第三届“飞思卡尔”杯全国大学生
智能汽车邀请赛
技 术 报 告
学 校: 长安大学
队伍名称: 长大 4 队
参赛队员: 赵 轩
秦 绪 鑫
陈 李 军
带队教师: 韩 毅
李 登 峰
关于技术报告和研究论文使用授权的说明
本人完全了解第一届“飞思卡尔”杯全国大学生智能汽车邀请赛有关保留、
使用技术报告和研究论文的规定,即:参赛作品著作权归参赛者本人,比赛组
委会和飞思卡尔半导体公司可以在相关主页上收录并公开参赛作品的设计方案
技术报告以及参赛模型车的视频、图像资料,并将相关内容编纂收录在组委会
出版论文集中。
参赛队员签名:
带队教师签名:
日 期:
摘 要
智能车辆是当今车辆工程领域研究的前沿,它体现了车辆工程、人工智能、
自动控制、计算机等多个学科领域理论技术的交叉和综合,是未来汽车发展的
趋势。
本文是在第三届飞思卡尔全国大学生智能汽车竞赛背景下诞生的,具体介
绍了一种基于CMOS摄像头的智能寻迹赛车的设计和实现。赛车完成的主要功
能是能够自主识别黑色引导线并根据黑线走向实现快速稳定的寻线行驶,并且
在规定的要求下实现自动停车。赛车系统以Freescale16位单片机
MC9S12DG128 作为系统控制处理器,采用基于摄像头的图像采样模块获取
赛道图像信息,通过PID控制策略和PWM控制技术来对赛车的方向和速度进行
控制。
本文阐述了智能小车系统的设计方案,具体介绍了赛车硬件系统的设计,
包括传感器模块、电源模块、驱动电机模块、转向舵机模块、测速模块等,同
时提出了基于CMOS摄像头的黑线识别算法并对其相应的控制策略进行了详细
的介绍。
此外,文中还将详细说明赛车机械结构和调整方法,叙述赛车系统开发过
程中所用到的开发工具、软件以及各种调试、测试手段方法等。
关键词:智能车,CMOS摄像头,速度传感器,PID控制,Freescale16
位单片机
I
ABSTRACT
Intelligent vehicle is the top level in the research field of vehicle engineering
nowadays. It involves in the combination of multiple academic subjects and
integration of multiple high technologies which represents the development direction
of automobile technology.
This paper is born under the background of the third Freescale Cup National
Undergraduates Intelligent Car Contest. In this paper we will demonstrate a design
and execution of auto-searching for track by usage of CMOS image-sensor module
based on camera on an intelligent model car. The main function that the intelligent
car may achieve is that the car should track the black-guide-line automatically and
move forward following the line as fast and stable as possible. The intelligent car
system, with the Freescale16-bitsingle-chip MC9S12DG128 as its control
microprocessor, uses image-sensor to obtain lane image information, and adopts
signal PID control strategy together with PWM technology to have a control on the
steering angle and speed of the system.
This paper gives an overall design blueprint of the intelligent car system,
introduce the hardware design including CMOS sensor module, power supply
module, motor drive module, servo motor module, velocity collection module and
etc. Certain kinds of line tracking algorithm based on CMOS sensors will be
employed to analyze the lane style and their corresponding control strategy will also
be discussed .
In addition, we will detailedly display the mechanical structure and adjustment
method of the model car. After that, the developing kit, software, and various
debugging and testing methods during the development of this intelligent car system
will also be introduced.
KEY WORD:Intelligent Vehicle System, CMOS Image Sensor, Control Strategy,
Debugging, Testing, Freescale16-bit Single-chip
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