【摘要】 以"飞思卡尔"杯全国大学生智能汽车比赛为背景,制作一个在专门设计的跑道上能自主识别道路行驶的智能车,能在尽可能短时间内跑完全程,不脱离跑道并遵守大赛的一系列规则。以9S12XS128为控制核心主要完成工作如下:①摄像头获得的图像信息的数据采集,并完成图像的滤波去噪,提高采集的图像数据准确性。②采用PID算法对智能车的舵机进行控制,提高了舵机的相应速度,减少了对舵机控制的静态误差。③采用了模糊控制法,对智能车的电机部分进行控制,通过不断调试完成模糊规则库的建立。④编写了无线传输模块的软件程序,可以对智能车行驶过程中的状态进行采集并传输至上位机,方便了智能车的调试。通过实验验证,并参加实际大赛,本设计中的所采用的方法效果较好。更多还原

【Abstract】 In this paper,It will describe the details software including road recognition and motion control arithmetic.with the Freescale 16-bit single-chip MC9S12xs128 as its control microprocessor to finish software design about smart car.The car get the road information and abstract the black line,then control the car on a way of closed-loop in shortest time.①Use dimage-sensor module based on camera to obtain lane image information,taken action get correct image information.for instance.filter is a best way.②Used PID to control rudder,advanced the speed of rudder response,reduced error at controlled.③Used fuzzy control to control the motor of smart car.by ceaseless experiments to enrich fuzzy control library.④Compiled procedure about wireless module,feedback information to computer,it is convenient for testing.更多还原