CN207657812U - A kind of Multi-sensor Fusion low speed unmanned vehicle detection obstacle avoidance system - Google Patents

Abstract

The utility model belongs to unmanned technical field, discloses a kind of Multi-sensor Fusion low speed unmanned vehicle detection obstacle avoidance system.The utility model includes control system and roof laser radar, including configuring front laser radar group and rear laser radar group in unmanned vehicle lower car body, roof laser radar is used to detect the fluctuating of unmanned vehicle road ahead and detects the barrier situation in unmanned vehicle forward path together with front laser radar group；Front laser radar group is additionally operable to the barrier situation in detection unmanned vehicle left front and right front motion path；Rear laser radar group is used to detect the barrier situation at unmanned vehicle rear；Control system includes host computer and slave computer, and each laser radar feedback signal of host computer real-time reception simultaneously decodes, and is then communicated with slave computer and transmits input control signal to slave computer, slave computer controls unmanned vehicle traveling by decoding input control signal.The utility model is cheap, cost performance is relatively high, has very strong practicability.

Description

A kind of Multi-sensor Fusion low speed unmanned vehicle detection obstacle avoidance system

Technical field

The utility model belongs to unmanned technical field, and in particular to a kind of Multi-sensor Fusion low speed unmanned vehicle detection Obstacle avoidance system.

Background technology

Along with economic fast development, automobile has become component part more and more important in people's life.It drives The negligence for the person of sailing can all lead to many accidents, every year number dead in whole world traffic accident about 1,000,000 People, China probably have nearly 100,000 people to die of traffic accident every year.Since driver error is numerous, automobile manufacturers will collect certainly Middle energy designs the system that can ensure that automotive safety, is one of the principal element for pulling automatic driving car demand growth safely；Its Secondary, serious traffic jam makes driving not so fine in China big city, and the unmanned vehicle of artificial intelligence is allowed to be driven instead of someone Sail the problems such as being fully solved traffic jam；In addition, bad air regime is also the " catalysis for promoting pilotless automobile Agent ".

Pilotless automobile is to perceive road environment by vehicle-mounted sensor-based system, and automatic planning travelling line simultaneously controls vehicle Reach the intelligent automobile of predeterminated target.It is to perceive vehicle-periphery using onboard sensor, and obtained according to perception Road, vehicle location and obstacle information, steering and the speed of vehicle are controlled, to enable the vehicle to reliably and securely exist It is travelled on road.Pilotless automobile integrate automatically control, architecture, artificial intelligence, vision calculate etc. numerous technologies, Be computer science, pattern-recognition and intelligent control technology high development product, and weigh a national research strength and One important symbol of industrial level, has broad application prospects in national defence and national economy field.

Currently, unmanned vehicle development is still in infancy, each state has all started the research of Intelligent unattended driving in succession. The either intelligent driving of which kind of degree, the first step is all perception, that is, the road conditions environment of perception vehicle-surroundings complexity, at this Corresponding path planning and driving behavior decision can be just made on the basis of a, the selection of detecting sensor is unmanned vehicle success avoidance Premise.Common ranging detecting sensor has：Ultrasonic distance-measuring sensor, infrared distance sensor, CCD vision systems, milli Metre wave radar, microwave radar and laser radar etc..

Laser radar is actually that one kind being operated in optical region（Special wave band）Radar, laser radar belong to actively visit It surveys, independent of the radiation characteristic of extraneous illumination condition or target itself, it only need to emit the laser beam of oneself, be sent out by detecting The echo-signal of laser beam is penetrated to obtain target information.Laser wave length can emit the very small laser beam of the angle of divergence, multipath Effect is small, detectable low latitude/treetop level target.Single line laser radar is one kind in laser radar, due to only emitting all the way It receives all the way, structure is relatively easy, and use is also more convenient；The single line laser radar scan period is shorter, to direction of advance ring The sweep speed in border is fast, and angular resolution is higher, and radar small volume itself, weight is relatively light, and power consumption is also relatively low, reliably Higher, the relative inexpensiveness of property；Single line laser radar investigative range is relatively wide, can provide a large amount of environmental scanning point distance letters Breath decision can provide larger convenience in order to control, and it is unknown that the above advantage so that single line laser radar becomes unmanned vehicle perception The preferential selection of one of environment.

