基于毫米波雷达的无人驾驶电动汽车换道动态避障控制方法

Design of obstacle avoidance control system for wall climbing robot based on improved PRM algorithm

摘要:

无人驾驶电动汽车在换道行驶中,难以细致地衡量道路中障碍物的移动状态,从而导致规划后的避障路线不够准确,可能会发生交通事故。对此,提出基于毫米波雷达的无人驾驶电动汽车换道动态避障控制方法。利用电动汽车内置的传感器设备,检测无人驾驶电动汽车的行驶状态和道路环境,判断电动汽车是否满足换道条件。综合考虑电动汽车和动态障碍物的移动状态,对无人驾驶电动汽车换道行为进行决策。采用毫米波雷达技术,设计动态避障控制器,根据决策结果规划换道避障路线,生成控制指令,实现无人驾驶电动汽车换道动态避障控制。通过效果测试实验得出结论:毫米波雷达技术的测量误差能够控制在0.1以内,位置控制误差和碰撞风险明显降低,具有更优的控制效果。

Abstract:

Unmanned electric vehicles find it difficult to accurately measure the movement of obstacles on the road during lane changing, resulting in inaccurate planned obstacle avoidance routes and the possibility of traffic accidents. A dynamic obstacle avoidance control method for lane changing of unmanned electric vehicles based on millimeter wave radar is proposed. Using the built-in sensor devices of electric vehicles, determine the driving status and road environment of unmanned electric vehicles, and determine whether the electric vehicles meet the lane changing conditions. Taking into account the movement status of electric vehicles and dynamic obstacles, make decisions on the lane changing behavior of autonomous electric vehicles. Using millimeter wave radar technology, design a dynamic obstacle avoidance controller, plan lane changing and obstacle avoidance routes based on decision results, generate control commands, and achieve dynamic obstacle avoidance control for unmanned electric vehicles. The conclusion drawn from the effectiveness testing experiment is that the measurement error of millimeter wave radar technology can be controlled within 0.1, and the position control error and collision risk are significantly reduced, with better control effects.