CN110032188A - A kind of automatic obstacle avoiding method based on unmanned sightseeing electric car - Google Patents
A kind of automatic obstacle avoiding method based on unmanned sightseeing electric car Download PDFInfo
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- CN110032188A CN110032188A CN201910283692.8A CN201910283692A CN110032188A CN 110032188 A CN110032188 A CN 110032188A CN 201910283692 A CN201910283692 A CN 201910283692A CN 110032188 A CN110032188 A CN 110032188A
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- 230000004888 barrier function Effects 0.000 claims abstract description 18
- 238000006243 chemical reaction Methods 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 241000209094 Oryza Species 0.000 claims description 9
- 235000007164 Oryza sativa Nutrition 0.000 claims description 9
- 235000009566 rice Nutrition 0.000 claims description 9
- 241000894007 species Species 0.000 claims 1
- 230000005611 electricity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Optics & Photonics (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of automatic obstacle avoiding method based on unmanned sightseeing electric car of the present invention, belongs to intelligent and safe control field and unmanned intelligent transportation field.The barrier data of vehicle front are acquired by being mounted on the laser radar sensor being in front of sightseeing electric car first, then coordinate system conversion is carried out to barrier data, and region division is carried out to coordinate points, it is divided into the region of left, center, right three, barrier cluster detection is carried out to each region, is judged according to the testing result in each region and makes avoidance decision.A kind of automatic obstacle avoiding method based on unmanned sightseeing electric car can solve sightseeing electric car unpiloted discretionary security avoidance problem in scenic spot, garden, the low speed sightseeing electric car Unmanned Systems suitable for self-service sightseeing.
Description
Technical field
The invention belongs to intelligent and safe control fields and unmanned intelligent transportation field, and in particular, to one kind is based on
The automatic obstacle avoiding method of unmanned sightseeing electric car.
Background technique
As social economy and scientific and technological are constantly progressive, people are more and more urgent to unmanned product demand, especially
Unmanned sightseeing electric car is in the application of the public places such as scenic spot, garden, but safety is primary, therefore is based on nobody
The automatic obstacle avoiding function of driving sightseeing electric car is extremely important.
Publication No. is that the Chinese invention patent of CN109017786A discloses vehicle obstacle-avoidance method, and publication No. is
The Chinese invention patent of CN109002041A discloses a kind of vehicle obstacle-avoidance method, but the two methods need known vehicle to travel
Track, while to sensor requirements also more higher costs, be not suitable for the automatic obstacle avoiding of unmanned sightseeing electric car
In.Summary of the invention
The purpose of the present invention is to solve sightseeing electric cars unmanned in the public place environments such as scenic spot, garden
Safety issue proposes a kind of automatic obstacle avoiding method based on unmanned sightseeing electric car.
To achieve the goals above, this invention takes the following technical solutions:
A kind of automatic obstacle avoiding method based on unmanned sightseeing electric car is provided, including is set to unmanned sightseeing electricity
The line laser radar sensor that the vehicle foreside middle position of motor-car is horizontally mounted, the line laser radar sensor are used for
Acquire initial data；Its method and step is as follows:
S1, data acquisition；
S2, coordinate conversion；
S3, coordinate points subregion and detection of obstacles；
S4, automatic obstacle avoiding decision: according to the detection of obstacles result of each region and apart from the steering for determining vehicle.
Further, the step S1, data acquisition: the initial data of the line laser radar sensor acquisition is one
Group polar coordinate system coordinate points P { p1,p2,p3,...,pk,...,pn, each coordinate points are formed by angle and from vehicle distances, the
K coordinate points can be expressed as pk(θk,dk), wherein angle, θkUnit be degree, distance dkUnit be rice.
Further, the step S2, coordinate conversion: carrying out coordinate system conversion to the initial data of sensor acquisition, by
Polar coordinate system is converted into plane coordinate system, i.e., by pk(θk,dk) it is converted into pk(xk,yk), wherein xkIndicate abscissa distance, ykTable
Show that ordinate distance, unit are rice, origin p0(0,0) what is represented is the position coordinates of a line laser radar sensor.
Further, it the step S3, coordinate points subregion and detection of obstacles: will be closely located in the data in step 2
Coordinate points be polymerized to a class, each class is as a barrier.