General common simple unmanned bassinet structure such as Fig. 1, detection and obstacle avoidance system principle such as Fig. 2.Automatic driving car By（Single line is multi-thread）Laser radar sensor detection system detects environment and is conveyed to PC machine（Host computer）, then PC machine pass through Coded treatment sends control instruction to SCM Based slave computer, and single chip control module sends control after communication decodes To DC brushless motor controller, controller drives multiple DC brushless motor movements for system instruction；Single-chip computer control system according to The variation of peripheral environment carrys out the speed of regulation motor, and then controls the position of unmanned vehicle in the actual environment, realizes that unmanned vehicle exists Walking in actual condition and avoidance, existing simple unmanned vehicle control is to control single single line by single microcontroller Laser radar sensor or multi-line laser radar sensor realize above-mentioned function.

But above-mentioned technical proposal long-play can find that there is problems, mainly have：

（1）Due to unmanned vehicle by ambient enviroment destabilizing factor interfere, SCM Based controller anti-interference ability compared with Difference often will appear exception, cause unmanned vehicle out of control.

（2）Existing automatic driving car is all made of rudimentary DSP, ARM family chip, working frequency most 100 megahertzs of great talent Hereby left and right, cannot be satisfied the rapid computations of unmanned vehicle complex data.

（3）It is influenced by unmanned vehicle PC machine performance, the sensor gathered data of unmanned vehicle quickly can not be calculated and be stored.

（4）The data that single line laser radar obtains are 2D data, cannot be distinguished from the information such as the height of target, some babies Cognition is ignored, and eventually becomes barrier, and single single line laser radar sensor navigation becomes the bottleneck of automotive field.

（5）Single single line laser radar can not obtain information of road surface, need to coordinate other sensors to terrestrial information into Row reads and differentiates.

（6）Although 2.5D or 3D data may be implemented in multi-line laser radar, it can be determined that the height of barrier handles ground Information etc., but price is relatively expensive, and the laser radar price of 64 beams is up to 700,000 RMB, can not large area It promotes the use of.

（7）Single single line laser radar can not detect the information such as bent angle, cliff road, need that other sensors is coordinated to use Peripheral obstacle signal or alignment sensor mark can just be read.

（8）Present unmanned vehicle substantially only considers forward detection and avoidance, does not consider the obstacle information at rear, has When the rear barrier that occurs can hurt unmanned vehicle ontology, and unmanned vehicle cannot achieve acceleration and hide.

（9）Based on single single line laser radar unmanned vehicle, just starting moment, there is a detection blind areas, once have Barrier is in blind area, is easy to generate traffic accident.

（10）It also will appear detection blind area during actual travel based on single single line laser radar unmanned vehicle, once There is barrier to enter movement blind area during the motion and also will produce traffic accident.

Therefore, it is necessary to unmanned to the existing single line laser radar or multi-line laser radar controlled based on DSP or ARM Detection system is redesigned, and a kind of practical unmanned vehicle detection cheap, that cost performance is relatively high of demand perceives not Know the sensor-based system of environment.

Invention content

The utility model aim is：In order to overcome the deficiencies in the prior art, the utility model to provide a kind of more biographies Sensor merges low speed unmanned vehicle and detects obstacle avoidance system.

Specifically, the utility model is realized using following technical scheme, including control system and roof laser thunder It reaches, further includes the front laser radar group and rear laser radar group configured in unmanned vehicle lower car body, wherein the roof swashs Optical radar is used to detect the fluctuating of unmanned vehicle road ahead and is detected together with front laser radar group and transported in front of unmanned vehicle Barrier situation in dynamic path；The front laser radar group is additionally operable to detection unmanned vehicle left front and right front motion path In barrier situation；The rear laser radar group is used to detect the barrier situation at unmanned vehicle rear；The control system Including host computer and slave computer, each laser radar feedback signal of host computer real-time reception simultaneously decodes, then simultaneously with slave computer communication Input control signal is transmitted to slave computer, slave computer controls unmanned vehicle traveling by decoding input control signal.

Furthermore, the roof laser radar is 1 single line laser radar, is located slightly above roof and and horizontal plane Similar to 5 ~ 15 degree obliquely of roof front center portion.

Furthermore, the roof laser radar is LMS151 single line laser radars.

Furthermore, the front laser radar group is made of 3 single line laser radars, wherein there is two to be located at The left front portion of headstock and right front portion, the two center position remain far from unmanned vehicle direction of advance there are one approximate 30 degree of angle One is remaininged positioned at the center of the two, and center position is consistent with unmanned vehicle direction of advance.

