The invention discloses a low-speed unmanned driving control method. The method comprises the following steps that: first distance information of all obstacles right in front of a vehicle is acquired,and the vehicle is controlled to brake if the minimum distance value in the first distance information is smaller than a first distance threshold value; when the minimum distance value in the first distance information is larger than the first distance threshold value, wide-angle scanning is initiated, and second distance information of all obstacles within the wide-angle range in front of the vehicle is acquired; and distance component information in the advancing direction in the second distance information is calculated, and if all values in the distance component information are greater than a component threshold value and the minimum distance value in the second distance information is larger than a second distance threshold value, the vehicle is controlled to restart to drive. Whenno obstacle exists in front of the vehicle, wide-angle scanning is executed, and the vehicle is started again when the situation that no obstacle exists on the front left side and the front right sideis confirmed. The invention further discloses a system adopting the method.

    本发明公开了一种低速无人驾驶控制方法,包括以下步骤:获取车辆正前方所有障碍物的第一距离信息,若所述第一距离信息中的最小距离值小于第一距离阈值,则控制所述车辆制动;当所述第一距离信息中的最小距离值大于所述第一距离阈值时,启动广角扫描,获取所述车辆前方广角范围内的所有障碍物的第二距离信息;计算所述第二距离信息中沿所述行进方向的距离分量信息,若所述距离分量信息中的所有值均大于分量阈值,且所述第二距离信息中的最小距离值大于第二距离阈值时,控制所述车辆重新开始行驶。本发明为当车辆正前方已经不存在障碍物时,执行广角扫描,确认左前方和右前方也不存在障碍物时再启动车辆。本发明还公开了一种采用上述方法的系统。


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    Title :

    Low-speed unmanned driving control method and system


    Additional title:

    低速无人驾驶控制方法及系统


    Contributors:
    LI ZHENHUA (author) / LIU LIHENG (author) / LI GUANGHUA (author)

    Publication date :

    2020-12-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / 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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