摘要
提出一种在二维平面内快速响应避障与刹车的算法应用系统。采用树莓派为核心控制器件,利用激光雷达接收实时障碍信息,监测车辆与障碍物的距离,以达到自动控制车辆的前进与刹车。在软件设计上,建立存储空间小的不定长地图,并设计响应速度快的最宽无障区算法,进行避障规划。当遇到避无可避等突发状况,则立即响应紧急刹车功能,以保障车辆安全。
An application system that quickly responds to obstacle avoidance and emergency braking in two-dimensional plane is proposed. Using the Raspberry Pi 3 B+ as the core control device, it receives the real-time obstacle information from lidar, monitors the distance between the vehicle and the obstacle, to achieve automatic control of the vehicle’s avoidance and braking. In their software design, an indefinite-length map using lesser storage space is designed, and the widest obstacle-free zone algorithm with a faster response for obstacle avoidance is used for the route planning. When encountering unexpected situations such as an inevitable obstacle, it will immediately jump into the emergency braking function to ensure the safety of the vehicle.
作者
李天铭
王晓娜
陈如林
王超然
阚岳
LI Tianming;WANG Xiaona;CHEN Rulin;WANG Chaoran;KAN Yue(School of Physics,Dalian University of Technology,Dalian 116024,China)
出处
《实验室科学》
2021年第5期22-25,30,共5页
Laboratory Science
基金
2018年国家级大学生创新计划训练项目(项目编号:2018101411100000001)。
关键词
激光雷达
紧急刹车
自动避障
不定长地图
最宽无障区算法
lidar
emergency braking
automatic obstacle avoidance
indefinite-length map
widest obstacle-free zone algorithm
