基于视觉的缩微智能车自主驾驶系统设计与实现
首发时间:2016-05-20
摘要:以全国缩微智能车竞赛为背景,基于视觉传感器,本文设计并实现了一种智能缩微车自动驾驶系统。具体而言,论文首先对智能车的整体架构进行介绍,并对其运动学模型进行分析。在此基础上,在车道跟随子系统的设计方面,论文创新性的提出了一种变反馈点控制方法,设计了预瞄点的选取规则,进而提高了车道跟随控制子系统的性能。仿真与实验结果表明了上述算法能够达到较为优良的性能。
关键词: 模式识别与智能系统 运动学模型 车道跟随 变反馈点?????
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Design and implementation of a vision-based autonomous driving system for micro intelligent cars
Abstract:Based on the visual sensor, this paper designs and implements an autonomous driving system for micro intelligent cars. In particular, the paper introduces the overall structure of the intelligent vehicle and analyzes its kinematic model at first. On this basis, in the design of lane following subsystem, the paper puts forward a variable feedback point control method innovatively, and designs the selection rules of the aim point, to improve the performance of this subsystem. Simulation and experimental results show that the presented algorithm can achieve more excellent performance.
Keywords: Pattern recognition and intelligent system Kinematic model Lane following Variable feedback point
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No.4690576114935814****
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