| With the development of artificial intelligence,intelligent vehicle is more important in the intelligent transportation system.Intelligent vehicle is a hot technology in the development of the automobile industry,simulating human decision-making and driving behavior based on the driving environment.This paper Synthesized the machine vision image processing,pattern recognition,intelligent control,embedded technology and so on.Designed a vehicle based on machine vision.Completed the functions of the road environment perception,the path planning and decision-making,the vehicle movement control and so on.In this paper,established a overall framework of the intelligent vehicle system,designed the hardware and software system around the three subsystems.Researched on the key technology image processing and intelligent control.First,compared and improved a variety of filtering and edge detection algorithms for machine vision image processing,segmentated image by adaptive threshold method,used improved Prewitt and edge tracking method to detect edge and extracted boundary,used Hough transform to detect lanes,connected Intermittent lines.Then,extracted the twice feature of boundary image,fitted the center line of the road,recognized and classified for multi element roads,calculated curvature,readlized path planning,setted up the lateral control system.Finally,related control algorithms were discussed in combination with system requirements,proposed a Fuzzy-PID control algorithm,designed a Fuzzy-PID controller,and then simulated and verificated.Fitted the relation equation of angle and velocity,setted up the control strategy.Constructed the experimental environment and the intelligent vehicle based on machine vision,tested and experimented the machine vision processing and intelligent algorithms on intelligent vehicle.Experimented on road route planning,parameter test of horizontal and longitudinal control system,the control process of multielement road vehicles and so on. |
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