Research On Intelligent Vehicle System On Vision Navigation

The research on intelligent vehicle involves many fields, such as computer measurement and control, computers vision, sensor data fusion and vehicle engineering, etc. It mainly includes safety monitoring, intelligent anticollision, aided driving, auto driving, behavior planning decision-making, system structure, and synthetical integration, etc. The sensor and control algorithm are major factors influencing the development of intelligent vehicle. This paper studies an intelligent vehicle based on chip of FRSSCALE MC9SDG128, that incudes automatic recognition and finished special function. It is simple and applied, lower requirement to hardware and has capability of adapting existing structured road environment.Firstly, this paper in detail surveys the Chinese and English literatures, summarizes the research status quo and developing direction. Then, three control algorithms realizing intelligent control are presented.Set up the hardware system of vision-guided, controller system of intelligent vehicle.Secondly, the image processing is a key technique among the research of intelligent vehicle. It implement image collection, landmark recognition, which resolves the problem such as noise elimination, the edge of the mark line obtaining and the location of the intelligent vehicle during the processs of image processing.It realizes the autonomous intelligent vision guiding.Thirdly, this paper studies the fuzzy control algorithm of the intelligent vehicle .It makes decision according to the lateral error and orientation error, and makes some fuzzy rules. By the parameters fuzzification of intelligent vehicle, we realize its fuzzy control.Finally, the scheme research on unknown external environment, intelligent vehicle use the intelligent PID control stactics, the race time is shortterand speed curved shape are more smoothness.