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Minicar visual navigation method for equal-width road surface

A technology of visual navigation, micro-car, applied in the field of logical image processing

Active Publication Date: 2019-08-16
NANJING UNIV OF INFORMATION SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Unmanned driving technology is generally semi-automatic control, because the road surface information is complex and there are many emergencies, so human intervention will be added

Method used

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  • Minicar visual navigation method for equal-width road surface
  • Minicar visual navigation method for equal-width road surface
  • Minicar visual navigation method for equal-width road surface

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Embodiment Construction

[0049] In order to better understand the technical content of the present invention, specific embodiments are given together with the attached drawings for description as follows.

[0050] Taking the miniature car as the test platform, the structural features of the miniature car are: the rear wheels are driven by a DC motor, the front wheels are driven by a steering gear, and the camera is installed in the middle of the miniature car. The visual navigation system proposed in this patent serves the steering control of the steering gear, and the sensor for collecting data is an elevated digital camera, such as Figure 8 In the test platform shown, the height of the camera stand is about 30cm. Such as Figure 9In the test site shown, firstly, the body is straightened on the straight road, that is, the distances between the left and right front wheels and the left and right edges are equal, and the distances between the left and right rear wheels are equal to the left and right ...

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Abstract

The invention discloses a minicar visual navigation method for an equal-width road surface. The method comprises steps of first, collecting a binarization image of a road surface on which the minicaris to drive, wherein a pixel point value 0 is corresponding to black and represents that the point is beyond the road surface, and a pixel point value 255 is corresponding to white and represents thatthe point is on the road surface; second, analyzing and preprocessing the binarization image, finding edge lines at two sides of the road surface, determining a road type, and calculating to obtain aroad surface center line by combining the road type and the acquired edge lines; and third, weighing the road surface center line so as to obtain deviation of the binarization image collected at present. The method can acquire road surface information effectively in real time, providing basis for turning control of the minicar.

Description

technical field [0001] The invention relates to the technical field of logical image processing, in particular to a visual navigation method for miniature vehicles on equal-width roads. Background technique [0002] Unmanned driving technology is generally semi-automatic control, because the road information is complex and there are many emergencies, so human intervention will be added. Especially in recent years, with the development of artificial intelligence, unmanned driving technology has introduced deep learning algorithms to adapt to various emergencies. One of the key issues in the research of unmanned driving technology is to explore complex road surfaces through multiple sensors to obtain huge information for decision-making. [0003] When exploring complex pavements, it is necessary to conduct research from two aspects. On the one hand, the road surface information is complex. Common road surface elements include straight roads, various types of curves, ramps, i...

Claims

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Application Information

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IPC IPC(8): G01C21/26G06K9/00G06K9/38
CPCG01C21/26G06V20/588G06V10/28
Inventor 钱承山沈新锋张永宏李雪田雨晴杜昕鹏单光胤
Owner NANJING UNIV OF INFORMATION SCI & TECH
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