Study On Control System Of K60-based Intelligent Vehicle

With the continuous development in today’s world, more and more city are facing a seriesof problems of high-speed growth in the number of cars brings, including traffic accidents,traffic congestion and so on. Various problems caused by the increasing of motor vehicles inChina are constantly emerging. This will promote the development of intelligent transportationand intelligent vehicle technology, to solve current problems. Research on intelligent vehicletechnology is a comprehensive research, which includes multiple disciplines of mechanical,sensor, motor control, pattern recognition, image analysis, signal processing, mechanicalengineering, embedded system integration. The main direction of the development of intelligentvehicles are automatic driving, road recognition and analysis, traffic prediction etc. The controlalgorithm and the sensor are two important links in the development of intelligent vehicle. Thispaper studies the Freescale Semiconductor based on K60single chip microcomputer as thecontrol core of intelligent vehicle control system. To collect traffic information by image sensor,and the fuzzy PID control algorithm for servo motor and realize the model car, stable running intest track. Has the characteristics of self-tracking, automatic driving, good adaptability and so on,has the broad application prospect.Firstly, based on reading a lot of literature, puts forward the design idea and design schemein this paper. Mechanical structure and hardware design model car and then in the third chapterand the fourth chapter of the adjustments, including chassis adjustment, adjustment of the centerof gravity, steering wheel adjustment. In the mechanical structure adjustment, many key pointsin this paper focuses on the caster, camber, center of gravity, introduction. This paper uses K60microcontroller as the control core of the whole system, using OV7620image sensor as theinput signal of the system, using the vehicle speed detection model of photoelectric encoder. Atthe same time, this article on the design of the hardware circuit adopts the idea of modulardesign, is connected between the different modules using pin, not only to avoid the interferencecan be according to the different situation with hardware circuits suitable.Path recognition is the key technology of the intelligent vehicle control system, this paperintroduces the working principle of OV7620image sensor. And according to the designrequirements of image information is collected and processed to obtain the ideal trackinformation, used for path recognition.Path recognition is the key to the intelligent vehicle control system, the paper studied indetail the working principle of the image sensor OV7620and according to the design requirements of image information acquisition and processing in order to obtain the ideal trackinformation, used for path recognition. Will after dealing with the filter and image informationthrough a set of control rules, obtaining control decisions.Papers on motor, servo control algorithm used the fuzzy PID control algorithm, comparedwith the traditional open-loop control and traditional PID control, fuzzy PID control motor andservo, has the characteristics of higher precision and higher adaptability. K60SCM fuzzyinstruction set at the same time, increasing the speed of the whole fuzzy operators.Through continuous testing and improvement, load control system of fuzzy PID controlalgorithm in the test, the fastest lap speed2.5m/s, conventional PID fastest lap speed2.2m/s.After PC monitoring and analysis to achieve the design requirements, and for the futuredevelopment and research has accumulated certain data base.