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文章提出了一种基于人工神经网络的自动驾驶控制模型,并利用计算机虚拟技术模拟实现车辆的运行环境及其运行行为,并对自动驾驶控制模型进行了测试。试验表明这种自动驾驶模型能有效地指挥车辆的驾驶。 相似文献
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在车辆追踪运行过程中,后车一般应尽量与前车保持速度一致,同时在该速度下与前车保持合理的车距,否则将影响到车辆安全、高效追踪运行.以前后两车的速度差和间距为状态变量,建立了车辆追踪运行时滞系统的离散模型,并在无限时间最优二次型性能指标的基础上,建立相应的增广系统方程,进而运用最优控制理论研究其反馈控制律和后车策略求解算法,从而得到后车根据前车行为变化所应采取的策略.实例仿真表明,设计方法具有一定的有效性. 相似文献
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在交通监控中,要进行车辆的检测、车流量统计、实时追踪、车速测定等工作,而如何从复杂的背景中分割运动物体是至关重要的一步,目前采用的典型方法是背景相减方法。为了对运动车辆进行准确快速的检测,在研究了目前存在的各种方法之后,提出了一种新的基于阴影检测的HSV空间自适应背景模型的车辆追踪检测算法,并将其应用于运动物体的分割,同时给出了具体的试验结果。该方法之所以不在传统的RGB空间实现,而在HSV空间实现,因为HSV空间可以提供更丰富的颜色信息。运行试验结果表明,该方法准确率高,适应性强,运算速度快,兼具灵活性,能满足实时检测的需要。 相似文献
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双轮移动机器人安全目标追踪与自动避障算法 总被引:6,自引:0,他引:6
设计了双轮移动机器人安全目标追踪算法和双回路的追踪与避障控制方案.内层控制回路是目标追踪的控制律,用来指导机器人追踪到指定目标并保持一定的安全距离,而且兼顾了机器人在运行速度上的限制和追踪的时间效率,其控制的渐近稳定性用Lyapunov函数法进行了证明.当遇到障碍物时,外层控制回路根据超声传感器的信息和阻抗控制的概念产生阻抗虚拟力,将期望目标调整到虚拟位置,使机器人能够自动转向以避开障碍物.仿真研究和实验结果证明了追踪算法的有效性和避障方法的可行性. 相似文献
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本文引入一种基于无模型自适应控制算法的无人驾驶车辆稳态漂移控制方案.首先,对车辆漂移动态过程进行动力学分析,其次,确定控制系统的控制输入量和控制目标,然后基于无人驾驶车辆稳态漂移控制系统的动态线性化数据模型,设计无模型自适应稳态漂移控制算法、伪雅可比矩阵估计整定算法和伪雅可比矩阵重置算法,从而实现无人驾驶车辆的稳态漂移过程.该无模型自适应控制方法仅使用车辆运行时的输入输出数据,无须进行复杂建模,实现了良好的动态控制结果,具有的良好自适应性.最后,通过数值仿真验证了控制算法的有效性. 相似文献
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基于深度学习的人手视觉追踪机器人 总被引:1,自引:0,他引:1
视觉追踪是智能机器人的核心功能之一, 广泛应用于自动驾驶、智慧养老等领域. 以低成本树莓派作为下位机机器人平台, 通过在上位机运行事先训练好的深度学习SSD模型实现对人手的目标检测与视觉追踪. 基于谷歌TensorFlow深度学习框架和美国印第安纳大学EgoHands数据集对SSD模型进行训练. 机器人和上位机的软件使用Python在Linux系统下编程实现, 两者之间通过WiFi进行视频流与追踪控制命令的交互. 实测表明, 所研制智能机器人的视觉追踪功能具有良好的稳定性和性能. 相似文献
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针对道路收费站人工操作时效率低下和易出差错等诸多不足,提出了一种能实现车辆到离检测、道闸栏杆控制和避免追尾碰撞的自动控制系统。该系统的显著特点是以频率漂移跟踪算法实现了车辆感应检测的全天候可靠运行,以避免追尾碰撞策略解决了车流过大时的可靠通行,并以多MCU的结构模式和抗干扰性较好的RS-485通信方式确保了系统的可靠性,使其能在现场长期连续运行。 相似文献
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将振动能量回收和振动控制结合的自供能智能减震器可以不依赖外部能源实现更好的振动控制效果,从而有效提升车辆的舒适性和燃油经济性.本文在分析自供能智能减震器非线性特性的基础上,建立了引入Karnopp控制规则的自反馈控制悬架模型,设计了简单实用的系统化考虑振动能量回收和振动控制的自耦合控制策略,将主动控制策略应用到自供能智能减震器.利用Matlab/Simulink对所建悬架模型应用自耦合控制策略进行模拟仿真,并与自反馈控制和被动悬架控制的仿真结果作比较,结果表明:车轮动位移、悬架动行程进一步减小,车身加速度的峰值减少几乎一半,有效地提高了车辆悬架性能. 相似文献
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In this paper, we discretize continuous car‐following model into a difference equation. With the use of discrete control theory, the discrete car‐following model was linearized and the impulse transfer function was obtained. Based on the definition of traffic jam, one Lemma was proposed to judge system stability and two theorems were given to judge the non‐jam conditions for controlled and uncontrolled systems. Moreover, the feedback gain was designed for a controlled system. Numerical simulations were conducted to show the validity of the discrete car‐following model and control scheme. The results are in agreement with the theoretical results. 相似文献
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本文考虑实际道路上的车辆跟随运行模式,研究了无人车以时变的相对距离和相对角度跟随行驶的控制问题.本文首先采用领航跟随模式建立了领航车与跟随车之间的误差模型,将无人车之间的相对距离和相对角度作为时变量输入.接着使用反馈控制法设计了跟随车速度控制器和角速度控制器.用李雅普诺夫方法证明了控制器的稳定性,用Barbalat引理从理论上证明了跟踪误差渐近收敛.最后用Matlab/Simulink对无人车的跟随控制进行仿真,仿真结果表明在无人车之间的相对距离和相对角度是时变量的条件下,跟随车可以很好地沿着领航车的前进轨迹跟随行驶. 相似文献
