CN113104053A - Automatic turning tracking method and unmanned vehicle - Google Patents
Automatic turning tracking method and unmanned vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The invention provides an automatic turning round tracking method and an unmanned vehicle, wherein a first direction tracking point set and a second direction tracking point set are obtained, and the second tracking points in the second direction tracking point set and the first tracking points in the first direction tracking point set are same in position but opposite in arrangement sequence; starting tracking according to the first direction tracking point set; the method comprises the steps of receiving a turning instruction, obtaining a scanning result of the vehicle-mounted laser radar in real time, and obtaining a current third tracking point when the scanning result is that no obstacle exists in a first preset range; turning from the third tracking point until a fourth tracking point in the second direction tracking point set appears in a second preset range, and then moving to the fourth tracking point; tracking according to the second direction tracking point set by taking the fourth tracking point as a starting point; the invention realizes automatic turning and reverse tracking, so that the unmanned vehicle can adapt to more driving environments.
Description
Technical Field
The invention relates to the field of unmanned driving, in particular to an automatic turning tracking method and an unmanned vehicle.
Background
The unmanned automobile is a main trend of future development in the automobile field, frequently appears in various industrial places and scientific research institutions, can replace personnel to be close to dangerous areas on one hand, and can reduce personnel investment on the other hand. At present, the common unmanned vehicle tracking mode comprises a track method, an image identification method, a global positioning method and the like.
However, the above tracking method has the following disadvantages: the track method has single tracking track, high track laying cost and difficult outdoor realization; the image recognition method has high algorithm complexity, low efficiency and poor control real-time performance, and a track mark is required to be made in advance as an image recognition basis in most of the current applications; the global positioning method, the tracking result is mainly influenced by the positioning precision;
meanwhile, in the existing tracking method, an unmanned vehicle can only automatically run according to a set route, and if the situation that the original route needs to be returned occurs, a mode of regenerating a tracking path is usually adopted, so that the time consumption is long.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: an automatic turning round tracking method and an unmanned vehicle are provided, and automatic turning round and reverse tracking of the unmanned vehicle are realized.
In order to solve the technical problems, the invention adopts a technical scheme that:
an automatic turning round tracking method comprises the following steps;
s1, acquiring a first direction tracing point set and a second direction tracing point set, wherein the second tracing points in the second direction tracing point set and the first tracing points in the first direction tracing point set have the same positions but are arranged in opposite orders;
s2, starting tracking according to the first direction tracking point set;
s3, obtaining a scanning result of the vehicle-mounted laser radar in real time after receiving the turning instruction, and obtaining a current third tracking point when the scanning result is that no obstacle exists in a first preset range;
s4, starting steering from the third tracking point until a fourth tracking point in the second direction tracking point set appears in a second preset range, and then moving to the fourth tracking point;
and S5, tracking according to the second direction tracing point set by taking the fourth tracing point as a starting point.
In order to solve the technical problem, the invention adopts another technical scheme as follows:
an unmanned vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the computer program implementing the steps of:
s1, acquiring a first direction tracing point set and a second direction tracing point set, wherein the second tracing points in the second direction tracing point set and the first tracing points in the first direction tracing point set have the same positions but are arranged in opposite orders;
s2, starting tracking according to the first direction tracking point set;
s3, obtaining a scanning result of the vehicle-mounted laser radar in real time after receiving the turning instruction, and obtaining a current third tracking point when the scanning result is that no obstacle exists in a first preset range;
s4, starting steering from the third tracking point until a fourth tracking point in the second direction tracking point set appears in a second preset range, and then moving to the fourth tracking point;
and S5, tracking according to the second direction tracing point set by taking the fourth tracing point as a starting point.
The invention has the beneficial effects that: when the tracking point sets are generated, two tracking point sets with opposite directions are generated based on the tracking points at the same position, the unmanned vehicle takes the first tracking point set as an initial tracking line to perform tracking, and starts to turn after confirming that no obstacle point exists in a preset range after receiving a turn-around instruction in the tracking process until a fourth tracking point in the second tracking point set is found in the preset range, the tracking point is taken as a target point to perform tracking according to the second tracking point set, so that automatic turn-around and reverse tracking are realized, and the unmanned vehicle can adapt to more driving environments.
