基于CCD摄像头的智能车路径识别及跟踪研究

Research of smartcar track identification and follow-up based on CCD camera

设计了一种能路径识别与智能跟踪的单片机控制智能小车系统。基于凌阳SPCE061A控制器,以CCD摄像头作为路径识别装置,通过图像特征实时提取路径信息,利用最小二乘法实现多直线动态拟合任意曲线的路径信息;同时,利用模糊控制方法动态调节舵机转角并设定速度控制直流电机,实现任意路径识别与智能跟踪。实验证明,采用CCD摄像头可以获取更多的路径信息,智能车能按照任意给定的白色引导线高速稳定地行驶,实现了小车循迹跟踪运动,达到了较好的实时性、高效性和智能性。

This paper presents an Imelligent Smartcar based on MCU SPCE061A. This system uses CCD camera as its route recognition device, extracts its route information through image recognition, uses the minimum square fitting method to judge the current track information, adjusts steering angle by using fuzzy control method, controls the DC motor through the speed of fuzzy set methods. Experiments show that the CCD camera can obtain more track information to make the smartcar run stablely along the white-guide-line given arbitrarily with high-speed＋ The tracking movement of the smartear is real-time, efficient and intelligent, which has achieved the expected goals.