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1、制代码。同时完成主要部分工作设计：电机控制及远程监控模块的控制流程，最终，搭建完成整个调试界面。关键词：车辆主动安全；车道线检测；车道偏航预警；测控平台；CPAC；万方数据AbstartTitle:Intelligentvehiclelanecrabbingwarningresearchandplatformdevelopmentofmeasurement-controlingMajor：AutomotiveEngineeringName：LiPeiSignature:Supervisor：Prof.Weipi
2、ngFuSignature:AbstractWiththeincreasingnumberofcars,trafficsafetyproblemistheurgentissuestotackleforpeople.Researchonintelligentvehicleisagoodwaytosolvetheseproblems.Tomakeintelligentvehicledrivingontheroadsafty,thepremiseistohaveanaccurateperceptionoftherec
3、ognitiontothedrivingenvironment.Basedonmachinevisionintheurbanenvironment,thispaperstudiedtheintelligentvehicleinfrontofthelanelineandintroducedthestructureoftheintelligentvehicleoverallcontrolplatform.Firstly,Thispaperproposesalanedetectionalgorithmbasedonf
4、eature.Accordingtothecharacteristicsofthelaneline,dividedinterestingregions;withthemethodofimagemorphology,extractedusefulinformationfromtheoriginalimage;usedimprovedOSTUmethodtoimagebinarization;afterfirstruledelimating、secondaryscreeningbasedonshapefeature
5、,thefinalchosing,determinedthecorrectlanelineunicomdomain;Finally,gotpointsandfitthelineusingtheleastsquares.AndweusedKalmanfiltertotrackthelane,furtherimprovedtheaccuracyofthealgorithm,andusedthedynamicinterestedregions,furtherimprovedthereal-timeperformanc
6、eofthealgorithm.Testsshowthatthealgorithmhasacertainrobustnessandaccuracy,andalsomeettherequirementsofreal-time.Secondly,thispaperintroducedtheexistingseverallanesyawwarningstrategies;usedthelanedetectionresultsinthesecondchapter;putforwardanewwarningstrateg
7、ies,andestablishthewarningmodel.SimulationprocesswerealsobrieflyintroducedinPreScan,combiningwithwarningalgorithmandmodel,weaddedsimulationscenarios,ensors,andcontrolstrategy.Accordingtotheresultofthesimulation,itshowedthatthismodelhasitsrationalityandrobust
8、ness.Thenthestructureoftheintelligentvehicleoverallcontrolplatformwasintroduced.fromtwoaspects:theI/Ocontrolandmotioncontroltwoaspects,ThispaperalsointroducedcircuitI万方数据西安理工大学硕士学位论文designingand
