具道路影像追蹤之自走車研製

Development of Vision-Based Lane Tracking for Autonomous Cart

吳修賓(Xiu-Bin Wu)

指導教授 ： 邱國慶

國立虎尾科技大學/工程學院/車輛工程系碩士班/碩士(2012年)

https://doi.org/10.6827/NFU.2012.00171

摘要

本文的研究目的為發展一套道路標線影像偵測系統，並應用於自走車行進追蹤控制。整體架構分為四個系統，分別是人機控制介面系統、嵌入式影像處理系統(NI CVS-1456)、微控制器(PIC18F252)，及馬達驅動系統。系統人機介面係由LabVIEW套裝軟體發展而成，使用無線通訊網路當作嵌入式系統與遠端監控電腦溝通之橋樑。當系統進行追蹤控制時，自走車上兩組CCD攝影機動態擷取前方道路標線影像，透過立體影像處理程序取得道路標線資訊，經過計算後可求得左右兩側道路標線與自走車之相對誤差，接下來嵌入式系統將此誤差訊號以並列通訊方式傳送給微控制器，做為追蹤控制之依據。
本論文運用Lyapunov穩定準則推導出「適應性模糊滑動模式控制」(AFSMC)，將其控制理論建構在微控制器中運算，並且送出適當的PWM訊號，透過橋式電路控制左右輪馬達，使自走車能夠平滑地行駛於道路標線內。實驗結果顯示AFSMC的控制性能優於傳統PID控制器。

關鍵字

車道線偵側 ； 車道線追蹤 ； 自走車 ； 影像處理 ； 適應性模糊滑動模式控制

並列摘要

In this paper, a vision-based lane tracking system is developed for an autonomous cart. The proposed system is composed of a human-machine controlled interface, an embedded image processing system(NI CVS-1456), a microcontroller(PIC18F252), and a motors controlled system. Based on LabVIEW tool, the human-machine controlled interface is developed in a notebook which takes a wireless communication with the embedded image processing system. When tracking the lane markings, the embedded image processing system uses two CCD cameras to obtain the lane images by protocol IEEE1394 for developing a stereo vision. After extracting the lane images, the 3-D distance information between the lane markings and the cart can be calculated by a stereo vision algorithm. Based on this distance information, the error which defined in image plane will be obtained, and can be transmitted from the embedded system to the microcontroller(PIC18f252) by parallel port communication. Using the error signals, the AFSMC algorithm can be derived from the Lyapunov stability theory by the MCU(PIC18f252) to produce two motors control commands(PWM signals) which can drive the cart to track the center of the lane.
A comparative analysis with experimental results soundly confirmed that the performance of developed AFSMC is better than those of classical PID controllers.

並列關鍵字

lane detection ； lane tracking ； autonomous cart ； image processing ； adaptive fuzzy sliding mode control

參考文獻

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