Research on intelligent vehicle high-speed steering control based on CCD sensor

2011 IEEE 2nd International Conference on Computing, Control and Industrial Engineering Pub Date : 2011-09-01 DOI:10.1109/CCIENG.2011.6008034

Qinyu Jiang, Liang Wang, Baoliang Li, Shixuan Yao

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引用次数: 1

Abstract

This paper presents the intelligent vehicle's highspeed steering control model based on CCD sensor, to ensure that the vehicle pass the curve stably and rapidly, and do not runaway. First, the vehicle obtain road information by CCD visual sensor, and detect the type of road and the location of the vehicle etc. Second, calculate the turning radius of the road in front of the vehicle. Third, figure out the vehicle's highest speed and servo's steering angle through turning mathematical model, establish the relationship between turning radius and speed, turning radius and steering angle. Then, in order to make the vehicle achieve the target speed quickly and stably, some mathematical analysis of the driving motor has been done, and the relationship between speed and motor's armature voltage is established. Finally, verify and calibrate the turning mathematical model experimentally. The result shows that the model algorithm is stable and accurate, and the intelligent vehicle can pass different types of road with high and stable speed.

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基于CCD传感器的智能车辆高速转向控制研究

本文提出了基于CCD传感器的智能汽车高速转向控制模型，以保证车辆平稳、快速通过弯道，不失控。首先，车辆通过CCD视觉传感器获取道路信息，检测道路类型、车辆位置等;其次，计算车辆前方道路的转弯半径。第三，通过转弯数学模型计算出车辆的最高车速和伺服转向角，建立转弯半径与车速、转弯半径与转向角的关系。然后，为了使车辆快速、稳定地达到目标速度，对驱动电机进行了数学分析，建立了速度与电机电枢电压的关系。最后，对车削数学模型进行了实验验证和标定。结果表明，该模型算法稳定、准确，智能车辆能够以高速稳定的速度通过不同类型的道路。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2011 IEEE 2nd International Conference on Computing, Control and Industrial Engineering

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