智能车赛道识别及控制策略研究

Study on Track Recognition and Control Strategy of Intelligent Vehicle

文章基于“恩智浦”全国大学生智能汽车竞赛,研究CMOS摄像头对赛道的识别策略和任务点的处理,采用二值化对图像信息进行处理提取出虚拟中心线,使用斜率法解决识别误判的问题,将位置式PID算法应用于障碍物、断路元素检测,提升舵机响应效果。同时,运用PID&差速控制策略对智能车的行驶速度进行控制,能够降低智能车在速度切换过程中的动态时间,改善整体性能。

Based on"NXP"National Intelligent Vehicle Competition for College Students,this paper studies the track recognition strategy and task point processing of CMOS cameras.The image information is processed by binarization to extract the virtual center line,and the problem of misjudgment is solved by slope method.The location PID algorithm is applied to the detection of obstacles and break elements to improve the response effect of steering gear.The PID&differential control strategy is used to control the driving speed of intelligent vehicles,which can reduce the dynamic time of intelligent vehicles in the process of speed switching and improve the overall performance.