第二届“飞思卡尔”杯全国大学生智能汽车邀请赛技术报告（上海交通大学）.pdf

CyberSmart 队技术报告

第二届“飞思卡尔”杯
全国大学生智能汽车邀请赛

技术报告




学校: 上海交通大学
队伍名称: CyberSmart 队
参赛队员: 胡晨晖
陆佳南
陈立刚
带队教师: 杨明

CyberSmart 队技术报告
摘要
本文介绍了Cyber Smart队员们在准备第二届Freescale智能车大赛过程中
的工作成果。智能车的硬件平台采用带MC9S12DG128 处理器的S12 环境,软件
平台为CodeWarrior IDE 开发环境,车模采用大赛组委会统一提供的1:10 的
仿真车模。文中介绍了智能小车控制系统的软硬件结构和开发流程。
整个系统涉及车模机械结构调整、传感器电路设计及信号处理、控制算法和
策略优化等多个方面。为了提高智能赛车的行驶速度和可靠性,对比了不同方
案的优缺点,并结合Labview 仿真平台进行了大量底层和上层测试,最终确定
了现有的系统结构和各项控制参数。

关键字:智能车,摄像头,视频采样,速度控制
















CyberSmart 队技术报告

Abstract
In this article, we present the results of our team members’ working during the
period of preparing the second session of the Freescale Intelligence petition.
The hardware platform of the smart car bases on S12 development board which
features MC9S12DG128 micro-controller, Code warrior IDE is used as its software
development tool, and 1/10 EP on-racing car is adopted as its mechanism. The
article gives introduction to the Hardware/Software structure and the designing
process of the car’s control system.
The whole system includes the aspects of the mechanism structure adjustment,
the sensor circuit design and signal process, control algorithm and strategy
optimization etc. In order to increase the speed and the reliability of the car, the
advantage and disadvantage of the different schemes pared, and a great
number of the bottom layer and the upper layer tests are carried bined with the
Labview simulation platform. At last, the current system structure and each control
parameters are determined.
Key Word: Intelligent car, Camera, Video Sample, Speed Control











CyberSmart 队技术报告
目录
摘要............................................................................................................................................. 2
第一章绪论....................................................................................