Design And Implementation Of Intelligent Vehicle Control System Based On Android

Intelligent vehicle has important research and application value as one kind of mobile robot.Embedded control and computer control are commonly used control methods.This thesis uses Android terminal as the control core of intelligent vehicle,focus the attention on the study of environmental awareness,environmental modeling and path planning.An intelligent vehicle control system with real-time control and path planning function is designed and realized.Firstly,this thesis carries on the demand analysis of the intelligent car control system,and designs the overall scheme of the system,divides the control system into three parts:the perception system,the decision system,the motion control system.The hardware platform of the system is set up and the model parameters of the hardware are determined.Secondly,this thesis studies the method of image processing based on the environmental perception,and designs the framework of the whole environment perception part.A fast image inpainting algorithm is proposed,which can improve the repair speed while maintaining the repair effect.The method of feature extraction and matching is used to realize the recognition of the car by using the combination of HIS color model and adaptive threshold.Next,the modeling and search methods are studied.On the basis of the environmental perception,the grid environment is modeled using the adaptive grid scale method,and the operating environment of the smart car is converted into two value matrix.The A*algorithm is used to carry on the path planning and the transformation algorithm is designed,which realizes the transformation of the planning result from the path coordinate point to the control instruction,and reduces the redundancy in the output of the A*algorithm.Then,the realization method of intelligent car control system based on Android is described.Design of communication protocol used in the communication network and the way of realization of the control system through the hardware realization of wireless communication between devices and socket technology,each module of the system and its internal processes are designed and explained.Finally,the work and results of the thesis are summarized,and the problems need to be solved and the further researches are pointed out.