目 录
目 录 ...............................................................................................................................................................II
插图清单...............................................................................................................................................................V
插表清单 .............................................................................................................................................................VI
摘 要 ............................................................................................................................................................VII
Abstract .............................................................................................................................................................VIII
第一章 综述........................................................................................................................................................1
1.1 智能车现状和发展................................................................................................................................1
1.2 相关开发环境.........................................................................................................................................1
1.3c 语言的简单介绍...................................................................................................................................2
1.4 本文的主要工作....................................................................................................................................2
第二章 智能汽车总体控制系统..........................................................................................................................3
2.1 系统工作原理........................................................................................................................................3
2.2 系统硬件结构........................................................................................................................................4
2.3 系统软件结构........................................................................................................................................5
2.4 本章小结................................................................................................................................................5
第三章 智能汽车机械系统调整与改造..............................................................................................................6
3.1 模型车基本结构参数介绍.....................................................................................................................6
3.2 机械结构调整与改造..........................................................................................................................6
3.2.1 前轮定位参数调整..................................................................................................................6
3.2.2 车体重心调整..........................................................................................................................7
3.2.3 激光传感器的安装....................................................................................................................7
3.3 小车整体机械结构的实物图..............................................................................................................7
3.4 本章小结..............................................................................................................................................8
第四章 光电导引智能汽车控制系统硬件电路设计..........................................................................................9
4.1 激光传感器电路..................................................................................................................................9
4.1.1 激光发射与接收原理..............................................................................................................9
4.1.2 激光传感器电路设计............................................................................................................10
4.2 电机驱动模块......................................................................................................................................11
4.2.1 驱动芯片的选择....................................................................................................................12
4.2.2 驱动芯片..................................................................................................................................12
4．3 舵机驱动模块..................................................................................................................................12
4.4 编码器模块........................................................................................................................................13
4.5 电源管理............................................................................................................................................14
4.5.1 电源管理模块..........................................................................................................................14
4.5.2 各模块供电情况分析............................................................................................................14
4.5.3 电源芯片外围电路原理图....................................................................................................15
4.6 无线通讯模块....................................................................................................................................15
4.8 本章小结............................................................................................................................................16
第五章 智车系统控制算法及软件设计............................................................................................................17
5.1 主程序流程........................................................................................................................................17
5.1.2 控制策略路径识别策略........................................................................................................20
5.2 激光发射管调制分时发光................................................................................................................20
5.3 舵机控制策略....................................................................................................................................22
