基于摄像头的道路识别及赛车控制算法研究

摘要

To improve the smart car's ability of pre-judgment to the road, this paper studied the application of identifying the path by using the camera, put out a kind of general control algorithm. On sampling images accurately,it obtained the true information of the road by using image restoration techniques and picked up the effective information of the mad by using neighbor extraction method. So the trend of black-line and the current position the car against the center of black-line was figured out,and the information for road styles was classified and optimized. Experiments show that the different frequency of PWM can greatly reduce speed up and down the time,a Bang-Bang control algorithms gets the desired speed value.%为了提高智能车对道路的预判能力,探讨了摄像头在智能车道路识别中的应用,提出一种通用的控制算法.在准确采集图像的基础上,通过图像还原技术获得赛道的真实信息,利用临近搜索法对有效道路信息进行快速提取,计算出赛道黑线的走向趋势及赛车当前位置,对赛道进行合理地分类和优化,根据不同的赛道选不同频率的PWM波,极大地减小加速和减速的时间,采用Bang-Bang控制算法使速度达到理想值.