Design And Research On Motor Control And Image Acquisition System For Intelligent Vehicles

As the rapid development of electronic information and Intelligence Technology thereare more and more Intelligence Technology adapted for vehicle, and the level of digitalizationis seen as the important symbol of the levels of modern car. Based on the rapid developmentof automobile electronic, the Freescale Intelligence Car Competition,which is held by theministry of education, covers multiple disciplines such as control、pattern recognition、sensory、electronics、computer technology、machinery and so on. That event is stronglycomprehensive. So, it can stimulate the college students to be in interested in intelligenceautomobile as well as cultivate college students’ capability of doing research, practical abilityand innovation. So, it can train the students to be reserves for the development of intelligentvehicle. The motor control system and image acquisition system are two key units forintelligent vehicle. According to the situation of the track, the superior motor control systemcan easily realize intelligent acceleration, slowing down and stopping, so as to improve theintelligent vehicle speed’s flexibility and steadiness; the image acquisition system, as the onlydevice that obtains the track information, determines the quality of image from the imageacquisition system and the difficulty of image processing, and has a key role to the precisecontrol and smooth operation.The motor control system’s hardware and software are improved. For the MC33886VWintegrated chip is used to drive the motor in the previous, the circuits can easily produce muchheat and the drive efficiency is low. So, this paper builds the whole bridge driving circuit isby separate electronic elements. In addition, PID control algorithm is used to realize themotors system’s closed-loop control.Based on the Freescale Intelligence Car Competition, the motor control system andimage acquisition system was mainly studied in this paper, and the design and production ofthe intelligent vehicle are completed. In this paper, the primary contents are as follow:The hardware and software in the system of acquiring images are discused in this paper.It includes the selection for Image sensor, building the hardware platform, image processingalgorithm and so on. For the problems that the image acquisition is not stable and the speed ofdata processing is slow in the previous studies, CCD camera is used as image sensor theoutside A/D conversion circuit is build by TLC5540I chip, so as to improve image quality andspeed up the analog-to-digital conversion speed. In addition, some special algorithms in usedin the image manipulation process, such as de-noising technology, image binary conversion method, improved growing algorithm and so on. Hence, the image quality is improved, andthe black line in the track is effectively extracted.The debug platform for smart car system, which includes LCD interactive debug moduleand SD card debug module, is developed in this paper. The inconvenience that caused by thecase that the car is connected to PCS only through a serial port to achieve adjustment on lineis improved. The entire system can be adjusted in the real car on the track to make theintelligent vehicle drive in fast, steady and flexible way.