Title:
LOCAL OBSTACLE AVOIDANCE PATH PLANNING METHOD FOR UNMANNED BICYCLE
Document Type and Number:
WIPO Patent Application WO/2018/176593
Kind Code:
A1
Abstract:
A local obstacle avoidance path planning method for an unmanned bicycle, capable of making a bicycle travel in strict accordance with a planned path, automatically adjusting the velocity according to a path curvature, and when encountering a moving or fixed obstacle, carrying out obstacle avoidance path planning in advance. The method comprises the following steps: (1) unifying environment data obtained by an environment sensing system to a same coordinate system and generating an environment map, there being two types of environment maps, i.e., an obstacle map and a bicycle lane line map; (2) according to the principle that the bicycle may autonomously travel along a bicycle lane line under a general condition, establishing an equivalent bounding box by using a fitting lane center line as a traveling path, determining the geometrical center of an obstacle, and determining an obstacle avoidance process path; and (3) executing an obstacle avoidance step by the unmanned bicycle according to a condition formula of a collision between the unmanned bicycle and the obstacle, as well as the selected path.
Inventors:
WU JIANGUO (CN)
Application Number:
PCT/CN2017/084507
Publication Date:
October 04, 2018
Filing Date:
May 16, 2017
Export Citation:
Assignee:
SHENZHEN JING ZHOU TECH CO LTD (CN)
International Classes:
G05D1/02
Foreign References:
| CN105974917A | 2016-09-28 | |||
| CN102353379A | 2012-02-15 | |||
| CN102591332A | 2012-07-18 | |||
| US7734387B1 | 2010-06-08 | |||
| CN106530380A | 2017-03-22 | |||
| CN105759820A | 2016-07-13 |
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