【作者】 申忠宇； 郑启文； 王川； 张少华； 张倩；

【Author】 Shen Zhongyu~1 Zhen Qiwen~(1,2) Wang Chuan~1 Zhang Shaohua~1 Zhang Qian~1 (1 School of Electrical and Automation Engineering,Nanjing Normal University,Nanjing 210042,China) (2 Bosch Automotive Products(Suzhou)Co.,Ltd.,Suzhou 215000,China)

【机构】 南京师范大学电气与自动化工程学院； 博世汽车部件(苏州)有限公司；

【摘要】 首先设计了基于ARM Cortex-M3的智能小车控制系统,利用模块化理念设计了无线通信、磁场检测传感器、电机驱动等硬件模块,采用ZigBee设计了多智能小车协作控制的车载自组织无线通信网络,利用磁场检测完成小车的导航方式,采用旋转编码器实现小车的测速功能.然后在智能小车上移植了嵌入式μC/OS-Ⅱ实时操作系统,根据多智能小车协作控制要求,设计了智能小车分布式自主决策程序,实现多智能小车自由运行、队列跟随和路口协作等运行模式.最后采用线性最优二次型的车队跟随控制算法,实现多智能小车编队的启停、匀速和加减速控制,利用通信协商的路口协作算法,实现多智能小车路口协作任务.实验结果表明,设计的无线通信网络的多智能小车系统能够满足多智能小车协作控制、编队控制和路口协作控制要求.更多还原

【Abstract】 First,the smart car control system based on ARM Cortex-M3 is studied.The wireless communications,the magnetic field sensors,motor drives and other hardware modules are designed. The multi-smart car cooperative control self-organizing wireless communication networks are designed by ZigBee.The smart car navigation is achieved by magnetic field detection and the smart car speed function is realized by using the rotary encoder.Then the embeddedμC/OS-Ⅱreal-time operating system is transplanted into the smart car.According to the requirements of multi-smart car cooperative control,distributed autonomous decision-making procedures are programmed to achieve free running,queue following and road junction collaborating of the multi-smart car.Finally,the linear optimal quadratic fleet tracking control algorithm is utilized to realize multi-smart car start and stop formations,and uniform and ramp control.The collaborative communication negotiation intersection algorithms are applied to achieve crossing collaborative tasks of the smart car.The experimental results show that the designed ZigBee wireless communication network meets the requirements of the collaboration control,fleet control and road junction collaborating control of the smart car.更多还原