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1、ProceedingsoftheIEEEIntelligentVehiclesSymposium2000Dearborn(MI),USAOctober3-5,2000AnembeddedsystemforautonomouscollisionavoidanceandlinetrackingusingartificialCMOSretinasensorHaitaoLISamirBOUAZIZFrancisDEVOSInstitutd'ElectroniqueFondamentaleUniversiteParis-sud,Bat.22091405ORSAY,Fr
2、ance1iGlief.u-psud.frbs0ief.u-psud.frdevos@,ief.u-psud.frAbstract2SYSTEMDESCRIPTIONInIntelligentvehicleresearchdomain,imageprocessing2.1Themechanicalpart:Minicarfocusofienonthepost-treatment.Real-timeimageprocessingneedsalotofcomputing.ComplicatedTheMinicar,showninfigure1,isa1/5sca
3、ledmodelcar.algorithmsarealwaysachallengeforanypowerfulItisequippedwitharadioreceptor,oneservoforcomputationsystem.Thisproblemisoftenthebottleneckdirectioncontrolandanelectricalmotorforspeedcontrolofsystemspeed.BymeansofCMOStechnology,some(throughmotorcontroller).popularimagealgori
4、thmsareimplementedatthehardwarelevel.TheretinasensorisaCMOScircuitincludingtheimagesensorpartandsomehardwareimplementationalgorithms.Oursystemisbasedontwoartificialmulti-modeprogrammableretinasensors.TheseretinasareaCMOSimagesensorsdevelopedatIEFandINTinstitutes(Institutd'Electroni
5、queFondamentale(IEF),UniversitkParisXI,Orsay-France,andInstitutNationaldeTLlLcommunicationsEvry-France)andincludessomesiliconanaloganddigitalimageprocessingalgorithms[l][2].SomeinterestingoutputsfromeachretinaareusedinanoriginalexperimentplatformforautonomouscollisionFigure1avoidan
6、ceandlinetracking.2.2Vision,ControlandDataAcquisitionSystemWewilldescribeourembeddedsystem,somecustomizedTheMinicarisequippedwithastereoscopicvisioncharacterizationandsomeexperiencesusingthissystem.systemconsistingoftwosynchronizedartificialretinas1INTRODUCTIONandtheircontrollers,t
7、woPWMcontrollersforspeedanddirectioncontrol.ItalsoincludesahighspeedcustomizedThispaperpresentsourrealizationofanembeddeddataacquisitioncardandanembeddedPC104computer.systemforintelligentvehiclesexperiencesandforThissystemisabletoacquirepairsofgraylevelimagesartificialretinademonst
8、ration.Thissystemisbuilton
