关键词: CMOS摄像头, 智能车, 图像处理, 路径识别, PID控制

Abstract:

In order to overcome the risk of misrecognition caused by a single guide line, an intelligent vehicle with the ability to automatically recognize and track path is designed. Freescale MC9S12XS128 and COMS (Complementary Metal Oxide Semiconductor) camera are chosen respectively as core controller and information collection device. Path information is indentified through the process of binary image, image denoising and edge detection, and the runway shape is identified, which are served as the control input of steering gear and motor to achieve a stable and fast running process of intelligent vehicle. Combining driving state and the road information, and using the PID (Proportional Integral Differential) control strategies, the optimization of various typical track processing is realized, the ability of steering adjustment and a quick response of acceleration signal are guaranteed. It can run on a runway with white ground and black line on both sides, overcoming the risk of misrecognition caused by a single guide line.

Key words: complementary metal oxide semiconductor（CMOS） camera, intelligent vehicle, image processing, path identification, proportionalintegraldifferential （PID）control