Dynamic obstacle avoidance path planning method based on multi-sensor fusion

Abstract

Disclosed is a dynamic obstacle avoidance path planning method based on multi-sensor fusion, which relates to the field of autonomous driving technology and includes the steps: Real time collection of environmental data through cameras, laser radar, and millimeter wave radar; Process environmental data to generate probability occupancy grids, where the probability occupancy grids represent the environment in grid form, with each grid cell having a dynamic occupancy probability. The dynamic occupancy probability is calculated by fusing multi-sensor data and quantifying the reliability of each sensor under different environmental conditions. The dynamic obstacle avoidance path planning method based on multi-sensor fusion proposed by the present invention significantly improves the comprehensiveness and accuracy of environmental perception by integrating multi-source data from cameras, laser radar, and millimeter wave radar, effectively compensating for the limitations of a single sensor in complex environments.