Drawings
FIG. 1 is a flowchart illustrating steps of an automatic turn-around tracking method according to an embodiment of the present invention;
fig. 2 is a schematic structural view of an unmanned vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a set of waypoints in accordance with an embodiment of the invention;
FIG. 4 is a schematic diagram of a route of an automatic turn around process according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating steps for determining an automatic turn around condition according to an embodiment of the present invention;
description of reference numerals:
1. an unmanned vehicle; 2. a processor; 3. a memory.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1 and fig. 3 to 5, an automatic turn-around tracking method includes steps;
s1, acquiring a first direction tracing point set and a second direction tracing point set, wherein the second tracing points in the second direction tracing point set and the first tracing points in the first direction tracing point set have the same positions but are arranged in opposite orders;
s2, starting tracking according to the first direction tracking point set;
s3, obtaining a scanning result of the vehicle-mounted laser radar in real time after receiving the turning instruction, and obtaining a current third tracking point when the scanning result is that no obstacle exists in a first preset range;
s4, starting steering from the third tracking point until a fourth tracking point in the second direction tracking point set appears in a second preset range, and then moving to the fourth tracking point;
and S5, tracking according to the second direction tracing point set by taking the fourth tracing point as a starting point.
From the above description, the beneficial effects of the present invention are: when the tracking point sets are generated, two tracking point sets with opposite directions are generated based on the tracking points at the same position, the unmanned vehicle takes the first tracking point set as an initial tracking line to perform tracking, after a turn-around instruction is received in the tracking process, the unmanned vehicle starts to turn around if no obstacle point exists in a preset range, the tracking point serves as a target point after a fourth tracking point in the second tracking point set is found in the preset range, tracking is performed according to the second tracking point set, the same tracking points are stored in the two tracking point sets with opposite arrangement sequences, automatic turn-around and reverse tracking are achieved, and the unmanned vehicle can adapt to more driving environments.
Further, the S3 specifically includes:
s31, after receiving the turning-around command, starting to decelerate until the vehicle speed is less than or equal to the preset safe speed;
and S32, acquiring the scanning result of the vehicle-mounted laser radar in real time, and acquiring a third tracking point where the vehicle-mounted laser radar is located at present until the scanning result is that no obstacle exists in a first preset range.
According to the above description, after the turning-around instruction is received, the speed is firstly reduced, the turning-around preparation is not carried out until the vehicle speed is less than or equal to the preset safe speed, the safety of the unmanned vehicle in the turning-around process is ensured, whether obstacles exist around is scanned by using the vehicle-mounted radar before the turning-around, the turning-around is not carried out until the unmanned vehicle moves to the obstacle-free position, and the safety of the turning-around process is ensured.
Further, the S4 specifically includes:
acquiring a set of tracking points to be searched, which consists of the third tracking point to the last tracking point in the set of tracking points in the second direction;
and turning to the side without the obstacle from the third tracking point until a fourth tracking point in the set of tracking points to be searched appears in a second preset range.
According to the above description, after the third tracing point is obtained, the position of the third tracing point is obtained in the set of tracing points in the second direction, and the search of the fourth tracing point is performed in the set of tracing points to be searched, which is composed of the third tracing point and the last tracing point in the second direction, so that the search speed is improved compared with the search performed in the whole set of tracing points in the second direction.
Further, the S4 further includes:
starting from the third tracking point, the steering wheel is killed to start steering, if the fourth tracking point is not found when the third tracking point is reached again, the tracking is stopped, or the third tracking point is used as a starting point, tracking is carried out according to the first direction tracking point set, and meanwhile, a reverse tracking failure warning is sent out.
According to the description, the direction without the barrier point is selected to turn when the vehicle turns around, the safety of the turning process is also guaranteed, the vehicle starts to turn after the steering wheel is killed, the radius of the route where the unmanned vehicle runs is shortest, the turning efficiency is accelerated, and the fourth tracking point is not found when the vehicle returns to the third tracking point.
Further, the S4 further includes:
and acquiring a first longitude and latitude coordinate of the third tracing point, acquiring a current longitude and latitude coordinate in real time, and when a difference value between the current longitude and latitude coordinate and the first longitude and latitude coordinate reaches a preset value, starting to judge whether the fourth tracing point appears in a second preset range, wherein the second preset range is a range between first distances and between the first distances in first deflection angles on the left and right in front of the locomotive, the first deflection angles are (10 degrees, 30 degrees), and the first distances are (2 meters and 4 meters).
