severe warning is generated, the sound warning device in the driver warning module emits a high-decibel, continuous emergency alarm, controls the light warning device to flash red light at the fastest speed, and sends the maximum intensity emergency brake signal to the brake module. Set the emergency brake deceleration to ,in is the friction coefficient between the vehicle and the ground, The brake module stops the vehicle quickly due to gravity acceleration.

[0013] A non-motor vehicle obstacle avoidance and collision avoidance method based on DTOF laser radar, wherein the method is controlled and executed by the non-motor vehicle obstacle avoidance and collision avoidance system based on DTOF laser radar.

[0014] Beneficial effects of the present invention: The present invention divides the laser radar scanning area into different priority zones and adopts a differentiated scanning strategy to achieve efficient monitoring of key areas while reducing resource usage and costs.

[0015] The present invention performs fine warning classification according to the distance between the obstacle and the non-motor vehicle, the relative speed and the degree of danger, and uses diversified warning methods and adaptive braking intensity to enable the driver to intuitively judge the degree of danger and take effective measures in time, thereby significantly improving the efficiency and safety of non-motor vehicle obstacle avoidance and collision prevention, ensuring the personal safety of the driver and reducing the losses caused by traffic accidents.

[0016] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0018] Figure 1 It is a module block diagram of the system of the present invention; Figure 2 Schematic diagram of the working process of the control module in the present invention; Figure 3 A schematic diagram of the process flow for formulating the partition scanning strategy in the present invention. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In one embodiment, a non-motor vehicle obstacle avoidance and collision avoidance system based on DTOF laser radar is disclosed, such as Figure 1-Figure 3 As shown, the system mainly includes: The laser radar module uses a DTOF laser radar sensor, which determines the distance between the obstacle and the non-motor vehicle by emitting laser pulses and measuring the flight time of the reflected light, and connects with the control module through a data transmission line and transmits the scanning data in real time; The control module uses a microprocessor as the core control unit, which is capable of receiving and analyzing data transmitted by the laser radar module. The control module has a built-in storage unit for storing partition scanning strategies, warning classification rules, and temporary data during system operation. It adjusts the scanning frequency and accuracy of the radar based on data analysis, and generates corresponding warning instructions and braking instructions. The control module is electrically connected to the laser radar module, warning module, braking module, and communication module. The warning module includes a sound warning device and a light warning device, which are used to issue sound and light warnings of different intensities according to the warning instructions of the control module. The sound warning device adopts a high-quality speaker to realize different sound prompts for mild, moderate and severe warnings. The light warning device uses a high-brightness LED light group, which is distributed on the front, rear and side of the non-motor vehicle, and realizes light warnings of different brightness and flashing modes through the control of the control module; The brake module includes an electronic control unit, a brake actuator and an adapter interface with the original brake system of the non-motor vehicle. The electronic control unit is used to receive the brake command issued by the control module and control the action of the brake actuator according to the command. The brake actuator is an electromagnetic brake, which is connected to the brake line of the non-motor vehicle through the adapter interface. The communication module is used for various data transmission of the system. The communication module adopts Bluetooth communication technology to achieve wireless connection with the driver's mobile phone and smart watch. Its built-in communication protocol stack can stably transmit system status information and obstacle information data to external devices, and can also accept control commands sent by external devices.

[0021] The above technical solution provides a low-cost DTOF laser radar non-motor vehicle obstacle avoidance and collision avoidance system, including a laser radar module, a control module, a warning module, a braking module and a communication module, wherein the laser radar module selects a suitable DTOF laser radar, is responsible for scanning the surrounding environment, obtaining obstacle information, and ensuring that the scanning range covers the key area through a specific installation method; the control module adopts a high-performance microprocessor as the core control unit, and the built-in storage unit is used to store information on partition scanning strategies and warning classification rules. The module receives data from the laser radar module, and divides the scanning area into high, medium and low priority partitions according to the preset partition scanning strategy, and scans them at different frequencies and accuracies respectively. At the same time, according to the warning classification rules, the obstacle-related parameters are calculated to determine the warning level; the warning module includes a sound warning device and a light warning device, and sends out sound and light warnings of corresponding intensities according to the different warning level instructions issued by the control module; the braking module is connected to the non-motor vehicle braking system, and performs corresponding braking operations according to the instructions of the control module in moderate and severe warnings; the communication module realizes the connection between the system and external devices, which is convenient for the driver to obtain information and perform system settings. Through the coordinated work of the above modules, by dividing the lidar scanning area into different priority zones and adopting differentiated scanning strategies, efficient monitoring of key areas can be achieved while reducing resource occupation and costs; at the same time, fine warning classification is carried out according to the distance, relative speed and degree of danger between the obstacle and the non-motor vehicle, and a variety of warning methods and adaptive braking intensity are used to enable the driver to intuitively judge the degree of danger and take effective measures in time, thereby significantly improving the efficiency and safety of non-motor vehicle obstacle avoidance and collision avoidance, ensuring the personal safety of the driver, reducing the losses caused by traffic accidents, providing reliable technical support for the safe travel of non-motor vehicles, and improving the overall performance and safety of the non-motor vehicle obstacle avoidance and collision avoidance system.

