基于行驶路径记忆的智能车导航方法研究

Research on Intelligent Vehicle Navigation Method Based on Path Memory

针对飞思卡尔智能车视觉导航问题,研究了一种基于智能车控制信息的路径记忆方法。低速试跑时,智能车可以以比较高的控制精度行驶通过赛道,通过记录各段赛道的控制参数,如路径长度、方向转角等获得行驶路径的控制信息。在智能车竞跑行驶时,通过调用记录的行驶路径控制信息,就可以控制智能车以较快的行驶速度在赛道上行驶,并通过实时测量调整智能车的行驶偏差,实时调整智能车行驶速度和转角方向,实现对智能车的竞速导航控制。

In connection with the Freescale intelligent vehicle vision navigation problem,study a path memory method based on intelligent vehicle control information.In low speed of test run,the intelligent vehicle can running through the track in relatively high control precision,by record the control parameters of each track,such as the path length,direction angle,and so on,obtains the route control information.During the smart car fast driving,by calling records of route control information,control the smart car running on the track in faster speed,and through real-time measure and adjust the deviation of intelligent vehicle,real-time adjust intelligent vehicle running speed and rotation direction,realize the racing navigation control of intelligent vehicle.