Furthermore, the about liftoff 40cm of the setting height of the front laser radar group.

Furthermore, the front laser radar group is LMS151 single line laser radars.

Furthermore, the rear laser radar group is made of two single line laser radars parallel with horizontal plane, point Not Wei Yu the tailstock both sides.

Furthermore, the about liftoff 40cm ~ 60cm of the rear laser radar group setting height.

Furthermore, the rear laser radar group is LMS122 single line laser radars.

Furthermore, further include the front ultrasonic sensor group and rear supersonic sensing being arranged in unmanned car bottom Device group, the front ultrasonic sensor group detect avoidance, the rear ultrasonic sensor group for blind area in front of unmanned vehicle Avoidance, the slave computer and front ultrasonic sensor group and rear ultrasonic sensor group are detected for unmanned vehicle rear blind area Communication.

Furthermore, the front ultrasonic sensor group is made of 5 ultrasonic sensors.

Furthermore, the rear ultrasonic sensor group is made of 5 ultrasonic sensors.

Furthermore, the host computer is the NUC microcomputers of Intel.

Furthermore, the slave computer is STM32F7 MCU.

Furthermore, the control system is communicated by wireless device and unmanned vehicle master station, when unmanned vehicle and master station lose When going communication, slave computer implements automatic stopping control.

Furthermore, the slave computer is additionally operable to read the site identity on ground.

Furthermore, unmanned vehicle is electric vehicle, and the control system is joined according to the internal resistance of electromobile battery and temperature Several terminal voltages to accumulator are detected.

The beneficial effects of the utility model are as follows：

1, during the motion, it has fully considered the effect of battery in this system, has been based on ARM+NUC dual-core controllers Moment is all monitored and operation in the operating status to unmanned vehicle, the generation of high current is avoided, so fundamentally solving Impact of the high current to battery, avoids the generation of the accumulator overaging phenomenon caused by heavy-current discharge.

2, in fast discharge process, in the voltage detecting process of opposite end, the parameters such as internal resistance, the temperature of accumulator are introduced, So that terminal voltage favorably uses the low-voltage variation of battery closer to actual parameter.

3：The data fusion of more single line laser radars of unmanned vehicle is handled by NUC so that control is fairly simple, greatly improves Arithmetic speed, solves the slower bottleneck of single ARM running softwares, and it is short to shorten the development cycle, and program transportability ability By force.

4：The utility model saves control panel occupied space, and also achieves the effective of the multiple isolated areas of unmanned vehicle Detection and avoidance are conducive to the stability and dynamic property that improve unmanned vehicle system.

5：Since the controller of the utility model handles data and the calculation of a large amount of single line laser radar sensors using NUC Method, and fully considered the interference source of surrounding, ARM is freed from hard work amount, effectively prevents movement control " run and fly " of main program processed, unmanned vehicle anti-interference ability greatly enhances.

6：Since the single line laser radar of unmanned bus-top with ground there is certain angle, this angle can help to push up Layer single line laser radar very well in advance find movement the original fluctuating in road surface, prevent caused by road surface breakage have certain depth and The dell of width influences unmanned vehicle and normally travels.

7：Since the single line laser radar of unmanned bus-top with ground there is certain angle, this angle can help to push up Layer single line laser radar finds the small obstacle that loses temporarily of movement road surface in advance very well, prevents certain altitude and width Barrier influences unmanned vehicle and normally travels.

8：The more single line laser radar sensor fusion systems in front, not only can effectively detect the barrier of the unmanned vehicle direction of motion Hinder the position where object, notify that unmanned vehicle control realizes Emergency avoidance, and compared to multi-line laser radar hardware cost compared with It is low, be conducive to the popularization of unmanned vehicle practical application.

9：The more single line laser radar sensor fusion systems in front, since there is friendship in the direction of single line laser radar sensor Fork, can effectively detect the presence of direction of motion both sides columnar object, and the positioning that can advance for unmanned vehicle provides certain help.

10：The more single line laser radar sensor fusion systems in front, since there is friendship in the direction of single line laser radar sensor Fork, can effectively detect the presence of both sides clear area, and turning and the avoidance of can advancing for unmanned vehicle provide certain help.

11：The more single line laser radar sensor fusion systems in rear, can effectively detect unmanned vehicle and rear moving disorder The distance of object, when in case of emergency, unmanned vehicle can accelerate to flee danger region under controller help, play protection nothing The effect of people's vehicle ontology.

