基于视觉导航的智能车测控系统关键技术研究-仪器科学与技术专业论文.docxVIP

ii ii RESEARCH ON THE KEY TECHNOLOGIES OF THE VISION-BASED SMART CAR MEASURE AND CONTROL SYSTEM ABSTRACT With the development of the automotive electronics and intelligent control technology, smart car has become a hot topic in the intelligent control field, but also gradually enters peoples lives. The measure-control system of this smart car is studied as the research object, in which Freescale MCU MC9S12XS128 is as the controller for the road image acquisition and processing. The extraction algorithms of navigation lines have been studied and practiced. And the angle and speed control strategy of the smart car was discussed in detail. Acquisition of road image information is carried out based on visual images. The main task is to figure out and capture the camera signal fast, the original road images have been processed through effective digital image processing algorithms, and then the navigation line information of the road have been analyzed and extracted in the self-made hardware platform. The way of collecting the image information, image processing and the recognition algorithm of navigation lines are focused, in which the navigation line acquisition schemes and identification schemes have been experimented by contrast. Based on the analysis of smart cars driving rules, the fuzzy PID control algorithm and PID control algorithm are used to control steering angle and speed of the smart car separately. The fuzzy control rules are established, and the fuzzy control tables are inferred in accordance with tracking requirements of the navigation line. The stable control of smart car steering and speed are realized according to the extracted information and detection of the navigation line speed. KEY WORDS： smart car, visual navigation, image processing, navigation line extraction, 目 录 fuzzy PID control 摘 要 i iv iv §4-1 图像数据预处理 ............................................................................................................................... 25 4-1-1 图像