| 基于摄像头的智能车路径识别与方向控制算法 |
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| 引用本文： | 陈庆强,汤龙梅,蔡文培.基于摄像头的智能车路径识别与方向控制算法[J].福建工程学院学报,2015,0(3):229-234. |
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| 作者姓名： | 陈庆强 汤龙梅 蔡文培 |
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| 作者单位： | 福建工程学院信息科学与工程学院 |
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| 摘 要： | 针对A/D转换精度高但速度慢而电压比较器速度快但精度低，提出了结合二者来对摄像头输出的道路视频信息进行采集的方法。每行分别可靠采集12个高精度点和132个二值点，去噪后采用最小二乘法拟合直线获得智能车控制所需要的路径信息。采用跟踪智能车偏离引导线中心的平均距离和引导线斜率的双指标改进PID算法实现对智能车的方向控制。较传统的路径识别与方向控制算法相比，该算法具有数据采集和方向控制精确、系统鲁棒性更好的特点。实验结果验证了所提出方法的可行性。
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| 关 键 词： | 摄像头 智能车 路径识别 方向控制 |
Camera-based path identification and steering control algorithm for smart vehicle |
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| Chen Qingqiang,Tang Longmei,Cai Wenpei.Camera-based path identification and steering control algorithm for smart vehicle[J].Journal of Fujian University of Technology,2015,0(3):229-234. |
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| Authors: | Chen Qingqiang Tang Longmei Cai Wenpei |
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| Affiliation: | College of Information Science and Engineering, Fujian University of Technology |
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| Abstract: | A combined method of A/D conversion and voltage comparator was proposed to improve the precision and speed of road video data collection.12 high precision point data and 132 binary data per row were achieved. The necessary path information for the smart vehicle to steer automatically was acquired by using linear least squares fitting method after denoising the data. An improved proportion, integration and differentiation (PID) algorithm was implemented to control the direction of the vehicle, considering both the average distance between the smart vehicle and the center of the guide line and the slope of the line. The proposed algorithm can acquire the path information and control the steer more accurately and is more robust compared with the traditional path recognition and steering control algorithm. The experimental results demonstrate the feasibility of the proposed method. |
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| Keywords: | camera smart car path identification direction control |
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