目 录
摘 要...............................................................................................................................I
Abstract..................................................................................................................................II
1 前言.....................................................................................................................................1
1.1 设计的背景以及意义.....................................................................................................1
1.2 智能小车国内外概况..............................................................................................1
1.2.1 国内研究的概况.............................................................................................1
1.2.2 国外研究概况................................................................................................2
1.3 智能小车的发展前景...............................................................................................2
2 飞思卡尔单片机自动循迹小车系统设计总方案............................................................3
2.1 系统硬件部分..........................................................................................................3
2.2 系统软件部分..........................................................................................................4
3 智能车硬件系统................................................................................................................5
3.1 单片机最小系统......................................................................................................5
3.1.1 PIT 定时器模块..............................................................................................6
3.1.2 PWM 模块 .....................................................................................................6
3.1.3 I/O 模块...........................................................................................................7
3.1.4 时钟电路........................................................................................................7
3.1.5 复位电路........................................................................................................7
3.1.6 JTAG 接口电路 ..............................................................................................8
3.2 电机驱动模块..........................................................................................................8
3.3 路径识别摄像头检测模块.......................................................................................9
3.3.1 摄像头的选择................................................................................................9
3.3.2 摄像头简介..................................................................................................10
3.4 速度检测模块........................................................................................................10
3.5 舵机模块................................................................................................................10
3.6 电源管理模块.........................................................................................................10
3.6.1 3.3V 电源 ......................................................................................................11
3.6.2 5V 电源 ......................................................................................................11
4 软件系统的设计与实现..................................................................................................12
4.1 赛道信息的提取.....................................................................................................12
4.2 PID 算法介绍..........................................................................................................12
