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智能车在弯道处快速、平稳、准确的行进是循迹行进的关键问题.基于此提出了一种基于CCD摄像头进行路径识别的智能车分阶段全闭环控制方法, 智能车在行进中依据导航线的曲率进行直道和弯道的辨识, 并在直道和弯道部分采用不同的控制方法, 实现弯道提前减速, 直道加速通过, 在直道与弯道的行进中均采用全闭环控制.视觉系统通过CCD摄像头提取路径中的导航线并计算导航线曲率以及智能车相对于导航线的平行偏移值和航向角偏差;主控系统依据导航线曲率选取控制策略, 根据平行偏移值和航向角偏差计算转向角度与行进速度并通过控制执行机构完成转向与速度调节, 控制结果通过视觉系统与测速装置反馈给主控系统, 实现全闭环控制.以第十五届全国大学生机器人大赛为背景搭建实验系统, 经过多次的调试与实验, 智能车在赛道上最大运行速度可达3.5 m/s, 全程平均速度约为2.8 m/s, 实际测得最大偏离距离为35 mm, 在允许误差范围之内.通过实际的实验系统, 验证了智能车分阶段全闭环控制算法的可行性.“,”It is the key issue of tracking travel that intelligent vehicle travels fast, smoothly and accurately in curved path. An intelligent vehicle control scheme based on CCD camera path identification is presented in this paper, and the intelligent vehicle can achieve full closed-loop control at different stages of the curved path. During the travel process, the intelligent vehicle recognizes the straight and curved paths according to the curvature of the navigation line. Different control methods are adopted in the straight and curved sections of the path to realize the advanced deceleration for the curved section and the accelerated passing through for the straight section, and the full closed loop control is adopted in both the straight and curved sections. The visual system extracts the navigation line in the path with the CCD camera and calculates the curvature of the navigation line as well as the parallel deviation value and course angle deviation of the intelligent vehicle relative to the navigation line. The main control system selects the control strategy according to the curvature of the navigation line, calculates the steering angle and travel speed according to the parallel deviation value and course angle deviation, and completes steering and speed adjustment through the actuator. The control results are fed back to the main control system through the visual system and speed measurement device to achieve the full closed loop control. An experiment system was set up in the background of the 15 th national college student robot competition, through multiple debugging and experiments, the maximum travel speed of the intelligent vehicle on the track reaches to 3.5 m/s, the average speed in the whole course is about 2.8 m/s, and the actually measured maximum deviation distance is 35 mm, which is within the allowable error range. The actual experiment system verifies the feasibility of the staged full closed-loop control method of intelligent vehicle.