The invention discloses a control method and system for vehicle obstacle avoidance and blind area detection, and the method comprises the steps: a solid-state laser radar detects the obstacle information of a front height obstacle which is greater than or equal to the height of a vehicle in front of the vehicle, and transmits the obstacle information to a DDU module; obstacle information is transmitted to a perception fusion module for deep fusion through the ROS, and target obstacle information is output after calculation; converting coordinates into world coordinates by using tf nodes, and issuing target height obstacle information; the automatic driving sensing system of the vehicle sends the target height obstacle information and the height difference value to a planning module; the planning module calculates the distance between the vehicle and a height obstacle in real time at a high speed, performs dynamic path planning in real time, and decides to park in a safe distance for obstacle avoidance; and the control module receives the track information of the planning module and an estop command and performs vehicle control. According to the invention, automatic height limit detection and vehicle safety obstacle avoidance functions can be realized, and the detection capability of a sensing system and the safety of automatic driving are improved.

    一种车辆避障和检测盲区的控制方法、系统,该方法包括:固态激光雷达检测车辆前方大于等于车辆高度的前方高度障碍物的障碍物信息,并发给DDU模块;通过ROS将障碍物信息传送给感知融合模块进行深度融合,通过计算后输出目标障碍物信息;再利用tf节点进行坐标转换成世界坐标,发布出目标高度障碍物信息;车辆的自动驾驶感知系统将目标高度障碍物信息以及高度差值发送给规划模块;规划模块实时高速计算本车与高度障碍物的距离以及实时进行动态路径规划,同时决策出在安全距离内停车进行避障;控制模块接收规划模块的轨迹信息以及estop命令,进行车辆控制。本发明能够实现自动限高检测和车辆安全避障功能,提升感知系统的检测能力和自动驾驶的安全性。


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    Title :

    Control method and system for vehicle obstacle avoidance and blind area detection


    Additional title:

    车辆避障和检测盲区的控制方法、系统


    Contributors:
    WANG AICHUN (author) / ZHENG LIPING (author) / JIANG HUIHUA (author) / PENG CHENRUO (author) / LI YU (author) / HUANG LIANGHAI (author) / ZHANG CHAO (author) / GU ZUFEI (author) / LEI YAO (author)

    Publication date :

    2023-03-28


    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