摘要：【中文】本发明公开一种基于传感信息融合的无人驾驶避障方法及系统，本系统用于实现本方法，本方法包括获取在时间段[t₁,t₂]间无人车行驶距离；获取无人车在时间t₁的行驶距离和在时间t₂的距离计算在时间段[t₁,t₂]间无人车行驶距离与无人车至障碍物的距离差值的比例值；将该比例值与预定范围进行比较，若该比例值在预定范围内，则将无人车行驶距离与无人车至障碍物的距离差值加权平均以获取无人车至障碍物的修正距离若该比例值不在预定范围内，则视无人车行驶距离为无人车至障碍物的修正距离根据无人车至障碍物的修正距离控制无人车的避障动作。本发明减少由障碍物深度信息的噪声污染和环境变化导致无人车至障碍物距离的测量误差，提高无人车安全性。 【EN】The invention discloses an unmanned obstacle avoidance method and system based on sensing information fusion₁,t₂]The running distance of the unmanned vehicle is reduced; obtaining the time t of the unmanned vehicle₁Distance traveledAnd at time t₂Is a distance ofCalculating over a time period t₁,t₂]Distance between unmanned vehicles and unmanned vehiclesA proportional value of a distance difference of the obstacle; comparing the ratio value with a preset range, and if the ratio value is in the preset range, carrying out weighted average on the driving distance of the unmanned vehicle and the distance difference between the unmanned vehicle and the obstacle to obtain the corrected distance between the unmanned vehicle and the obstacleIf the ratio value is not in the preset range, the distance between the unmanned vehicle and the obstacle is considered as the correction distanceAccording to the corrected distance from the unmanned vehicle to the obstacleAnd controlling the obstacle avoidance action of the unmanned vehicle. The invention reduces the measurement error of the distance between the unmanned vehicle and the obstacle caused by the noise pollution of the depth information of the obstacle and the environmental change, and improves the safety of the unmanned vehicle.