The invention provides an unmanned vehicle navigation control system and method based on game Markov process safety detection, and belongs to the field of unmanned vehicle navigation control. The problems that an existing navigation algorithm is difficult to process the relation between tracking and obstacle avoidance control, and a traditional safety detection method does not consider the influence of intelligent agent actions on safety and the interaction influence of actions among intelligent agents are solved. The map generation module generates a topological road network map based on the positioning sensing system, the global path planning module searches for the shortest path from the road network map and sends the global path to the safety evaluation module, the safety evaluation module analyzes whether a vehicle is safe or not in real time, and the integrated control module executes corresponding control operation. According to the navigation comprehensive control system based on safety detection, tracking control and obstacle avoidance control fusion logic and target point determination, action interaction between the unmanned vehicle and the obstacle part is considered, a real-time obstacle avoidance control algorithm is designed, and the navigation comprehensive control system is simple in structural layer, fast in response and high in safety.

    本发明提供了一种基于博弈马尔可夫过程安全检测的无人车辆导航控制系统及方法,属于无人车辆导航控制领域。为了解决现有导航算法难以处理循迹与避障控制的关系,且传统安全检测方法没有考虑智能体动作对安全性的影响以及智能体间动作交互影响的问题。地图生成模块基于定位感知系统生成拓扑路网地图,全局路径规划模块从路网地图中搜索最短路径,并将全局路径发送给安全评估模块,安全评估模块实时分析车辆是否安全,集成控制模块执行相应的控制操作。本发明提出一种基于安全检测、循迹控制与避障控制融合逻辑和目标点确定的导航综合控制系统,考虑到了无人车与障碍物件的动作交互,且设计了实时避障控制算法,结构层次简单,反应快且安全性高。


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    Title :

    Unmanned vehicle navigation control system and method based on game Markov process safety detection


    Additional title:

    一种基于博弈马尔可夫过程安全检测的无人车辆导航控制系统及方法


    Contributors:
    WANG KAIQIANG (author) / LI PENGPENG (author) / LI WEIHUA (author) / SUN QING (author) / LIU WEI (author) / WANG JIANFENG (author) / YE ZHEN (author) / ZHOU YONG (author) / CUI ZHIPENG (author) / YANG PENG (author)

    Publication date :

    2024-04-12


    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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