文献类型：期刊文献

中文题名：基于机器视觉和激光雷达的车辆智能导航系统

英文题名：Intelligent vehicle navigation system based on machine vision and lidar

作者：盛鸿宇[1];王飞[2]

第一作者：盛鸿宇

机构：[1]北京联合大学机器人学院,北京100101;[2]河北工业大学电子信息工程学院,天津300401

第一机构：北京联合大学机器人学院

年份：2022

卷号：43

期号：1

起止页码：169-173

中文期刊名：激光杂志

外文期刊名：Laser Journal

收录：CSTPCD;;北大核心:【北大核心2020】；

基金：河北省科技计划项目(No.201905220147)。

语种：中文

中文关键词：机器视觉;激光雷达;车辆智能导航系统;系统设计

外文关键词：machine vision;lidar;vehicle intelligent navigation system;system design

摘要：常规的车辆智能导航系统无法准确计算其与前方障碍物之间的距离,因此,基于机器视觉和激光雷达设计了车辆智能导航系统。在车辆智能导航系统的硬件设计中,设计视觉传感芯片外围电路,配置视觉传感芯片电路元件参数,保障视觉传感装置的稳定运行,设计激光雷达温度补偿装置,保证激光雷达装置的电路稳定。在车辆智能导航系统的软件设计中,去除图像噪声,转换运动中的图像数据,设计车辆智能导航算法。设计实验测试该系统的视觉智能,在与常规三种系统的对比中,该系统可以在距障碍物约1.12 m时转弯,而常规的三种系统在障碍物前约1.61 m、1.63 m和1.76 m时就必须转弯,设计的导航系统减少了车辆的行驶距离。由此可见,该系统实现了车辆智能导航系统对机器视觉的优化。
Conventional vehicle intelligent navigation system cannot accurately calculate the distance between the vehicle and the obstacles in front of it. Based on machine vision and lidar, the vehicle intelligent navigation system is designed. In the hardware design of the vehicle intelligent navigation system, the peripheral circuit of the visual sensor chip is designed, the circuit component parameters of the visual sensor chip are configured to ensure the stable operation of the visual sensor device, and the laser radar temperature compensation device is designed to ensure the circuit stability of the laser radar device. In the software design of vehicle intelligent navigation system, the image noise is removed, the image data in motion is converted, and the vehicle intelligent navigation algorithm is designed. Experiments are designed to test the visual intelligence of the system. In comparison with the conventional three systems, the system can turn at about 1.12 m away from the obstacle, while the conventional three systems must turn at about 1.61 m, 1.63 m and 1.76 m in front of the obstacle. Through the visual intelligence method, the navigation system reduces the driving distance of the vehicle. The system realizes the optimization of machine vision by vehicle intelligent navigation system.