Design, Based On 16-bit Microcontroller Mc9s12dg128b Intelligent Vehicle Systems

According to technical requirements of the first "Freescale" Cup National University Intelligent Vehicle Tournament, we design the intelligent vehicle control system. The system is perfect, stable and high reliability. The system is composed of control core module(MCU), power management module, path recognition module, wheel motor drive module, servo control module, speed detection module, battery control module, fault diagnosis module, LCD display module and debugging accessorial module.The main control core of system is the MC9S128B, which is 16-bit freescale MCU, The system was designed based on the Code Warrior software platform, using mixed C and assembly language programming. In addition to a good race, it also provide some strong accessorial modules. Including battery control module, fault diagnosis module, LCD display module and debugging accessorial module. The motor control module uses digital PID controller, which is mature, simple structure, parameter adjustment easier. It don't necessarily need the exact model of systems, and is very widely used in industry. In the path recognition module, the system has used the fuzzy inference machine, which is integrated in freesacle S12 series MCU. In order to enhance the reliability of system, it has adoped the anti-jam technology in the software and hardware, including photoelectric isolated technology, electromagnetic compatibility analysis, digital filter technology and so on.In the finished first "Freescale" Cup National University Intelligent Vehicle Tournament, the intelligent vehicle control system has obtained good result. It obtained 56 in all 112 teams, which came from 57 universities having automation doctor in all country. It also obtained "the winning prize"...