直立渣渣小车，跑不完决赛，来论坛留下一点印记，没有参透直立，开此贴当互相交流！ - 智能车制作

if (Zhangai_find != 2) //不是右边障碍
{
//左障碍
uint8 get_Left_tiaobian = 0,get_Left_X_last = LeftLineX[3],get_Left_X_end = LeftLineX[3],get_Left_X = 0;
uint8 next_find_ing = 0;
for (Dot_temp = 3;Dot_temp < CenterLineDot - 5;)//Dot_temp += 3)
{
if (CenterLineY[Dot_temp] < Over_hang)
break;
get_black_count = 0;//每一行清零
uint8 next_find_flag = 0;
// uint8 Search_Dot_Max = CenterLineX[Dot_temp] - LeftLineX[3] + 6;//用 92 或者中线点 +5 多搜一点避免底边容易搜超
uint8 Search_Dot_Max = CenterLineX[Dot_temp] - get_Left_X_end + 6;//用 92 或者中线点与上一次搜到的边线（减少运算量） +6 多搜一点避免底边容易搜超
for (uint8 i = 0;i < Search_Dot_Max;i ++)
{
if (image[ CenterLineY[Dot_temp] ][ CenterLineX[Dot_temp] - i] - image[ CenterLineY[Dot_temp] ][ CenterLineX[Dot_temp] - i - 2] > yuzhi)//白黑
{
if (get_black_count < 255)
get_black_count ++;
get_Left_X = CenterLineX[Dot_temp] - i ;
if (get_Left_X_last == 0)//第一次
get_Left_X_last = get_Left_X;
if ( get_Left_X - 10 > get_Left_X_last)
{
black2white_X[get_Left_tiaobian] = CenterLineX[Dot_temp] - i - 1;//偏白
black2white_Y[get_Left_tiaobian] = CenterLineY[Dot_temp];
if (get_Left_tiaobian > 0 )
{
if (black2white_X[ get_Left_tiaobian] - black2white_X[get_Left_tiaobian - 1] >= 3)//向右不连续
{
if (get_Left_tiaobian > 3)//远处的点不连续
{
get_black_count = 0;//不够连续认为没有找到
break;
}
}
else if (black2white_X[ get_Left_tiaobian - 1] - black2white_X[get_Left_tiaobian ] >= 3)//向左不连续
{
get_black_count = 0;//不够连续认为没有找到
break;
}
}
if (next_find_flag == 0 && get_Left_tiaobian >= 6)//连续跳变 6 次
{
if (black2white_X[ get_Left_tiaobian] > 100 || (black2white_X[ 0] - black2white_X[get_Left_tiaobian] > 6))//|| abs(black2white_X[ get_Left_tiaobian] - black2white_X[0] ) > 10 )//向右
{ //向左
get_black_count = 0;//差的太多认为没有找到
break;
}
uint8 count = (get_Left_X - get_Left_X_last) * 2 / 3;//相反方向搜索这么多
for (uint8 j = 0 ;j < count ;j ++)
{
if (image[ black2white_Y[get_Left_tiaobian] ][ black2white_X[get_Left_tiaobian] + j] - image[ black2white_Y[get_Left_tiaobian] ][ black2white_X[get_Left_tiaobian] + j + 2] > yuzhi)
{ //起跑线误判
next_find_flag = 1;
}
}
//如果障碍反光了怎么办
// for (uint8 j = 0 ;j < 9 ;j ++)//障碍不够宽可能是起跑线
// {
// if (image[ black2white_Y[get_Left_tiaobian] ][ black2white_X[get_Left_tiaobian] - j - 2] - image[ black2white_Y[get_Left_tiaobian] - j][ black2white_X[get_Left_tiaobian] - j] > yuzhi)
// {
// get_black_count = 0;//找到白色跳变终点线认为没有找到
// break;
// }
// }
if (Left_zhangai_find < 255)
Left_zhangai_find ++;
}
get_Left_tiaobian++;
}
else
{ //没有跳变时记录跳变了就保持住
get_Left_X_last = get_Left_X;
if(next_find_ing == 0)//如果第二次放宽搜线这里不改变值既是
get_Left_X_end = get_Left_X;
get_Left_tiaobian = 0;//保证连续
}
if (next_find_flag == 1)//继续往下搜
{
next_find_ing = 1;//搜索下一个障碍
get_Left_X_end = get_Left_X_last;//有先后
get_Left_X_last = get_Left_X ;
get_Left_tiaobian = 0;
Left_zhangai_find = 0;
}
break;
}
}
if (get_Left_tiaobian > 0)
Dot_temp += 1;
else
Dot_temp += 3;
if (Left_zhangai_find > 0)
{
break;//成功结束本次
}
if (get_black_count == 0)//搜超了没有搜到
break; //一行超了退出本次
}
}

