Research On Autonomous Overtaking Control System Of Miniature Intelligent Vehicle

In recent years,with the increase number of cars and frequent traffic accidents intelligent transportation has become the focus of attention.With the development of science and technology the research of intelligent vehicle has become a main research tendency of intelligent transportation.The research of autonomous overtaking can improve the safety of overtaking and reduce the traffic accidents caused by overtaking.In the thesis,research on autonomous overtaking control system of miniature intelligent vehicle and relevant issues.The main work is listed as follows:(1)In order to improve the real-time performance of the system the hardware system of the miniature intelligent vehicle is designed with two 32-bit micro-controllers.Cameras are installed in the front and the rear of the miniature intelligent vehicle to collect road information.The speed control module,speed acquisition module and steering control module of the miniature intelligent vehicle are designed and debugged.(2)Lane and the overtaken intelligent vehicle can be detected through the traffic real-time image from the miniature intelligent vehicle.Firstly,lane is detected with jump in changed area.The deviation of the longitudinal axis of the miniature intelligent vehicle and the lane center is calculated to control intelligent vehicle driving along the center of lane.Secondly,the trapezoidal region of interest of the overtaken vehicle is detected using the collected lane markings.The jump method is used to detect the overtaken vehicle in the trapezoidal region of interest.Again estimate the distance between the vehicle and the overtaken vehicle by the imaging principle of the aperture.Finally,when the vehicle distance reach the critical safety distance the miniature intelligent vehicle is slowed down with PID control algorithm.(3)Based on the machine vision real-time detect the position information of the miniature intelligent vehicle in the visual field.Control the miniature intelligent vehicle to steer with the fuzzy PID controller.Overtaking is divided into three stages include lane changing and overtaking and backing.Based on the location information of the miniature intelligent vehicle in the visual field control the miniature intelligent vehicle to steer in three stages and overtake successfully.(4)Experiments on autonomous overtaking system of the miniature intelligent vehicle are carried out on the microfluidic platform built in the lab.Miniature intelligent vehicle travels stability without any collision in the process of autonomous overtaking,and verify the correctness of the miniature intelligent vehicle autonomous overtaking system.