[0022] like Figure 2 As shown in FIG. 1 , the control logic of the control module to implement the partition scanning strategy is as follows: the control module implements the partition scanning strategy by sending specific control instructions to the laser radar. The control instructions include setting the parameters of the scanning start angle, end angle, scanning frequency and data acquisition mode. Before each scanning cycle starts, the control module calculates the scanning parameters of each partition according to the partition scheme, and packages them into instructions and sends them to the laser radar. After receiving the instructions, the laser radar adjusts the internal scanning mechanism and signal processing unit to perform scanning operations according to the set parameters; Figure 3 As shown, the method for determining the radar scanning range of each priority partition of a non-motor vehicle is as follows: according to the non-motor vehicle driving environment and safety requirements, the laser radar scanning area is divided into three main partitions, namely, the area directly in front of the vehicle, the area on both sides of the vehicle, and the area behind the vehicle, wherein the area directly in front of the vehicle is defined as a high priority partition, the area on both sides of the vehicle is defined as a medium priority partition, and the area behind the vehicle is defined as a low priority partition; By formula Determine the scanning angle range of the high priority zone ,This area is directly in front of the vehicle, which directly affects whether the vehicle can avoid obstacles in front in time, so it requires the most precise and fast scanning; By formula Determine the scanning angle range for the medium priority partition ,This area is the area on both sides of the vehicle, which is used to detect possible obstacles on the side; By formula Determine the scanning angle range for low priority zones , which is the area behind the vehicle, and is mainly used to provide a certain degree of rear environment awareness when parking, reversing or changing lanes. In order to ensure a smooth transition between partitions, an overlapping area of ​​a certain angle is also set at the partition boundary; among them, is the total horizontal scanning angle range of the laser radar, , , It is a proportional coefficient set according to actual needs and is determined based on empirical data.

[0023] The control module adjusts the scanning frequency and accuracy of the radar as follows: For high priority partitions: the scanning frequency is set to , timely capture fast-moving and suddenly appearing obstacles, the accuracy requirement is ,in To meet the high priority zone accuracy requirements, when a suspected dangerous obstacle is detected in the high priority zone, the obstacle is approached by the vehicle at a certain speed. and distance , dynamically adjust the scanning frequency to: ,in The adjustment coefficient is determined based on empirical data. Exceeding the maximum scanning frequency allowed by the system When ; For medium priority partitions: use a moderate scan frequency, set to , the accuracy is maintained at ,in For medium priority partitions, the accuracy requirement can meet the needs of detecting obstacles of general size; for low priority partitions: the scanning frequency is reduced to , with an accuracy of ± ,in For low-priority partition accuracy requirements, it is sufficient to determine the approximate position and distance of the rear obstacles.

[0024] The above scheme uses a partition scanning strategy to accurately divide the laser radar scanning area, and performs high-frequency and high-precision scanning on the high-priority partitions in front and near the driving track to ensure timely detection of obstacles in key areas and effectively avoid collisions. For example, in complex traffic scenes, high-priority partitions can quickly capture vehicles or pedestrians that suddenly appear, giving drivers more reaction time and reducing accidents. At the same time, through partition scanning, differentiated scanning frequencies and precisions are used for different areas to avoid resource waste caused by unified scanning, and the scanning frequency is reduced for low-priority areas on both sides and in the rear. While ensuring overall safety monitoring, the data processing volume and energy consumption are significantly reduced, and the system hardware requirements are reduced. For example, a more cost-effective processor can be selected and the battery capacity requirement can be reduced, thereby reducing hardware costs, extending the system life, reducing the frequency of charging or battery replacement, and reducing the cost of use. This resource optimization configuration method enables the system to achieve effective cost control while ensuring the obstacle avoidance effect in key areas, improves the economy and practicality of the system, and is conducive to the promotion and application of products.