复制代码

if(Left_zhangai_find != 0 && Right_zhangai_find == 0)//左边障碍
{
memset(LeftLineY,0,200);
memset(LeftLineX,0,200);
LeftLineX[1] = black2white_X[4];//使用后面一点的点，避免因为畸变在障碍底边开始搜线
LeftLineY[1] = black2white_Y[4];
LeftLineX[2] = black2white_X[5];
LeftLineY[2] = black2white_Y[5];
LineSerch(image,LeftLineY,LeftLineX,RightLineY,RightLineX,&LeftLineDot,&RightLineDot,Search_Line_Th,0,1);//只搜左边线
if (Left_zhangai_find_count<255) //防溢出
Left_zhangai_find_count ++;
if (Left_zhangai_find_count >= 3)// && Zhangai_find != 6)//上一次不是左右障碍
Zhangai_find = 1;
}

复制代码

/***********************************************************
* * 函数名称 GetCenterLine_ByRat
* * 参数：
* * 功能
* * 日期：2017/5/1
* * 作者：水滴
************************************************************/
void GetCenterLine_ByRat(uint8* LeftLineY,uint8* LeftLineX,uint8* RightLineY,uint8* RightLineX,uint8* CenterLineY,uint8* CenterLineX,uint8* LeftLineDot,uint8* RightLineDot,uint8* CenterLineDot)
{
double Rat;//边线比
static uint8 Dot=0;
if (*LeftLineDot>*RightLineDot)
{
Rat=(*LeftLineDot)/(*RightLineDot);
for (Dot=1;Dot<=*RightLineDot;Dot++)
{
CenterLineY[Dot]=(uint8)(((RightLineY[Dot]+LeftLineY[(uint8)(Dot*Rat+0.5)])/2)+0.5);
CenterLineX[Dot]=(uint8)(((RightLineX[Dot]+LeftLineX[(uint8)(Dot*Rat+0.5)])/2)+0.5);
}
*CenterLineDot=*RightLineDot;
}
else
{
Rat=(*RightLineDot)/(*LeftLineDot);
for (Dot=1;Dot<=*LeftLineDot;Dot++)
{
CenterLineY[Dot]=(uint8)(((LeftLineY[Dot]+RightLineY[(uint8)(Dot*Rat+0.5)])/2)+0.5);
CenterLineX[Dot]=(uint8)(((LeftLineX[Dot]+RightLineX[(uint8)(Dot*Rat+0.5)])/2)+0.5);
}
*CenterLineDot=*LeftLineDot;
}
}

复制代码

if ((Distance_cm - zhangai_start_Distance_cm) < 80 && (sys_time - zhangai_start_time) < 600)//||障碍延时100ms
{
Zhangai_find_realtime = 1;
if (Zhangai_find == 1)//左障碍
{
if(LeftLineY[LeftLineDot - 1] > get_hang)//没到前瞻补到前瞻 {
if (LeftLineDot>13 )
{
float LKcof;
uint8 LeftLineDot_temp = LeftLineDot-3;
uint8 buxian_count = LeftLineY[LeftLineDot_temp] - get_hang;
Line_Fit(LeftLineX,LeftLineY,LeftLineDot-12,LeftLineDot_temp,&LKcof );//最前端的点不用可能不准
if (LKcof < 0)
{
uint8 i;
for ( i = 1;i<buxian_count;i++)
{
LeftLineX[LeftLineDot_temp+i] = (int)(-1.0/LKcof*(i) + LeftLineX[LeftLineDot_temp] + 0.5);
LeftLineY[LeftLineDot_temp+i] = (int)(LeftLineY[LeftLineDot_temp] - i);
}
LeftLineDot = LeftLineDot_temp+i - 1;
}
else if (LKcof == 0)//直着补
{
uint8 i;
for ( i = 1;i<buxian_count;i++)
{
LeftLineX[LeftLineDot_temp+i] = (int)(LeftLineX[LeftLineDot_temp] );
LeftLineY[LeftLineDot_temp+i] = (int)(LeftLineY[LeftLineDot_temp] - i);
}
LeftLineDot = LeftLineDot_temp+i - 1;
}
}
else
Zhangai_find_realtime = 0;//出障碍
}
}
}