12：The front blind-area detecting system being made of multiple ultrasonic sensors can effectively eliminate unmanned vehicle, and just startup is accelerated forwardly When the short-distance blind section that occurs, improve unmanned vehicle forward Acceleration of starting when safety and reliability.

13：It can effectively eliminate when unmanned vehicle has just started reversing by the rear blind area detecting system that multiple ultrasonic sensors form Existing short-distance blind section improves safety and reliability when unmanned vehicle reversing.

14：The front blind-area detecting system being made of multiple ultrasonic sensors can effectively eliminate real-time when unmanned vehicle normally travel The short-distance blind section of appearance further improves unmanned vehicle safety and reliability.

15：Occur in real time when can effectively eliminate unmanned vehicle reversing by the rear blind area detecting system that multiple ultrasonic sensors form Short-distance blind section, further improve unmanned vehicle safety and reliability.

16：For the unmanned vehicle of this structure, in order to meet a wide range of multi-site operation, add with certain redundancy The site sensor of degree, is not only conducive to the positioning of unmanned vehicle, but also is also beneficial to tracking of the master station to unmanned vehicle.

Description of the drawings

Fig. 1 is common simple automatic driving car two-dimensional structure figure.

Fig. 2 is the detection of common unmanned vehicle and obstacle avoidance system schematic diagram.

Fig. 3 is Multi-sensor Fusion automatic driving car two-dimensional structure figure.

Fig. 4 is that front single line laser radar group arranges two-dimensional structure figure.

Fig. 5 is that front blind zone supersonic sensor group arranges two-dimensional structure figure.

Fig. 6 is that rear single line laser radar group and ultrasonic wave group arrange two-dimensional structure figure.

Fig. 7 is the detection of Multi-sensor Fusion unmanned vehicle and obstacle avoidance system schematic diagram.

Fig. 8 is Multi-sensor Fusion unmanned vehicle operation schematic diagram.

Specific implementation mode

It is described in further detail with reference to embodiment and with reference to attached drawing to the utility model.

Embodiment 1：

One embodiment of the utility model, concrete scheme are as described below.

The unmanned vehicle sensor structure of the present embodiment is arranged as shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6.Specifically, SICK companies Laser radar using ripe laser -- time flight theory and multiple echo technology, non-contact detection can be according to existing Field needs, and the protection zone of various figures is arranged, and figure can be simply changed at any time, by interior according to the needs at scene Portion filters and multiple echo technology makes sensor have reliable interference free performance.LMS151 and LMS122 is that SICK companies are new The high-performance of release is directed to the laser radar of proximity detection respectively, and LMS151 series is directed to the object of 10% reflectivity, distance 50 meters can be reached, LMS122 detecting distances are farthest 20 meters reachable.In view of the above feature, the present embodiment is used and is based on The laser radar group of LMS1XXX series forms unmanned vehicle short distance front and back obstacle detection and protection system：Adopt With a position be slightly above roof, with horizontal plane similar to 5 ~ 15 degree, obliquely, positioned at roof front center portion LMS151-10100 single line laser radars L1 is with LMS151-10100 single lines parallel with horizontal plane the liftoff general 40cm of unification group Laser radar（Generally 3, respectively L2, L3, L4）The accurate front proximity detection of composition and obstacle avoidance system, wherein horizontal L2, L4 are located at left front portion and the right front portion of headstock in radar group, and far from the direction of motion, there are one close for the two center position Like 30 degree of angle, the barrier of unmanned vehicle left and right side can be effectively detected respectively, L3 is located at the center of L2 and L4, Center position is consistent with the direction of motion；Using one group of liftoff general 40cm ~ 60cm LMS122-10100 laser parallel with horizontal plane Radar group（Generally 2, respectively L5, L6）To form the detection of unmanned vehicle rear and protection system.

Due to sensor combinations, generally in forward region, there are one when startup moves forward for unmanned vehicle Blind area, in order to prevent start when collide, the present embodiment unmanned vehicle bottom be added one group by ultrasonic sensor US1, The front blind-area detection of US2, US3, US4, US5 composition and obstacle avoidance system.It moves forward moment in unmanned vehicle startup, front blind-area detection System works, if obstacle is not present when unmanned vehicle Acceleration of starting moves forward in safety zone, unmanned vehicle can be transferred to mostly single Line laser radar group fusion sensing navigational state；Due to sensor combinations, unmanned vehicle is general when starting reversing back In rear moving region, there are a blind areas, collide when starting in order to prevent, and the present embodiment is added in the bottom of unmanned vehicle One group by ultrasonic sensor US7, US8, US9, US10, US11 rear blind area detection formed and obstacle avoidance system.It is opened in unmanned vehicle Dynamic reversing back moment, rear blind area detection system work, if there is no obstacles to exist in unmanned vehicle Acceleration of starting reversing back Safety zone, unmanned vehicle can be transferred to more single line laser radar group fusion sensing reversing navigational states.

