The invention provides an unmanned vehicle obstacle avoidance control method and terminal, and the method comprises the steps: detecting an obstacle, determining an obstacle avoidance region to which the obstacle belongs according to the position information of the obstacle, grading the obstacle according to the obstacle avoidance region to which the obstacle belongs, and enabling the priority of the obstacle avoidance region closer to a vehicle to be higher; the detected highest priority is determined, and an obstacle avoidance strategy of the corresponding obstacle avoidance area is executed; wherein the obstacle avoidance area is configured to firstly determine a vehicle operation mode, extract operation parameters, and be defined according to the operation parameters; the obstacle avoidance strategy is configured to be correspondingly formulated according to different obstacle avoidance areas. According to the invention, vehicle operation states and obstacle avoidance areas are defined in a one-to-one correspondence manner, and obstacle avoidance strategies corresponding to the obstacle avoidance areas are formulated in advance; the obstacles are graded according to the obstacle avoidance area, the corresponding obstacle avoidance strategy can be determined only by determining the highest priority in the obstacles, hierarchical management and control can better adapt to application scenes with many obstacles, the processing speed is higher, and the efficiency is higher.
本发明提供一种无人车避障控制方法及终端,避障方法包括:检测障碍物,根据所述障碍物的位置信息确定其所属的避障区,并按照所属避障区对障碍物进行分级,越靠近车辆的避障区对应的优先级越高;确定所检测到的最高优先级,执行对应避障区的避障策略;其中,所述避障区被配置为先确定车辆运行模式,提取运行参数,并根据所述运行参数所定义的;所述避障策略被配置为根据不同的避障区所相对应制定的。本发明将车辆运行状态与避障区一一对应定义好,并且提前制定与避障区对应的避障策略;根据避障区对障碍物分级,只需要确定障碍物中的最高优先级,就可确定对应的避障策略,分级管理与控制更能适应障碍物多的应用场景,处理速度更快,效率更高。
Unmanned vehicle obstacle avoidance control method and terminal
一种无人车避障控制方法及终端
2022-07-29
Patent
Electronic Resource
Chinese
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