Smart Car's Motion Control System

Most of the industrial scene as a result of poor environmental conditions and dangerous environment is still used in the operation manual, which prompted our intelligent vehicle research and development. This article is based on Freescale's S12 series MCU chip smart car system developed with the path of recognition and smart driving function, simple and practical, able to adapt to a relatively low hardware requirements for the characteristics of a practical application of the feasibility and broad application the prospects for intelligent vehicle technologies. Intelligent vehicle technology is to improve the path of identifying and tracking the path of the accuracy, reliability and real-time core. Based on Freescale S12 series MCU chip development platform for intelligent vehicle system, launch vehicle designed to improve the path of identifying and tracking the exact path and stability studies and real-time.This article introduces the Intelligent Vehicle System. This includes the system controller module and other hardware design, the path identification of research and various methods of software modules. Path to identify which hardware and binary black center line extraction algorithm, and test results. And then to identify the basis of the path for the speed control and steering control using conventional PID control first. Speed control to achieve rapid and accurate response, but the effect of poor steering control, a concrete manifestation in the smart car's stability and rapid effect of poor coupling. Therefore, based on the steering gear Fuzzy-PID control: smart car body longitudinal centerline line relative to the direction of the path deviation and lateral deviation of the location of input, as turning round the corner of the output of a fuzzy controller design for path tracking effectively overcome the path of intelligent vehicle tracking system and uncertainties of the nonlinear effects of the negative and enhance the system robustness. Two algorithms by comparing the experimental data, we can see that the speed of conventional PID control, PID control combined with fuzzy steering gear, whether in terms of reliability or speed are more outstanding. Finally, the aforementioned control method based on the simple algorithm described in the memory of the ideas and implementation steps. However, the effectiveness of the algorithm is not ideal, it will also be the direction of future efforts.In this paper, the development of the intelligent control of the car in the overall plan and design innovative thinking, simulation results show that the program is able to meet so that the stability of cars, fast, real-time nature of the design requirements.