An Intelligent Control System For Autonomous Vehicle: Design And Experiment

With its increased penetration worldwide, automotive brings a lot of problems, such as traffic safety, urban congestion and environmental pollution, while it greatly facilitates human life. It is the very practical way to solve the traffic problem that constructing intelligent transportation system with an overall consideration of the existing road integrated with vehicles and by means of high technology. The intelligent transportation system can improve vehicle density rely on the intelligent control for vehicles, meanwhile, it can reduce the control object, and increase traffic controllability, thus effectively relieve the traffic congestion and enhance traffic safety. Intelligent vehicle, as the key technology in the intelligent transportation system, is a complex system with environment perception, planning decision, and multi-level driver-assistance rolled into one, and how to use the relevant technology to realize the effectiveness of the intelligent transportation system is right in continuous development. Therefore, it is necessary to build experimental platform by using a variety of advanced transportation technology.Based on the established simulated road sand table that consists of one tenth closed road that simulates various freeway infrastructures, the thesis takes intelligent model car (hereinafter referred to as intelligent vehicles) as the research object, conducts research around the intelligent control system for autonomous vehicle. A hardware circuit system based on TMS320F2812 processor is designed. The main comments and contributions of this thesis are as follows:First, an overview of the development of intelligent vehicles is introduced. Second, the thesis discusses an overall design of the intelligent control system, defines the hardware of its system, designs the hardware structure mainly including the installation of steer engine and sensors, then completes the functional analysis of its system, which determines the hardware circuit design and software design of the intelligent control system. The hardware design starts with the power conversion module, designs DSP minimum system, electrical level conversion module, steer engine and motor drive module, and serial communication interface module. Meanwhile, the software design starts with the DSP chip function, completes the initialization of main program of software, the performance function required by the intelligent control system for autonomous vehicle, including the algorithm about road lane markings identification, steer engine control, and speed control, and then designs a monitoring software that can display and store the motion information about autonomous vehicle driving along the simulated road sand table. Finally, autonomous vehicle driving test has been carried out, and the availability of the control system has been illustrated by test results.