复制代码

uint8 get_V_Line = 0,find_V_Line = 0;
float get_V_Line_Distance_cm = 0;
uint32 get_V_Line_time = 0;
/***********************************************************
* * 函数名称：V_Line
* * 参数：
* * 功能：终点检测
* * 日期：2016/7/5
* * 作者：水滴
************************************************************/
uint8 V_Line(uint8 V_hang, uint8 yuzhi)
{
if (get_V_Line > 0 )//&& Zhangai_find_realtime == 0 && (Distance_cm - get_V_Line_Distance_cm) > 10)//延后没有障碍才停车 && Zhangai_find == 0 Car_Status != 9 &&
{
BELL_ON;
FenXi_Image();
}
// if( get_V_Line > 0 && (Distance_cm - get_V_Line_Distance_cm) > 100)
// FenXi_Image();
//uint8 V_hang = 80;
if (CenterLineY[CenterLineDot - 5] < get_hang )//&& LeftLineY[LeftLineDot - 5] < get_hang && RightLineY[RightLineDot - 5] < get_hang)//线足够长才判断
{
// uint8 LineDot_Min = 0;
// if (CenterLineDot < LeftLineDot)
// LineDot_Min = CenterLineDot;
// else
// LineDot_Min = LeftLineDot;
//
// if (RightLineDot < LineDot_Min)
// LineDot_Min = RightLineDot;
//以上找出最近值
// uint8 CenterLineX_Dot = 0,LeftLineX_Dot = 0,RightLineX_Dot = 0;
// for (uint8 Dot_temp = 5;Dot_temp < LineDot_Min;Dot_temp ++)//起跑线
// {
// if (CenterLineY[Dot_temp] == V_hang)
// CenterLineX_Dot = CenterLineX[Dot_temp];
//
// if (LeftLineY[Dot_temp] == V_hang)
// LeftLineX_Dot = LeftLineX[Dot_temp];
//
// if (RightLineY[Dot_temp] == V_hang)
// RightLineX_Dot = RightLineX[Dot_temp];
// }
uint8 CenterLineX_Dot = 92;//简化写法
// for (uint8 Dot_temp = 3;Dot_temp < CenterLineDot;Dot_temp ++)//起跑线
// {
// if (CenterLineY[Dot_temp] <= V_hang)
// {
// CenterLineX_Dot = CenterLineX[Dot_temp];
// break;
// }
// }
// CenterLineX_Dot = 92;
// uint8 Left_All_Dot = CenterLineX_Dot - LeftLineX_Dot;
// uint8 Right_All_Dot = RightLineX_Dot - CenterLineX_Dot;
//if ( abs(Left_All_Dot - Right_All_Dot) < 5) //对称
{
uint8 get_Left_black_count = 0,get_Left_white_count = 0,get_Right_black_count = 0,get_Right_white_count = 0;
uint8 All_Dot_Min = 50;
// if (Left_All_Dot < Right_All_Dot)
// All_Dot_Min = Left_All_Dot;
// else
// All_Dot_Min = Right_All_Dot;
for (uint8 i = 0;i < All_Dot_Min;i ++)
{ //向左搜索
if (get_Left_black_count > get_Left_white_count)//上一次搜到黑
{ //这次搜白
if (image[ V_hang ][ CenterLineX_Dot - i - 2] - image[ V_hang ][ CenterLineX_Dot - i] > yuzhi)//黑白
{
get_Left_white_count ++;
}
}
else
{ //这次搜黑
if (image[ V_hang ][ CenterLineX_Dot - i] - image[ V_hang ][ CenterLineX_Dot - i - 2] > yuzhi)//白黑
{
get_Left_black_count ++;
}
}
//向右搜索
if (get_Right_black_count > get_Right_white_count)//上一次搜到黑
{ //这次搜白
if (image[ V_hang ][ CenterLineX_Dot + i + 2] - image[ V_hang ][ CenterLineX_Dot + i] > yuzhi)//黑白
{
get_Right_white_count ++;
}
}
else
{ //这次搜黑
if (image[ V_hang ][ CenterLineX_Dot + i] - image[ V_hang ][ CenterLineX_Dot + i + 2] > yuzhi)//白黑
{
get_Right_black_count ++;
}
}
if (get_Left_white_count >= 2 && get_Right_white_count >= 2)
{
BELL_ON;
get_V_Line_Distance_cm = Distance_cm;
get_V_Line_time = sys_time;
if (Distance_cm > 2800)// CM
{
if (get_V_Line < 255)
get_V_Line ++;
//FenXi_Image();
}
return 0;
break;
}
}
}
}
return 1;
}

复制代码