Unmanned vehicle path tracking and obstacle avoidance method

Abstract

The invention relates to the field of unmanned vehicle control, in particular to an unmanned vehicle path tracking and obstacle avoidance method. The unmanned vehicle path tracking and obstacle avoidance method comprises the steps of: determining each control quantity combination of a course speed and a front wheel steering angle of an unmanned vehicle according to the driving control parameters of the unmanned vehicle; in combination with an Ackerman steering kinematics model, correspondingly generating a prediction track for each control quantity combination; according to obstacle information fed back by a sensor on the unmanned vehicle, selecting a prediction trajectory enabling the unmanned vehicle to safely run from the prediction trajectories to form a safety prediction trajectory set; selecting an optimal prediction trajectory in the safety prediction trajectory set, wherein the control quantity combination corresponding to the optimal prediction track is an optimal control quantity combination, and sending a control instruction corresponding to the optimal control quantity combination to the unmanned vehicle; determining whether the unmanned vehicle reaches a target point or not; if so, sending a stop control instruction to stop the unmanned vehicle; and if not, entering the next control period. According to the invention, real-time dynamic obstacle avoidance in the unmanned vehicle path tracking driving process can be achieved.

Description

technical field [0001] The invention relates to the field of unmanned vehicle control, and more specifically, to a path tracking and obstacle avoidance method for an unmanned vehicle. Background technique [0002] An unmanned vehicle is an intelligent ground mobile vehicle with a complete environmental perception system, which can make path decisions and plan according to the environmental information provided by the perception system, and control the vehicle to reach the destination. Path tracking and obstacle avoidance is a control link after path planning, which requires the vehicle to follow the planned path while avoiding obstacles to avoid collisions. [0003] At present, the path tracking methods of unmanned vehicles include path tracking based on PID control, path tracking based on pure tracking, and path tracking based on model predictive control. The path tracking method based on PID control calculates the path error of the vehicle according to the target path inf...

AI Technical Summary

Problems solved by technology

Although the above methods can achieve stable and accurate path tracking, they do not consider the real-time dynamic obstacle avoidance requirements during the driving process of unmanned vehicles.

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