The invention discloses a trajectory prediction anti-collision method for an unmanned vehicle, relates to the technical field of driving of automobiles, and aims to solve the problems that in the prior art, a reasonable obstacle avoidance path needs to be planned for the unmanned vehicle under an original path, the method is relatively complex, the calculated amount is large, and the applicability is narrow. The obstacle and the unmanned vehicle are converted into two-dimensional images for collision analysis; planning a prediction path of each point at the edge of the unmanned vehicle, drawing a range circle by taking each point at the edge of the unmanned vehicle as a circle center, and performing corresponding obstacle prediction path planning and unmanned vehicle prediction path planning by taking the distance between the obstacle and the nearest point of the range circle as a judgment basis; and under the condition of judging that the intersection point exists between each obstacle prediction path and each unmanned vehicle prediction path, the prediction of whether the unmanned vehicle collides with the obstacle is more accurate, and the method is simple, small in calculation amount, suitable for all levels of roads and wide in adaptability.
本发明公开了一种无人车的轨迹预测防撞方法,涉及驾驶汽车技术领域,旨在解决现有技术中无人车需要在原有路径下规划合理避障路径、方法较为复杂、计算量大,适用性窄的问题,采用的技术方案是,将障碍物和本无人车转化为二维图像进行碰撞分析;规划本无人车边缘各点的预测路径,以本无人车边缘各点为圆心作范围圆,以障碍物距离范围圆最近点之间的距离作为判断依据,进行对应的障碍物预测路径规划和本无人车预测路径规划,并在判断各障碍物预测路径与各本无人车预测路径存在交点的情况下,对本无人车与障碍物是否发生碰撞的预测更加准确,该方法简单、计算量少,而且该方法适用于各级道路,适应性广。
Trajectory prediction anti-collision method for unmanned vehicle
一种无人车的轨迹预测防撞方法
2022-03-01
Patent
Electronic Resource
Chinese
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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