基于模糊控制的飞思卡尔小车控制算法  

Control Algorithm of Freescale Car Based on Fuzzy Control

作　　者：李念磊 Li Nianlei(Shandong University of science and technology,Zibo,Shandong 255049)

机构地区：[1]山东理工大学

出　　处：《南方农机》2019年第24期249-251,共3页

摘　　要：飞思卡尔小车以面阵CCD(Change Coupled Devices)为道路识别传感器,针对小车使用场景,使用图像阈值进行道路边界识别,通过相机标定和图像坐标系到世界坐标系的转换,从而得到小车纵轴与道路中心线之间的夹角和横向误差,使用加权的办法求解加权横向误差。根据经验数据,使用加权横向误差和小车实际速度作为模糊控制器输入,得到期望的小车前轮转角。根据实际舵机反馈值,使用PID控制进行调节。实车实验表明,文章的控制方法和流程能保证飞思卡尔小车行驶在车道线内。The Freescale car uses the area array CCD (change coupled devices) as the road identification sensor.According to the car use scene,the image threshold is used to identify the road boundary.Through camera calibration and the transformation from the image coordinate system to the world coordinate system,the included angle and lateral error between the car’s longitudinal axis and the road centerline are obtained.The weighted lateral error is solved by using the weighted method;According to the experience data,using the weighted transverse error and the actual speed of the car as the input of the fuzzy controller,the desired front wheel angle of the car is obtained;according to the feedback value of the actual steering gear,the PID control is used to adjust.The real vehicle experiment shows that the control method and process proposed in this paper can ensure that the Freescale car can drive in the lane line.

关 键 词：飞思卡尔 相机标定 道路边界 模糊控制 PID控制 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]