The Design Of Miniature Intelligent Vehicle And Path Tracking Control Based On Dual Microcontrollers

The research on the intelligent vehicle related technology by the miniature intelligent vehicle,under the miniature traffic environment,can validating the autonomous driving simulation method based on visual and auditory information cognition and promote the development of vehicle interactive technology and autonomous driving technology.However,there are not sufficient experimental sites and traffic scenes for the research of intelligent vehicles in actual traffic environment,and software simulation cannot achieve more complex traffic scene,miniature intelligent vehicle can make up for the shortcomings of both.Based on the 1:12 car model,the system of miniature intelligent vehicle is designed based on dual micro-controllers.Firstly,the design mode of dual microcontrollers is used to separate the data processing and control decision so as to improve the real-time control.According to the control demand of the miniature intelligent vehicle system,the structural design of the system is accomplished by using the modular design idea.In this thesis,two pieces of MK60 are used as the control and process module,one of them is used as the main controller and the other is taken as the main processor,and the OV7620 camera is used as the image sensor to complete the hardware circuit design and test.According to the design of the system structure,the hardware system is built.Secondly,in the study of road information acquisition and path tracking control strategy,the road image is filtered by median filtering algorithm combining square window and T-shaped window.The image is segmented by binarization algorithm based on dynamic threshold,In order to detect and extract the edge of the road,an algorithm of jump-tracking detection is proposed.The path recognition algorithm and the path tracking control strategy are designed to make the miniature intelligent vehicle identify the path accurately.Thirdly,driving control problems of steering gear and DC motor is analyzed,the fuzzy control algorithm and the incremental PID control algorithm are respectively used to control the steering and speed of the miniature intelligent vehicle.Based on the research above,the software system of the miniature intelligent vehicle is designed by using the idea of hierarchical modularization,and the program of the software system is completed.Lastly,the test and result analysis of the miniature intelligent vehicle is finished.In the miniature traffic environment sand table,the miniature intelligent vehicle system is debugged,and different types of path tracking experiments are designed to test the path tracking control performance of the miniature intelligent vehicle,and the experimental results are analyzed and summarized.