Indoor corner control of smart car based on binocular stereo vision servo

0 Preface

An important task of the intelligent vehicle environment sensing system is to provide the location information of the vehicle during the exercise in real time. Machine vision has been widely used in smart car environment sensing systems because of its wide range of signal detection, complete information acquisition, human cognitive habits, low maintenance costs, and no environmental pollution. The main task in the machine vision vehicle environment awareness system is to complete the identification and tracking of roads and targets, and provide the necessary vehicle position information and surrounding environment distance information for the smart car to exercise.

For real roads, they can generally be divided into two categories: structured roads and unstructured roads. There are obvious road markings on the structured road, and these markings have strong geometric features. The road pavement is mainly determined by these marking boundaries, such as the yellow continuous marking line or the white intermittent marking line in the middle of the road on the highway. White continuous marking lines on both sides; there are no obvious road markings on unstructured roads. In two-dimensional images, road pavement and non-road pavement are mainly distinguished by texture and color, such as unmarked cement road, wild dirt road or stone road. .

Curved road images contain a wealth of road information and environmental information that explains the scene around the road. Curved road detection detects the boundary of a curved lane line from the road image, which is also the basis for understanding the curve. The curve model is established; the lane line pixels are extracted; the lane line model is a commonly used cognitive method, and it shows better detection effect on a specific structured road. Literature [6] introduced the application of curve detection in the fields of lane departure warning, corner speed limit and corner collision prevention warning, and proposed that the curve detection should establish a three-dimensional lane line model to improve applicability.

The Hough transform is used to obtain the straight line equation of the lane line, so as to determine the lowest point and the highest point on the corresponding straight line segment, then judge the bending direction of the curved road according to the corresponding criteria, and finally realize the straight line segment and the curved segment of the lane line. Two-dimensional reconstruction of the lane line.

Curved road detection not only needs to identify the road boundary line, but also needs to judge the road bending direction and determine the radius of curvature of the turning. Commonly used lane detection methods can be divided into two categories: road-based features and road-based models. At present, the road model-based method is mainly used in foreign countries, which converts the curve detection into the solution of mathematical parameters in various curve models. Omit the curve curve model establishment and the complex solution process of mathematical parameters. This paper uses the three-dimensional information of the stereo vision perception environment, and uses its parallax principle to determine the position of the corner feature in the surrounding environment image of the acquired indoor road to recover its three-dimensional information. Body cornering and yaw angle. A visual servo control system that directly controls the vehicle body driving deviation angle and deviation distance is established. The BP control strategy is adopted initially. The Simulink simulation environment is used to realize the smart car turning control motion for the unknown curve curvature.

XLPE Insulated Electrical Cable For Rated Voltage 0.6/1kV

1. Product Standard

GB/T12706.1-2002, equivalent to IEC60502

2. Usage

This product is suitable for use in rated AC voltage (U0/U) 0.6/1kV system transmitting and distributing circuit.

3. Property for Use

It is far better than all property targets of PVC Insulated Power Cable and has overcome the shortcomings of physical and chemical cross-linkage, and completely reaches or surpasses GB and IEC technical property value.

The allowed max .cable conductor work temperature is 90℃;urgent excess work temperature is 130℃ for short circuit(5s), max. conductor temperature is 250℃.

The environmental temperature for laying cable should be not less than 0℃. If laying under 0℃, the cable should be preheated.

The cable bend radius for single core should be not less than 12 times of overall cable diameter; for multi-core cable, not less than 10 times of overall cable diameter.

The current-carrying capacity is large and not limited by drop during laying .

4. Type of cable

0.6kv Cable,1kv Cable

Type: YJV, YJLV, YJY, YJLY, YJV22, YJLV22, YJV23, YJLV23, YJV32, YJLV32, YJV33, YJLV33.

Designation:

YJV: Copper conductor , XLPE insulated and PVC sheathed Electrical cable

YJLV: Aluminum conductor , XLPE insulated and PVC sheathed Electrical cable

YJY: Copper conductor , XLPE insulated and PE sheathed Electrical cable

YJLY: Aluminum conductor , XLPE insulated and PE sheathed Electrical cable

YJV22: Copper conductor , XLPE insulated, steel tape armored and PVC sheathed Electrical cable

YJLV22: Aluminum conductor , XLPE insulated, steel tape armored and PVC sheathed Electrical cable

YJV23: Copper conductor , XLPE insulated, steel tape armored and PE sheathed Electrical cable

YJLV23: Aluminum conductor , XLPE insulated, steel tape armored and PE sheathed Electrical cable

YJV32: Copper conductor , XLPE insulated, steel wire armored and PVC sheathed Electrical cable

YJLV32: Aluminum conductor , XLPE insulated, steel wire armored and PVC sheathed Electrical cable

YJV33: Copper conductor , XLPE insulated, steel wire armored and PE sheathed Electrical cable

YJLV33: Aluminum conductor , XLPE insulated, steel wire armored and PE sheathed Electrical cable

Application:

YJV, YJLV, YJY, YJLY: For laying indoors, in tunnels or cable trench, unable to bear external mechanical forces.

YJV22, YJLV22, YJV23, YJLV23: Indoors, tunnels, cable canal, vertically burying and easy to corrode places, can bear mechanical pressure

YJV32, YJLV32, YJV33, YJLV33: Vertically laying, can bear mechanical pulling force, but not pressure.

Low Voltage Power Cable

Four Core Aluminium Conductor,Five Core Copper Conductor,1kv Cable,0.6kv Cable

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