Intelligent wheelchair control method based brain-computer interface and autopilot technology

The present invention discloses a control method based intelligent wheelchair brain-computer interface and automatic driving technique, comprising the steps of: obtaining a current picture according to the webcam obstacle to achieve positioning; obstacle information generating candidate destination and a planned flight path trace points; self-positioning of the wheelchair; BCI user select the destination; the current position of the wheelchair as a start point, end point as the destination selected by the user, in conjunction with the optimal path planning track point; calculating a current position of the wheelchair and optimal position path difference as a PID feedback path tracking algorithm; PID algorithm to calculate the reference path tracking angular and linear motion to the PID controller incorporated velocity, and distance data into the current angular and linear velocity motion information as a PID controller feedback, real-time control of wheelchairs to travel to the destination. The method of the present invention, to a great extent reduce the mental burden on the user, and can adapt to the changing environment and improve daily living severe cases of paralysis.