The completely new STM32F7 MCU series of products that STM companies are produced are global first volume productions and possess 32 bits The microcontroller of ARM Cortex-M7 processors, product, which is all equipped with, possesses floating-point operation unit and DSP extended functions Cortex-M7 cores, arithmetic speed highest 216MHz；With towards kernel, peripheral hardware and memory interconnection AXI and more AHB it is total Wire matrix, using 6 grades of super scalar pipelines and floating point unit (Floating Point Unit, FPU)；Two general DMA controls Device processed and a DMA for being exclusively used in graphics accelerator；Peripheral hardware speed is independently of CPU speed（Doubleclocking is supported）So that when system Clock variation does not influence peripheral hardware work；Compared to STM32 series before, possess more rich peripheral hardware；Above-mentioned outstanding efficiency is given the credit to In 90 nanometers of leading manufacturing process of the market of STMicw Electronics, exclusive reduction flash memory memory access time, advanced dominant frequency and work( Optimisation technique is consumed, in the case where all registers and SRAM contents can continue the stop mode kept, the exemplary currents with 100 μ A Consumption, while STM32F7 has excellent instruction and pin compatibility：Cortex-M4 instruction set that Cortex-M7 is backward compatible, STM32F7 series and STM32F4 series pin compatibilities；ARM Cortex-M7 efficiency is surmounted morning by STM32F7 MCU series of products Phase core（For example Cortex-M4）Advantage apply to ultimate attainment, efficiency reaches nearly twice of DSP, and These characteristics make STM32F7 is very suitable for substituting the data processing that STM32F4 family chips do unmanned vehicle Multi-sensor Fusion.

Therefore, to overcome, existing unmanned vehicle stability is poor, rapidity difference and the poor disadvantage of sexual valence, the present embodiment are given up Single single line laser radar or multi-line laser radar operating mode used by existing unmanned vehicle have been used based on Intel the Seven generation NUC microcomputer+ARM（Newest embedded STM32F767）Completely new control model.In order to reduce the entirety of unmanned vehicle Hardware cost realizes detection and the avoidance of barrier using more single line laser radars and ultrasonic sensor integration technology.Control For device processed using STM32F767 as processing core, real-time reception is more based on the host computer that Intel's the 7th generation NUC microcomputer forms Sensor digital merges signal, realizes that the image pick-up signal processing of part and various responses are interrupted, and realize the reality with master station Shi Tongxin and data-signal storage.

In order to improve arithmetic speed, ensure the stability and reliability of unmanned vehicle control, the present embodiment based on The 7th generation NUC microcomputer that Intel's state-of-the-art technology is introduced in STM32F767 controllers, forms the double-core based on ARM+NUC Controller, the detection of more single line laser radars and obstacle avoidance system controller system are concentrated design by this controller, and fully consider electricity Detection and avoidance of the unmanned vehicle in each region are realized in the effect of this system in pond.Workload in unmanned vehicle control Maximum more single line laser radar signal processings give the processing of NUC microcomputers, give full play to NUC microcomputer data processings The characteristics of speed, and the functions such as blind area detection and avoidance, man-machine interface, online output, data storage, I/O controls are given STM32F767 is completed, and thereby realizes the division of labor of ARM and NUC microcomputers, at the same it is between the two communicated in real time into Row data exchange and calling.

For the present embodiment based on ARM+NUC dual-core controllers, under power-on state, ARM controller and NUC controls Device processed is completed to initialize first, and then vehicle-mounted computer NUC controls master station by unmanned vehicle and transfers unmanned vehicle driving path and map Information, subsequent blind-spot sensor are started to work, and are communicated with ARM controller, and ARM controller determines that clear enters workspace Unmanned vehicle walking mode is opened behind domain, while mutually being communicated with NUC controllers, and NUC real-time reception laser radars feedback signal is simultaneously Then decoding communicates with ARM controller and transmits input control signal to ARM controller, ARM controller is by decoding input control Signal processed controls DC brushless motor, and DC brushless motor driving unmanned vehicle after mechanical device converts power travels, and in real time The signals such as displacement, speed and acceleration are fed back to ARM controller.