Further, the step S3 the following steps are included:
S3.1, to coordinate points obtained in step S2 according to abscissa xiPosition carries out subregion, is divided into three regions, point
It is not left area, intermediate region and right area, wherein xi≤-(W/2+0.5) it is left area ,-(W/2+0.5) < xi<
It (W/2+0.5) is intermediate region, xi>=(W/2+0.5) is right area, and wherein W represents the vehicle body of unmanned sightseeing electric car
Width, unit are rice；
S3.2: to two coordinate points p in each regioni(xi,yi) and pj(xj,yj) meet condition | xi-xj|≤0.05 He |
yi-yj|≤0.05 is considered as belonging to a class, and all the points in each region are carried out Ergodic judgement, obtain all barriers
Class.
Further, the step S4 the following steps are included:
S4.1, the barrier situation for expressing left area, intermediate region and right area respectively with L, C and R；
L, the value of C and R carries out assignment according to barrier situation in corresponding region, when not detecting barrier or obstacle
Object is assigned a value of 0 when being greater than 3 meters at a distance from vehicle, is otherwise assigned a value of 1；
S4.2, when the value of C be 0 when, vehicle continues to keep straight on；
S4.3, when the value of C is 1 and the value of L is 0, vehicle turn left；
S4.4, when the value of C and L be 1 and R value be 0 when, vehicle turn right；
S4.5, when the value of C, L and R are 1, vehicle brake stop.
Further, the travel speed that the autonomous collision avoidance system is applied to unmanned sightseeing electric car is lower than 50
Thousand ms/h.
Want to compare with the prior art, beneficial effects of the present invention are as follows:
Want to compare with automatic obstacle avoiding method in the prior art, it is of the present invention based on the autonomous of unmanned sightseeing electric car
Barrier-avoiding method well solves the safety issue of the unmanned sightseeing electric car in the public place environments such as scenic spot, garden,
The safety of support vehicles and pedestrian；Only with a line laser radar sensor, cost bottom；It is of the present invention to be based on nobody
The automatic obstacle avoiding method for driving sightseeing electric car has efficient real-time, meets practical application request, is worth of widely use.
Specific embodiment
The present invention is further illustrated With reference to embodiment.
A kind of automatic obstacle avoiding method based on unmanned sightseeing electric car is provided, including is set to unmanned sightseeing electricity
The line laser radar sensor that the vehicle foreside middle position of motor-car is horizontally mounted, the line laser radar sensor are used for
Acquire initial data；Its method and step is as follows:
S1, data acquisition；
S2, coordinate conversion；
S3, coordinate points subregion and detection of obstacles；
S4, automatic obstacle avoiding decision: according to the detection of obstacles result of each region and apart from the steering for determining vehicle.
As the improvement of the embodiment above, the step S1, data acquisition: the line laser radar sensor acquisition
Initial data be one group of polar coordinate system coordinate points P { p1,p2,p3,...,pk,...,pn, each coordinate points be by angle and from
Vehicle distances composition, k-th of coordinate points can be expressed as pk(θk,dk), wherein angle, θkUnit be degree, distance dkUnit be
Rice.
As the improvement of the embodiment above, the step S2, coordinate conversion: the initial data of sensor acquisition is carried out
Coordinate system conversion, is converted into plane coordinate system by polar coordinate system, i.e., by pk(θk,dk) it is converted into pk(xk,yk), wherein xkIt indicates
Abscissa distance, ykIndicate ordinate distance, unit is rice, origin p0(0,0) what is represented is line laser radar sensing
The position coordinates of device.
As the improvement of the embodiment above, the step S3, coordinate points subregion and detection of obstacles: will be in step 2
The coordinate points being closely located in data are polymerized to a class, and each class is as a barrier.
As the improvement of the embodiment above, the step S3 the following steps are included:
S3.1, to coordinate points obtained in step S2 according to abscissa xiPosition carries out subregion, is divided into three regions, point
It is not left area, intermediate region and right area, wherein xi≤-(W/2+0.5) it is left area ,-(W/2+0.5) < xi<
It (W/2+0.5) is intermediate region, xi>=(W/2+0.5) is right area, and wherein W represents the vehicle body of unmanned sightseeing electric car
Width, unit are rice；
S3.2: to two coordinate points p in each regioni(xi,yi) and pj(xj,yj) meet condition | xi-xj|≤0.05 He |
yi-yj|≤0.05 is considered as belonging to a class, and all the points in each region are carried out Ergodic judgement, obtain all barriers
Class.
As the improvement of the embodiment above, the step S4 the following steps are included:
S4.1, the barrier situation for expressing left area, intermediate region and right area respectively with L, C and R；
L, the value of C and R carries out assignment according to barrier situation in corresponding region, when not detecting barrier or obstacle
Object is assigned a value of 0 when being greater than 3 meters at a distance from vehicle, is otherwise assigned a value of 1；
S4.2, when the value of C be 0 when, vehicle continues to keep straight on；
S4.3, when the value of C is 1 and the value of L is 0, vehicle turn left；
S4.4, when the value of C and L be 1 and R value be 0 when, vehicle turn right；
S4.5, when the value of C, L and R are 1, vehicle brake stop.
