小波包变换在智能循迹小车系统中的应用

The Application of the Wavelet Packet Transform in the Intelligent Tracing Car System

为了实现车辆自主获取道路信息并对行驶状态进行准确控制,采用小波包变换法和均值滤波法相结合的思想,对摄像头采集到的信息进行图像预处理,通过最大方差取阈法二值化提取出黑色引导线。与传统的动态迭代阈值法相比,这种设计方案可以准确并且完整地提取出赛道中的黑色引导线。仿真实验结果表明:该设计方案采集信息准确,简单有效,在智能小车平台上得到了很好的验证。

The wavelet packet has good time-frequency localization character and adaptive ability, and the aim is to achieve lower image noise and recover the original image in the field of image preprocessing applications. In order to realize the autonomous vehicles for road information and the accurate control of operation, the paper uses the method of the wavelet packet transform and the average filtering to preprocess the collected image data. Finally, through the method of binarization with the maximum variance select threshold, dynamic iterative threshold method, it can p this de ick up the black guide line. Compared with the traditional sign is accurate and complete to extract the black guide lines in the track. A large number of simulation experiment results show that the scheme design in the aspect of gathering information is accurate, simple and effective. In addition, this design has been well validated in the intelligent car platform.