Perception And Collision Avoidance Technology Research Unmanned Roadblocks Mobile Platforms

With the rapid development of transportation, traffic accidents frequents year and year, people has gradually paid attention to the vehicle active safety performance. This paper studies the unmanned mobile platforms active collision avoidance system, it uses the obstacle detection technology to obtain the information on the external environment, and transfers the obstacle information that perception technology gets to the control system, the control system determines the degree of dangerous state based on the comprehensive information, and braking system can output different intensities braking deceleration to enable the unmanned mobile platform to take the initiative away from danger in emergency avoidance situations, to ensure the unmanned mobile platform driving safety and smooth.Obstacle detection and collision avoidance strategy is two key technologies of the unmanned mobile platforms active collision avoidance system. Firstly, this paper discusses the unmanned mobile platform active collision avoidance system’s overall structure, and describes the obstacle detection module, computer processing module and control execution module, and elaborates on each module’s functions in collision avoidance system. By studying environmental perception technology, An obstacle detection method travelable area ahead of vehicle on the structured road based on monocular vision is applied to determine the road region of interest and obstacle position. Secondly, to ensure the unmanned mobile platform proper safety distance, the automobile braking process is analyzed, and the motion state of the front vehicle as a reference target, to build the dynamic safety distance mathematical model. According to safety distance model, the active collision avoidance control system is designed based on fuzzy control theory, and focuses on designing the braking fuzzy controller. At last, by simulating to verify the reliability of the proposed control strategy, simulation result shows the fuzzy control strategy model based on safety distance and the relative velocity that not only meets the active safety performance of unmanned mobile platforms but without affecting road capacity under different conditions, providing a certain basis in order to reduce the accident rate.