The Vehicle Modeling And The Research Of Tracking Technology

Vision navigation is the key technique of intelligent vehicle guidance, this paper record of the research intelligent vehicles vision navigation system, The vehicle modeling and the research of tracking technology is put forward.In the paper, research background, meaning, current status of internal and world , trend and is firstly introduced. Compared with reappearing three-dimensional scene by stereo vision, it demonstrates the merit and practical significance of the monocular vision method. This paper will use the vision sensor to get path image by the right of a CCD camera in the front of the vehicle.According to the dynamic image sequences target motion is divided into four model of between camera and scene whether movement. By analyzing the features, roads and changes in background of the vehicle modeling. Unified curvature formula of the structure is used based on having analyses the character of the road, it builds the curvature of the road level of the dynamic model and dynamic model of vertical curvature, Also through the analysis of the Horizontal direction of vehicles traveling characteristics of the vehicle set up the level of sports model, And through the analysis of vehicles and cameras relative the geometry model of the road, The use of three-dimensional camera geometry transformation and perspective projection transformation, set up the world coordinate system to image coordinate of the mapping relations and given a model of speed estimate. Discussed the emergence of the movement of vehicles in several conditions, analysis it and gives the minimum safe distance among them in order to avoid collisions with others during the moving vehicles.Taking into account the real-time vehicle modeling. In this paper, the path model of linear constraints such as road, Hough transform is used of distilling the line, By the parameter of road line, the deviation of site and angle are known between the road line and vehicle. After that, this paper describes the principle of Kalman filter and how to use Kalman filter to track the roadway.The algorithm proposed by the paper are used to process actual lane image, simulated results show that the algorithm is right and effective.