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、行驶防撞等进行了较系统的研究。
从汽车和安全的角度,概括叙述了汽车及其安全性的有关问题,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。利用多智能体计算行为的并发性和异构性,提出了基于多线程的汽车主动安全系统,通过相互协同完成从动态数据的实时获取到专家系统推理决策报警的全过程。
利用计算机视觉理论和技术,引入了基于Gabor小波滤波器的方向特征和统计原理来进行道路检测。针对结构化道路的特点,以及经摄像机投影的道路弯曲的图像特征,提出了将道路按黄金分割0.618分为由近至远的三段,对每段进行分段线性化提取道路边缘。
利用视频图像分割的基本理论,采用两种分割算法:基于模糊主色调动态查表法的道路分割方法和多阈值图像目标分割方法。有效地将目标图像区域从场景中表示出来,进而达到分割目标图像、前方障碍物的检测。
采用了基于道路模型的单目测距算法。通过以上建立的道路模型,根据道路的几何约束关系,重建出整个道路的立体视图,从而测出障碍物的距离。对已检测的前方目标,提出了在结构化道路上进行相对径向距离的计算方法。
本文研究了汽车行驶的时间安全模型和汽车行驶规则描述,提出了“目标-规则基-特征状态体”的领域知识表示模型,给出一种汽车安全报警防撞专家系统,采用主-从两级推理机制完成对安全的推理求解策略,实现安全报警。
Aiming at the safety problem of vehicle driving, this thesis focuses on the following topics in a vehicle initiative safety system using information processing technologies and smart agent technologies: the dynamic model of safety during steering, the components and models, the information acquisition in real-time and avoiding collision in steering.
At the aspect of vehicle and safety, the vehicles and its safety related problems are explored briefly. The intelligent traffic system and the safety system to preventing 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. Using the concurrence and isomerism characteristic of multi-agent computation, the initiative safety system based on multithreading is stated, which can perform the process from dynamic data acquiring in real-time to decision making of expert system by the mutual cooperation between threads.
Based on computer vision theory and technology, extracting the lane edges by means of Gabor wavelet filter's direction character and theory of statistics. In allusion to the characters of structuralized road and images acquired through projection, we divide the lane into three parts according to golden section and extract each section's edge.
Based on the theory of segmenting video frequency image, this paper, it discusses the methods of segmentation based on dynamic checking blur main tone table and multi thresholds. It figures out the target image from scene image effectively, and realizes segment the target image and detection the frontage obstacle.
Based on computer vision theory and technology, a method computing the relative radial distance in structured road to the detected target is presented.
This thesis studies the time-safety model of steering vehicle and the representation of steering rules and presents a domain knowledge representation of target-rule radix-feature state body. Besides these, a vehicle safety expert system consisting of master-slave reasoning mechanism is designed which can alarm while encountering emergency.
引文
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