摘 要
坡道行驶电动小车主要由控制模块，循迹模块，电源模块，电机模块，降
压模块，电机驱动模块，声音模块组成。本小车选用 MSP430F5529 做为主控
芯片，TCRT5000 红外循迹模块和 LM339 四路差动比较器用来实现小车识别
跑道功能，原理为红外发射判断黑白线以及区分黑线宽度，电源模块采用了可
充电电池为整个系统提供动力支持，电机部分使用四个直流电机和两个降压模
块，电机驱动模块选用 L298N,来实现实时控制电机转动的幅度与转速。声音
模块选用蜂鸣器来作为停车点停车时的声音提示。坡道行驶电动小车利用红外
循迹模块沿指定路线在坡道上自动循迹并于标记线停车发出声音提示。
关键词：MSP430F5529，LM339，蜂鸣器，TCRT500，胶皮车轮，可
充电电池、减速电机、L298N。
Abstract
The ramp driving electric car is mainly composed of control
module, tracking module, power module, motor module, step-down
module, motor drive module and sound module. The car uses
msp430f5529 as the main control chip, tcrt5000 infrared tracking
module and LM339 four channel di*erential comparator are used to
realize the function of the car to identify the runway. The principle is
infrared emission to judge the black and white line and distinguish
the width of the black line. The power module uses rechargeable
battery to provide power support for the whole system. The motor
part uses four DC motors and two step-down modules, which are
driven by motor L298N module is selected to realize real-time
control of motor rotation amplitude and speed. The sound module
selects the buzzer as the sound prompt when parking. The electric
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