基于线性CCD的智能车路径提取与寻迹

基于线性CCD提取赛道信息和按照赛道信息控制智能车寻迹是光电组智能车制作中的关键环节。本文首先介绍了线性CCD ，以及使用过程中应该注意的事项，然后介绍了黑白边界提取算法，采用腐蚀算法消除了赛道上污垢或阴影对边界提取的影响，提出了3种赛道寻迹方法，分别为中心线寻迹法、单边寻迹法、赛道预估法，详细比较了3种方法的优缺点，单边寻迹法不仅适用于各种赛道情况，而且处理信息少，占用CPU空间小。最后利用单边寻迹法完成智能车制作，使用飞思卡尔单片机有限的资源保证在不冲出跑道的前提下完成了比赛。

Path extraction and tracing of smart car based on linear CCD

Extraction track information and tracing based on linear CCD is a key link in the development of smart car . This paper first introduced the linear CCD with matters should be noted in the use of the process .Then introduced the black and white border extraction algorithm .The effect of dirt or shadow on boundary extraction is eliminated by using corrosion method .Three kinds of track search methods are proposed .The methods are the center line tracing method , single track tracing method and track prediction method .The advantages and disadvantages of the three methods are compared in detail .Finally ,the author makes use of the single track search method to complete the production of intelligent vehicle ,the use of the limited resources of the Carle microcontroller to ensure that the race is not out of the runw ay .