智能型汽车行驶主动安全系统研究
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摘要
本文针对汽车行驶中的安全问题，以汽车主动安全系统为研究对象，采用信息处理技术和智能化技术对系统的构成和建模、信息的实时获取、行驶防撞等进行了研究。
从汽车和安全的角度出发，概括叙述了汽车的安全性问题，讨论了智能汽车系统（ITS）以及汽车防撞安全系统，对汽车主动安全系统的研究内容进行了的分析。
本文提出了基于安全行驶行为的汽车主动安全系统的原理结构。利用并行处理原理，提出了基于多任务多线程的汽车主动安全系统，通过将功能模块分割，使它们相互协同完成从动态数据的实时获取到决策报警的全过程。
从计算机视觉理论出发，介绍了计算机视觉处理技术的主要算法，结合本课题的研究对象，介绍了基于视频流的2D－3D运动估计理论，最后简要介绍了计算机视觉技术在ITS中的主要应用。
从小波分析的基本理论出发，简要介绍了小波分析在工程中的应用以及其快速算法，小波的奇异性检测在图像边缘检测中有重要应用，结合本课题的特点，提出并实验了Bubble小波的边缘检测算法。以区域生长和最小二乘法拟合为主要手段，提出了一种道路检测和预报的算法。基于FOE理论，提出了一种道路弯曲方向的判别方法。
利用视频图像分割的基本理论，采用两步分割算法：先进行障碍物区域定位，再通过几种较精细的算法进行精确定位。有效地将目标图像区域从场景中表示出来，进而达到分割目标障碍物的目的。
采用了基于结构化道路模型的单目测距算法。通过建立的道路模型，根据道路的几何约束关系以及行业标准，重建出整个道路的立体视图，从而测出障碍物的距离。
Aiming at the safety problem of vehicle driving, this thesis' research focuses on such aspects as structure, modeling, real-time information acquisition and anti-collision, vehicle initiative safety system as main object, using information processing technologies and smart agent technologies.
At the aspect of vehicle and safety, problems related to the vehicles safety are summarized briefly. The intelligent traffic system and the safety system to anti- collision are discussed also. In addition, the research content of vehicle initiative safety system is analyzed.
This paper presented the theoretical structure of vehicle initiative safety system based on steering behavior. Adopting the concurrence theory, the initiative safety system based on multitask and multithreading is proposed, which can perform the whole process from dynamic data acquiring in real-time to decision making of expert system by the cooperation of divided module.
Based on computer vision theory, main algorithms of the technology are introduced. Combined with the research object, 2D-3D move estimate theory based on video frequency is presented. At last, the main applications of computer vision theory in the fields of ITS are briefly referred.
Derived from the base theory of wavelet analysis, the application of this analysis in engineering and the fast algorithm are briefly presented. Because of the important value of odd detection of wavelet in image edge, combined with feature of this project, edge search algorithm based on Bubble wavelet is proposed. Using area expand and minimal dual-multiplication mainly, a kind of road detection and prediction is proposed, and a kink of road curve direction distinguishing method as well.
Based on the theory of segmenting video frequency image, this paper discusses the method of dual-step segmentation: firstly estimating region briefly, secondly exactitude calculating position based on several elaborate algorithm. It figures out the target image from scene image effectively, and manage to segment the target obstacle.
Single-eye distance detection algorithm based on structuralized road model is adopted in this paper. On the road modeling, according to road geometry restriction and industry standards, 3D road model is reconstructed and the distance of obstacle is calculated.
从汽车和安全的角度出发，概括叙述了汽车的安全性问题，讨论了智能汽车系统（ITS）以及汽车防撞安全系统，对汽车主动安全系统的研究内容进行了的分析。
本文提出了基于安全行驶行为的汽车主动安全系统的原理结构。利用并行处理原理，提出了基于多任务多线程的汽车主动安全系统，通过将功能模块分割，使它们相互协同完成从动态数据的实时获取到决策报警的全过程。
从计算机视觉理论出发，介绍了计算机视觉处理技术的主要算法，结合本课题的研究对象，介绍了基于视频流的2D－3D运动估计理论，最后简要介绍了计算机视觉技术在ITS中的主要应用。
从小波分析的基本理论出发，简要介绍了小波分析在工程中的应用以及其快速算法，小波的奇异性检测在图像边缘检测中有重要应用，结合本课题的特点，提出并实验了Bubble小波的边缘检测算法。以区域生长和最小二乘法拟合为主要手段，提出了一种道路检测和预报的算法。基于FOE理论，提出了一种道路弯曲方向的判别方法。
利用视频图像分割的基本理论，采用两步分割算法：先进行障碍物区域定位，再通过几种较精细的算法进行精确定位。有效地将目标图像区域从场景中表示出来，进而达到分割目标障碍物的目的。
采用了基于结构化道路模型的单目测距算法。通过建立的道路模型，根据道路的几何约束关系以及行业标准，重建出整个道路的立体视图，从而测出障碍物的距离。
Aiming at the safety problem of vehicle driving, this thesis' research focuses on such aspects as structure, modeling, real-time information acquisition and anti-collision, vehicle initiative safety system as main object, using information processing technologies and smart agent technologies.
At the aspect of vehicle and safety, problems related to the vehicles safety are summarized briefly. The intelligent traffic system and the safety system to anti- collision are discussed also. In addition, the research content of vehicle initiative safety system is analyzed.
This paper presented the theoretical structure of vehicle initiative safety system based on steering behavior. Adopting the concurrence theory, the initiative safety system based on multitask and multithreading is proposed, which can perform the whole process from dynamic data acquiring in real-time to decision making of expert system by the cooperation of divided module.
Based on computer vision theory, main algorithms of the technology are introduced. Combined with the research object, 2D-3D move estimate theory based on video frequency is presented. At last, the main applications of computer vision theory in the fields of ITS are briefly referred.
Derived from the base theory of wavelet analysis, the application of this analysis in engineering and the fast algorithm are briefly presented. Because of the important value of odd detection of wavelet in image edge, combined with feature of this project, edge search algorithm based on Bubble wavelet is proposed. Using area expand and minimal dual-multiplication mainly, a kind of road detection and prediction is proposed, and a kink of road curve direction distinguishing method as well.
Based on the theory of segmenting video frequency image, this paper discusses the method of dual-step segmentation: firstly estimating region briefly, secondly exactitude calculating position based on several elaborate algorithm. It figures out the target image from scene image effectively, and manage to segment the target obstacle.
Single-eye distance detection algorithm based on structuralized road model is adopted in this paper. On the road modeling, according to road geometry restriction and industry standards, 3D road model is reconstructed and the distance of obstacle is calculated.
引文
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[11] 谢飞. 未来智能汽车及智能汽车交通系统. 汽车技术.
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[16] 柴毅.黄席樾.周欣. 汽车驾驶智能型防碰撞系统研究. 重庆大学学报(自然科学版). 2001.24(4)
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[22] 潘志庚.图形处理中的并行性研究[J].计算机工程与应用.1994.11:1-4
[23] MASAYOSHI. TOMIZUKA. et al. Advanced control methods for automotive application. Vehicle system dynamics. 1995(24):449-468.
[24] R Kizu et al. Electronic control of car chassis-present status and future perspective. IEEE
International Congress on Transportation Electronics 1988.2533-8:173-188
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