计算机视觉在无人驾驶汽车中的设计与应用

摘    要

无人驾驶汽车作为未来智能交通的重要组成部分，其发展与普及正日益受到社会各界的广泛关注。计算机视觉技术作为无人驾驶汽车的核心技术之一，通过模拟人类视觉系统，实现对外部环境的感知与理解，为无人驾驶汽车提供了强大的感知能力。本文深入探讨了计算机视觉在无人驾驶汽车中的设计与应用，旨在为无人驾驶汽车技术的进一步发展提供有益的参考。在无人驾驶汽车的设计中，计算机视觉技术发挥着至关重要的作用。首先，在环境感知方面，计算机视觉技术通过摄像头、激光雷达等传感器采集道路、车辆、行人等环境信息，并利用图像处理、特征提取等技术对这些信息进行分析和处理，实现对外部环境的精确感知。其次，在目标识别与跟踪方面，计算机视觉技术能够准确识别道路上的交通标志、车辆、行人等目标，并对其进行实时跟踪，为无人驾驶汽车的决策提供重要依据。此外，在计算机视觉技术的支持下，无人驾驶汽车还能够实现障碍物检测、车道线识别等功能，进一步提升其行驶的安全性和稳定性。在应用方面，计算机视觉技术为无人驾驶汽车提供了丰富的应用场景。在自动驾驶模式下，无人驾驶汽车能够自主规划行驶路线，自动调整车速和方向，实现全自动驾驶。在智能停车场景中，计算机视觉技术能够辅助无人驾驶汽车寻找停车位，并自主完成停车过程。在智能交通系统中，无人驾驶汽车能够与其他车辆和交通设施进行信息交互，实现协同驾驶和智能交通管理。


关键词：计算机视觉  无人驾驶汽车  环境感知  


Abstract 
As an important part of intelligent transportation in the future, the development and popularization of driverless vehicles are increasingly attracting wide attention from all walks of life. As one of the core technologies of driverless cars, computer vision technology realizes the perception and understanding of the external environment by simulating the human vision system, which provides a powerful perception ability for driverless cars. This paper deeply discusses the design and application of computer vision in driverless cars, aiming to provide useful reference for the further development of driverless car technology. In the design of driverless cars, computer vision technology plays a crucial role. First of all, in terms of environmental perception, computer vision technology collects environmental information such as roads, vehicles and pedestrians through cameras, lidar and other sensors, and uses image processing, feature extraction and other technologies to analyze and process these information to achieve accurate perception of the external environment. Secondly, in terms of target recognition and tracking, computer vision technology can accurately identify traffic signs, vehicles, pedestrians and other targets on the road, and track them in real time, providing an important basis for decision-making of driverless cars. In addition, with the support of computer vision technology, driverless cars can also achieve obstacle detection, lane recognition and other functions to further improve the safety and stability of their driving. In terms of application, computer vision technology provides a rich application scenario for driverless cars. In the autonomous driving mode, the driverless car can independently plan the driving route, automatically adjust the speed and direction, and achieve full automatic driving. In the intelligent parking scenario, computer vision technology can assist the driverless car to find a parking space and complete the parking process autonomously. In the intelligent transportation system, driverless cars can exchange information with other vehicles and traffic facilities to achieve collaborative driving and intelligent traffic management.


Keyword:Computer vision  Driverless cars  Environmental awareness 




目    录
1引言 1
2计算机视觉基础 1
2.1计算机视觉概述 1
2.2图像处理基础 1
2.3机器学习与模式识别 1
3计算机视觉在无人驾驶汽车中的感知系统设计 2
3.1环境感知与图像采集 2
3.2目标检测与识别 3
3.3道路与交通标志识别 3
3.4感知系统性能评估与优化 4
4计算机视觉在无人驾驶中的应用 4
4.1环境感知与理解 5
4.2车道检测与跟踪 5
4.3运动物体跟踪 6
4.4三维重建与深度估计 6
5结论 7
参考文献 8
致谢 9