The invention discloses an obstacle avoidance system based on unmanned driving, and the system comprises a collection module which is used for obtaining the operation states of a plurality of sensors and correspondingly collected obstacle data information; the processing module is used for acquiring corresponding weight information based on the operation states of the plurality of sensors, and performing data fusion on the acquired obstacle data information and the corresponding weight information to obtain position information of the obstacle; the judgment module is used for acquiring the character information of the obstacle and judging the motion state of the obstacle; and the avoiding module is used for planning a detouring route based on the position information, the motion state and the character information of the obstacle. According to the method, the avoidance measures taken by the unmanned vehicle under two different motion states of the obstacle are comprehensively considered, the relative motion factors of the obstacle and the unmanned vehicle are fully considered, the obstacle is avoided according to the relative motion factors, and the accuracy of obstacle avoidance is further improved.

    本发明公开了一种基于无人驾驶的障碍物规避系统,包括:采集模块,用于获取若干个传感器的运行状态及对应采集的障碍物数据信息;处理模块,用于基于若干个传感器的运行状态获取对应的权重信息,并将采集的障碍物数据信息与对应的权重信息进行数据融合,获得障碍物的位置信息;判断模块,用于获取障碍物的性状信息并判断障碍物的运动状态;规避模块,用于基于障碍物的位置信息、运动状态和性状信息,规划绕行路线。本发明综合考量了障碍物在两种不同的运动状态下,无人车采取的规避措施,充分考虑了障碍物与无人车的相对运动因素,并以此进行规避,进一步提高了规避障碍物的准确性。


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    Title :

    Obstacle avoidance system based on unmanned driving


    Additional title:

    一种基于无人驾驶的障碍物规避系统


    Contributors:
    ZHANG YOUBING (author) / HU MINGMAO (author) / ZHANG WEI (author) / ZHENG XIAOQIU (author)

    Publication date :

    2023-02-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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