To mitigate the impact of the 15 cm camera height restriction in the 18th national college student intelli-gent car competition on the endpoint entry of the vehicle,this study proposes an intelligent car endpoint entry method based on the synergistic interaction of multi-sensor data.This method involves parameter adjustment through tactile controls to establish the entry direction.It employs camera image processing algorithms to identify distant ze-bra crossings as deceleration cues for initiating the entry method,and proximate zebra crossings as directional indica-tors.Furthermore,leveraging principles from state machine programming,combined with sensor data from encoders and gyroscopes,facilitates seamless and automated state transitions throughout the entire process.Experimental findings demonstrate that,in the context of a three-wheeled vehicle constrained by the 15 cm camera height limit,the method outlined in this paper offers distinct advantages over traditional entry method,yielding enhancements of 28.85％in entry accuracy and 35％in correctness.
关键词
全国大学生智能汽车竞赛/限高摄像头识别/按键调参/状态机/编码器/陀螺仪
Key words
national intelligent vehicle competition for college students/limited height camera recognition/keystroke parameterization/state machine/encoder/gyroscope
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