[0025] Warning classification rules Warning instructions in the warning classification include mild warning, moderate warning and severe warning; By formula Predicted collision time ,in is the relative speed of the obstacle to the non-motor vehicle, and the relative speed of the obstacle to the non-motor vehicle The acquisition method is as follows: the control module receives obstacle data from the laser radar in real time, and the laser radar is set at time The distance to the obstacle is measured at , at time The distance measured at , the laser radar scanning angle is , non-motor vehicles at time The speed at , at time The speed at ; Then the relative distance change of the obstacle in the horizontal direction relative to the non-motor vehicle is: , the relative distance change of the obstacle in the vertical direction relative to the non-motor vehicle is: ; then the relative speed of the obstacle to the non-motor vehicle is ; when and A mild warning is generated when when and A medium warning is generated when the obstacle is in the medium priority zone on both sides of the vehicle, and the relative distance is less than the medium warning distance threshold, and its movement trajectory tends to approach the vehicle, a medium warning will also be triggered; when or when A severe warning is generated when an obstacle suddenly appears in front of the vehicle at a very high speed, with a relative speed greater than ,in It is a special severe warning speed threshold. Regardless of whether the distance reaches the severe warning distance threshold, a severe warning will be triggered immediately. in, The time threshold for the mild warning collision is set. The relative speed threshold for the mild warning Indicates the relative distance between the current obstacle and the non-motor vehicle. The moderate warning collision time threshold is set. The severe warning distance threshold is set; After generating the warning instruction, the control module generates a corresponding control signal to the warning module according to the warning classification judgment result: when a mild warning is generated, the sound warning device in the warning module is driven to emit a soft prompt sound, and the light warning device is controlled to flash yellow light at a slower frequency; When a moderate warning is generated, the sound warning device in the drive warning module emits a louder and more rapid warning sound, and at the same time controls the light warning device to switch to orange light and flash at a faster frequency, and sends a moderate braking signal to the brake module. The expected braking deceleration during the moderate warning is set to ,in is the initial speed of the vehicle, For medium warning expected stopping distance, the brake module uses the braking deceleration The vehicle is controlled to gradually decelerate; When a severe warning is generated, the sound warning device in the driver warning module emits a high-decibel, continuous emergency alarm, controls the light warning device to flash red light at the fastest speed, and sends the maximum intensity emergency brake signal to the brake module. Set the emergency brake deceleration to ,in is the friction coefficient between the vehicle and the ground, The braking module stops the vehicle quickly due to gravity acceleration. During emergency braking, the control module continuously monitors the vehicle status and makes dynamic adjustments based on actual conditions.

[0026] In the above scheme, the warning classification mechanism is divided into levels based on multiple factors. Through warnings of different intensities and adaptive braking feedback, the driver can intuitively understand the degree of danger and take accurate response measures. If a fast-approaching obstacle triggers a severe warning, emergency braking can quickly reduce the risk of collision, greatly improving the efficiency and safety of obstacle avoidance, reducing the probability of traffic accidents, and protecting the lives and property of non-motor vehicle drivers. When issuing a warning, a comprehensive analysis and warning is conducted based on factors such as the relative speed of the obstacle to the non-motor vehicle and the predicted collision time, instead of considering only a single factor. This can greatly improve the accuracy of the warning, give the driver enough reaction time, and reduce the occurrence of safety accidents.

[0027] A non-motor vehicle obstacle avoidance and collision avoidance method based on DTOF laser radar, wherein the obstacle avoidance and collision avoidance method is controlled and executed by the above-mentioned non-motor vehicle obstacle avoidance and collision avoidance system based on DTOF laser radar.

[0028] The above contents are merely examples and explanations of the concept of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. A non-motor vehicle obstacle avoidance and collision avoidance system based on DTOF laser radar, characterized in that: The system comprises: The laser radar module uses a DTOF laser radar sensor, which determines the distance between the obstacle and the non-motor vehicle by emitting laser pulses and measuring the flight time of the reflected light, and connects with the control module through a data transmission line and transmits the scanning data in real time; The control module is used to receive data transmitted by the laser radar module. The control module has a built-in storage unit for storing partition scanning strategies, warning classification rules and temporary data during system operation, and adjusts the scanning frequency and accuracy of the radar according to data analysis, and generates corresponding warning instructions and braking instructions; The warning module includes a sound warning device and a light warning device, which is used to issue sound and light warnings of different intensities according to the warning instructions of the control module; The brake module includes an electronic control unit, a brake actuator and an adapter interface with the original brake system of the non-motor vehicle. The electronic control unit is used to receive the brake command issued by the control module and control the action of the brake actuator according to the command. The brake actuator is an electromagnetic brake, which is connected to the brake line of the non-motor vehicle through the adapter interface. Communication module, used for various data transmission of the system.

