车辆工程专业毕业设计论文基于图像传感器的自动循迹智能车系统设计.doc

车辆工程专业毕业设计论文基于图像传感器的自动循迹智能车系统设计 基于图像传感器的自动循迹智能车系统设计 摘 要 车辆智能化是汽车工业今后发展的趋势，人们对汽车安全性、智能化要求越来越高，这将是未来汽车的发展方向。随着以计算机技术和信息技术为代表的高新技术的发展，智能车辆技术的研究将会有突破性的进展。智能车辆系统的实用化是智能车辆发展的前进方向，适应性强、环境适应性好的智能车辆将是研究的重点。 本课题利用CMOS摄像头识别路径，使用单片机控制技术控制智能车行进。本课题以全国大学生智能车竞赛的车模为基础，主要是通过装备在小车上的图像传感器作为道路采集系统，为了较好的处理信号和控制小车行驶选用的是Freescale半导体公司的MC9S12XS128MAL单片机，用Freescale公司的codewarrier软件作为软件开发和仿真平台，采用PID轮速控制算法，完成整个智能自动循迹智能车系统设计。 本智能小车实现了智能车的自动循迹以及良好的操控性能，能够很灵敏的控制智能小车的速度和转向。但是对图像采集系统如何能获得更好的处理方法以获得更高的测量精度，提高PID控制算法的精确度等方面有待进一步的提高改善！ 关键词：CMOS图像传感器；PWM(Pulse Wide Module);PID(Proportional Integral Differential)控制算法；二值法；A/D转换 I The design of auto guiding smart car system based on image sensor device ABSTRACT Vehicle intelligent is the trend of the motor industry, he safety and intelligent is demanded by people higher and higher, this will be the development direction of the future. Along with the high technology development representative of the computer technology and information technology, Intelligent vehicle technology research will have a breakthrough development. The practical application of intelligent vehicle system are development direction of the intelligent vehicle, the key of the intelligent vehicle study is strong adaptabllity and environmental adapatability. This topic using CMOS cameras recognition the path, the intelligence into the garage is controlled by single-chip microcomputer control technology. In this paper, the cat is designed at the base of the car mode of the competition of smart car of the undergraduates in our nation, road acquisition system of the car is mainly through the image sensor equipment on the car. In order to be better in handle signal and control car driving , we chooses the MC9S12XS128MAL microcontroller of Freescale semiconductor company, use the codewarrier software of Freescale company as the software development and simulation platform, We use the PID（Proportional Integral Differential）algorithm and complete the design of the whole system of