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In this paper, we improve the dynamics of an autonomous car‐following system with two classical compensation methods: proportional‐differential (PD) and velocity feedback (VF) control methods. Based on an optimal velocity model, the system transfer function was derived and control block diagram was given with an open‐loop transfer function. Three theorems were proposed and proven with the use of small gain theorem. The analytical results show that two compensation factors play important roles in stabilizing the car‐following system. In the simulation, three dynamical models were derived in reverse from the closed‐loop transfer function and the numerical results show that, with increasing factors, the stability of car‐following was enhanced and traffic jams were eliminated. The analytical results are supported by the numerical results. 相似文献
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Tomas Baca Petr Stepan Vojtech Spurny Daniel Hert Robert Penicka Martin Saska Justin Thomas Giuseppe Loianno Vijay Kumar 《野外机器人技术杂志》2019,36(5):874-891
This paper addresses the perception, control, and trajectory planning for an aerial platform to identify and land on a moving car at 15 km/hr. The hexacopter unmanned aerial vehicle (UAV), equipped with onboard sensors and a computer, detects the car using a monocular camera and predicts the car future movement using a nonlinear motion model. While following the car, the UAV lands on its roof, and it attaches itself using magnetic legs. The proposed system is fully autonomous from takeoff to landing. Numerous field tests were conducted throughout the year‐long development and preparations for the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2017 competition, for which the system was designed. We propose a novel control system in which a model predictive controller is used in real time to generate a reference trajectory for the UAV, which are then tracked by the nonlinear feedback controller. This combination allows to track predictions of the car motion with minimal position error. The evaluation presents three successful autonomous landings during the MBZIRC 2017, where our system achieved the fastest landing among all competing teams. 相似文献
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对具有自动道路检测和自动跟随功能的智能小车控制系统的开发进行了介绍.该智能车配有红外光电传感道路检测装置、速度检测装置、电机驱动装置、转向控制舵机等设备,以飞思卡尔16位单片机MC9S12DG128B为控制核心.设计了道路寻优模糊控制程序,并用C语言程序开发了模糊控制程,实现了对直道、蛇形弯道以及大半径弯道三种典型道路的自动跟随.运行效果表明智能车对任意道路具有较好的跟随性,同时具有较高的车速. 相似文献
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智能小车根据不同传感器的传感信号,按照一定的规则来调整小车的方位角和速度,实现自主导航。成功避障是提高非结构化环境中智能小车自主能力的关键问题之一,本文提出了一种基于模糊控制的多超声波测距传感器信息融合智能小车避障算法,该算法不仅融合了多个超声波测距传感器的测量数据,对障碍物的距离和空间方位提供准确、可靠的信息,很好的实现避障行为决策,而且不依赖于对象的数学模型,具有较好的鲁棒性。 相似文献
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Based upon the classical car‐following theory, an extended car‐following model considering variable safety distance (VSD) and time‐delay effect is constructed to improve driving efficiency and safety. Considering multiple preceding cars' speed differences and the difference between headway and safety distance, a new control signal is designed from the viewpoint of multiple information feedback control strategy. Stability criterion for the modified model is acquired by applying control theory. Several numerical simulations are used to show the effects of multiple preceding cars' speed changes and variable safety distance on car‐following phenomena, and the outcomes prove that the presented model can enhance traffic safety and suppress traffic jams. 相似文献
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An Extended Car‐Following Model With Consideration of the Driver's Memory and Control Strategy 下载免费PDF全文
Taking account of the effect of the driver's memory, an extended car‐following model is proposed in this paper. A control signal including the velocity contrast of considered car and the following car is taken into account in this extended model. Numerical simulations are implemented to prove that the application of the model can suppress the traffic congestion successfully. 相似文献
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