Intelligent Vehicle Control by Optimal Selection of Image Data

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• 作者：M. Junaid Khan ; Danya Yao ; Juan Zhao ; Shuning Wang ; Yu Cai
• 刊名：Lecture Notes in Control and Information Sciences
• 出版年：2006
• 出版时间：2006
• 年：2006
• 卷：344
• 期：1
• 页码：539-545
• 全文大小：280 KB
• 刊物类别：Springer Berlin / Heidelberg
• 刊物主题：Control Engineering
  Vibration, Dynamical Systems and Control
  
• 出版者：Springer Berlin / Heidelberg

文摘

This paper presents an algorithm for distance measurement and control between two moving vehicles using video input from a camera mounted on a follower car behind a preceding car. The idea is to keep the computational complexity bounded by switching between different levels of image quantization, using a pyramid decomposition of the image. The distance is related to the car size in the image, hence the number of pixels representing the car. In order to achieve global bounds on the error, the controller works coarsely when the vehicles are close and at finer range for more distant vehicles. Hence this paper presents a method for trading off accuracy vs. speed of computations in a specific vehicle following application.