Automatic Driving System Based on Embedded Microcontroller Using Human Skill Models

摘要

—in the previous work, the authors proposed an efficient method to abstract human skill based on HHARX model, and successfully applied the obtained human skill models in an automatic driving system of a radio-controlled vehicle based on PC. This paper proposes a method to reconstruct the driving system based on embedded microcontroller OMAP3530. In the system, Omap3530 realize all the control functions except for model identification, such as real time image collection and processing, obstacle position detection, automatic driving environmental parameters computing, driving control commands computing using human driving skill models, radio-controlled vehicle real time driving control, and so on. The obtained driving system can drive the small radiocontrolled vehicle automatically without PC according the human driving skill models, the flexibility and area of application of human skill models can be improved efficiently.