The Study Of Vehicle Forward Collision Avoidance Ranging Technology Based On The Information Fusion

With the polularization of automobiles,it gives people many advantages,but the harm of it also appears gradually.And that gains many society attentions due to the reqirement of the safety to the vehicle that people cares seriously.Therefore,to study how to make vehicles more safely driving have vital significance.According to the study of collision avoidance system status both at home and abroad on collision avoidance technology,the paper designed a collision avoidance ranging system based on the information fusion.The paper mainly concentrate on the following works:First,designed the monocular visual real-time image acquisition module.Establish the cross-compilation environment to customize the Linux system kernel and transplanted the embedded Linux system to ARM9 development board.After that,wrote the uvc camera drive program to get the real-time image.What's more,transplanted the mjpg-streamer to the Linux system after the mjpg-streamer's secondary development to send the real-time image data to the upcomputer through the network;Second,designed the laser ranging module.The work includes the hardware degisn and the software design.The hardware design mainly have the PCB design,electric schematic diagram design,PCB printing,welding and test;And the software design is to write the serial port communication program to send the laser ranging data to the upcomputer with the Codewarrior software of Freescale company;Thirdly,designed the arithmetic that fuse the laser raning data and monocular visual ranging.According to the classic Kalman filtering arithmetic,constructed the observation equation and status equation based on visual ranging model and laser ranging model.After that,established the Kalman filter to accomplish data fusion and verified the arithmetic through the experiment;Lastly,designed the upcomputer and verified the arithmetic through experiment.The design of upcomputer was based on the Matlab GUI program.Wrote the UI callback function after the GUI design that included real-time image display program design,characteristic points recognition program design and serial port commucation program design.What's more,tested the upcomputer combination property that embedded the fusion arithmetic through the experiment and recorded the experiment data for covariance analysis.The result showed that the picture was fluent and the speed of response was fast which satified the system requirement of real-time performance and accuracy.