According to the description, when the difference value between the current longitude and latitude coordinate of the unmanned vehicle and the first longitude and latitude coordinate of the third tracing point reaches the preset value, the fourth tracing point is searched, the calculation resources are saved, the fourth tracing point is searched in the preset range, the fourth tracing point is guaranteed to be a position which is easy to reach by the posture of the current unmanned vehicle, and the reverse tracing can be performed normally.
Referring to fig. 2, an unmanned vehicle includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the following steps:
s1, acquiring a first direction tracing point set and a second direction tracing point set, wherein the second tracing points in the second direction tracing point set and the first tracing points in the first direction tracing point set have the same positions but are arranged in opposite orders;
s2, starting tracking according to the first direction tracking point set;
s3, obtaining a scanning result of the vehicle-mounted laser radar in real time after receiving the turning instruction, and obtaining a current third tracking point when the scanning result is that no obstacle exists in a first preset range;
s4, starting steering from the third tracking point until a fourth tracking point in the second direction tracking point set appears in a second preset range, and then moving to the fourth tracking point;
and S5, tracking according to the second direction tracing point set by taking the fourth tracing point as a starting point.
The invention has the beneficial effects that: when the tracking point sets are generated, two tracking point sets with opposite directions are generated based on the tracking points at the same position, the unmanned vehicle takes the first tracking point set as an initial tracking line to perform tracking, after a turn-around instruction is received in the tracking process, the unmanned vehicle starts to turn around if no obstacle point exists in a preset range, the tracking point serves as a target point after a fourth tracking point in the second tracking point set is found in the preset range, tracking is performed according to the second tracking point set, the same tracking points are stored in the two tracking point sets with opposite arrangement sequences, automatic turn-around and reverse tracking are achieved, and the unmanned vehicle can adapt to more driving environments.
Further, the S3 specifically includes:
s31, after receiving the turning-around command, starting to decelerate until the vehicle speed is less than or equal to the preset safe speed;
and S32, acquiring the scanning result of the vehicle-mounted laser radar in real time, and acquiring a third tracking point where the vehicle-mounted laser radar is located at present until the scanning result is that no obstacle exists in a first preset range.
According to the above description, after the turning-around instruction is received, the speed is firstly reduced, the turning-around preparation is not carried out until the vehicle speed is less than or equal to the preset safe speed, the safety of the unmanned vehicle in the turning-around process is ensured, whether obstacles exist around is scanned by using the vehicle-mounted radar before the turning-around, the turning-around is not carried out until the unmanned vehicle moves to the obstacle-free position, and the safety of the turning-around process is ensured.
Further, the S4 specifically includes:
acquiring a set of tracking points to be searched, which consists of the third tracking point to the last tracking point in the set of tracking points in the second direction;
and turning to the side without the obstacle from the third tracking point until a fourth tracking point in the set of tracking points to be searched appears in a second preset range.
According to the above description, after the third tracing point is obtained, the position of the third tracing point is obtained in the set of tracing points in the second direction, and the search of the fourth tracing point is performed in the set of tracing points to be searched, which is composed of the third tracing point and the last tracing point in the second direction, so that the search speed is improved compared with the search performed in the whole set of tracing points in the second direction.
Further, the S4 further includes:
starting from the third tracking point, the steering wheel is killed to start steering, if the fourth tracking point is not found when the third tracking point is reached again, the tracking is stopped, or the third tracking point is used as a starting point, tracking is carried out according to the first direction tracking point set, and meanwhile, a reverse tracking failure warning is sent out.
According to the description, the direction without the barrier point is selected to turn when the vehicle turns around, the safety of the turning process is also guaranteed, the vehicle starts to turn after the steering wheel is killed, the radius of the route where the unmanned vehicle runs is shortest, the turning efficiency is accelerated, and the fourth tracking point is not found when the vehicle returns to the third tracking point.
Further, the S4 further includes:
and acquiring a first longitude and latitude coordinate of the third tracing point, acquiring a current longitude and latitude coordinate in real time, and when a difference value between the current longitude and latitude coordinate and the first longitude and latitude coordinate reaches a preset value, starting to judge whether the fourth tracing point appears in a second preset range, wherein the second preset range is a range between first distances and between the first distances in first deflection angles on the left and right in front of the locomotive, the first deflection angles are (10 degrees, 30 degrees), and the first distances are (2 meters and 4 meters).
