CN106292666A - Pilotless automobile barrier-avoiding method based on ultrasonic distance detection and system - Google Patents
Pilotless automobile barrier-avoiding method based on ultrasonic distance detection and system Download PDFInfo
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- CN106292666A CN106292666A CN201610754841.0A CN201610754841A CN106292666A CN 106292666 A CN106292666 A CN 106292666A CN 201610754841 A CN201610754841 A CN 201610754841A CN 106292666 A CN106292666 A CN 106292666A
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- 238000001514 detection method Methods 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000004888 barrier function Effects 0.000 claims abstract description 57
- 238000005259 measurement Methods 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 230000008447 perception Effects 0.000 description 3
- 238000012913 prioritisation Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
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- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of pilotless automobile barrier-avoiding method based on ultrasonic distance detection and system, this system includes Driving control module, ultrasonic distance measuring module, automatic obstacle avoiding module, wherein, Driving control module controls the traveling of automobile by the instruction of automatic obstacle avoiding module；Ultrasonic distance measuring module before detect pilotless automobile, left and right three directions whether exist barrier and and barrier between distance；Automatic obstacle avoiding module controls pilotless automobile for the measurement result according to ultrasonic distance measuring module and carries out avoidance.The invention enables pilotless automobile can automatically evade barrier, the mode evaded is the most diversified, and can automatically adjust travel route, completes the traveling task of regulation.Present configuration is simple, easy to use, has bigger practical value.
Description
Technical field
The present invention relates to a kind of automobile barrier-avoiding method and system, particularly to a kind of based on ultrasonic distance detection unmanned
Drive a car barrier-avoiding method and system.
Background technology
In recent years, economic fast development, private car quantity grows with each passing day, and causes road car crowded, brings many
Vehicle accident, the person and property to people cause huge loss.The reason causing vehicle accident has a lot, principal element
Or the reason of driver self, specifically, is that the generation of accident can not be made correct anticipation and cause by driver.
If certain measure can be taked, guiding function is played in the operation to driver, can reduce the incidence rate of vehicle accident.
Along with the fast development of auto industry and improving constantly of people's living standard, automobile instead of conventional traffic
Instrument.Vehicle owing to travelling on road gets more and more, if do not control effectively vehicle obstacle-avoidance, it is possible to cause
Traffic accidents.One of key technology as automobile active safety system, vehicle obstacle-avoidance method gets the attention.
Pilotless automobile is a kind of intelligent automobile, it is also possible to referred to as wheeled mobile robot, relies primarily in car
Intelligent driving instrument based on computer system realizes unmanned.China proceeds by unmanned from the eighties in 20th century
The research of automobile, the National University of Defense technology successfully developed first pilotless automobile truly of China in 1992.
2005, first city pilotless automobile was succeeded in developing in Shanghai Communications University.
Pilotless automobile is by vehicle-mounted sensor-based system perception road environment, and automatic planning travelling line also controls vehicle
Arrive the intelligent automobile of predeterminated target.It is to utilize onboard sensor to carry out perception vehicle-periphery, and is obtained according to perception
Road, vehicle location and obstacle information, control the turning to and speed of vehicle, thus enable the vehicle to reliably and securely exist
Travel on road.Integrate automatically control, architecture, artificial intelligence, numerous technology such as vision calculating, be computer section
, pattern recognition and the product of intelligent control technology high development, be also to weigh a national research strength and industrial level
One important symbol, has broad application prospects in national defence and national economy field.
China, as great powers in the world, also necessarily takes up one seat in high-tech area, the intellectuality of future automobile
Being that development of automobile industry is inevitable, research automobile avoidance has far reaching significance in this case, and this will be to China's intelligence in future
The research of automobile has important function at world's high-tech area position oneself at the forefront.
Summary of the invention
The technical problem to be solved is to provide a kind of pilotless automobile based on ultrasonic distance detection and keeps away
Barrier method and system, the invention enables pilotless automobile can automatically evade barrier, and the mode evaded is the most
Sample, and can automatically adjust travel route, complete the traveling task of regulation.Present configuration is simple, easy to use, has
Bigger practical value.
