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基于视觉复杂环境下车辆行驶轨迹预测方法 总被引:3,自引:0,他引:3
安装在车辆正前方的电荷耦合摄像机(Charge coupled device,CCD)实时获取道路图像,利用灰度和梯度特征构成目标函数,并用抛物线模型拟合道路边界,使弯道路径和直道路径的识别统一化。将识别分成三个阶段,并设定出各阶段的抛物线参数感兴趣区。采用遗传算法,对抛物线各参数进行优化。通过初始化编码、计算适应度、多点交叉及变异等过程,搜索出目标函数值近似最大的抛物线,即最优解。通过道路识别得到道路曲率、预瞄点处的侧向偏差和方位偏差等,为轨迹预测提供信息。基于运动学模型的车辆前轮转角,根据动力学特性对其进行修正。建立基于预瞄的车辆转向动力学连续模型,车辆前轮转角和道路曲率作为系统输入,根据系统的采样频率将连续模型离散化,运用Kalman滤波理论设计状态观测器,实时观测车辆侧向速度和横摆角速度,从而得到车辆运动轨迹。试验表明,该方法既能在较复杂环境下较准确的拟合出路界线和预测出车辆运动轨迹,并具有较强的实时性。 相似文献
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介绍一种基于CCD摄像头的路径识别的智能车控制系统,设计了硬件结构与方案,提出了转向机构的控制策略,该智能车能准确实现自主寻迹,具备抗干扰性极强,稳态误差小等特点。 相似文献
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基于MC689S12DG128的智能小车设计 总被引:1,自引:0,他引:1
王经宇 《工业仪表与自动化装置》2009,(3):37-40
以MC68S912DG128微控制器为核心,通过一个CMOS摄像头检测模型车的运动位置和运动方向,光电编码器检测模型车的速度,PID控制算法调节驱动电机的转速和舵机的方向,完成对模型车运动速度和运动方向的闭环控制。实验结果表明,该智能车系统设计方案可行。 相似文献
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介绍了智能车的硬件设计过程,提出物料搬运系统的框架设计方法。利用CCD摄像头进行图像采样获取地面引导线信息,通过无线通讯技术、数字图像处理与识别技术和现场总线等技术,实现主从工作站的协调工作,以最佳路径迅速完成在各个目的地之间的搬运任务。 相似文献
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设计了磨粉机快辊轴承座的加工工艺和具体的工装夹具.利用卧式加工中心加工磨粉机快辊轴承座,辅以能够高效快速夹紧的夹具,既可以保证加工精度,又能够提高加工效率. 相似文献
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In a recent paper, the Ritz method with simple algebraic polynomials as trial functions was used to obtain an eigenvalue equation for the free vibration of a class of homogeneous solids with cavities. The method presented is here extended to the study of a class of non-homogeneous solids, in which each solid is composed of a number of isotropic layers with different material properties. The Cartesian coordinate system is used to describe the geometry of the solid which is modelled by means of a segment bounded by the yz, zx and xy orthogonal coordinate planes and by two curved surfaces which are defined by fairly general polynomial expressions in the coordinates x, y and z. The surface representing the interface between two material layers in the solid is also described by a polynomial expression in the coordinates x, y and z. In order to demonstrate the accuracy of the approach, natural frequencies are given for both a two- and three-layered spherical shell and for a homogeneous hollow cylinder, as computed using the present approach, and are compared with those obtained using an exact solution. Results are then given for a number of two- and three-layered cylinders and, to demonstrate the versatility of the approach, natural frequencies are given for a five-layered cantilevered beam with a central circular hole as well as for a number of composite solids of more general shape. 相似文献
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通过分析膨胀套在实际使用产生滑移受阻现象、卡死现象原因的实质,并在分析产生问题原因的基础上提出了改进措施即:增加导向机构。 相似文献
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针对目前市场对工业设计人才的需求,本文论述了我校在工业设计教育方面的改革措施,着重介绍了我校工业设计教育在软件和硬件方面所进行的一系列的改革。 相似文献
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本文以某些积算和双笔记录仪产品为例说明由于仪表功能设计的不合理或选型不当,影响了仪表的正常使用,制造厂和用户应关注这类问题。 相似文献
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Polyvinyl pyrrolidone-Iodine complex (PVP-I) molecules were impregnated into the anodic oxide of an aluminum disk specimen. It was rubbed against a silicon nitride ball specimen using a ball-on-disk type friction test rig. Over the limited range of parameters studied (load: 0.2-1.0 N, sliding velocity: 0.6 mm/s, and sliding distance: 1-7 m), the coefficient of friction decreased to a value as low as 0.01 from values of 0.3 to 0.7 for the anodic oxide surface. Single-crystal iodine rubbed against silicon nitride showed a coefficient of friction of 0.1. The low coefficient of friction is attributed to the thin PVP-I film on the relatively hard anodic oxide. The mechanism of coefficient of friction reduction is the same as that of a thin soft film on a hard substrate. 相似文献