智能小车转弯算法改善单元的优化设计

摘要

针对智能小车在转向尤其是急弯时陀螺仪传感器输出的瞬态信号变化很快,因自身结构和工艺限制而带来的信号测不全、抓不好的问题,设计了一种以STM32转弯控制芯片和FPGA为一次仪表特性改善单元控制核心的验证方法.测试结果表明,该系统在对转弯信号采集、放大后通过级联特性改善模块可以有效地改善传统转弯下的动态特性,提高急弯下对实时信号处理的精度.%For the problems that the transient signals output by gyroscope sensors change rapidly when intelligent car is turning especially in sharp turn,intelligent car own craft and structure is limited,and the stability of the signals is poor,a core verification method based on the STM32 turning control chip was designed.And FPGA was used in the instrument characteristic improvement unit.The test results show that the dynamic characteristic of traditional turning is effectively improved by collecting and amplifying the turning signals and cascading feature improvement module,and the precision of the real time signal processing in sharp turn is improved.