The System Design Of Intelligent Driving Micro Vehicle Based On Visual Navigation

With the development of automotive electronics technology and intelligent control technology, smart car has become a hot topic in the intelligent control field, and gradually taps into people’s lives. This paper refers to a large number of relevant literature, looks into the research status and development trend of intelligent vehicle, and on this basis designs a micro intelligent vehicle system, which includes control module, power module, image acquisition module, speed measuring module, obstacle detection module, steering gear steering module and motor drive module, based on FREESCALE K60 chip. The complete system has the function of automatic path recognition and obstacle avoidance, which makes the micro vehicle autonomous driving under the micro-geometric traffic environment, and it is simple and applied, lower requirement to hardware and strong capability of adapting.Image processing is a key technique among the research of micro vehicle. It can achieve the function of image acquisition and path identification, solve the noise elimination in the process of image processing, edge detection, vehicle location information analysis, etc. This paper uses median filter algorithm to filtrate, improves the edge detection algorithm, and it is verified that the improved algorithm can quickly and effectively deal with the path image. At the same time, it uses Linear fitting method to judge the position of the micro vehicle.On the analysis of the rule of micro vehicle driving, this paper uses the fuzzy control algorithm and the incremental PID control algorithm respectively to control the steering angle and speed of the micro vehicle. The fuzzy control rules are established, and the fuzzy control tables are inferred in accordance with tracking requirements of the navigation line. The stable control of micro vehicle steering and speed are realized according to the extracted information and detection of the navigation line speed. Through the real car to debug, the results show that the outcome has been as intended。...