详情
基于视觉导航的智能车辆方向控制系统研究
2009-06-25
摘 要：车载CCD传感器采集到的路面信息经过信息处理单元的处理得到航向偏差和位置偏差，送入PID控制器，PID控制采用带死区的增量型PID控制，避免过于频繁的调整，减轻系统运算负荷，同时使得输出平稳，较好的实现了车辆的循迹控制，系统结构简单具有很好的鲁棒性。
The Research of Intelligent Vehicle Direction Control System Based on The Visual Navigation
LEI Shuai
(School of Automobile, Wuhan University of Technology, Wuhan 430070, China)
Abstract: The road information that Vehicle-bone CCD sensors collects is put into the information processing unit to get the position deviation and course deviation, and then is put into the PID controller, which adopts the incremental PID control with a dead zone to avoid too frequent adjustments and reduce the computing load of the system and at the same time make a smooth output, achieving better control of the vehicle tracking system as well as a simple structure and good robustness.
Key words: CCD image processing; dead-zone; automatic; incremental PID; tracking
