[1]孙厚权,张其亮,吴 越,等.基于机器视觉的运动检测与超车策略的研究[J].计算机技术与发展,2019,29(08):53-57.[doi:10. 3969 / j. issn. 1673-629X. 2019. 08. 010]
　SUN Hou-quan,ZHANG Qi-liang,WU Yue,et al.Research on Motion Detection and Overtaking Strategy Based on Machine Vision[J].,2019,29(08):53-57.[doi:10. 3969 / j. issn. 1673-629X. 2019. 08. 010]
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基于机器视觉的运动检测与超车策略的研究()

《计算机技术与发展》[ISSN:1006-6977/CN:61-1281/TN]

卷:
29
期数:
2019年08期
页码:
53-57
栏目:
智能、算法、系统工程
出版日期:
2019-08-10

文章信息/Info

Title:
Research on Motion Detection and Overtaking Strategy Based on Machine Vision
文章编号:
1673-629X(2019)08-0053-05
作者:
孙厚权1 ; 张其亮1 ; 吴 越2 ; 刘永良1 ; 孙 娜1
1. 江苏科技大学(张家港) 电气与信息工程学院,江苏 张家港 215600; 2. 江苏科技大学(张家港) 机电与动力工程学院,江苏 张家港 215600
Author(s):
SUN Hou-quan1 ; ZHANG Qi-liang1 ; WU Yue2 ; LIU Yong-liang1 ; SUN Na1
1. School of Electrical and Information Engineering,Jiangsu University of Science and Technology,Zhangjiagang 215600,China; 2. School of Mechatronic and Power Engineering,Jiangsu University of Science and Technology,Zhangjiagang 215600,China
关键词:
机器视觉; 智能车; 运动检测; 帧间差分; 超车策略
Keywords:
machine vision; smart car; motion detection; interframe difference; overtaking strategy
分类号:
TP31
DOI:
10. 3969 / j. issn. 1673-629X. 2019. 08. 010
摘要:
为了模拟实际生活中的超车方式,通过机器视觉完成超车行为的检测,文中提出一种基于机器视觉的检测方案—不使用超声波和无线模块,仅依靠对摄像头获取的图像进行计算分析,完成小车的自动循迹与超车。 首先采用优化的OTSU 算法求出采集到图像的最佳分割阈值,并利用此阈值对图像进行二值化;然后提取二值化图像中的赛道边缘与中线,并据此采用分段式 PID 进行方向控制,完成车辆的自动循迹;其次采用区域生长法检测出赛道中的前车图像,进而求得双车之间的距离,完成距离的检测与控制;最后使用优化的帧间差分法动态检测超车行为,完成整个超车过程。 通过与传统超车方式进行对比,验证了该方法在减少传感器模块使用的同时提高了环形赛道超车的成功率。
Abstract:
In order to simulate overtaking behavior in real life,the detection of overtaking behavior is completed by machine vision. We propose a solution based on machine vision to detect motion,without use of ultrasonic and wireless modules,only relying on calculating the images that cameras obtain to complete automatic tracking and overtaking of the car. Firstly,the optimized OTSU algorithm is used to find the best threshold of the captured image,and the binary image is made by using this threshold. Then the edge and middle of the track is extracted,and then segmented PID is used for the direction control to complete automatic tracking. Secondly,the region growing algorithm is used to detect the front car image in the track,and then the distance between the two vehicles is obtained for the distance detection and control. Finally,the optimized inter-frame difference method is used to dynamically detect the overtaking behavior and complete the whole process of overtaking. The effectiveness of this method is verified by comparing with the traditional way of overtaking.

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更新日期/Last Update: 2019-08-10