The present invention solves above-mentioned technical problem by the following technical solutions:
On the one hand, the present invention provides a kind of pilotless automobile obstacle avoidance system based on ultrasonic distance detection, including driving
Sail control module, ultrasonic distance measuring module, automatic obstacle avoiding module, wherein, the Driving control module finger by automatic obstacle avoiding module
Order controls the traveling of automobile；Before ultrasonic distance measuring module is used for detecting pilotless automobile, whether left and right three directions exist
Barrier and and barrier between distance；Automatic obstacle avoiding module controls for the measurement result according to ultrasonic distance measuring module
Pilotless automobile carries out avoidance.
As the further prioritization scheme of the present invention, ultrasonic distance measuring module comprises three ultrasonic distance sensors, point
Before not being arranged on pilotless automobile, left and right three sides, before being used for detecting pilotless automobile, whether left and right three directions deposit
Barrier and and barrier between distance；Three ultrasonic distance sensors are all connected with automatic obstacle avoiding module, will inspection
Survey result and pass to automatic obstacle avoiding module.
As the further prioritization scheme of the present invention, three ultrasonic distance sensors set different addresses respectively, adopt
Successively range data is sent to automatic obstacle avoiding module with semi-duplex serial port communication.
As the further prioritization scheme of the present invention, the model of three ultrasonic distance sensors is m314076.
On the other hand, the present invention provides a kind of based on above-mentioned pilotless automobile avoidance system based on ultrasonic distance detection
The barrier-avoiding method of system, specifically comprises the following steps that
Step 1, pilotless automobile independently travels according to preset travel route；
Step 2, in the process of moving, pilotless automobile detection before, left and right three directions whether exist barrier and
And the distance between barrier, and respectively with three directions on preset safe distance threshold value compare:
If pilotless automobile is not deposited in the safe distance threshold range that three directions front, left and right are each preset
At barrier, re-execute step 1；It is less than if there is barrier and the distance between this barrier and pilotless automobile
In the safe distance threshold value that pilotless automobile is preset in the direction, then perform step 3；
Step 3, it is judged that whether pilotless automobile exists barrier in the safe distance of front preset: if there is barrier
Hinder thing, then perform step 4；If there is no barrier, then control pilotless automobile and move forward according to preset travel route；
Step 4, it is judged that whether pilotless automobile exists barrier in the safe distance that the left side is preset: if there is barrier
Hinder thing, then perform step 5；If there is no barrier, then control pilotless automobile modified line avoiding obstacles to the left；
Step 5, it is judged that whether there is barrier in the safe distance that pilotless automobile is preset on the right: if there is barrier
Hinder thing, then perform step 6；If there is no barrier, then control pilotless automobile modified line avoiding obstacles to the right；
Step 6, controls pilotless automobile slow down, until avoiding obstacles.
The present invention uses above technical scheme compared with prior art, has following technical effect that
1) pilotless automobile automatic obstacle avoiding system structure based on three ultrasonic distance detections are simpler, and weight is more
Gently, carrying load ability is higher, alleviates the load of flush bonding processor simultaneously so that the mobility of pilotless automobile more goes out
Color；
2) pilotless automobile can carry out intelligence to barrier and evades, and the mode evaded is the most diversified, and can
Automatically adjust travel route, complete the traveling task of regulation；
3) present configuration is simple, easy to use, has bigger practical value.
Detailed description of the invention
Embodiments of the present invention are described below in detail, and the embodiment described is exemplary, be only used for explaining this
Invention, and be not construed as limiting the claims.
Those skilled in the art of the present technique it is understood that unless expressly stated, singulative used herein " ",
" one ", " described " and " being somebody's turn to do " may also comprise plural form.It is to be further understood that the description of the present invention uses
Wording " includes " referring to there is described feature, integer, step, operation, element and/or assembly, but it is not excluded that existence or adds
Add other features one or more, integer, step, operation, element, assembly and/or their group.It should be understood that when we claim
Element is " connected " or during " coupled " to another element, and it can be directly connected or coupled to other elements, or can also deposit
In intermediary element.Additionally, " connection " used herein or " coupling " can include wireless connections or couple.Wording used herein
"and/or" includes one or more any cell listing item being associated and all combinations.
