一种机器视觉导航的智能车辆转向控制模型设计

Steering control algorithm design for machine vision guided intelligent vehicle

提出了一种智能车辆转向控制模型。该模型采用路标的方向偏差和距离偏差作为输入参数 ,输出前轮转向角 ;采用了状态控制法 ,对外界环境的干扰具有较强的鲁棒性。实验表明 :在 2 0Hz的控制频率下 ,该控制算法在 JUTIV- 型智能车上表现出很好的效果。

A steering control algorithm for intelligent vehicle is presented in this paper.With the input of road marker parameters,including distance error and orientation error,the algorithm outputs the steering angle needed.This algorithm is a state control model.It gives robust in outdoor environment.With the 20 Hz control frequency,the algorithm gives good performance.