Target at problems generated by low centerline extraction rate such as vehicle model direction control instability and likely to run out of the track,this design takes the K60 micro-controller as the core control cell,utilizes the CMOS camera to collect the path information and innovative uses the Window Test Method and Double Proportion PD Control Method at the same time of extracting track boundary and controlling vehicle body direction.The Window Test Method can reduce the extract time of track boundary and increase the search efficiency.The Double Proportion PD Control Method can adjust the proportion parameter P in real time so that it can control the moving direction of vehicle model more timely and accurate.%针对以往靠中心线提取速度较慢导致车模方向控制不稳,容易跑出赛道等问题,设计以K60微控制器为核心控制单元,利用CMOS摄像头对路径信息进行采集,在提取赛道边界和控制车体方向时创新性的使用了“窗口检测法”和“双比例”PD控制方法.“窗口检测法”能够缩短赛道边界的提取时间,提高搜索效率.双比例PD控制能够对比例参数P进行实时调整,进而更及时、准确地控制车模的运行方向.
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