基于摄像头的智能车路径识别方案--大学生毕业论文.docVIP

基于摄像头的智能车路径识别方案 摘要：智能车硬件平台开采用飞思卡尔 16 位微控制器 MC9S12DG128 为核心的控制单元，由清华大学飞思卡尔嵌入式系统研发中心提供的开发板MC9S12EVKC 单片机最小系统板，并在此基础上自行完成的外围硬件电路设计；软件开发环境使用 Metrowerks 公司为 MC9S12 系列单片机专门提供的全套开发工具 CodeWarrior IDE。 文中介绍了智能车的系统总体结构，软硬件模块及开发流程。其中重点介绍摄像头的硬件电路的设计，摄像头输出数字信号的采集,视频图像信号处理及控制系统硬件电路设计,速度与转向控制算法，以及包括调试中遇到的问题的解决方法。 关键字：智能车，摄像头，视频数据采集，路径识别，速度与转向控制 Intelligence Car Based On Digital Camera Abstract：In this article, article present the embedded systems design results of Wuxi professional collage of science and technology zhenze motorcade working during the period of preparing the fourth session of the Freescale Intelligence Car Competition, Including hardware design, software design of smart car. the hardware platform of the smart car bases on S12 development board which features MC9S12DG128 micro-controller, Freescale Embedded Systems, Tsinghua University R D Center provides the development board of the smallest single-chip system board MC9S12EVKC, And on this basis to the completion of the external hardware circuit design software development environment software development used Code warrior IDE as its tool, which is Metrowerks Corporation technically provide a complete set of development tools to MC9S12 series of single-chip. This article introduces the intelligent car systems architecture, software and hardware modules and development process, Which focuses on Camera hardware circuit design, Camera output digital signal collection, Video image signal processing, Control system hardware circuit design, speed and direct control algorithm, As well as the solution of problem in debugging. Key Word: Intelligent car, Camera, Video Sample Collection, Speed and Direct Control 目录 第一章 绪论 4 1.1 课程意义 4 1.2 课题背景 4 1.3 任务 5 第二章 硬件系统设计 6 2.1 单片机主要元件介绍 6 2.1.1 摄像头的介绍 6 2.2 硬件总体框图 7 2.2.1 电源、稳压电路 8 2.2.2 单片机控制板 10 2.2.3 测速电路 11 2.2.4 摄像头电路 11 2.2.5 舵机电路 12 2.2.6 软件方案选择电路 12 2.2.7 电机驱动电路 13 2.2.8 调试电路 14 第三章 软件系统设计 15 3.1 软件总体框架 15 3.2 图像采集与处理 15 3.2.1 采集方法 15 3.2.2 路径识别 18 3.3 速度和方向的控制 22