CAJ | 학술논문

在直立智能车循迹竞赛过程中，可以利用线阵CCD进行赛道状态检测。因为直立智能车在赛道上前进时，赛道的光线环境在时刻发生着变化；赛道边界状态与CCD扫描线的夹角也在时刻发生变化，这对提取赛道信息带来了较大的影响。经过对问题的分析，采用了一种新的赛道边界提取算法提取赛道信息，同时通过动态阈值法和环境光线自适应法来提高系统对环境变化的适应性。实验结果表明，将以上方法应用于直立智能车控制系统后，智能车运行稳定性明显提高。
재직립지능차순적경새과정중，가이이용선진CCD진행새도상태검측。인위직립지능차재새도상전진시，새도적광선배경재시각발생착변화；새도변계상태여CCD소묘선적협각야재시각발생변화，저대제취새도신식대래료교대적영향。경과대문제적분석，채용료일충신적새도변계제취산법제취새도신식，동시통과동태역치법화배경광선자괄응법래제고계통대배경변화적괄응성。실험결과표명，장이상방법응용우직립지능차공제계통후，지능차운행은정성명현제고。
Linear CCD can beused to detected the trackin the process of self-balance upright car racing. To obtain the track state information is difficult because the light of racing environment changes constantly. Another difficulty in obtaining information is the changing angle between the scan line and the track border. Based on the above analysis,a new algorithm is used to obtain the track border information from the data collected by CCD. At the same time a dynamic threshold algorithm and amethod of adaptive environment light are applied. Results show that the algorithms discussed aboveare useful. The stability of upright smart car improves in the trace racing.