关键词: 智能交通, 智能车辆, 半结构化道路, 逆透视变换, 路径规划, 模糊控制

Abstract: As a pivotal component of intelligent transportation system, intelligent vehicles aim to reduce traffic accidents and improve transportation system efficiency, eventually, accomplish the objective of assisting or totally replacing drivers to control vehicles. In this paper, a research is conducted on path planning and vehicle control for vision-based navigation intelligent vehicles under semi-structured road condition. Firstly, local inverse perspective transformation is introduced to transfer vision imaging system of intelligent vehicle, which contains infinite vision field, into real world coordinates system; then depth-first search method is used to calculate all accessible paths in current road environment. The travel route, meanwhile, is preset under constraint of collision-free; after that, the travel time and vision image information are taken as inputs of a hierarchical fuzzy controller which is designed for vehicle control; finally, field test in real-road environment demonstrates the system not only satisfies all the design functions, including obstacle avoiding, path planning and vehicle autonomous driving, but also achieves a high effectiveness and stability.

Key words: intelligent transportation, intelligent vehicles, semi-structured road, inverse perspective transformation, path planning, fuzzy control