The Design And Implementation Of Intelligent Vehicle

Car,as a symbol of modern industrial civilization,which has been gradually integrating with electronic computers and other latest technology after a hundred years of development,therefore,derives plenty of development direction,one of which is intelligent car.Intelligent car uses sensor-aware driving environment,controls the core analysis planning path,and finally achieves autonomous driving and other auxiliary functions.In this paper,in the background of the development and application of intelligent vehicles,the National University Students Smart Car Competition as the background,competition requirements as the rules,an intelligent car of tracing line will be designed.Smart racing,based on Freescale's MC9S12 XS 128 16-bit micro-controllers,designs the smart car total control program.That is,using the OV7620 CMOS array camera to capture the race track information,and to output the steering gear turning-round control and motor-driving output control,to achieve the intelligent car's own driving.In the path tracking algorithm,the black line on both sides of the white track as the boundary,the camera sensor accurately extracts the trail path information,and sends this information back to the processor.In order to improve the accuracy of path tracking,considering the requirements of rapid driving,this paper refers to a variety of control algorithms,such as PID control and fuzzy control and other advanced practical control algorithm for intelligent car steering output and speed Output for optimization.After the completion of the car production,through the actual test on the standard track to determine the accuracy of the car control,stability,steering sensitivity,the optimal rate of the algorithm portfolio can be guaranteed.The detailed research is followed :(1)Through the analysis of the force balance of the whole system of the intelligent car,the installation position of the steering gear is optimized.(2)The design of the intelligent vehicle vehicle circuit.(3)The mathematical model of motor work is established and the control method is established according to the model.(4)Image acquisition,binarization,filtering,noise removal and image correction are studied.(5)According to the control method of the motor and the steering gear,the experiment verifies the feasibility of the method.(6)Design the manual control method of vehicle driving,and design the anti-theft function for the vehicle.