The invention provides an automatic turning tracking method and an unmanned vehicle, a first direction tracking point set and a second direction tracking point set are acquired, and second tracking points in the second direction tracking point set and first tracking points in the first direction tracking point set are the same in position but opposite in arrangement sequence; tracking is started according to the first direction tracking point set; after receiving a turn-around instruction, a scanning result of the vehicle-mounted laser radar is obtained in real time, and a current third tracking point is obtained when the scanning result is that no obstacle exists in the first preset range; turning is carried out from the third tracking point until a fourth tracking point in a second direction tracking point set appears in a second preset range, and then moving is performed to the fourth tracking point; the fourth tracking point is taken as a starting point, and tracking is performed according to the second direction tracking point set. According to the invention, automatic turning and reverse tracking are realized, so that the unmanned vehicle can adapt to more driving environments.
本发明提供了一种自动掉头循迹方法及无人车,获取第一方向循迹点集合及第二方向循迹点集合,第二方向循迹点集合中的第二循迹点与所述第一方向循迹点集合中的第一循迹点的位置相同但排列顺序相反;根据第一方向循迹点集合开始循迹;接收掉头指令后实时获取车载激光雷达的扫描结果,直至扫描结果为在第一预设范围内无障碍物时,获取当前所在的第三循迹点;从第三循迹点开始转向,直至第二预设范围内出现第二方向循迹点集合中的第四循迹点,之后移动至第四循迹点;以第四循迹点为起始点,根据第二方向循迹点集合进行循迹;本发明实现自动掉头和反向循迹,使得无人车能够适应更多行驶环境。
Automatic turning tracking method and unmanned vehicle
一种自动掉头循迹方法及无人车
2021-07-13
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
European Patent Office | 2023
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