The invention discloses a multi-sensor fusion target vehicle automatic driving obstacle avoidance method and system which are used for solving the problems that an existing automatic driving target vehicle is low in control precision and insufficient in flexibility. The method comprises the steps of obtaining position information and a course angle of a target vehicle; acquiring a plurality of dangerous targets in a preset dangerous area and position action information of the plurality of dangerous targets relative to the target vehicle according to the position information and the course angle of the target vehicle; determining an obstacle avoidance target from the plurality of dangerous targets, and determining an obstacle avoidance point for the obstacle avoidance target according to the position action information of the obstacle avoidance target and the position information of the target vehicle; and based on the set route of the target vehicle, controlling the target vehicle to drive at the next waypoint according to the obstacle avoidance point. According to the method, the flexibility of the target vehicle is improved, and meanwhile the control precision of the target vehicle is improved.
本申请公开了一种多传感器融合的靶车自动驾驶避障方法及系统,用以解决目前的自动驾驶靶车的控制精度较低、灵活性不足的问题。该方法获取靶车的位置信息、航向角;根据所述靶车的位置信息、航向角,获取预设危险区域内的若干危险目标,以及所述若干危险目标相对于所述靶车的位置动作信息;从所述若干危险目标中,确定避障目标,并根据所述避障目标的位置动作信息,以及所述靶车的位置信息,确定针对所述避障目标的避障点;基于所述靶车的设定航线,控制所述靶车在下一航点按照所述避障点行驶。本方法增加了靶车的灵活性,同时提高了靶车的控制精度。
Multi-sensor fusion target vehicle automatic driving obstacle avoidance method and system
一种多传感器融合的靶车自动驾驶避障方法及系统
2021-04-09
Patent
Electronic Resource
Chinese
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