智能车路径识别及控制策略的研究

摘要

Taking the fieescale's intelligent vehicle as the application platform, adopting microcontroller unit MC9sl2xsl28 as the core processor, the tracking system of an intelligent vehicle was designed by making use of the laser sensor to realize the path recognition. The fuzzy algorithm and the filtering processing were adopted to find the path position and direction. The PD control strategy was used to control the vehicle. The hardware design included the circuit board production, the design of the laser sensor, the power design and the motor driver part. The experimental results shows that the intelligent vehicle designed based on this scheme can ran fast and steadily.%以“飞思卡尔杯”智能车比赛为应用平台,以微控制器MC9s12xs128为核心单元,设计一套通过激光传感器实现路径识别的智能寻迹小车系统,利用模糊算法和过滤处理找出路径位置和方向,采用PD控制策略对小车运行进行控制.硬件设计包括信号调理电路、电源和电机驱动的设计等.实验结果证明,按该方案设计的智能车能够快速稳定运行.