With reference to Fig. 7, the specific implementation step of the present embodiment is：

Unmanned vehicle control is divided into two parts：Master system based on vehicle-mounted computer NUC and it is based on STM32F767 ARM lower computer systems.It is wherein based on vehicle-mounted computer NUC master systems and completes path and map input, more single line laser thunders Up to the functions such as the data fusion of sensor and online output；ARM lower computer control systems based on STM32F767 complete unmanned vehicle The functions such as SERVO CONTROL, data storage, the I/O controls of system, the wherein maximum multiaxis brush DC servo-drive system control of workload System gives STM32F767 processing, gives full play to the very fast advantage of STM32F767 data processings, thereby realizes NUC and ARM The division of labor, while can be communicated again therebetween, carry out data exchange and calling in real time.

With reference to Fig. 8, the specific function realization of the present embodiment is as follows：

1）Before unmanned vehicle is not connected to motion command, it can generally set out what the master station to be controlled such as waiting area sent out Order, if voltage is relatively low, unmanned vehicle can be docked automatically with charging unit and be charged.

2）For unmanned vehicle in waiting time after being connected to the task of setting out, unmanned vehicle vehicle-mounted computer NUC transfers nothing by master station People's vehicle driving path and navigation map information, then ARM controller based on STM32F767 open blind-spot sensor US1 ~ US5 Blind area is scanned, if there is barrier enters movement blind area, ARM controller can send out alarm, and wait for the clear of barrier It removes；If clear enters movement blind area, unmanned vehicle starts to automatically speed up.

3）After unmanned vehicle starts startup, ARM controller just opens each single line laser radar sensor L1 ~ L6 and by them Start to navigate, starts to walk along fixed course.

4）After unmanned vehicle enters moving line, with ground at the diagonally forward laser sensor L1 and ground at approximate 5 ~ 15 degree of angles The parallel front in face detects single line laser radar group（L2、L3、L4）The environment in moment detection front：With ground at approximate 5 ~ 15 degree The diagonally forward laser sensor L1 at angle can work independently, in front of with certain angle of inclination, L1 can be detected very well The fluctuating of road, it is easy to find the depth and width to rise and fall；L1 cooperations L3 mainly detects the presence or absence of front barrier； L3 coordinates the presence or absence of L2 detection left front barriers；L3 coordinates the presence or absence of L4 detection right front barriers.

If L1 detects the fluctuating pitting there are certain altitude in forward path, if height and width are more than The requirement that unmanned vehicle is crossed will send out interrupt requests to STM32F767 while fluctuating pitting data will be transferred at NUC Reason, STM32F767 can hide protection subprogram to interrupting priority processing and entering front；If the height and width of fluctuating pitting In unmanned vehicle tolerance, unmanned vehicle will be travelled according to the normal speed of setting.

If L1 and L3 are detected in forward path, there are barriers, and it is same will to send out interrupt requests to STM32F767 When barrier data are transferred to NUC processing, STM32F767 can protect son to interrupting priority processing and entering front avoidance Program：The data that STM32F767 is communicated according to NUC give way into leftward or rightward avoidance；If no barrier enters fortune Line range, unmanned vehicle will be travelled according to the normal speed of setting.

If L2 and L3 are detected in the motion path of left front, there are barriers, will send out interrupt requests to STM32F767 Barrier data are transferred to NUC processing simultaneously, STM32F767 can be protected to interrupting priority processing and entering left front avoidance Subprogram：The avoidance that the data that STM32F767 is communicated according to NUC enter to the right gives way；If no barrier enters operation model It encloses, unmanned vehicle will be travelled according to the normal speed of setting.

If L4 and L3 are detected in the motion path of right front, there are barriers, will send out interrupt requests to STM32F767 Barrier data are transferred to NUC processing simultaneously, STM32F767 can avoidance be protected to interruption priority processing and before entering the right side Subprogram：The avoidance that the data that STM32F767 is communicated according to NUC enter to the left gives way；If no barrier enters operation model It encloses, unmanned vehicle will be travelled according to the normal speed of setting.

