基于预瞄点的自动倒车设计和实现  

Design and Implementation of the Automatic Back Parking on Preview Point

作　　者：张伟东[1] 

机构地区：[1]浙江工业大学机械工程学院,浙江杭州310014

出　　处：《轻工机械》2011年第3期96-100,共5页Light Industry Machinery

摘　　要：为研究智能小车在已知环境下的自动倒车的实现方法,首先建立了基于CMOS传感器OV7670和FPGA的智能小车自动倒车的硬件系统,其次通过在倒车场地设置预瞄点并结合图像处理技术提出一种对智能小车的定位方法,然后分析了智能小车的运动学模型以及运动方式,最后提出了一种2段弧理论的自动倒车路径规划方法。研究结果表明,该研究能够成功实现自动倒车。For the research of the implementation method of the intelligent car automatic back parking in known environment,the paper,firstly,established the hardware system of the intelligent car based on the OV7670 CMOS sensor and FPGA.Secondly,combining the preview set parking space with image processing technique proposed a location method of intelligent car.Thirdly,analyzed the kinematic model and the movement way of the intelligent car.Finally,put forward a new path planning method based on two-arc of automatic back parking.The results show that this research can realize the automatic back parking successfully.

关 键 词：智能小车 自动倒车 OV7670传感器 预瞄点 路径规划 

分 类 号：TH22[机械工程—机械制造及自动化] TP242.6[自动化与计算机技术—检测技术与自动化装置]