The invention provides an unmanned vehicle obstacle avoidance method and system. The method comprises the steps: determining a vehicle motion area; constructing a vehicle obstacle avoidance segmentedoptimal control model of a continuous state space based on the vehicle motion area; converting the vehicle obstacle avoidance segmented optimal control model in the continuous state space into a vehicle obstacle avoidance segmented optimal control model containing an optimization variable by adopting an hp adaptive pseudo-spectrum method; solving the vehicle obstacle avoidance segmented optimal control model containing the optimization variable by adopting an interior point method to obtain an expected longitudinal acceleration and a front wheel rotation angle of the vehicle in a prediction time domain; calculating the accelerator opening degree according to the expected longitudinal acceleration; calculating a steering wheel angle according to the front wheel angle; and realizing vehiclecontrol according to the accelerator opening degree and the steering wheel rotating angle. The unmanned vehicle obstacle avoidance method disclosed by the invention not only can realize unmanned driving under the condition that an offline map and a reference trajectory are unknown, but also can realize unmanned driving on an unstructured road, and the application place is expanded.
本发明提供了一种无人车辆避障方法及系统,所述方法包括:确定车辆运动区域;基于所述车辆运动区域构建连续状态空间的车辆避障分段最优控制模型;采用hp自适应伪谱法将连续状态空间的车辆避障分段最优控制模型转换为含优化变量的车辆避障分段最优控制模型;采用内点法求解含优化变量的车辆避障分段最优控制模型,获得预测时域内车辆的期望纵向加速度和前轮转角;根据期望纵向加速度计算油门开度;根据前轮转角计算方向盘转角;根据所述油门开度和所述方向盘转角实现车辆控制。本发明公开的无人车辆避障方法不仅可以实现在离线地图与参考轨迹未知的情况下无人驾驶,还能够实现在非结构化道路无人驾驶,扩大了应用场所。
Unmanned vehicle obstacle avoidance method and system
一种无人车辆避障方法及系统
2020-07-28
Patent
Electronic Resource
Chinese
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