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navigation and control system of intelligent vehicle.
Some typical path such as S-path and different angle
curve road are chosen in test. The picture of intelligent
vehicle searching path in the S-path test is shown in
Fig.7. The maximum speed for this road conditions is
1.6m / s. The picture of intelligent vehicle driving at
turning is shown in Fig.8. The maximum speed for this
road conditions is 1.6m / s.
Figure 5. Straight Road Image
Figure 6. Curve Road Image
The image is 40 × 71 pixels, and it has been enlarged
here for easier looking and recognised. the image of a
curve road is shown in Fig.6. It is a map of right-angle
corner, that is a right-angle of straight road and then right
turn. In this image it’s clear to see that it’s a right turn.
B. Real vehicle test results
Experimental test is carried out in order to check the
VI. CONCLUSION
Seen from Fig.5 and Fig.6, that black navigation line at
road centre can be recognised and displayed in the
picture clearly. It’s also found that picture quality will be
affected of the light strength and the projection
uniformity of the light on the objects. With enough and
uniform light, it will be better in the contrast and color
evenness. It is suggested in Fig.7 that intelligent vehicle
has good performance of searching line, because it can
adjust the front wheel turning angle in time in accordance
with S-path’s change. With Fig.8 the same conclusion can
be gained: when intelligent vehicle rushs out of path
because of too fast speed, the algorithm can find that it is
out of control and give orders of returning to the path.
REFERENCES
Figure 7. intelligent vehicle in S-path test
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Figure 8. intelligent vehicle driving at turning.
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