Automatic Navigation of Intelligent Vehicle Control System based on Laser Sensor

摘要

This smart car control system by MC9S12G128 controller as the core, the use of arow of 18 laser tubes and 6 receiving tube as the path recognition sensor, through MC9S12G128 I/0 interface for sensor signal, and use the feature extraction method to extract the track type, realization of the starting line, cross line recognition. According to road information, the design adopts fuzzy control algorithm of output PWM wave to control the gear steering, complete control of the direction of the car, the car speed extracted with the use of photoelectric encoder, comparing with the current set point to get speed deviation, and output PWM pulse is obtained by using the PID algorithm to control the motor to adjust the car speed, complete the closed-loop control of the car movement speed. Through the experiment, the system is designed to achieve the desired effect.