基于CMOS摄像头循迹的四轮智能车控制系统设计

摘要

设计并实现了一种摄像头循迹智能车控制系统.采用恩智浦半导体公司生产的32位单片机MK60FX512VLQ15为核心控制器,并通过CMOS数字摄像头采集赛道信息.在车模机械调整上,采用Solidworks,CAD等软件对车模机械结构进行仿真,进而改善车模构造;在硬件设计时,自主设计了电源稳压电路和电机H桥驱动电路;在软件编程方面,采用位置式PID以及模糊PID控制算法,使系统的稳定性和鲁棒性得到了很大的改善.并结合陀螺仪、旋转编码器,用来控制车模的转向和运行速度,提升车模适应性.最终实现智能车快速平稳运行.%The control system is designed and developed for an intelligent vehicle with tracking camera.32-bit-single-chip MK60FX512VLQ15 is adopted as the core controller,it is manufactured by NXP Semiconductors Company,and information of tracking is collected by the CMOS digital camera.As for the mechanical adjustment of the model car,softwares including Solidworks and CAD are equipped to stimulate real objects so as to improve the vehicle model's structure.As for the hardware system,power regulator circuit,H-bridge motor drive circuit are designed.As for software programming,the positional PID and the fuzzy PID control algorithm are applied,so the stability and robustness of the system are greatly improved.Combined with gyroscope and encoder,which are used to control the steering and speed of the car,the adaptability of the vehicle model is enhanced.Ultimately the smart car runs fast and smoothly.