It is understood that unless otherwise defined, all terms used herein (include skill to those skilled in the art of the present technique
Art term and scientific terminology) have with the those of ordinary skill in art of the present invention be commonly understood by identical meaning.Also
It should be understood that those terms defined in such as general dictionary should be understood that have with in the context of prior art
The consistent meaning of meaning, and unless defined as here, will not explain by idealization or the most formal implication.
Below technical scheme is described in further detail:
The invention discloses a kind of pilotless automobile obstacle avoidance system based on ultrasonic distance detection, including Driving control
Module, ultrasonic distance measuring module, automatic obstacle avoiding module, wherein, Driving control module is controlled by the instruction of automatic obstacle avoiding module
The traveling of automobile processed；Before ultrasonic distance measuring module is used for detecting pilotless automobile, left and right three directions whether there is barrier
And and barrier between distance；Automatic obstacle avoiding module is driven for controlling nobody according to the measurement result of ultrasonic distance measuring module
Sail automobile and carry out avoidance.
Ultrasonic distance measuring module comprises three ultrasonic distance sensors, before being separately positioned on pilotless automobile, left and right
Three sides, before detect pilotless automobile, left and right three directions whether exist barrier and and barrier between away from
From；Three ultrasonic distance sensors are all connected with automatic obstacle avoiding module, and testing result passes to automatic obstacle avoiding module.
Three ultrasonic distance sensors set different addresses respectively, and employing semi-duplex serial port communication successively will be apart from number
According to sending to automatic obstacle avoiding module, the model of three ultrasonic distance sensors is m314076.Three ultrasonic sensors lead to
Oversampling circuit and software realize the semi-duplex serial port communication of serial ports, and can set address, the sensor carry of three different addresses
On same serial ports, sending range data to automatic obstacle avoiding module successively, automatic obstacle avoiding module can be autonomous according to address
Judge Data Source.
Described automatic obstacle avoiding module is built-in application program, and this program is read with software serial port form successively from different address
Taking the range data that corresponding ultrasonic distance-measuring sensor is sent, when distance exceedes setting value, automatic obstacle avoiding module will be vertical
Carve the control obtaining pilotless automobile, and control pilotless automobile obstacle avoidance thing, continue setting of task.
The invention also discloses a kind of pilotless automobile barrier-avoiding method based on ultrasonic distance detection, concrete steps are such as
Under:
Step 1, pilotless automobile independently travels according to preset travel route；
Step 2, in the process of moving, pilotless automobile detection before, left and right three directions whether exist barrier and
And the distance between barrier, and respectively with three directions on preset safe distance threshold value compare:
If pilotless automobile is not deposited in the safe distance threshold range that three directions front, left and right are each preset
At barrier, re-execute step 1；It is less than if there is barrier and the distance between this barrier and pilotless automobile
In the safe distance threshold value that pilotless automobile is preset in the direction, then perform step 3；
Step 3, it is judged that whether pilotless automobile exists barrier in the safe distance of front preset: if there is barrier
Hinder thing, then perform step 4；If there is no barrier, then control pilotless automobile and move forward according to preset travel route；
Step 4, it is judged that whether pilotless automobile exists barrier in the safe distance that the left side is preset: if there is barrier
Hinder thing, then perform step 5；If there is no barrier, then control pilotless automobile modified line avoiding obstacles to the left；
Step 5, it is judged that whether there is barrier in the safe distance that pilotless automobile is preset on the right: if there is barrier
Hinder thing, then perform step 6；If there is no barrier, then control pilotless automobile modified line avoiding obstacles to the right；
Step 6, controls pilotless automobile slow down, until avoiding obstacles.
The above, the only detailed description of the invention in the present invention, but protection scope of the present invention is not limited thereto, and appoints
What is familiar with the people of this technology in the technical scope that disclosed herein, it will be appreciated that the conversion expected or replacement, all should contain
Within the scope of the comprising of the present invention, therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (5)
1. pilotless automobile obstacle avoidance system based on ultrasonic distance detection, it is characterised in that include Driving control module, surpass
Sound ranging module, automatic obstacle avoiding module, wherein, Driving control module controls automobile by the instruction of automatic obstacle avoiding module
Travel；Before ultrasonic distance measuring module is used for detecting pilotless automobile, left and right three directions whether exist barrier and with barrier
Hinder the distance between thing；Automatic obstacle avoiding module controls pilotless automobile for the measurement result according to ultrasonic distance measuring module and enters
Row avoidance.
