基于视觉路径识别的智能车控制系统设计

为实现智能车对各种复杂路径快速稳定的识别,设计一种根据视觉图像进行路径识别的智能车控制系统。该智能车控制系统以MK60DN512ZVQ10控制器为核心,采用OV7725视觉传感器获取赛道的二值化图像;通过图像处理提取赛道边沿及中心线,并提出环岛等复杂路径的识别算法;通过增量式编码器测量实时车速,采用PID控制算法控制舵机的转向和驱动电机的转速;通过调整视觉传感器的高度并合理布局车体结构,增强智能车的路径识别能力和稳定性。实验测试结果表明:利用该系统,智能车在速度约为2.4 m/s时可在赛道上快速稳定行驶并正确识别各种路径。

Design of Intelligent Vehicle Control System Based on Visual Path Recognition

An intelligent vehicle control system based on visual path recognition was designed to recognize various complex paths quickly and stably.MK60DN512ZVQ10 controller was used as the core of the intelligent car control system,and OV7725 vision sensor was used to obtain the binarization image of the track.The edge and center line of the track were extracted by image processing,and a recognition algorithm for complex path such as roundabout was proposed.The incremental encoder was used to measure the real time speed,and the PID control algorithm was used to control the shifting of the steering gear and the speed of the drive motor.By adjusting the height of the vision sensor and reasonable layout of the car body structure,the path recognition capability and the stability of the intelligent vehicle were improved.The experimental test results show that by using the control system,the intelligent vehicle can run quickly and stably on the track and correctly recognize various paths when the speed is about 2.4 m/s.