5）After unmanned vehicle enters moving line, rear parallel to the ground detects single line laser radar group（L5、L6）, ultrasound Wave sensing group（US6, US7, US8, US9 and US10）Moment detects the environment at rear, if after multi-sensor fusion system judges When side is close to unmanned vehicle there are barrier, interrupt requests will be sent out to STM32F767, barrier data are transferred to NUC simultaneously It is handled, STM32F767 can protect subprogram subsequently into rear avoidance and send out alarm to interrupting priority processing；If Rear does not have barrier to enter protection domain, and unmanned vehicle will be travelled according to the normal speed of setting.

6）After unmanned vehicle enters moving line, blind-spot sensor US1 ~ US5 and US6 ~ US10 moment parallel to the ground is examined Survey the environment of blind area, if US1 ~ US5 and US6 ~ US10 judgements have interim barrier it is close to unmanned vehicle blind area when, will be to STM32F767 sends out interrupt requests and barrier data is transferred to NUC processing simultaneously, and STM32F767 can be preferential to interrupting Processing protects subprogram subsequently into blind area avoidance and sends out alarm；If blind area does not have barrier to enter protection domain, nobody Vehicle will be travelled according to the normal speed of setting.

7）Under conditions of unmanned vehicle injection normal running speed reaches requirement, sensor L1 ~ L6 of navigation, US1 ~ US10 is conveyed to NUC and ARM controller by work, and feedback signal, first have NUC carry out Data Fusion and STM32F767 responds various interruption protections, and then NUC and ARM is communicated, and send control signal to servo motor by ARM controller, leads to The movement velocity and the direction of motion for overregulating the movement of servo motor to realize unmanned vehicle change so that unmanned vehicle can be easily Follow setting moving line.

8）In most cases due to unmanned vehicle, one-stop service pattern it is not, the place of arrival is more, in order to reality The website function of existing unmanned vehicle, the present embodiment have given up general website read method, and skip website, the present embodiment add in order to prevent Site sensor S1 and S2 with certain redundancy are entered, when unmanned vehicle will reach website, ARM controller will be to ground On site identity S1 and S2 sensor be read out：When two sensors all represent unmanned vehicle traveling just without triggering Shi Ze Normal state；When one sensor of any of which Shi Ze that is triggered represents unmanned vehicle and will enter the station, if stopped this station without spy Different to require, unmanned vehicle will brake according to present speed this when, and unmanned vehicle can accurately rest in this station every time.Work as station Point will add up automatically after reading, can be certainly after the automatic traveling circulating function of unmanned vehicle, unmanned vehicle reach maximum website in order to realize Dynamic clearing and the again counting of slave site 1.

9）After unmanned vehicle, which enters, stops website, ARM controller storage generates the information record sheet that enters the station, then by wireless Device is sent to master station, is conducive to master station to the tracking of unmanned truck position and the scheduling of unmanned vehicle.

10）In order to meet the actual functional capability needs of unmanned vehicle in special circumstances in scenic spot etc., the present embodiment is added Bus stop selection function：Unmanned vehicle can be freely set in unmanned vehicle initial operating stage master station and need the bus stop that goes, then without People's vehicle can be with this setting of complete independently by the sensor of itself, if an emergency situation is encountered in the process of running, master station needs It changes operating path or stops website, main website is communicated by wireless device and unmanned vehicle, and changes walking information, unmanned vehicle Path can be automatically updated and stop site information, task is completed according to new requirement.

11）When unmanned vehicle by fixed route when driving, a variety of acoustooptic alarm systems in system are by work, it is easy to remind The presence of surrounding pedestrian's unmanned vehicle, when unmanned vehicle loses communication with main website, ARM controller can send out automatic stopping signal, directly The motion servo motor that original place locks unmanned vehicle is connect, is thus not easy to collide with other unmanned vehicles, main website is due to nothing at this time Method is collected into the transmission information of unmanned vehicle, will stop site information according to upper one and carry out fast track, and solve failure problems.

Although the utility model has been described by way of example and in terms of the preferred embodiments, embodiment is not for limiting the utility model 's.In the spirit and scope for not departing from the utility model, it is new to also belong to this practicality for any equivalent change or retouch done The protection domain of type.Therefore the scope of protection of the utility model should be mark with the content that claims hereof is defined It is accurate.

