The Method On Environment Obstacle Of Unmanned Intelligent Vehicle In A Dynamic Environment

The development of vehicle technology makes unmanned technical research become a hot spot at home and abroad in recent years. The method on environment obstacle of unmanned intelligent vehicle in a dynamic environment is one of the important research direction in the field of unmanned technology, it is a comprehensive technology, including environmental awareness, vehicle control, route planning and other technical. Avoidance method is that the Unmanned smart car get its pose information and the external environment obstacles information through the vehicle sensor, Then compare two types of information to calculate the minimum avoidance safety distance, and generates avoidance path and calculate the front wheel steering angle and speed according the minimum avoidance safety distance,which can make the vehicle completed the task to reach the target point independently. In this paper, it designs the system of environmental awareness, vehicle control, path planning according the mission requirements of unmanned intelligent vehicle obstacle avoidance in dynamic environments. Intelligent unmanned vehicles, also known as smart car, unmanned vehicles, smart car, outdoor wheeled robots. The main text reads as follows:1) Building the unmanned intelligent vehicle hardware platform which including on-board sensors and implementing agencies based on the reality of the conditions and requirements of the basic system as the basis for unmanned intelligent vehicle test conditions2) In the analysis of vehicle dynamics model gives the unmanned intelligent vehicle constraints between vehicle speed and steering wheel angle in the field of vehicle control technology, which ensure unmanned intelligent vehicle can travel at a speed corresponding to the maximum age of safety corners.3) In terms of the vehicle control using PID control algorithm to track the target path, it can ensure that the vehicle can track travel follow a given path information point, ultimately, the intelligent unmanned vehicles will complete the entire path. Path tracing is the prerequisite of unmanned intelligent vehicle obstacle avoidance.4) In this paper it analyzes the positional relationship between the unmanned intelligent vehicle and the obstacle position in road environment, and divide the case of obstacles into four categories, every category can used to calculate the minimum safety distance to the obstacle, which also used to generate avoidance path. Generate avoidance path include avoidance path and parallel paths, obstacle avoidance path suitable to avoid obstacle vehicles, and the parallel paths for driverless smart car can used to change road in the process of moving.