According to the description, when the difference value between the current longitude and latitude coordinate of the unmanned vehicle and the first longitude and latitude coordinate of the third tracing point reaches the preset value, the fourth tracing point is searched, the calculation resources are saved, the fourth tracing point is searched in the preset range, the fourth tracing point is guaranteed to be a position which is easy to reach by the posture of the current unmanned vehicle, and the reverse tracing can be performed normally.
Referring to fig. 1 and fig. 3 to 5, a first embodiment of the present invention is:
an automatic turning round tracking method is disclosed,
s1, acquiring a first direction tracing point set and a second direction tracing point set, wherein the second tracing points in the second direction tracing point set and the first tracing points in the first direction tracing point set have the same positions but are arranged in opposite orders;
in an optional implementation manner, tracing points are determined in a manual point-fetching manner, and a first-direction tracing point set and a second-direction tracing point set are generated by arranging the tracing points in opposite directions, please refer to fig. 3, which is a schematic diagram of the tracing points of the unmanned vehicle, wherein the tracing points arranged in the initial direction are the first-direction tracing point set in this embodiment;
s2, starting tracking according to the first direction tracking point set;
s3, obtaining the scanning result of the vehicle-mounted laser radar in real time after receiving the turning instruction, and obtaining a third tracking point where the current position is located until the scanning result is that no obstacle exists in a first preset range, wherein the third tracking point is specifically as follows:
s31, after receiving the turning-around command, starting to decelerate until the vehicle speed is less than or equal to the preset safe speed;
s32, acquiring a scanning result of the vehicle-mounted laser radar in real time, and acquiring a current third tracking point when the scanning result is that no obstacle exists in a first preset range;
s33, stopping the tracking operation;
in an optional implementation mode, the deceleration is realized through a PID algorithm, the safe speed is 20km/h, and the first preset range is a circle with the unmanned vehicle as the center and the radius of 15 m;
in an optional implementation manner, if the third tracking point is not obtained after the safety speed is reached and the preset distance is advanced, changing the first preset range into a third preset range, wherein the third preset range is smaller than the first preset range; the third preset range is a semicircle which takes the unmanned vehicle as the center and the radius of the over-vertex is vertical to the advancing direction of the unmanned vehicle;
s4, starting steering from the third tracking point until a fourth tracking point in the second direction tracking point set appears in a second preset range, and then moving to the fourth tracking point;
s4 specifically includes:
acquiring a set of tracking points to be searched, which consists of the third tracking point to the last tracking point in the set of tracking points in the second direction;
turning from the third tracking point to one side without the obstacle until a fourth tracking point in the set of tracking points to be searched appears in a second preset range;
if both sides of the advancing direction of the unmanned vehicle are free of obstacles, the unmanned vehicle is defaulted to turn to the right side;
and S5, tracking according to the second direction tracing point set by taking the fourth tracing point as a starting point.
The second embodiment of the invention is as follows:
an automatic turning round tracking method is different from the first embodiment in that:
s4 further includes:
starting from the third tracking point, steering is started by knocking the steering wheel to be dead, if the fourth tracking point is not found when the third tracking point is reached again, the tracking is stopped, and a reverse tracking failure warning is sent out, or tracking is carried out according to the first direction tracking point set by taking the third tracking point as a starting point, and a reverse tracking failure warning is sent out;
acquiring a first longitude and latitude coordinate of the third tracing point, acquiring a current longitude and latitude coordinate in real time, and when a difference value between the current longitude and latitude coordinate and the first longitude and latitude coordinate reaches a preset value, starting to judge whether the fourth tracing point appears in a second preset range, wherein the second preset range is a range which is within each first deflection angle on the left and right in front of the locomotive and has a distance between the first deflection angle and the locomotive, the first deflection angle is (10 degrees, 30 degrees), and the first distance is (2 meters, 4 meters);
in an optional implementation mode, when an included angle between the current driving direction of the unmanned vehicle and the first longitude and latitude coordinate is 90 degrees, whether a fourth tracking point exists in a second preset range is judged;
in an alternative embodiment, the first declination angle is 20 ° and the first distance is 3 meters.
