融合超声传感与视觉图像的智能小车避障设计  

Obstacle avoidance design of intelligent vehicles integrating ultrasonic sensing and visual image

作　　者：黄鼎键[1,2] 杨华山 林辰耀 钟勇[1,2] 王尚湋 HUANG Dingjian;YANG Huashan;LIN Chenyao;ZHONG Yong;WANG Shangwei(Key Laboratory for Automotive Electronics and Electric Drive of Fujian Province,Fujian University of Technology,Fuzhou 350118,China;Fuzhou Automobile Electromechanical Industry Technology Innovation Center,Fujian University of Technology,Fuzhou 350118,China)

机构地区：[1]福建省汽车电子与电驱动技术重点实验室(福建工程学院),福建福州350118 [2]福州市汽车机电行业技术创新中心(福建工程学院),福建福州350118

出　　处：《福建工程学院学报》2021年第6期511-514,555,共5页Journal of Fujian University of Technology

基　　金：2021年省级大学生创新创业训练计划项目(S202110388058);福建工程学院科研启动基金项目(GY-Z19119);福建工程学院本科教学改革研究项目(JG202101)。

摘　　要：基于MATLAB软件及Arduino开发板等硬件,提出并设计了一种融合超声传感和视觉图像技术并能实现主动避障的智能小车。建立单目相机的数学模型,并使用MATLAB的相机标定工具箱进行参数标定,根据标定结果对图像畸变进行校正并实现了障碍物目标的跟踪测距。而后通过MATLAB软件及Arduino开发板调用超声波模块实现对前方障碍物的测距。根据系统结构方案选用合适的硬件搭建智能小车,测试表明,该车能满足不同场景下实现主动避障,为智能驾驶系统设计提供参考。Based on MATLAB and Arduino development board,an intelligent car was proposed and designed,which integrates ultrasonic sensing and visual image technology and can realize active obstacle avoidance.Firstly,the mathematical model of monocular camera was established,and the camera calibration toolbox of MATLAB was used for parameter calibration.According to the calibration results,the image distortion was corrected,and the obstacle target tracking and ranging was realized.Secondly,the ultrasonic module was called through MATLAB software and Arduino development board to realize the distance measurement of obstacles ahead.Finally,according to the system structure scheme,the appropriate hardware was selected to build the intelligent car.The test shows that the car can meet the requirements of active obstacle avoidance in different scenarios.The methods and technologies proposed in this study can provide certain reference for the design of intelligent driving system.

关 键 词：MATLAB 超声传感 视觉图像 主动避障 

分 类 号：TH132.4[机械工程—机械制造及自动化]