首页|基于多传感器数据协同作用的智能汽车终点入库方法研究

基于多传感器数据协同作用的智能汽车终点入库方法研究

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  • 维普
为降低第18届全国大学生智能汽车竞赛中摄像头限高15 cm的规则对小车终点入库的影响,提出一种基于多传感器数据协同作用的智能汽车终点入库方法.该方法通过按键调参设定入库方向,用摄像头图像处理算法识别远端斑马线作为开始入库的减速标志,近端斑马线作为转向标志,且使用状态机编程的思想,结合编码器和陀螺仪的传感器数据协同作用实现全过程的自动状态切换.实验结果表明,针对摄像头限高15 cm的三轮小车,提出的方法相较于传统入库方法更有优势,在入库准确率和正确率2项评价指标上分别提高了 28.85％及 35％.
Intelligent Vehicle Endpoint Entry Method Based on Multi-sensor Data Synergy
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.

national intelligent vehicle competition for college studentslimited height camera recognitionkeystroke parameterizationstate machineencodergyroscope

罗颖勋、陈贤楷、杨明、王德光

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贵州大学 电气工程学院,贵阳 550025

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

贵州省教育厅青年科技人才成长项目贵州大学"学科倍增提升"专项国际影响力提升计划项目

黔教合KY字[2022]138号GDXKBZJH-YB-2023-17

2024

10.19557/j.cnki.1001-9944.2024.10.003

自动化与仪表
天津市工业自动化仪表研究所 天津市自动化学会

自动化与仪表

CSTPCD
影响因子：0.548
ISSN：1001-9944
年,卷(期)：2024.39(10)