Referring to fig. 3 to fig. 4, a third embodiment of the present invention is:
the automatic turning tracking method is applied to an actual scene:
referring to fig. 3, a first direction tracking point set and a second direction tracking point set are shown, the first direction tracking point set is a tracking point set arranged along an initial direction in the figure, and the second direction tracking point set is a tracking point set arranged along a reverse direction of the initial direction; the first direction tracing point set and the second direction tracing point set respectively comprise 500 tracing points;
in the embodiment, the center of the tail part of the unmanned vehicle is used as a mark point of the position of the unmanned vehicle;
s1, starting tracking according to the first direction tracking point set;
s2, after receiving the turning-around instruction, starting to decelerate at a point A in the graph in FIG. 3 until the vehicle speed reaches less than or equal to the safe speed of 20km/h at a point B, acquiring the scanning result of the vehicle-mounted laser radar in real time, and acquiring a current third tracking point C and stopping tracking when the scanning result at the point C is that no obstacle exists in a first preset range;
s3, obtaining the position of the point C in the first direction trace point set, so as to calculate the position of the point C in the second direction trace point, specifically: if the point C is the 150 th trace point in the trace point set in the first direction, the point C is the 351 st trace point in the trace point set in the second direction, wherein the point C is 500-150+1 ═ 351;
then the [351,500] th tracking point in the second direction tracking point set forms the tracking point set to be searched;
referring to fig. 4, the unmanned vehicle turns from the third tracking point to the side without the obstacle until a fourth tracking point F in the set of tracking points to be searched appears in a second preset range when reaching point E;
judging whether the included angle between the vehicle head direction EG and the tracking point direction CF in the second tracking point set is an acute angle, if so, moving to a fourth tracking point and executing S4; the situation that the driving direction of the vehicle is opposite to the direction of the tracking point in the second tracking point set needing tracking is avoided;
and S4, tracking according to the second direction tracing point set by taking the fourth tracing point F as a starting point.
Referring to fig. 2, a fourth embodiment of the present invention is:
an unmanned vehicle 1 comprises a processor 2, a memory 3 and a computer program stored on the memory 3 and capable of running on the processor 2, wherein the processor 2 executes the computer program to realize the steps of the first embodiment, the second embodiment or the third embodiment.
In summary, the invention provides an automatic turning tracking method and an unmanned vehicle, when a tracking route of the unmanned vehicle is stored, the tracking route composed of the same tracking points is stored as a first direction tracking point set and a second direction tracking point set which are opposite in direction, the unmanned vehicle starts to decelerate after receiving a turning command, starts to scan whether an obstacle exists in a first preset range after decelerating to a safe speed, starts to turn around if not, starts to detect whether the tracking point in the tracking point set to be searched exists in a second preset range in front of the vehicle when a difference value between the longitude and the latitude of the unmanned vehicle and the longitude and the latitude of a third tracking point which starts to turn around reaches a threshold value during turning around, starts to track according to the second direction tracking point set after driving to the tracking point if yes, realizes automatic turning around and reverse tracking of the unmanned vehicle, and guaranteed unmanned vehicle safety of traveling in the reverse tracking in-process of turning around through setting up safe speed, laser radar scanning barrier etc. mode, wherein turn to and die the steering wheel when turning around for the radius that the vehicle went is little, has promoted the efficiency of turning around, and if not find the fourth tracking point after getting back to the third tracking point, then can select the original place parking or continue to follow according to the first direction tracking point set and carry out the tracking when sending reverse tracking failure suggestion, can deal with different scenes, finally realize safe efficient reverse tracking.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (10)
1. An automatic turning round tracking method is characterized by comprising the following steps;
s1, acquiring a first direction tracing point set and a second direction tracing point set, wherein the second tracing points in the second direction tracing point set and the first tracing points in the first direction tracing point set have the same positions but are arranged in opposite orders;
s2, starting tracking according to the first direction tracking point set;
s3, obtaining a scanning result of the vehicle-mounted laser radar in real time after receiving the turning instruction, and obtaining a current third tracking point when the scanning result is that no obstacle exists in a first preset range;
s4, starting steering from the third tracking point until a fourth tracking point in the second direction tracking point set appears in a second preset range, and then moving to the fourth tracking point;
and S5, tracking according to the second direction tracing point set by taking the fourth tracing point as a starting point.
