A Research on Autonomous Vehicle Navigation using Vision System

本文针对车辆导航问题，提出了以天花板日光灯为灯塔的新型导航方式。荧光灯在这种导航上有两个优点：它容易被检测到，并且存在于大多数工厂。尤其是当摄像机虹膜较窄时，由于荧光灯与背景的对比度较高，因此很容易从摄像机图像上的一般场景中提取出来。该导航系统由摄像机、个人计算机、移动机构及其接口组成。所有的单位都不是特殊的单位。这项工作分为两个部分。1引导导航使用荧光灯作为车辆导航的向导。该系统简单、价廉，能够实现稳定的运动。该系统在实际工厂中运行，更换方便。在讨论了这种快速车灯检测方法后，实现了实际车速下的直线和转弯运动。给出了工厂整体运动的仿真结果。我们获得了1996年系统控制与信息学会论文奖。2.车辆位姿测量与控制方法研究了车辆位姿测量方法及控制方法，以实现更灵活、更精确的移动。我们的车没有发球控制系统。因此，采用卡尔曼滤波方法对转向角进行估计。这种过滤系统可以提供平稳的移动。此外，为了适应不同的环境，对柔性位置测控系统进行了研究。实践证明，该系统在未知领域具有较强的适应性。本研究对一般的位置测量研究具有一定的参考价值。

This work is concerned with the vehicle navigation.We proposed the new navigation method which uses the ceiling fluorescent lamp as a lighthouse. The fluorescent lamp has two merits on this navigation as follows : it is easy to be detected and exists in most factories. Especially, it is the remarkable merit that the fluorescent lamp is easy to be extracted from the general scene on the camera image when the camera iris is narrow because of its high contrast to background. This navigation system is composed of the camera, the personal computer, the moving mechanism and their interfaces. All units are not special ones.This work is divided into next two parts.1 Guided navigationFluorescent lamp are used as a guide on vehicle navigation. This system is simple, cheap and, can realize the stable moving. It is easy to be replaced on the system which works in practical factories. After this quick lamps detection method was discussed, we realized the straight and turning motion in the practical speed. The simulation of the overall motions in the factory was offered. We received the 1996 paper award of the society of System Control and Information.2 Measurement of position and orientation of vehicle and control methodWe studied the method of measuring the position and orientation of the vehicle and the control method to realize the more flexible and precision moving. Our vehicle has no serve control system. So, the Kalman filter was used to estimate the steering angle. This filter system can offer the smooth moving. Furthermore, in order to adopt on the various circumstances, the flexible position measurement and control system were studied. It was confirmed that this system had the high adaptability in the unknown field. This study is useful on the general position measurement researches.