路径识别和图像处理的CPLD实现

CPLD Implementation of Route Recognition and Image Processing

通过对传统智能车竞赛过程中道路信息采集模块的分析,提出了一种基于边缘检测原理来提取黑线的中心点和其他赛道信息的方法。该方法采用CPLD来处理CMOS数字摄像头拍摄到的黑白赛道信息,并将处理后的结果发送给CPU。最终得到的黑线中心点精度高、实时性好;且使得CPU将更多的资源放在复杂的控制算法和舵机控制上,有利于赛车速度的提高。

Through analyzing the traditional acquisition module of the road information in smart car races, the method based on edge detecting principle is proposed for extracting the center point of black lines and other information of the race routes. In this method, the black/white information of the race routes captured by CMOS digital camera is processed by using CPLD, and the processed results are sent to CPU. Thus the final information of the center point of black line is precise and in good real-time performance. By this way, more resources of CPU can be used for complex control algorithms and controlling steering-engine, which is helpful to enhance the speed of race cars.