自主行驶车辆的避障控制算法研究  

Obstacle Avoidance Control Algorithm for Autonomous Vehicles

作　　者：高俊钗[1] 宁江坤 

机构地区：[1]西安工业大学电子信息工程学院,西安710021

出　　处：《计算机与数字工程》2016年第2期203-206,共4页Computer & Digital Engineering

基　　金：西安工业大学校长基金(编号:XAGDXJJ1212)资助

摘　　要：在模拟单行道上随机出现障碍物的情况下,针对无法建立精确的智能小车的控制数学模型问题,提出基于模糊控制的智能小车避障算法。采用OV7620摄像头获取道路信息,结合图像处理算法对障碍物进行定位。通过人类驾驶车辆避障的经验对智能小车行驶路径进行局部规划,设计一个模糊控制器,实时调整智能小车的行驶姿态使其能够在不超出道路边界的情况下实现避障功能。并通过仿真实验验证该算法的有效性。仿真实验结果表明:该算法能实时、稳定地更改智能小车行驶路径,有效地躲避障碍物。In the simulation of one-way street with random obstacle,aiming at the problem of intelligent car control mathematical model cannot be established accurately,the algorithm for intelligent obstacle avoidance car based on fuzzy control is established.Using OV7620 camera to obtain road information,combining with obstacle localization image processing algorithm,uniting human driving experience for planning the sectional path of intelligent obstacle avoidance car,the fuzzy controller is designed to adjust the gesture of the car so that it can achieve obstacle avoidance within the boundaries of the road.The effectiveness of the proposed algorithm is verified by simulation experiments that show the proposed algorithm can change the driving path of the smart car in real time,and can effectively avoid the obstacles.

关 键 词：OV7620摄像头 障碍物定位 模糊控制 避障 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]