| 多缩微智能车交互行为研究平台设计与实现 |
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| 引用本文： | 王晓东,何雯,刘玉超,郭沐,张天雷,韩鹏.多缩微智能车交互行为研究平台设计与实现[J].北京理工大学学报,2015,35(S2):185-189. |
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| 作者姓名： | 王晓东 何雯 刘玉超 郭沐 张天雷 韩鹏 |
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| 作者单位： | 清华大学计算机科学与技术系, 北京 100084;中国电子设备系统工程公司研究所, 北京 100141,清华大学计算机科学与技术系, 北京 100084;中国电子设备系统工程公司研究所, 北京 100141,中国电子设备系统工程公司研究所, 北京 100141,清华大学计算机科学与技术系, 北京 100084,清华大学计算机科学与技术系, 北京 100084,重庆科学技术研究院, 重庆 402699 |
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| 基金项目： | 国家自然科学基金项目资助(91420202) |
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| 摘 要： | 针对真实道路上开展智能汽车研究存在的风险和困难,提出了一种基于缩微城市道路环境的智能车交互行为研究平台. 该平台首先实现了具备视觉认知功能的缩微智能车,采用了一种基于特征和模型融合的嵌入式平台实时车道线和障碍物检测算法,通过本车可行驶区域的形式化描述,实现道路环境的感知,最后经过模糊决策控制方法控制缩微智能车产生拟人驾驶行为. 实验结果表明,文中提出的研究平台能够有效模拟智能车车间交互行为,环境感知算法和决策控制方法能够满足实时性和精度要求.
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| 关 键 词： | 缩微智能车 交互行为 模糊控制 |
| 收稿时间： | 2015/3/22 0:00:00 |
Design and Implimentation of a Real-Time Platform for Studying Interaction Behaviors of Scaled-Down Autonomous Vehicles |
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| WANG Xiao-dong,HE Wen,LIU Yu-chao,GUO Mu,ZHANG Tian-lei and HAN Peng.Design and Implimentation of a Real-Time Platform for Studying Interaction Behaviors of Scaled-Down Autonomous Vehicles[J].Journal of Beijing Institute of Technology(Natural Science Edition),2015,35(S2):185-189. |
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| Authors: | WANG Xiao-dong HE Wen LIU Yu-chao GUO Mu ZHANG Tian-lei and HAN Peng |
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| Institution: | Department of Computer Science and Technology, Tsinghua University, Beijing 100081, China;Institute of China Electronic System Engineering Corporation, Beijing 100141, China,Department of Computer Science and Technology, Tsinghua University, Beijing 100081, China;Institute of China Electronic System Engineering Corporation, Beijing 100141, China,Institute of China Electronic System Engineering Corporation, Beijing 100141, China,Department of Computer Science and Technology, Tsinghua University, Beijing 100081, China,Department of Computer Science and Technology, Tsinghua University, Beijing 100081, China and Chongqing Science and Technology Research Institute, Chongqing 402699, Chiina |
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| Abstract: | Autonomous vehicle was considered to be one of the toughest challenges in the fields of artificial intelligent, pattern recognition, computer vision, sensor fusion and control theory. In the paper, a kind of scaled-down autonomous vehicles was demonstrated and a more human-like environment perception and control system were proposed, including obstacle detection, combined feature-based and model-based lane mark detection algorithm. To verify the efficiency of the proposed perception and control system, a test platform was built. With the platform, the interaction behaviors between autonomous vehicles were studied. |
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| Keywords: | scaled-down vehicles interaction behaviors fuzzy control |
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