Design Of Assistant Driving System Based On Position Information Of Sweeper And Curb

Assistant driving system is an important part of intelligent driving,which is of great significance to reduce the work intensity of drivers and traffic accidents.The development of intelligent driving has been restricted by many conditions,so it is necessary to give priority to the development of auxiliary driving system.Compared with the driving of civil vehicles with complex road conditions,special vehicles such as sanitation sweeper with fixed working mode undoubtedly need more corresponding auxiliary driving system to help the driver complete the work.During the working process of the sanitation sweeper,it needs to be parallel to the curb and keep a certain distance to complete the cleaning work,so the driver must observe whether the distance between the side of the vehicle and the curb meets the working requirements at all times while considering the longitudinal driving.This will undoubtedly increase the workload of drivers,but also bring a lot of driving difficulties,easy to cause driving fatigue,leading to traffic accidents.In this case,it is necessary to use the auxiliary driving technology to assist the sanitation sweeper driver to complete the cleaning work.In view of this situation,combined with the actual road conditions,the paper carried out the following research and experimental verification:(1)This paper studies the perception mode of assisted driving technology,and decides to use visual perception mode as the main perception mode of assisted driving system.According to the actual situation,the curb is selected as the visual perception marker.In order to reduce the difficulty of visual processing,a line laser emitter is added as an auxiliary tool in the system,thus improving the efficiency of visual processing.Due to the addition of a line laser as an assistant,the visual recognition object is transformed from a curbstone to a line laser containing the morphological characteristics of curbstone.And modular design of the whole system,the following is the research content of each module.(2)The method of extracting line laser center in image processing is studied.According to the experimental results and the subsequent requirements of the assistantdriving system,based on these prior knowledge,a preprocessing method suitable for this image processing is proposed.And it introduces the most needed preprocessing part: image cutting,image filtering,gray processing and threshold segmentation,which lays a good foundation for the subsequent image processing.By comparing several extraction line laser center algorithms,a new extraction method based on template recognition is proposed,which improves the robustness of the algorithm and ensures the accuracy of the results without reducing the speed and accuracy of image processing.And through the experimental verification,the visual perception module calibration,completed the design of the module.(3)According to the characteristics of the visual perception module and the actual road conditions,the lane departure models of the sanitation sweeper in straight and turning are established respectively.The decision algorithm module is designed and verified by experiments.(4)This paper studies the early warning methods in the auxiliary driving system,and selects the combination of visual early warning and sound early warning.In the process of embedded transplantation,we try to keep the independence of each module,and realize the function of early warning module while the whole system is separated from PC.The embedded system uses raspberry pie and single-chip microcomputer.In addition to raspberry pie,the paper completed other embedded design including single-chip microcomputer system.