Pilotless automobile obstacle avoidance system based on ultrasonic distance detection the most according to claim 1, it is characterised in that
Ultrasonic distance measuring module comprises three ultrasonic distance sensors, before being separately positioned on pilotless automobile, left and right three sides,
Before detecting pilotless automobile, left and right three directions whether exist barrier and and barrier between distance；Three
Ultrasonic distance sensor is all connected with automatic obstacle avoiding module, and testing result passes to automatic obstacle avoiding module.
Pilotless automobile obstacle avoidance system based on ultrasonic distance detection the most according to claim 2, it is characterised in that
Three ultrasonic distance sensors set different addresses respectively, use semi-duplex serial port communication range data to be sent extremely successively
Automatic obstacle avoiding module.
Pilotless automobile obstacle avoidance system based on ultrasonic distance detection the most according to claim 2, it is characterised in that
The model of three ultrasonic distance sensors is m314076.
5. barrier-avoiding method based on the pilotless automobile obstacle avoidance system based on ultrasonic distance detection described in claim 1,
It is characterized in that, specifically comprise the following steps that
Step 1, pilotless automobile independently travels according to preset travel route；
Step 2, in the process of moving, pilotless automobile detection before, left and right three directions whether exist barrier and with barrier
Hinder the distance between thing, and safe distance threshold value default with on three directions respectively compare:
If the most there is not barrier in the safe distance threshold range that three directions front, left and right are each preset in pilotless automobile
Hinder thing, re-execute step 1；It is less than or equal to nothing if there is barrier and the distance between this barrier and pilotless automobile
People drive a car in the direction preset safe distance threshold value, then perform step 3；
Step 3, it is judged that whether pilotless automobile exists barrier in the safe distance of front preset: if there is obstacle
Thing, then perform step 4；If there is no barrier, then control pilotless automobile and move forward according to preset travel route；
Step 4, it is judged that whether pilotless automobile exists barrier in the safe distance that the left side is preset: if there is obstacle
Thing, then perform step 5；If there is no barrier, then control pilotless automobile modified line avoiding obstacles to the left；
Step 5, it is judged that whether there is barrier in the safe distance that pilotless automobile is preset on the right: if there is obstacle
Thing, then perform step 6；If there is no barrier, then control pilotless automobile modified line avoiding obstacles to the right；
Step 6, controls pilotless automobile slow down, until avoiding obstacles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610754841.0A CN106292666A (en) | 2016-08-29 | 2016-08-29 | Pilotless automobile barrier-avoiding method based on ultrasonic distance detection and system |
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| CN201610754841.0A CN106292666A (en) | 2016-08-29 | 2016-08-29 | Pilotless automobile barrier-avoiding method based on ultrasonic distance detection and system |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926807A (en) * | 2017-03-21 | 2017-07-07 | 北京汽车股份有限公司 | The control method of automobile, device and automobile |
| CN108958268A (en) * | 2018-09-10 | 2018-12-07 | 广州大学 | A kind of unmanned intelligent carriage control system and control method |
| CN108957441A (en) * | 2018-05-25 | 2018-12-07 | 深圳市华讯方舟装备技术有限公司 | A kind of mapping method of the ships and light boats based on automatic Pilot waterborne, device, system and a kind of storage medium |
| CN109407661A (en) * | 2018-08-30 | 2019-03-01 | 百度在线网络技术（北京）有限公司 | Collision prevention device and method based on unmanned vehicle |
