摘要
通过建立几何模型,把智能车赛道中心线曲率的求解问题转换成对三角形函数关系的求解。从传感器传回的信息中,提取出智能车在赛道上的当前位置信息和前进方向上任意一处的信息,要求这2点纵向距离小于赛道中心线曲率半径最小值,找出这2点的横坐标和纵坐标的差值,并根据几何关系求解出该位置上赛道中心线的曲率。该两点算法不仅简单、运算量小,而且准确率高,可准确求解出赛道中心线曲率最大处的曲率,不仅适用于摄像头组,还适用于电磁组和光电组等,可移植性强。
Through established geometry model, the problem of the center line of the smart car track curvature was con- verted into triangle function problem based on geometry. The current position and information of any place in the forward direction were extracted from the sensor message. But the longitudinal distance between the above two points should be less than the minimum curvature radius of the center line. According to the difference of horizontal and ordinate between the a- bove two points, the curvature of the position was achieved. This method is simple and has small computational complexity, at the same time, the accuracy is high. It can calculate the biggest curvature of the center line in the track. This method is adapted to camera group, electromagnetic group and photoelectric group. Sp it has strong portability.
出处
《新技术新工艺》
2014年第4期32-33,共2页
New Technology & New Process
基金
大学生创新创业计划资助项目(201310674232)
关键词
曲率
两点算法
三角函数
curvature, two point algorithm, trigonometric functions
