Vehicle omni-directional following method based on UWB and laser radar sensor

Abstract

The invention discloses a vehicle omni-directional following method based on UWB and a laser radar sensor. The method comprises the following steps: firstly, establishing a vehicle coordinate system,a laser radar coordinate system and a UWB sensor coordinate system, establishing a world coordinate system, and performing coordinate mapping between the world coordinate system and the vehicle coordinate system; then, enabling the vehicle to sense the position and posture of the vehicle in a world coordinate system with an artificial origin in real time; acquiring obstacle information by using the laser radar sensor, converting coordinates of an obstacle in a laser radar coordinate system into coordinates in the vehicle coordinate system, and constructing an occupied grid map by using a binary Bayesian filtering algorithm; and finally, enabling the vehicle to realize real-time following in any direction based on an occupied grid map and an automatic following and obstacle avoidance algorithm based on a parallel genetic algorithm. The method is simple in algorithm and high in positioning precision, and can realize omnibearing real-time following of the autonomous vehicle around the user.

Description

technical field [0001] The invention belongs to the technical field of electronic information, in particular to a vehicle omnidirectional following method based on UWB and laser radar sensors. Background technique [0002] Autonomous vehicles are an important part of intelligent transportation systems and information-based automotive products. Autonomous vehicles have a certain amount of artificial intelligence, and need to realize four functions: on-board communication, information processing, environment detection, and auxiliary control. Adjust the speed according to traffic conditions and road surface characteristics to avoid collisions and rear-end collisions with other vehicles; automatically change lanes and overtake; park safely on the road; the on-board assisted driving system can find the destination in the intelligent traffic network environment The best path, as well as distress alarm and self-rescue, etc. [0003] In the development of autonomous vehicle techno...

AI Technical Summary

Problems solved by technology

[0004] (1) The obstacle avoidance function has not been combined with intelligent speed control, direction control and other functions to a high degree, resulting in the obstacle avoidance function not being perfectly reflected;

[0005] (2) High-efficiency data processing is not achieved in data processing, and path planning cannot be carried out efficiently, resulting in a lack of practicability in path planning;

[0006] (3) The response mechanism of autonomous vehicles is difficult to support intensive work instructions, cannot maintain work integrity, and cannot achieve true 360-degree automatic follow-up

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