2. The non-motor vehicle obstacle avoidance and collision avoidance system based on DTOF laser radar according to claim 1 is characterized in that: The partition scanning strategy is used to determine the radar scanning range of each priority partition of non-motor vehicles, and the determination method is: According to the driving environment and safety requirements of non-motor vehicles, the laser radar scanning area is divided into three main partitions, namely, the area directly in front of the vehicle, the area on both sides of the vehicle, and the area behind the vehicle. Among them, the area directly in front of the vehicle is set as a high priority partition, the area on both sides of the vehicle is set as a medium priority partition, and the area behind the vehicle is set as a low priority partition; By formula Determine the scanning angle range of the high priority zone , through the formula Determine the scanning angle range for the medium priority partition , through the formula Determine the scanning angle range for low priority zones ; in, is the total horizontal scanning angle range of the laser radar, , , It is the proportional coefficient set according to actual needs.

3. The non-motor vehicle obstacle avoidance and collision avoidance system based on DTOF laser radar according to claim 2 is characterized in that: The control module adjusts the scanning frequency and accuracy of the radar in the following ways: High priority partition: Set the scan frequency to , quickly capture fast-moving and suddenly appearing obstacles, and the accuracy requirement is When a suspected dangerous obstacle is detected in the high priority zone, the approach speed of the obstacle and the vehicle is obtained and distance , through the formula Adjust the scanning frequency to ; When the calculated Exceeding the maximum scanning frequency allowed by the system When ; Medium priority partition: Set the scan frequency to , the accuracy is maintained at ; Low priority partition: Set the scan frequency to , the accuracy is maintained at ± ; in, , as well as They are the high-priority partition accuracy requirements, medium-priority partition accuracy requirements, and low-priority partition accuracy requirements preset by the system. is the adjustment factor.

4. The non-motor vehicle obstacle avoidance and collision avoidance system based on DTOF laser radar according to claim 1, characterized in that: The control logic of the control module to implement the partition scanning strategy is: The control module implements the partition scanning strategy by sending specific control instructions to the laser radar. The control instructions include setting the parameters of the scanning start angle, end angle, scanning frequency and data acquisition mode. Before the start of each scanning cycle, the control module calculates the scanning parameters of each partition according to the partition scheme, and packages them into instructions and sends them to the laser radar. After receiving the instructions, the laser radar adjusts the internal scanning mechanism and signal processing unit, and performs scanning operations according to the set parameters.

5. The non-motor vehicle obstacle avoidance and collision avoidance system based on DTOF laser radar according to claim 1, characterized in that: The warning instructions include mild warning, moderate warning and severe warning; By formula Predicted collision time ,in is the relative speed of the obstacle to the non-motor vehicle; when and A mild warning is generated when when and A moderate warning is generated when when or when When a severe warning is generated; in, The time threshold for the mild warning collision is set. Set the relative speed threshold for the mild warning Indicates the relative distance between the current obstacle and the non-motor vehicle. The moderate warning collision time threshold is set. The severe warning distance threshold is set.

6. The non-motor vehicle obstacle avoidance and collision avoidance system based on DTOF laser radar according to claim 5, characterized in that: The relative speed of the obstacle to the non-motor vehicle The acquisition method is: The control module receives obstacle data from the laser radar in real time. The distance to the obstacle is measured at , at time The distance measured at , the laser radar scanning angle is , non-motor vehicles at time The speed at , at time The speed at ; Then the relative distance change of the obstacle in the horizontal direction relative to the non-motor vehicle is: , the relative distance change of the obstacle in the vertical direction relative to the non-motor vehicle is: ; The relative speed of the obstacle to the non-motor vehicle is .

7. The non-motor vehicle obstacle avoidance and collision avoidance system based on DTOF laser radar according to claim 5, characterized in that: The working method of the warning module is: When a mild warning is generated, the sound warning device in the driving warning module emits a soft warning sound, and at the same time controls the light warning device to flash yellow light at a slower frequency; When a moderate warning is generated, the sound warning device in the drive warning module emits a louder and more rapid warning sound, and at the same time controls the light warning device to switch to orange light and flash at a faster frequency, and sends a moderate braking signal to the brake module. The expected braking deceleration during the moderate warning is set to ,in is the initial speed of the vehicle, For medium warning expected stopping distance, the brake module uses the braking deceleration The vehicle is controlled to gradually decelerate; When a severe warning is generated, the sound warning device in the driver warning module emits a high-decibel, continuous emergency alarm, controls the light warning device to flash red light at the fastest speed, and sends the maximum intensity emergency brake signal to the brake module. Set the emergency brake deceleration to ,in is the friction coefficient between the vehicle and the ground, The brake module stops the vehicle quickly due to gravity acceleration.

8. A non-motor vehicle obstacle avoidance and collision avoidance method based on DTOF laser radar, characterized in that: The method is controlled and executed by the non-motor vehicle obstacle avoidance and collision avoidance system based on DTOF laser radar as described in any one of claims 1-7.

Images