增强汽车驾驶员视野的方法及视野发展趋势

驾驶员视野是汽车主动安全的主要内容之一,对汽车的行车安全具有非常重要的作用。本文通过对驾驶员视野的原理分析来寻求增强视野的方法,来进一步分析汽车视野的发展趋势。     

An adaptive fuzzy-sliding lateral control strategy of automated vehicles based on vision navigation

Lateral control is considered to be one of the toughest challenges in the development of automated vehicles due to their features of nonlinearities, parametric uncertainties and external disturbances. In order to overcome these difficulties, an adaptive fuzzy-sliding mode control strategy used for lateral control of vision-based automated vehicles is proposed in this paper. First, a vision algorithm is designed to provide accurate location information of vehicle relative to reference path. Then, an adaptive fuzzy-sliding mode lateral controller is proposed to counteract parametric uncertainties and strong nonlinearities, and the asymptotic stability of the closed-loop lateral control system is proven by the Lyapunov theory. Finally, experimental results indicate that the proposed algorithm can achieve favourable tracking performance, and it has strong robustness.     

机器视觉的辨识功能在汽车发动机厂的应用

为了提高现代汽车发动机厂作业过程的可靠性,消除产品的质量缺陷,机器视觉这一新技术已在企业得到应用,尤其是其所具有的辨识功能。文章通过详实、形象的实例,描述了机器视觉的辨识功能在企业诸多场合,特别是在发动机装配线中的一些典型应用及其体现出来的优越性,从而表明了这项新技术在现代汽车制造业中确实大有用武之地。     

基于路面图像对称性的车道偏离识别方法研究

利用车道边缘信息定义了边缘分布函数EDF,通过分析车道线在道路图像中的方向变化来判断车辆是否偏离了车道中央。将车道偏离识别问题通过EDF函数本身重要形态特征对称轴转换成一个数学问题,减少了动态道路场景噪声的影响,无需在测量车道方向时考虑摄像机自身的参数,提高了适应随机和动态道路环境的能力,是一种可靠的车道偏离识别方法。     

交通仿真中驾驶人空间视野感知模型

分析了驾驶人视野注视点的移动规律, 研究了空间视野范围内的视野水平角, 给出了车速与视野和注视距离的关系, 提出了空间视野感知模型。结合道路中心线与平行线三维坐标计算方程, 建立了驾驶人空间视野感知模型的计算方法。通过计算机模拟实际场景, 对5位受试者分别进行了4次测试, 得到了722段组合数据和3585个速度数据, 对模型进行了验证。研究结果表明: 预测结果与实测结果吻合率大于70%, 不明显效果率低于20%, 错误效果率低于10%。该模型仿真效果明显, 算法易于实现。     

基于单目视觉的水面船舶多目标定位方法

针对水面船舶的多目标实时定位, 提出了一种定位和运动参数求解算法, 采用固定位置和视角的单目摄像机采集船舶图像, 对采集的图像进行高斯滤波和图像畸变校正, 提出了基于船舶颜色、尺寸与运动学特征同时识别多个船舶目标(每个船舶目标独立识别)的方法, 构建了图像坐标与真实环境坐标的转换模型与实时航速、航向和轨迹的计算模型, 在水池环境下搭建了实时定位系统, 开发了实时定位程序, 并验证了定位方法的定位精度和轨迹跟踪性能。验证结果表明: 在存在外界干扰的情况下, 定位算法能实现对2艘船舶的精确识别; 修正前坐标点横、纵坐标平均误差分别为0.058、0.209m, 修正后分别为0.038、0.124m;摄像机定位数据更新频率为8 Hz, 满足船舶控制需要; 算法能实现对船舶位置、航速和航向的准确、实时计算, 轨迹平滑且未出现异常点。     

Vehicle detection grammars with partial occlusion handling for traffic surveillance

Traffic surveillance is an important topic in intelligent transportation systems (ITS). Robust vehicle detection is one challenging problem for complex traffic surveillance. In this paper, we propose an efficient vehicle detection method by designing vehicle detection grammars and handling partial occlusion. The grammar model is implemented by novel detection grammars, including structure, deformation and pairwise SVM grammars. First, the vehicle is divided into its constitute parts, called semantic parts, which can represent the vehicle effectively. To increase the robustness of part detection, the semantic parts are represented by their detection score maps. The semantic parts are further divided into sub-parts automatically. The two-layer division of the vehicle is modeled into a grammar model. Then, the grammar model is trained by a designed training procedure to get ideal grammar parameters, including appearance models and grammar productions. After that, vehicle detection is executed by a designed detection procedure with respect to the grammar model. Finally, the issue of vehicle occlusion is handled by designing and training specific grammars. The strategy adopted by our method is first to divide the vehicle into the semantic parts and sub-parts, then to train the grammar productions for semantic parts and sub-parts by introducing novel pairwise SVM grammars and finally to detect the vehicle by applying the trained grammars. Experiments in practical urban scenarios are carried out for complex traffic surveillance. It can be shown that our method adapts to partial occlusion and various challenging cases.     

基于单目机器视觉的船舶测距定位原理研究

利用透视投影几何关系和摄像机内部参数,计算船舶与各陆标之间的距离,提出一种基于单目机器视觉的船舶测距定位方法。仿真结果表明,该方法与传统的陆标定位方法相比,具有简易、实时、受海况影响小的优势,可满足全封闭舰船陆标定位要求。     

基于机器视觉测量技术的地铁站台限界检测仪设计

为确保运营期间地铁车辆运行、停靠与旅客乘降的安全,需要定期对地铁站台限界进行检测。目前使用较多的接触式检测存在检测效率低,人为影响因素较大等缺点。基于机器视觉技术研究了一种非接触式站台限界检测仪。采用三角测量原理,提出基于基准点匹配的标定方法,解决近景斜角大范围摄影测量问题。通过现场测试数据分析,检测仪满足了地铁站台限界侵限检测需求。     

悬链线上自动装卸工件的研究

分析了悬链线上自动装卸设备所产生的运动以及实现这些运动所需的机构。针对工件放置位置不准确的状况,采用机器视觉技术自动识别工件的位置,悬链与机器人悬挂机构保持同步移动,可以避免吊杆与工件及悬挂机构碰撞,保证了工件的自动抓取和释放的准确性。