摘要
自动泊车系统是汽车智能化发展的一个重要方向,也是无人驾驶技术的一部分。采用单目视觉的方法识别车位,为了使汽车能连续泊车入位,规划了基于回旋曲线的曲率连续泊车路径。同时,在装有单摄像机的模型车上对算法进行试验验证。结果表明,模型车准确识别车位,并连续泊入车位且以较好的姿态停于车位中间。对机器视觉在汽车上的广泛应用具有一定促进作用。
Automatic parking system is not only an important direction for the development of intelligent vehicle, but also part of driverless technology. In this paper, monocular vision-based methods were used to identify parking spaces. In order to park the car with asmoothparking path, a continuous clothoid-based trajectory was planned. Meanwhile, the effectiveness of the proposed algorithm was verified using a model car with a single camera.The experimental results demonstrate that the model car could identify the parking space accurately, was parked into the parking space continuously and located in the middle of parking space. The work reported in this paper is helpful for machine vision to be widely used in the car.
出处
《汽车工程学报》
2014年第3期172-179,共8页
Chinese Journal of Automotive Engineering
基金
国家自然科学基金(51105137)
关键词
自动泊车
单目视觉
车位检测
路径规划
回旋曲线
automatic parking
monocular vision
parking detection
path planning
clothoid