Claims (17)

1. a kind of Multi-sensor Fusion low speed unmanned vehicle detects obstacle avoidance system, including control system and roof laser radar, special Sign is, further includes the front laser radar group and rear laser radar group configured in unmanned vehicle lower car body, wherein：

The roof laser radar is used to detect the fluctuating of unmanned vehicle road ahead and is visited together with front laser radar group Survey the barrier situation in unmanned vehicle forward path；The front laser radar group be additionally operable to detection unmanned vehicle left front and Barrier situation in the motion path of right front；The rear laser radar group is used to detect the obstacle principle at unmanned vehicle rear Condition；

The control system includes host computer and slave computer, and each laser radar feedback signal of host computer real-time reception simultaneously decodes, so It is communicated afterwards with slave computer and transmits input control signal to slave computer, slave computer controls unmanned vehicle by decoding input control signal Traveling.

2. Multi-sensor Fusion low speed unmanned vehicle according to claim 1 detects obstacle avoidance system, which is characterized in that the vehicle Top laser radar is 1 single line laser radar, is located slightly above roof and with horizontal plane similar to 5 ~ 15 degree obliquely of roof Front center portion.

3. Multi-sensor Fusion low speed unmanned vehicle according to claim 2 detects obstacle avoidance system, which is characterized in that the vehicle Top laser radar is LMS151 single line laser radars.

4. Multi-sensor Fusion low speed unmanned vehicle according to claim 1 detects obstacle avoidance system, which is characterized in that before described Square laser radar group is made of 3 single line laser radars, wherein having two left front portions for being located at headstock and right front portion, the two Center position is far from unmanned vehicle direction of advance there are one approximate 30 degree of angle, a remaining center for being located at the two, Its center position is consistent with unmanned vehicle direction of advance.

5. Multi-sensor Fusion low speed unmanned vehicle according to claim 4 detects obstacle avoidance system, which is characterized in that before described The about liftoff 40cm of setting height of square laser radar group.

6. Multi-sensor Fusion low speed unmanned vehicle according to claim 4 detects obstacle avoidance system, which is characterized in that before described Square laser radar group is LMS151 single line laser radars.

7. Multi-sensor Fusion low speed unmanned vehicle according to claim 1 detects obstacle avoidance system, which is characterized in that after described Square laser radar group is made of two single line laser radars parallel with horizontal plane, is located at the both sides of the tailstock.

8. Multi-sensor Fusion low speed unmanned vehicle according to claim 7 detects obstacle avoidance system, which is characterized in that after described The about liftoff 40cm ~ 60cm of square laser radar group setting height.

9. Multi-sensor Fusion low speed unmanned vehicle according to claim 7 detects obstacle avoidance system, which is characterized in that after described Square laser radar group is LMS122 single line laser radars.

10. Multi-sensor Fusion low speed unmanned vehicle according to claim 1 detects obstacle avoidance system, which is characterized in that also wrap Include the front ultrasonic sensor group and rear ultrasonic sensor group being arranged in unmanned car bottom, the front supersonic sensing Device group detects avoidance for blind area in front of unmanned vehicle, and the rear ultrasonic sensor group is kept away for the detection of unmanned vehicle rear blind area Barrier, the slave computer are communicated with front ultrasonic sensor group and rear ultrasonic sensor group.

11. Multi-sensor Fusion low speed unmanned vehicle according to claim 10 detects obstacle avoidance system, which is characterized in that described Front ultrasonic sensor group is made of 5 ultrasonic sensors.

12. Multi-sensor Fusion low speed unmanned vehicle according to claim 10 detects obstacle avoidance system, which is characterized in that described Rear ultrasonic sensor group is made of 5 ultrasonic sensors.

13. Multi-sensor Fusion low speed unmanned vehicle according to claim 1 detects obstacle avoidance system, which is characterized in that described Host computer is the NUC microcomputers of Intel.

14. Multi-sensor Fusion low speed unmanned vehicle according to claim 1 detects obstacle avoidance system, which is characterized in that described Slave computer is STM32F7 MCU.

15. Multi-sensor Fusion low speed unmanned vehicle according to claim 1 detects obstacle avoidance system, which is characterized in that described Control system is communicated by wireless device and unmanned vehicle master station, and when unmanned vehicle loses communication with master station, slave computer is implemented automatic Parking toll.

16. Multi-sensor Fusion low speed unmanned vehicle according to claim 1 detects obstacle avoidance system, which is characterized in that described Slave computer is additionally operable to read the site identity on ground.

17. Multi-sensor Fusion low speed unmanned vehicle according to claim 1 detects obstacle avoidance system, which is characterized in that nobody Vehicle is electric vehicle, and the control system examines the terminal voltage of accumulator according to the internal resistance and temperature parameter of electromobile battery It surveys.