The invention relates to the field of unmanned vehicle navigation, in particular to an unmanned vehicle obstacle avoidance method based on model predictive control. The method comprises the following steps: S1, acquiring the shape of a front obstacle based on an infrared light curtain, and acquiring a relative distance parameter set between the front obstacle and an unmanned vehicle; S2, generating a corresponding obstacle avoidance ring based on the shape of the front obstacle and the relative distance parameter set between the front obstacle and the unmanned vehicle; S3, identifying a gap between two adjacent obstacle avoidance circles based on a road generation model, and generating a corresponding unmanned vehicle passage road; and S4, based on the obstacle avoidance route planning model, taking the generated unmanned vehicle passing road as a template, and taking the shortest passing path as a target so as to realize planning of the obstacle avoidance route. On the basis of the infrared light curtain and the three-dimensional digital compass, global position information of the unmanned vehicle and the obstacle can be quickly obtained, so that accurate obstacle avoidance of the unmanned vehicle can be realized.

    本发明涉及无人车导航领域,具体涉及一种基于模型预测控制的无人车避障方法,包括如下步骤:S1、基于红外线光幕实现前方障碍物形状的采集,并获取前方障碍物与无人车之间的相对距离参数集;S2、基于前方障碍物形状及前方障碍物与无人车之间的相对距离参数集生成对应的障碍物避障圈;S3、基于道路生成模型实现相邻两个障碍物避障圈之间间隙的识别,生成对应的无人车通行道路;S4、基于避障路线规划模型以生成的无人车通行道路为模板,通行路径最短为目标实现无人车避障路线的规划。本发明基于红外线光幕、三维数字罗盘可以快速获取到无人车与障碍物的全局位置信息,从而可以实现无人车的精准避障。


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    Title :

    Unmanned vehicle obstacle avoidance method based on model predictive control


    Additional title:

    一种基于模型预测控制的无人车避障方法


    Contributors:
    YU YUTING (author) / CHU YANTING (author) / ZUO JIHONG (author) / HUANG JIE (author) / MAO LIANG (author) / CAO WEIQUAN (author) / NIE RONG (author)

    Publication date :

    2021-06-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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