Research On3-D Experiment Platform And Motion Planning Of Intelligent Vehicle

Today, the world is an intelligent world. Intelligent Vehicle is the trend of the automotiveindustry, the intelligent transportation and autonomous driving of intelligent vehicle has been aresearch spot all over the world. In recent years, with the rapid development of Freescale smart carcompetition, the requirement for the level of teams is also increasing day by day. To get excellentresults, the participants must have plenty of time to design the hardware system and softwarealgorithm. But the participants may not have plenty of time to design and debug the softwarealgorithm due to the hardware limitations. Using the simulation software can provide teams helpbecause of separating the hardware designing and algorithm debugging.Simulation platform is designed and developed for an intelligent vehicle with camera under thebackground of Freescale smart car competition in this paper. This platform is composed of thecontrol algorithm simulation in MATLAB and three-dimensional simulation based on MRDS, thedebugging efficiency is improved by using the more realistic models and environment to debugcontrol algorithm and analog tunable parameters.The first part describes how to build the track model, analysis the characteristics of the smartcar model and design the kinematic model of smart car by using MATLAB firstly. This paperanalyzes and uses OTSU to calculate threshold in the image binaryzation to realize the binaryzationprocessing of the track image. According to the purpose of black line extraction algorithm, takingthe advantages of MATLAB, the black line extraction of the track image is achieved. Aftercompletion of the black line extraction. And then the extraction of the track information iscompleted to provid for the later tracking work. Then, the PID control strategy is chosen to realizepath following of the smart car in this paper. Finally, the smart car simulation is realized usingMATLAB, which can be used to debug image processing algorithms and control algorithms.The second part introduces the operating principle of the smart car with camera and describesthe applications of Microsoft Robotics Developer Studio firstly. Secondly, it describes how todesign services in detail, including the services for controlling a virtual smart car, getting thefeedback of speed and recognizing images from the smart car’s camera. Then, it describes how touse the services to debug algorithms which are designed by users.The third part firstly introduces the background of smart car creative group competition, thebasical requirements and the evaluation indicators of the entries. Then this paper defines anddesigns the services in detail, including the service of vehicle entity, the service of the simulation environment with cones, the navigation algorithm of the reduce vehicle based on EFSM, the serviceof reduce vehicle navigation and Windows Form user interface. Lastly the designing and debuggingof the user navigation algorithm is developed by using the services.