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为实现智能车特殊路径快速稳定自主识别,本文提出了一种特殊路径快速识别算法。采用MK60DN512为核心控制模块,选用CMOS摄像头OV7620为主要传感器,通过中心线跟踪检测和最小二乘法拟合路径轨迹实现特殊路径的识别,其中特殊路径包括单双线切换、直角、障碍和十字叉路。所提控制算法能够使得智能车快速有效地实现任意路径的准确识别与平稳行驶,实验结果验证了控制算法有效可行。
In order to realize the rapid and stable self-identification of the special path of intelligent vehicles, a fast identification algorithm for special paths is proposed in this paper. Using MK60DN512 as the core control module, the CMOS sensor OV7620 is selected as the main sensor, and the special path is identified by the center line tracking detection and the least-squares fitting path path. Among them, the special paths include single / double wire switch, right angle, obstacle and crossroads . The proposed control algorithm can make the intelligent vehicle realize the accurate recognition and smooth running of any path quickly and effectively. The experimental results verify that the control algorithm is effective and feasible.