A non-motor vehicle obstacle avoidance and collision prevention system and method based on DTOF laser radar

Abstract

The present invention discloses a non-motor vehicle obstacle avoidance and collision avoidance system and method based on DTOF laser radar, belonging to the field of vehicle safety technology. The system includes a laser radar module, which obtains obstacle information and covers key areas through a scanning range through a specific installation method; a control module, which receives data from the laser radar module and divides the scanning area into high, medium, and low priority partitions according to a preset partition scanning strategy, and scans them at different frequencies and accuracies respectively. At the same time, according to the warning classification rules, it calculates obstacle-related parameters and determines the warning level; a warning module, which issues warnings according to different warning level instructions issued by the control module; and a braking module, which performs corresponding braking operations according to the instructions of the control module. The present invention effectively solves the problems of traditional technologies in partition scanning and warning classification through the coordinated operation of various modules, and improves the overall performance and safety of the non-motor vehicle obstacle avoidance and collision avoidance system.

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 prevention system and method based on DTOF laser radar. Background Art

[0002] With the development of urban transportation, the number of non-motorized vehicles is increasing, and their road safety is receiving increasing attention. Frequent non-motorized vehicle traffic accidents not only cause physical harm to drivers but also result in socioeconomic losses. DTOF lidar, a time-of-flight (DTOF) laser radar technology, operates by measuring the time it takes for light to travel from a source to a target surface and back to a receiver. It is currently widely used in the field of 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 a non-motor vehicle, this area is directly related to the safety of the vehicle's driving path, but the traditional scanning method may not 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 side and rear areas, excessive scanning may be performed in some cases, 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 warnings. 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 prevention 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 through the following technical solutions:

[0007] A non-motor vehicle obstacle avoidance and collision prevention system based on DTOF laser radar, the system comprising:

[0008] 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. It is connected to the control module through a data transmission line and the scanning data is transmitted in real time;

[0009] The control module is used to receive data transmitted by the lidar module. The control module has a built-in storage unit for storing partition scanning strategies, warning classification rules, and temporary data during system operation. The control module analyzes the data and adjusts the scanning frequency and accuracy of the radar, while generating corresponding warning instructions and braking instructions.

[0010] 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;

[0011] 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 shown is an electromagnetic brake, which is connected to the brake line of the non-motor vehicle through the adapter interface.

[0012] Communication module, used for various data transmission of the system.

[0013] 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:

[0014] According to the non-motor vehicle driving environment and safety requirements, the lidar scanning area is divided into three main areas, namely the area in front of the vehicle, the area on both sides of the vehicle, and the area behind the vehicle. Among them, the area in front of the vehicle is set as a high priority area, the area on both sides of the vehicle is set as a medium priority area, and the area behind the vehicle is set as a low priority area;

[0015] By formula Determine the scanning angle range of high priority zones , through the formula Determine the scanning angle range for the medium priority partition , through the formula Determine the scanning angle range of low priority zones ;

[0016] in, is the total horizontal scanning angle range of the lidar, 、 、 It is the proportional coefficient set according to actual needs.

[0017] Furthermore, the control module adjusts the scanning frequency and accuracy of the radar in the following ways:

[0018] High priority partition: Set the scan frequency to , quickly capture fast-moving and suddenly appearing obstacles, the accuracy requirement is to reach When a suspected dangerous obstacle is detected in a high-priority zone, the approach speed between the obstacle and the vehicle is obtained. and distance , through the formula Adjust the scanning frequency to ; When the calculated Exceeds the maximum scanning frequency allowed by the system When, take ;

[0019] Medium priority partition: Set the scan frequency to , the accuracy is maintained at ;

[0020] Low priority partition: Set the scan frequency to , the accuracy is kept within ± ;

[0021] in, 、 as well as They are the system preset high-priority partition accuracy requirements, medium-priority partition accuracy requirements, and low-priority partition accuracy requirements. is the adjustment factor.

[0022] Furthermore, the control logic of the control module to implement the partition scanning strategy is:

[0023] The control module implements the partition scanning strategy by sending specific control instructions to the lidar. 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 lidar. After receiving the instructions, the lidar adjusts the internal scanning mechanism and signal processing unit and performs scanning operations according to the set parameters.

[0024] Furthermore, the warning instructions include mild warning, moderate warning and severe warning;

[0025] By formula Predicted collision time ,in is the relative speed of the obstacle to the non-motor vehicle;

[0026] when and When the warning is raised, a mild warning is generated;

[0027] when and When , a moderate warning is generated;

[0028] when or when When , a severe warning is generated;

[0029] in, The time threshold for the set 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.

[0030] Furthermore, the relative speed of the obstacle to the non-motor vehicle is The acquisition method is:

[0031] The control module receives obstacle data from the laser radar in real time. The distance to the obstacle is measured at , in time The distance measured when , the laser radar scanning angle is , non-motor vehicles at time The speed at , in time The speed at ;

[0032] 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: ;

[0033] The relative speed of the obstacle to the non-motor vehicle is .

