The invention provides an obstacle avoidance method for an unmanned vehicle. The method comprises the following steps: a time-of-flight TOF camera disposed on an unmanned vehicle shoots a driving environment according to an image collection instruction, obtains three-dimensional point cloud data, and transmits the three-dimensional point cloud data to a main controller; when judging that an obstacle is within the driving path range of the unmanned vehicle according to the recognition information of the obstacle obtained by obstacle recognition, the main controller sends the position information of the obstacle to a local path planning module, and performs calculation according to the position information of the obstacle, the driving state data and the original global path data to obtain obstacle avoidance path data; when the main controller judges that the offset of the obstacle avoidance path data and the original global path data is smaller than a preset offset threshold value, the main controller carries out calculation according to the obstacle avoidance path and the vehicle driving data to obtain a target speed and a target steering angle and sends the target speed and the target steering angle to a vehicle body controller; and the vehicle body controller performs driving control on the vehicle according to the target speed and the target steering angle.

    本发明提供了一种用于无人驾驶车辆的障碍物躲避方法,包括设置于无人驾驶车辆上的飞行时间TOF相机根据图像采集指令对行驶环境进行拍摄,得到三维点云数据并发送给主控制器;主控制器根据障碍物识别得到的障碍物的识别信息判断障碍物在无人驾驶车辆的行驶路径范围内时,将障碍物的位置信息发送给局部路径规划模块,根据障碍物的位置信息、行驶状态数据和原始全局路径数据进行计算得到避障路径数据;主控制器判断避障路径数据与原始全局路径数据的偏移量小于预设偏移阈值时,主控制器根据避障路径和车辆行驶数据进行计算,得到目标速度和目标转向角度并发送给车身控制器;车身控制器根据目标速度和目标转向角度进行车辆的行驶控制。


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    Titel :

    Obstacle avoidance method for unmanned vehicle


    Weitere Titelangaben:

    一种用于无人驾驶车辆的障碍物躲避方法


    Beteiligte:
    ZHU XIANG (Autor:in)

    Erscheinungsdatum :

    2020-04-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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