As the improvement of the embodiment above, the autonomous collision avoidance system is applied to the row of unmanned sightseeing electric car
Speed is sailed lower than 50,000 ms/h.
Want to compare with automatic obstacle avoiding method in the prior art, it is of the present invention based on the autonomous of unmanned sightseeing electric car
Barrier-avoiding method well solves the safety issue of the unmanned sightseeing electric car in the public place environments such as scenic spot, garden,
The safety of support vehicles and pedestrian；Only with a line laser radar sensor, cost bottom；It is of the present invention to be based on nobody
The automatic obstacle avoiding method for driving sightseeing electric car has efficient real-time, meets practical application request, is worth of widely use.
Claims (7)
1. a kind of automatic obstacle avoiding method based on unmanned sightseeing electric car, which is characterized in that unmanned including being set to
The line laser radar sensor that the vehicle foreside middle position of sightseeing electric car is horizontally mounted, the line laser radar sensing
Device is for acquiring initial data；Its method and step is as follows:
S1, data acquisition；
S2, coordinate conversion；
S3, coordinate points subregion and detection of obstacles；
S4, automatic obstacle avoiding decision: according to the detection of obstacles result of each region and apart from the steering for determining vehicle.
2. the automatic obstacle avoiding method according to claim 1 based on unmanned sightseeing electric car, which is characterized in that the step
Rapid S1, data acquisition: the initial data of the line laser radar sensor acquisition is one group of polar coordinate system coordinate points P { p1,p2,
p3,...,pk,...,pn, each coordinate points are formed by angle and from vehicle distances, and k-th of coordinate points can be expressed as pk
(θk,dk), wherein angle, θkUnit be degree, distance dkUnit be rice.
3. the automatic obstacle avoiding method according to claim 1 based on unmanned sightseeing electric car, which is characterized in that the step
Rapid S2, coordinate conversion: coordinate system conversion is carried out to the initial data of sensor acquisition, plane coordinates is converted by polar coordinate system
System, i.e., by pk(θk,dk) it is converted into pk(xk,yk), wherein xkIndicate abscissa distance, ykIndicate that ordinate distance, unit are
Rice, origin p0(0,0) what is represented is the position coordinates of a line laser radar sensor.
4. the automatic obstacle avoiding method according to claim 1 based on unmanned sightseeing electric car, which is characterized in that the step
Rapid S3, coordinate points subregion and detection of obstacles: the coordinate points being closely located in the data in step 2 are polymerized to a class, each
Class is as a barrier.
5. the automatic obstacle avoiding method according to claim 4 based on unmanned sightseeing electric car, which is characterized in that the step
Rapid S3 the following steps are included:
S3.1, to coordinate points obtained in step S2 according to abscissa xiPosition carries out subregion, is divided into three regions, is respectively
Left area, intermediate region and right area, wherein xi≤-(W/2+0.5) it is left area ,-(W/2+0.5) < xi<(W/2+
It 0.5) is intermediate region, xi>=(W/2+0.5) is right area, and wherein W represents the body width of unmanned sightseeing electric car,
Unit is rice；
S3.2: to two coordinate points p in each regioni(xi,yi) and pj(xj,yj) meet condition | xi-xj|≤0.05 He | yi-yj|
≤ 0.05 is considered as belonging to a class, and all the points in each region are carried out Ergodic judgement, obtain all obstacle species.
6. the automatic obstacle avoiding method according to claim 1 based on unmanned sightseeing electric car, which is characterized in that the step
Rapid S4 the following steps are included:
S4.1, the barrier situation for expressing left area, intermediate region and right area respectively with L, C and R；
L, the value of C and R carries out assignment according to barrier situation in corresponding region, when do not detect barrier or barrier with
The distance of vehicle is assigned a value of 0 when being greater than 3 meters, is otherwise assigned a value of 1；
S4.2, when the value of C be 0 when, vehicle continues to keep straight on；
S4.3, when the value of C is 1 and the value of L is 0, vehicle turn left；
S4.4, when the value of C and L be 1 and R value be 0 when, vehicle turn right；
S4.5, when the value of C, L and R are 1, vehicle brake stop.
7. the automatic obstacle avoiding method based on unmanned sightseeing electric car described in any one according to claim 1~6, feature
It is, the travel speed that the autonomous collision avoidance system is applied to unmanned sightseeing electric car is lower than 50,000 ms/h.
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Cited By (1)
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Application publication date: 20190719 |