[0034] Furthermore, the warning module works as follows:

[0035] When a mild warning is generated, the sound warning device in the driver 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;

[0036] When a moderate warning is generated, the sound warning device in the driver 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 Control the vehicle to gradually decelerate;

[0037] When a severe warning is generated, the sound warning device in the driver warning module emits a high-decibel, continuous emergency alarm sound, 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.

[0038] 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.

[0039] Beneficial effects of the present invention:

[0040] 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.

[0041] The present invention performs fine warning classification based on 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 a timely manner, 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.

[0042] 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

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 It is a module block diagram of the system of the present invention;

[0045] Figure 2 Schematic diagram of the working process of the control module in the present invention;

[0046] Figure 3 A schematic diagram of the process flow for formulating the partition scanning strategy in the present invention. DETAILED DESCRIPTION

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0048] In one embodiment, a non-motor vehicle obstacle avoidance and collision prevention system based on DTOF laser radar is disclosed. Figure 1-Figure 3 As shown, the system mainly includes:

[0049] 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. It is connected to the control module through a data transmission line and the scanning data is transmitted in real time;

[0050] The control module uses a microprocessor as the core control unit, which is capable of receiving and analyzing data transmitted by the lidar 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 and braking instructions. The control module is electrically connected to the lidar module, warning module, braking module, and communication module.

[0051] The warning module includes an audible 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 audible warning device uses a high-quality speaker to provide different sound prompts for mild, moderate and severe warnings. The light warning device uses high-brightness LED light groups distributed on the front, rear and sides of the non-motor vehicle, and realizes light warnings of different brightness and flashing modes under the control of the control module;

[0052] 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 shown is an electromagnetic brake, which is connected to the brake line of the non-motor vehicle through the adapter interface.

[0053] 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 receive control commands sent by external devices.

[0054] 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. The laser radar module selects a suitable DTOF laser radar, which is responsible for scanning the surrounding environment, obtaining obstacle information, and ensuring that the scanning range covers key areas through a specific installation method; the control module uses 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, it calculates obstacle-related parameters and determines the warning level; the warning module includes a sound warning device and a light warning device, and issues 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 during moderate and severe warnings; the communication module realizes the connection between the system and external devices, making it 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 based on the distance, relative speed and degree of danger between the obstacle and the non-motor vehicle, and with diversified warning methods and adaptive braking intensity, the driver can 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.

[0055] like Figure 2 As shown in FIG, 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 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 to perform the scanning operation according to the set parameters; Figure 3As shown, the method for determining the radar scanning range of each priority zone of non-motor vehicles is as follows: according to the non-motor vehicle driving environment and safety requirements, the laser radar scanning area is divided into three main zones, namely, the area in front of the vehicle, the area on both sides of the vehicle, and the area behind the vehicle. Among them, the area in front of the vehicle is determined as a high priority zone, the area on both sides of the vehicle is determined as a medium priority zone, and the area behind the vehicle is determined as a low priority zone;

[0056] By formula Determine the scanning angle range of high priority zones This area is directly in front of the vehicle and directly affects whether the vehicle can avoid obstacles in front in time, so it requires the most precise and fast scanning;

[0057] 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;

[0058] By formula Determine the scanning angle range of low priority zones , This area is the rear area of the vehicle, which 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 lidar, 、 、 It is a proportional coefficient set according to actual needs and is determined based on empirical data.

[0059] 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 to reach ,in To meet the high priority zone accuracy requirements, when a suspected dangerous obstacle is detected in the high priority zone, the vehicle is detected according to the approaching speed of the obstacle. and distance , dynamically adjust the scanning frequency to: ,in The adjustment coefficient is determined based on empirical data. Exceeds the maximum scanning frequency allowed by the system When, take ; For medium priority partitions: use a moderate scanning 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 partitioning accuracy requirements, it is sufficient to determine the approximate position and distance of rear obstacles.

[0060] This solution precisely divides the LiDAR scanning area through a partitioned scanning strategy. High-priority partitions directly ahead and near the driving trajectory are scanned at high frequency and precision, ensuring timely detection of obstacles in critical areas and effectively avoiding collisions. For example, in complex traffic scenarios, high-priority partitions can quickly detect unexpected vehicles or pedestrians, giving the driver more reaction time and reducing accidents. Furthermore, partitioned scanning employs differentiated scanning frequencies and accuracies for different areas, avoiding the resource waste associated with uniform scanning. Scanning frequencies are reduced for low-priority areas to the sides and rear, significantly reducing data processing volume and energy consumption while ensuring overall safety monitoring. This lowers system hardware requirements, such as enabling the use of more cost-effective processors and lowering battery capacity requirements. This reduces hardware costs, extends system life, reduces the frequency of charging or battery replacements, and lowers operating costs. This optimized resource allocation ensures effective cost control while ensuring effective obstacle avoidance in critical areas, improving the system's economics and practicality, and facilitating product promotion and application.

