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| 引用本文： | 梁栋,史忠科.��ṹ����·�����ܳ���·���滮������㷨�о�[J].交通运输系统工程与信息,2011,11(2):44-51. |
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| 作者姓名： | 梁栋 史忠科 |
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| 作者单位： | ?????????? ????????????? 710129 |
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| 摘 要： | 作为智能交通的重要组成部分，智能车辆旨在辅助或取代驾驶员进行车辆驾驶，以减少交通事故，提高交通系统效率. 本文针对半结构化道路下基于视觉导航智能车辆的路径规划和车辆控制问题进行了研究试验. 首先采用局部逆透视变换方法将存在无穷视野的智能车辆成像系统转换为真实世界坐标表示；然后利用深度优先搜索算法搜索当前道路环境下所有可行路径，依据无碰撞约束条件设定行驶轨迹；以预设轨迹的行驶时间和视觉图像信息作为输入，设计分级模糊控制器进行车辆横向控制；最后给出场地试验结果. 试验表明，本文路径规划和车辆控制算法有效稳定，实现了校园环境下障碍物躲避、路径规划和车辆自主行驶的设计功能.
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| 关 键 词： | ?????? ??????? ???????· ?????任 ·???滮 ??????? |
| 收稿时间： | 2010-11-08 |
Path Planning and Control Algorithm for Intelligent Vehicles under Semi-Structured Road Condition |
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| LIANG Dong,SHI Zhong-ke.Path Planning and Control Algorithm for Intelligent Vehicles under Semi-Structured Road Condition[J].Transportation Systems Engineering and Information,2011,11(2):44-51. |
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| Authors: | LIANG Dong SHI Zhong-ke |
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| Institution: | School of Automation, Northwestern Polytechnical University, Xi’an 710129, China |
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| Abstract: | As a pivotal component of intelligent transportation system,intelligent vehicles aim to reduce traffic accidents and improve transportation system efficiency,eventually,accomplish the objective of assisting or totally replacing drivers to control vehicles.In this paper,a research is conducted on path planning and vehicle control for vision-based navigation intelligent vehicles under semi-structured road condition.Firstly,local inverse perspective transformation is introduced to transfer vision imaging syste... |
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| Keywords: | intelligent transportation intelligent vehicles semi-structured road inverse perspective transformation path planning fuzzy control |
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