Highway unmanned scribing method based on image navigation

Abstract

A highway unmanned scribing method based on image navigation comprises the steps of firstly, collecting an image a waterline drawn on a road surface, and obtaining a straight line where the waterline is located by filtering, stretching and binarizing the image; detecting a driving error of an automatic marking vehicle, determining the grade of the driving behavior of the marking vehicle according to the driving error and the change rate of the driving error, calculating the steering angle according to a PD controller, and controlling the automatic form of the automatic marking vehicle. Automatic painting of the road surface is realized, the labor intensity of marking personnel is reduced, the working efficiency is improved, the precision of landmark marking is ensured, the beneficial effects are substantial, and the method is worthy of popularization.

Description

technical field [0001] The present invention relates to an unmanned driving marking method, and more specifically, to an image-based unmanned driving marking method for expressways. Background technique [0002] Expressway marking first draws the waterline on the highway surface manually, and then the marking personnel scrape the lined paint (two-component, hot-melt material, etc.) evenly along the waterline with hand-push equipment onto the road. In the conventional marking process, the drawing personnel should not only observe the deviation between the scale and the water line at all times, but also pay attention to the line type of the drawn marking line and the close cooperation of each process; In summer, late spring and early autumn, the operating environment temperature is generally above 30°C, and the heated hot melt material is generally above 200°C. The on-site equipment operators are in high temperature and heavy chemical fume environment, which will inevitably d...

AI Technical Summary

Problems solved by technology

[0004] In the existing marking process, the manual control of the trolley marking mainly has the following defects: 1) The drawing personnel need to keep an eye on the deviation between the scale and the waterline to adjust the direction of the trolley, which is easy to cause visual fatigue and the control accuracy is not enough; 2 ) trolley line generally only pays attention to the current deviation, it is not easy to smooth the error, and it is difficult to take into account the line type

The existing GPS navigation accuracy is generally about 2cm, and sometimes drifts to 4-5cm, so the navigation accuracy of GPS is difficult to meet the requirements of high-speed road marking line accuracy and line type

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