智能车路径识别与控制研究  

Study of Smart Car Path Recognition and Control

作　　者：季聪[1] 王思明[1] 汉鹏武[1] 

机构地区：[1]兰州交通大学自动化与电气工程学院,甘肃兰州730070

出　　处：《电视技术》2013年第9期192-195,209,共5页Video Engineering

摘　　要：设计了一种基于摄像头路径识别方法的控制系统。为了解决环境光线对路径的影响,采用了一种改进的自适应动态阈值图像处理算法;通过拟合路径中心线,识别出路径类型,经过合理的路径优化,节约了行驶时间。硬件电路以MK60N512VLQ100(K60)为核心控制器,设计了电源模块、采集模块、驱动模块、无线通信模块等外围电路。软件设计中下位机移植了uc/os-Ⅱ系统保证了系统的稳定性,上位机使用VC6.0设计,使用bluetooth无线通信技术进行在线调试提高了系统的鲁棒性。该系统部分实验结果在第七届全国大学生智能汽车竞赛中取得了较好的成绩。A control system based on camera path identification method is designed. To solve the influence of ambience light to path, an improved adaptive dynamic threshold value image processing algorithm is used. Through fitting the centerline path to recognize the kind of path and using reasonable path optimizing to save the running time. The hardware circuit selects MK60NS12VLQ100（K60） as the centralized controller and designs power module, collecting module, driver module and wireless communication module and so on. In the design of software, the lower-position computer transplants the uc/os-ll system to ensure the stability of the system, the design of upper-computer is based on VC6.0, besides, it uses Bluetooth Communication wireless communication technology to debug and improves the robustness of the system. Some experimental results of the system achieve good results in the 7th National Undergraduate Smart Car Racing.

关 键 词：路径识别 动态阈值 路径优化 无线通信 

分 类 号：TN911.73[电子电信—通信与信息系统] TP391[电子电信—信息与通信工程]