Obstacle avoidance steering correction method based on unmanned mine car

The invention relates to the technical field of intelligent control, in particular to an obstacle avoidance steering correction method based on an unmanned mine car, and the method comprises the steps: collecting a front gray image when the unmanned mine car moves, and obtaining a reserved point in the gray image; constructing a clustering distance measurement formula based on the gray value difference and the depth value difference between the pixel points, and further obtaining at least two categories corresponding to each reserved point and the neighborhood pixel points thereof; the confusion degree of each category corresponding to the reserved points is obtained, so that the probability that the reserved points are actual edge points is obtained, and all the actual edge points are obtained; obtaining an edge line according to all actual edge points in the grayscale image, repairing the edge line to obtain an obstacle contour, obtaining obstacle feature points based on the obstacle contour, judging whethe