The invention discloses an unmanned vehicle emergency steering obstacle avoidance method based on obstacle motion prediction. A data acquisition module acquires road boundary information, real-time state information and obstacle information in the automobile driving process. Obstacle information is input into an obstacle motion prediction module; the obstacle motion prediction module predicts thelanding position and landing time of an obstacle to obtain corresponding data, the prediction data, the state information of the vehicle and the road boundary information are input into an unmanned vehicle obstacle avoidance track generation module to generate a corresponding steering obstacle avoidance trajectory, the generated obstacle avoidance trajectory data and the vehicle state informationare input into a neural network control module to solve a steering wheel angle required for the unmanned vehicle to track the steering obstacle avoidance trajectory, and the steering wheel of the unmanned vehicle is controlled to complete a corresponding obstacle avoidance task. According to the steering obstacle avoidance method, the unmanned vehicle can complete the emergency steering obstacle avoidance task when an obstacle suddenly falls down in front of the vehicle, and the driving safety of the unmanned vehicle and the rapidity of emergency steering obstacle avoidance are improved.
本发明公开了一种基于障碍物运动预测的无人车紧急转向避障方法,数据采集模块采集汽车行驶过程中的道路边界信息、实时状态信息和障碍物信息,将障碍物信息输入到障碍物运动预测模块,该模块对障碍物的落地位置、落地时间进行预测,得到相应的数据,然后将预测数据同汽车的状态信息、道路边界信息输入到无人车避障轨迹生成模块,生成相应的转向避障轨迹,将生成的避障轨迹数据、车辆状态信息输入神经网络控制模块,求出无人车跟踪转向避障轨迹所需的方向盘转角,控制无人车方向盘完成相应的避障任务。该发明的转向避障方法,可以实现无人车在车辆前方突然有障碍物落下时完成紧急转向避障任务,提高了无人车行驶的安全性和紧急转向避障的快速性。
Unmanned vehicle emergency steering obstacle avoidance method based on obstacle motion prediction
基于障碍物运动预测的无人车紧急转向避障方法
2020-04-28
Patent
Electronic Resource
Chinese
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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