Path Recognition and Control of Intelligent Vehicle by Visual and Navigation
In order to realize the recognition of various complex paths by intelligent vehicle,a path recognition and con-trol scheme based on visual and electromagnetic sensing and multi-sensor fusion cooperation is designed.The gray image of the track obtained by the vision sensor is transformed into a binary image by the OTSU algorithm,then the center line of the track is extracted to calculate the direction deviation of the smart car.The track data collected by the electromagnetic sensor is amplified,filtered and normalized,and the direction deviation is calculated by the difference ratio and difference algorithm.A recognition algorithm for complex paths such as roundabouts is proposed.According to the direction deviation and the information of speed,angle and distance measured by various sensors,the PID algorithm is used to realize the di-rection and speed control of the intelligent vehicle.
万方数据
维普
