基于CCD传感器智能汽车软件的设计与研究p.doc

D传感器智能汽车软件的
设计与研究
中文摘要
本文以“飞思卡尔”杯全国大学生智能汽车竞赛为背景,以飞思卡尔公司9S12XS128微控制器为控制核心,设计制作了一个能在有黑色引导线的跑道上自主识别道路行驶的智能小车,并通过适当的控制算法使小车能在尽可能短的时间内完成行驶过程。
本设计首先简要介绍了小车的整体概况和小车的硬件及机械结构的有关内容。文章主要对系统的软件的设计进行了分析和研究,重点论述了摄像头图像数据采集方法、各种特殊赛道元素的不同算法等内容。
本设计的特色在于以下几点:
⑴研究了摄像头图像采集的方案、分析了摄像头的工作原理以及提出了较佳的智能车摄像头的选购原则。
⑵成功应用了往届提出的“弦切法”算法,使小车能较好地处理大S、小S等特殊赛道。
⑶找到了较有效的起跑线识别算法,能很好适应“飞思卡尔”比赛的规则。
⑷对急转弯、十字路口、大圆环出弯点等容易出现失误的地方提出了相应的行驶策略,使小车在这些地方的失误率降低。
⑸针对实际实验现象和结果总结出了一些常出现问题的解决方法。
所设计的智能车实物经过实验及实际比赛验证。本设计中的所采用的各种算法取得了良好的效果。
关键词:9S12XS128;图像采集;行驶策略;智能车
CCD sensor based intelligent Software design and research vehicle
ABSTRACT
In this paper, "Freescale" National University Student Smart car race as the background to pany 9S12XS128 Freescale microcontroller as the control center, designed in a black line on the runway to guide self-identify roads Intelligent Vehicle, and through appropriate control algorithms to make car travel in the shortest possible time plete the process.
The design begins with a brief description of the car's overall profile and the car's hardware and mechanical structure of the content. Design mainly the design of software systems analysis and research focuses on the camera image data acquisition and de-noising method of interference, "string cut method" of application and improved motor PID control algorithm and so on.
This design feature is the following:
⑴ of the camera image acquisition program, analyzes the working principle of the camera and made a better buy smart car camera principle.
⑵ of the servo control algorithm, the essful application of a previous proposal of "string-section method" algorithm, so that car can better handle large S, small S, and other special track. Meanwhile, proposed and practice based on this algorithm is more effective improvement algorithm.
⑶ found a more effective starting line recognition algorithm, well adapted, "Freescale" rules of the game.
⑷ of the intersection, a large ring bend point out mistakes so easy to place a co