The Research And Implementation Of Path Following Of Active Avoid Intelligent Car Based On DSP

In the technologies of collision avoidance,the path following method is a veryessential technology.Energetically carry out the research on techniques of collisionavoidance,such as path following,plays an important role in improving the vehicleactive safety and reduce the traffic accident damage.In this paper,a10:1collisionavoidance car model with TMS320F28335DSP chip as the core of controlmodule,was designed to accomplish the path following research and its controlmethod research.Based on experiment, the path following and its control effect werevalidated.The main contents of this paper are as follows:(1)According to the intelligent, reliability and real-time of the intelligentcar,designed the overall structure of the collision avoidance intellegent carsystem.Determineed the car system uses a hybrid architecture,builded an embeddedcontrol system with HX-28335DSP development board as a hardware developmentplatform. The hardware platform includes the sensor module (such as the camera,infrared obstacle avoidance sensors, ultrasonic sensors, and photoelectric encoder),the servo control module, the motor drive modules, power management module andthe circuit design of the interface between each module. And gave details of theenhanced pulse modulation (ePWM) Module and enhanced quadrature encoder pulse(eQEP) module which used to control Servo and motorin this article.(2)Studied the methods of collision avoidance path following and the pathfollowing control.The path following method, first of all,fitting the road curves whitpost-processing sensor information and data,then find out the curvature, according tothe ahead road curvature to decided preview distance and driving speed, andimproved preview follow model calculate the optimal steering angle.According to thesystem’s functional requirements, design control system software. Including systeminitialization and functional configuration of the enhanced pulse modulation (ePWM)Module and enhanced quadrature encoder pulse (eQEP) module.(3)Studied the PID control method of steering and speed control,and themeasuring method of the car speed.Which the steering control method is position typeopen-loop proportional control (P), the motor control method is incrementalclosed-loop PID control, and used the low speed measurement method to measure the speed of the car to speed feedback.(4)According to the system’s functional requirements, design control systemsoftware.Including system initialization and functional configuration of the enhancedpulse modulation (ePWM) Module and enhanced quadrature encoder pulse (eQEP)module.(5)Experiments verified. the results show that,the car can followed the planningpath stability,and with small error.These proved that the embedded hardwareplatforms based on HX-28335DSP development board, preview follower driver modeland control method is extremely correct and feasible.