[0061] Warning classification rules Warning instructions in the warning classification include mild warning, moderate warning and severe warning;

[0062] 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: the control module receives the 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 , in time The distance measured when , the laser radar scanning angle is , non-motor vehicles at time The speed at , in 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 ;

[0063] when and When the warning is raised, a mild warning is generated;

[0064] when and A moderate warning is generated when an obstacle is in the medium priority zone on both sides of the vehicle, and the relative distance is less than the moderate warning distance threshold, and its movement trajectory tends to approach the vehicle, a moderate warning will also be triggered;

[0065] when or when When a severe warning is generated, for special cases, such as an obstacle suddenly appears in front of the vehicle at an extremely fast speed, and the relative speed is greater than ,in A special severe warning speed threshold will trigger a severe warning immediately regardless of whether the distance reaches the severe warning distance threshold.

[0066] in, The time threshold for the set 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 distance threshold for the severe warning is set;

[0067] 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;

[0068] When a moderate warning is generated, the sound warning device in the driver 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 Control the vehicle to gradually decelerate;

[0069] When a severe warning is generated, the sound warning device in the driver warning module emits a high-decibel, continuous emergency alarm sound, 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.

[0070] The warning grading mechanism in the above scheme divides levels based on multiple factors. Drivers can intuitively understand the degree of danger and take accurate response measures through warnings of different intensities and adaptive braking feedback. If a severe warning is triggered by a rapidly approaching obstacle, emergency braking can quickly reduce the risk of collision, greatly improving obstacle avoidance efficiency and safety, 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 relative to the non-motor vehicle and the predicted collision time, rather than just considering a single factor. This can greatly improve the accuracy of the warning, give the driver sufficient reaction time, and reduce the occurrence of safety accidents.

[0071] 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.

[0072] The above content is merely an example and explanation of the concept of the present invention. Those skilled in the art may make various modifications or additions to the described specific embodiments 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 scope of protection of the present invention.

Claims

1. A non-motor vehicle obstacle avoidance and collision prevention 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. It is connected to the control module through a data transmission line and the scanning data is transmitted in real time; The control module is used to receive data transmitted by the lidar module. The control module has a built-in storage unit for storing partition scanning strategies, warning classification rules, and temporary data during system operation. The control module analyzes the data and adjusts the scanning frequency and accuracy of the radar, while generating 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 shown 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; The partition scanning strategy is used to determine the radar scanning range of each priority partition of non-motor vehicles. The determination method 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 in front of the vehicle, the area on both sides of the vehicle, and the area behind the vehicle. Among them, the area 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; through the formula Determine the scanning angle range of high priority zones , through the formula Determine the scanning angle range for the medium priority partition , through the formula Determine the scanning angle range of low priority zones ; in, is the total horizontal scanning angle range of the lidar, 、 、 In order to set the proportional coefficient according to actual needs, 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, the accuracy requirement is to reach When a suspected dangerous obstacle is detected in a high-priority zone, the approach speed between the obstacle and the vehicle is obtained. and distance , through the formula Adjust the scanning frequency to ; When the calculated Exceeds the maximum scanning frequency allowed by the system When, take ; Medium priority partition: Set the scan frequency to , the accuracy is maintained at ; Low priority partition: Set the scan frequency to , the accuracy is kept within ± ; in, 、 as well as They are the system preset high-priority partition accuracy requirements, medium-priority partition accuracy requirements, and low-priority partition accuracy requirements. is the adjustment factor; The control module implements the control logic of the partition scanning strategy as follows: the control module implements the partition scanning strategy by sending control instructions to the laser radar. The control instructions include parameters for setting 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 to perform the scanning operation according to the set parameters. The warning instructions include mild warning, moderate warning and severe warning; through the formula Predicted collision time ,in is the relative speed of the obstacle to the non-motor vehicle; when and When the warning is raised, a mild warning is generated; when and When , a moderate warning is generated; when or when When , a severe warning is generated; in, The time threshold for the set 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.

2. The non-motor vehicle obstacle avoidance and collision prevention system based on DTOF laser radar according to claim 1, 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 , in time The distance measured when , the laser radar scanning angle is , non-motor vehicles at time The speed at , in 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 .

3. The non-motor vehicle obstacle avoidance and collision prevention system based on DTOF laser radar according to claim 2, characterized in that: The working method of the warning module is: When a mild warning is generated, the sound warning device in the driver 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 driver 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 is based on the braking deceleration Control the vehicle 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 sound, 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.

4. A non-motor vehicle obstacle avoidance and collision prevention 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 according to any one of claims 1 to 3.

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