The invention discloses a lane keeping and dynamic obstacle avoidance control method for an unmanned autonomous vehicle. The method comprises the following steps: establishing a three-degree-of-freedom kinetic model of the unmanned autonomous vehicle; constructing an unmanned autonomous vehicle lane keeping and dynamic obstacle avoidance controller based on a depth deterministic gradient strategy; the self-attenuated Oinstein-Urenbeck noise is added to balance exploration and utilization; cutting an input image by using a black frame cutting technology to prevent a controller from falling into local optimum, and performing end-to-end feature extraction by using a convolutional neural network as a network structure; and finally, integrating the state information of the unmanned autonomous vehicle by adopting a dynamic splicing means. According to the invention, the unmanned autonomous vehicle can be driven on the lane more stably, and a more effective and stable self-active static obstacle avoidance function can be realized in the driving process; according to the invention, the driving stability and the vehicle safety of the unmanned autonomous vehicle can be effectively improved; the method is of great significance to self-adaptive driving of the unmanned vehicle in a complex environment.

    一种无人自主小车车道保持及动态避障控制方法,包括以下步骤:建立无人自主小车的三自由度动力学模型;构建基于深度确定性梯度策略的无人自主小车车道保持及动态避障控制器;添加自衰减的奥恩斯坦‑乌伦贝克噪声来平衡探索和利用;采用黑帧剪切技术对输入图像进行裁剪,防止控制器陷入局部最优,并使用卷积神经网络作为网络结构进行端到端特征提取;最后采用动态拼接手段集成无人自主小车状态信息;本发明可使无人自主小车更为稳定的在车道上行驶,并在行驶过程中可实现更加有效和稳定的自主动静态避障功能;本发明可有效的提高无人自主小车的行驶稳定性和车辆安全性;对应用于无人驾驶车辆在复杂环境下的自适应行驶具有重大意义。


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    Title :

    Unmanned autonomous vehicle lane keeping and dynamic obstacle avoidance control method


    Additional title:

    一种无人自主小车车道保持及动态避障控制方法


    Contributors:
    PANG HUI (author) / ZUO RUXUAN (author) / WANG TONG (author) / LIU LEI (author) / YANG SITIAN (author)

    Publication date :

    2024-09-03


    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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