| WO2019047643A1 (en) * | 2017-09-05 | 2019-03-14 | 百度在线网络技术（北京）有限公司 | Control method and device for unmanned vehicle |
| CN109606257A (en) * | 2018-11-23 | 2019-04-12 | 电子科技大学成都学院 | A kind of automobile assistant driving system based on ultrasound examination |
| CN109725318A (en) * | 2018-12-29 | 2019-05-07 | 百度在线网络技术（北京）有限公司 | Signal processing method and device, active sensor and storage medium |
| CN109782764A (en) * | 2019-01-21 | 2019-05-21 | 湖北汽车工业学院 | A kind of unmanned logistics distribution system of intelligent solar, control method and dispensing vehicle |
| CN109917792A (en) * | 2019-04-10 | 2019-06-21 | 湖南汽车工程职业学院 | A kind of autonomous collision avoidance system based on unmanned sightseeing electric car |
| CN110047366A (en) * | 2019-03-26 | 2019-07-23 | 杭州合学教育科技有限公司 | Automobile teaching aid avoiding obstacles method and device, readable storage medium storing program for executing and terminal |
| CN111580515A (en) * | 2020-05-07 | 2020-08-25 | 苏州品坤智能科技有限公司 | Obstacle avoidance system for unmanned sweeping machine and obstacle avoidance method thereof |
| CN112327871A (en) * | 2020-11-19 | 2021-02-05 | 上海电机学院 | Intelligent trolley, self-obstacle avoidance method thereof and remote control obstacle avoidance method |
| CN112900199A (en) * | 2021-01-15 | 2021-06-04 | 同济大学 | Obstacle detection system and method for unmanned road roller |
| CN114265416A (en) * | 2022-02-28 | 2022-04-01 | 季华实验室 | AGV trolley control method and device, electronic equipment and storage medium |
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| CN106926807A (en) * | 2017-03-21 | 2017-07-07 | 北京汽车股份有限公司 | The control method of automobile, device and automobile |
| WO2019047643A1 (en) * | 2017-09-05 | 2019-03-14 | 百度在线网络技术（北京）有限公司 | Control method and device for unmanned vehicle |
| CN108957441A (en) * | 2018-05-25 | 2018-12-07 | 深圳市华讯方舟装备技术有限公司 | A kind of mapping method of the ships and light boats based on automatic Pilot waterborne, device, system and a kind of storage medium |
| CN109407661A (en) * | 2018-08-30 | 2019-03-01 | 百度在线网络技术（北京）有限公司 | Collision prevention device and method based on unmanned vehicle |
| CN108958268A (en) * | 2018-09-10 | 2018-12-07 | 广州大学 | A kind of unmanned intelligent carriage control system and control method |
| CN109606257A (en) * | 2018-11-23 | 2019-04-12 | 电子科技大学成都学院 | A kind of automobile assistant driving system based on ultrasound examination |
| CN109725318A (en) * | 2018-12-29 | 2019-05-07 | 百度在线网络技术（北京）有限公司 | Signal processing method and device, active sensor and storage medium |
| CN109782764A (en) * | 2019-01-21 | 2019-05-21 | 湖北汽车工业学院 | A kind of unmanned logistics distribution system of intelligent solar, control method and dispensing vehicle |
| CN110047366A (en) * | 2019-03-26 | 2019-07-23 | 杭州合学教育科技有限公司 | Automobile teaching aid avoiding obstacles method and device, readable storage medium storing program for executing and terminal |
| CN109917792A (en) * | 2019-04-10 | 2019-06-21 | 湖南汽车工程职业学院 | A kind of autonomous collision avoidance system based on unmanned sightseeing electric car |
| CN109917792B (en) * | 2019-04-10 | 2023-10-13 | 湖南汽车工程职业学院 | Autonomous anti-collision system based on unmanned sightseeing electric vehicle |
| CN111580515A (en) * | 2020-05-07 | 2020-08-25 | 苏州品坤智能科技有限公司 | Obstacle avoidance system for unmanned sweeping machine and obstacle avoidance method thereof |
| CN111580515B (en) * | 2020-05-07 | 2023-02-03 | 苏州品坤智能科技有限公司 | Obstacle avoidance system for unmanned sweeping machine and obstacle avoidance method thereof |
| CN112327871A (en) * | 2020-11-19 | 2021-02-05 | 上海电机学院 | Intelligent trolley, self-obstacle avoidance method thereof and remote control obstacle avoidance method |
| CN112900199A (en) * | 2021-01-15 | 2021-06-04 | 同济大学 | Obstacle detection system and method for unmanned road roller |
| CN114265416A (en) * | 2022-02-28 | 2022-04-01 | 季华实验室 | AGV trolley control method and device, electronic equipment and storage medium |
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