具機器視覺之模糊停車系統研究

Research in Fuzzy Parking System with Machine Vision

余昆庭(Kun-Ting Yu)

指導教授 ： 孫崇訓

淡江大學/工學院/機械與機電工程學系碩士班/碩士(2011年)

https://doi.org/10.6846/TKU.2011.00542

摘要

本論文應用機器視覺為基礎對自走車執行自動路邊停車系統，並將車格與車身相關資訊回授給系統控制器以利於控制前輪轉向。我們利用攝影機作為我們的感測器，並且架設於自走車上以便於接收道路以及停車格資訊的即時影像。並運用這些資訊設計階層式模糊控制器使自走車與車道線保持平行移動。同時利用這些資訊做停車控制器的輸入使車子進入車格。此停車系統運用影像回授方式進行停車控制而非經驗法則。最後以實驗證明停車系統可以穩定進入車格完成停車控制演算法。

關鍵字

影像處理 ； 階層式模糊控制器 ； 停車系統

並列摘要

This paper performs the vision-based automatic parking system for the car-like mobile robot. We set up the camera on the vehicle as the sensor, and it gets the real-time information of the lane line and the parking space by image processing. According to the information of the lane line, we design the hierarchical fuzzy controller for the vehicle keeping following the lane line in parallel. Moreover, According to the information of the lane line and parking space, we also design the parking controller for the vehicle completing the parking procedure. The parking system implements parking process based on image feedback but not by trial and error. Experimental results show the effectiveness of the proposed parking control algorithm.

並列關鍵字

Image processing ； hierarchical fuzzy controller ； parking system

參考文獻

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