xx工业大学xx队技术报告.docVIP

第四届“飞思卡尔”杯全国大学生 智能汽车竞赛 技 术 报 告 学 校： 西北工业大学 队伍名称： 翱翔队 参赛队员： 马文佳 刘 博 曹小宝 带队教师： 曲仕茹 唐 炜 关于技术报告和研究论文使用授权的说明 本人完全了解第四届全国大学生“飞思卡尔”杯智能汽车竞赛关保留、使用技术报告和研究论文的规定，即：参赛作品著作权归参赛者本人，比赛组委会和飞思卡尔半导体公司可以在相关主页上收录并公开参赛作品的设计方案、技术报告以及参赛模型车的视频、图像资料，并将相关内容编纂收录在组委会出版论文集中。 参赛队员签名： 带队教师签名： 日 期： 摘 要 智能汽车应用环境感知、决策计划、计算机图像技术、自动控制技术具有自动识别行驶道路自动驾驶自动调速、ABSTRACT Smart car using environmental sensing ,decision-making, computer graphics technology, control technology has the abilities of premise of achieving, automatic driving and vehicle navigation support. In this paper, we design a small intelligent car which can travel independently on the given runway, in the background of the intelligent car competition. This article firstly introduced the idea of system design, and then separately set out the design and implementation of the hardware and software, as well as the mechanical adjustment and system debugging, and finally summed up the problems encountered. Freescale 16 bit MCU served as the intelligent unit in this control system. Steering system works according to camera sensor and vehicle speed controlling relied on speed sensor .In order to improve the performance of the car, we optimize the system using some creative methods. Firstly, MC9S12XS128 used as a new single-chip controller ,using the program which is compatible for digital and analog camera; the use of four parallel MC33886 to drive the motor, a very good solution to the current driver IC drives a small, high temperature. Secondly, the steering gear control combine curve pre-detecting and the PID algorithm. Thirdly, we design a S12XS based controlling board independently, using high-precision Rotary Encoder, and using Bang-Bang and PID control to achieve a combination of closed-loop control of speed. Lastly, we make the full use of the MCU in the process of the software des