飞思卡尔智能车摄像头组技术精读.docVIP

第十届“飞思卡尔”杯全国大学生 智能汽车竞赛 技 术 报 告 摘要 本文设计的智能车系统以K60微控制器为核心控制单元，基于CCD摄像头的图像采样获取赛道图像信息，提取赛道中心线，计算出小车与黑线间的位置偏差，采用PD方式对舵机转向进行反馈控制。使用PID控制算法调节驱动电机的转速，结合特定算法分析出前方赛道信息实现对模型车运动速度的闭环控制。为了提高模型车的速度和稳定性，我们用C++开发了仿真平台、蓝牙串口模块、SD卡模块、键盘液晶模块等调试工具，通过一系列的调试，证明该系统设计方案是确实可行的。 关键词：K60，CCD摄像头，二值化，PID控制，C++仿真，SD卡 Abstract In this paper, we will design a intelligent vehicle system based on MC56F8366 as the micro-controller unit. using the CCD image sensor sampling to the track image information to extract the track line center, to calculate the positional deviation between the car with the black line, the use of PD on the rudder. The machine turned to the feedback control. We use PID control algorithm to adjust the speed of the drive motor, combined with specific algorithms to achieve closed-loop control of the movement speed of the model car in front of the track. In order to improve the speed and stability of the model car, we use the C++ to develop a simulation platform, Bluetooth serial module, SD card module, keyboard, LCD modules, debugging tools. Through a series of debugging, the system design is feasible. Key words: K60，CCD_camera, binaryzation, PID control, C++ simulation, SD card 目 录 第1章 引言 ................................................................................... - 1 - 第2章 系统总体设计 ................................................................ - 2 - 2.1 系统分析 ..................................................................................... - 2 - 2.2 车模整体布局 ............................................................................. - 3 - 2.3 本章小结....................................................................................... - 4 - 第3章 系统机械设计及实现 ................................................... - 5 - 3.1 前轮定位的调整 ......................................................................... - 5 - 3.1.1主销内倾 ............................................................