智能交通系统中基于机器视觉的数字车辆控制3

20031023,,(,100081)[],,:,,DigitalVehicleControlBasedonMachineVisioninIntelligentTrafficSystemShenZhongjie,WangWuhong&ZhongYonggangBeijingInstituteofTechnology,Beijing100081[Abstract]Adigitaldrivingsystemunderintelligenttrafficinformationnetworkenvironmentiscon2structedinthepaper.Afterdescribingimageformingmodelandvisioncoordinatesystem,thelaneandobstacleidentificationalgorithmbasedoncomputervisionispresented.Finally,thetechniquesofpreviewsteeringandvehiclecontrolareappliedtodigitalvehicleforrealizingtheroadtracking.Keywords:Intelligenttrafficsystem,Digitaldriving,Machinevision3(50078005)(81069)(2002-1961)200285,20031171(PrometheusVaMORsARGO)(PATH)[1-4],,,,,,,,,[5],,,[6-8],,,,,,2211,,12003(25)5AutomotiveEngineering2003(Vol.25)No.5©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.11,O,C1f;P(x,y),P(m,n)C2,C1C2O,C2YZ,,C1C2(C1C2,),P(x,y)P(m,n)()2122,,[9],2,,,P(x,y)P(X,Y,Z),,3311[10,11],(),[12,13]312sobel,sobelVC++,3331211[10],[i,j]33,:h[i,j]=196i+1k=i-16j+1l=j-1f[k,l](1)N,,31212Sobel[9],Sobel,-1-2-10030121,-101-2032-10133SobelM=S2x+S2y(2)Sx=(a2+ca3+a4)-(a0+ca7+a6)Sy=(a0+ca1+a2)-(a6+ca5+a4)(3)Sobel9242003(25)5©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.a0a1a2a7[i,j]a3a6a5a4(4),[14],SobelSx3(c),Sx=-101-202-101(5)SobelVC++[15]BOOLWINAPISobelDIB(LPSTR1pDIBBits,LONG1Width,LONG1Height){LPSTR1pDst1;LPSTR1pDst2;(514)DIBLPSTR1pNewDIBBits1;HLOCALhNewDIBBits1;LPSTR1pNewDIBBits2;HLOCALhNewDIBBits2;SobelaTemplate[0]=-110;aTemplate[1]=010;aTemplate[2]=110;aTemplate[3]=-210;aTemplate[4]=010;aTemplate[5]=210;aTemplate[6]=-110;aTemplate[7]=010;aTemplate[8]=110;}31213[10],,,:,:;,T=T[x,y,f(x,y),p(x,y)](6)f(x,y)(x,y),p(x,y)T(x,y),f(x,y),p(x,y)f(x,y),,3(d),;2153m;(),,,,310,20,l1,l2,,l10r1,r2,r10[15]Pm(x)=a0+a1x+a2x2++amxm(7)na0+a16ni=1xi+a26ni=1x2i++am6ni=1xmi=6ni=1yia06ni=1xi+a16ni=1x2i+a26ni=1x3i++am6ni=1xm+1i=6ni=1yixia06ni=1xmi+a16ni=1xm+1i+a26ni=1xm+2i++am6ni=1x2mi=6ni=1yixmi(8),(10),,,440342003(25)5©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.m+1,,m=1;,:,m,,,,,,,,,,,,,l,,,L[16]313[1],,,,,,55[1],[1](IPMInversePerspectiveMapping),(),,(),,SIMD()WI,676[1]7WI6W={(x,y,z)}E3(),I={(u,v)}E2(),I,Wxy,S={(x,y,0)W}IPM,(7)C=(l,d,h)W“O…“Oz=0x€“O_2nn314SI[1],g:SIP(x,y,0),“OCP1342003(25)5©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.(x,y,0)=arctany-dx-l(x,y,0)=arctanhsin(x,y,0)y-d(9)(x,y,0)[…-,…+](x,y,0)[€-,€+],P,I(u,v)g:SIu(x,y,0)=(x,y,0)-(€-)2/(n-1)v(x,y,0)=(x,y,0)-(…-)2/(n-1)(10)(10),S(Wz=0),(x,y,0)W,(u(x,y,0),v(x,y,0))I,IPM4411[17],s,s,s=k0t0,t034s,k0=111,41241211:(tr1,tr2,,trn-1,trn,),tr1tr2trn-1trn,,,,(tr1,tr2,,trn-1,trn,)0175t0s,,,,41212,,,,,,,,[18]:r(t)=r01+1(1-2)-muaLk22w20+2mua0Lk2+1e-0tsin(t+)(11)=r(t)dt(12)(12),=+,,=l/s,,l,s(11),,8t0,,,t0t1,t0,,75%,,,,;,,9892342003(25)5©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.10,,,,,,,,101111Matlab(10m)5,,,,,,1A11,11:,20022,1,2001,23(5)3,11:,1999411:,19975WangWuhong.ADigitalDrivingSystemforSmartVehicle.IEEEIntelligentSystem,2002,17(15)6,11,2002,12(1)7,11,2002,24(5)811:,2001911:,20001011:,20011111:,20001211,2000,23(2)1311,2001,18(2)1411:,1997151VisualC++1:,200116AufrereR,ChapuisR,etal.ADynamicVisionAlgorithmtoLo2cateaVehicleonaNoStructuredRoad.TheInternationalJournalofRoboticsResearch,2000,19(5)1711:,19911811:,19903342003(25)5©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.