2. The automatic u-turn tracking method according to claim 1, wherein the step S3 is specifically as follows:
s31, after receiving the turning-around command, starting to decelerate until the vehicle speed is less than or equal to the preset safe speed;
and S32, acquiring the scanning result of the vehicle-mounted laser radar in real time, and acquiring a third tracking point where the vehicle-mounted laser radar is located at present until the scanning result is that no obstacle exists in a first preset range.
3. The automatic u-turn tracking method according to claim 1, wherein the step S4 is specifically as follows:
acquiring a set of tracking points to be searched, which consists of the third tracking point to the last tracking point in the set of tracking points in the second direction;
and turning to the side without the obstacle from the third tracking point until a fourth tracking point in the set of tracking points to be searched appears in a second preset range.
4. The automatic u-turn tracking method according to claim 1, wherein the S4 further comprises:
starting from the third tracking point, the steering wheel is killed to start steering, if the fourth tracking point is not found when the third tracking point is reached again, the tracking is stopped, or the third tracking point is used as a starting point, tracking is carried out according to the first direction tracking point set, and meanwhile, a reverse tracking failure warning is sent out.
5. The automatic u-turn tracking method according to claim 1, wherein the S4 further comprises:
and acquiring a first longitude and latitude coordinate of the third tracing point, acquiring a current longitude and latitude coordinate in real time, and when a difference value between the current longitude and latitude coordinate and the first longitude and latitude coordinate reaches a preset value, starting to judge whether the fourth tracing point appears in a second preset range, wherein the second preset range is a range between first distances and between the first distances in first deflection angles on the left and right in front of the locomotive, the first deflection angles are (10 degrees, 30 degrees), and the first distances are (2 meters and 4 meters).
6. An unmanned vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program performs the steps of:
s1, acquiring a first direction tracing point set and a second direction tracing point set, wherein the second tracing points in the second direction tracing point set and the first tracing points in the first direction tracing point set have the same positions but are arranged in opposite orders;
s2, starting tracking according to the first direction tracking point set;
s3, obtaining a scanning result of the vehicle-mounted laser radar in real time after receiving the turning instruction, and obtaining a current third tracking point when the scanning result is that no obstacle exists in a first preset range;
s4, starting steering from the third tracking point until a fourth tracking point in the second direction tracking point set appears in a second preset range, and then moving to the fourth tracking point;
and S5, tracking according to the second direction tracing point set by taking the fourth tracing point as a starting point.
7. The unmanned vehicle of claim 6, wherein the S3 is specifically:
s31, after receiving the turning-around command, starting to decelerate until the vehicle speed is less than or equal to the preset safe speed;
and S32, acquiring the scanning result of the vehicle-mounted laser radar in real time, and acquiring a third tracking point where the vehicle-mounted laser radar is located at present until the scanning result is that no obstacle exists in a first preset range.
8. The unmanned vehicle of claim 6, wherein the S4 is specifically:
acquiring a set of tracking points to be searched, which consists of the third tracking point to the last tracking point in the set of tracking points in the second direction;
and turning to the side without the obstacle from the third tracking point until a fourth tracking point in the set of tracking points to be searched appears in a second preset range.
9. The unmanned vehicle of claim 6, wherein the S4 further comprises:
starting from the third tracking point, the steering wheel is killed to start steering, if the fourth tracking point is not found when the third tracking point is reached again, the tracking is stopped, or the third tracking point is used as a starting point, tracking is carried out according to the first direction tracking point set, and meanwhile, a reverse tracking failure warning is sent out.
10. The unmanned vehicle of claim 6, wherein the S4 further comprises:
and acquiring a first longitude and latitude coordinate of the third tracing point, acquiring a current longitude and latitude coordinate in real time, and when a difference value between the current longitude and latitude coordinate and the first longitude and latitude coordinate reaches a preset value, starting to judge whether the fourth tracing point appears in a second preset range, wherein the second preset range is a range between first distances and between the first distances in first deflection angles on the left and right in front of the locomotive, the first deflection angles are (10 degrees, 30 degrees), and the first distances are (2 meters and 4 meters).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114030480A (en) * | 2021-11-03 | 2022-02-11 | 重庆理工大学 | Unmanned vehicle self-adaptive head-adaptive control algorithm based on obstacle avoidance path planning |
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