飞思卡尔智能车摄像头组技术报告

第七届“飞思卡尔”杯全国大学生

智能汽车竞赛

技术报告

（校徽）

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本人完全了解第七届“飞思卡尔”杯全国大学生智能汽车邀请赛关保留、使用 技术报告和研究论文的规定，即：参赛作品著作权归参赛者本人，比赛组委会和 飞思卡尔半导体公司可以在相关主页上

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告以及参赛模型车的视频、图像资料，并将相关内容编纂收录在组委会出版论文 集中。 参赛队员签名： ______

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本文以第七届全国大学生智能车竞赛为背景，介绍了智能赛车控制系统的软硬件结构和开发流程。该比赛采用组委会规定的标准车模，以Freescale半导体公司生

产的16位单片机MC9S12X128为核心控制器，在CodeWarrior IDE开发环境中进行软件开发，要求赛车在未知道路上完成快速寻线。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（如摄像头与光电管检测方案）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。它采用摄像头对赛道进行检测，通过边缘提取获得黑线位置，用PID方式对舵机进行反馈控制。通过速度传感器获取当前速度，采用增量式数字PID控制实现速度闭环，根据预判信息和记忆信息对速度进行合理分配。同时采用拨码开关和LCD显示屏实现人机交互系统。测试结果表明，在该控制系统下，自寻迹机器人小车具有良好的位置跟踪和快速切换速度性能。

关键词：智能车，跟踪寻迹，摄像头，传感器，PID，最优曲率

ABSTRACT

In the backgro und of the 7nd Nati onal In tellige nt Car Con test for College Students, this article introduces the soft hardware structures and the developme nt flow of the vehicle con trol system. This con test adopti ng the sta ndard model car prescribed by the con test orga ni zatio n committee, using the 16-bit MCU MC9S12X128 produced by Freescale Semiconductor Company as the core con troller, develop ing un der the CodeWarrior IDE, requires the car track the line fast on the road. The whole system includes the aspects of the mechanism structure adjustment, the sensor circuit design and signal process, con trolalgorithm and strategy optimizati on etc.In order to in crease the speed and the reliability of the car, the advantage and disadvantage of the different schemes (such as the camera and photoelectric cell scheme) are compared, and a great number of the bottom layer and the upper layer tests are carried on combined with the Labview simulation platform. At last, the current system structure and each con trol parameters are determ in ed. It captures the

road information through a camera, then abstracts the black line position by edge-detect ion method. After that, PD feedback con trol is used on the steeri ng.

The system obtains the current speed using a speed sensor, so that it can realize the feedback con trol of the speed by the in creased digital PID algorithm con trol method. At the same time, the use of an LCD displays trails information and keyboard is used to achieve the man-machine interaction. According to the pre-judge inform and the memorized in form, it allocates the speed properly. The test results showed that the self-tracing robot car had good position tracking and fast speed switch ing performa nee .

Key words：intelligent vehicle,line track, camera,sensor, PID, optimal curvature

第一章：引言 (1)

1.1背景介绍 (1)

1.2发展现状 (2)

1.3章节安排 (2)

第二章：系统整体框架 (4)

2.1系统框架 (4)

2.1.1硬件系统 (4)

2.2.2软件系统 (5)

2.2方案简介 (6)

第三章：机械设计 (8)

3.1汽车行驶的数学模型 (8)

3.2整体布局与调整.............................................................. 10 .........

3.2.1车模分析............................................................... 11 .........

3.2.2车模布局思想.......................................................... 1.2 ........

3.3机械结构调整................................................................ 1.3 ........

3.3.1前后轮定位............................................................. 1.3 .........

3.3.2其他机械模块调整...................................................... 1.3 ........

3.3摄像头的安装................................................................ 1.3 ........

3.4舵机的安装................................................................... 1.4 .........

3.5编码器的安装................................................................. 15 .........

第四章：硬件电路设计................................................................ 16 .........

4.1硬件设计方案................................................................ 16 .........

4.2传感器的选择................................................................. 17 .........

4.2.1摄像头................................................................. 17 .........

4.2.2编码器................................................................. 17 .........

4.3电路设计方案................................................................ 1.8 ........

4.3.1单片机最小系统板...................................................... 1.8 ........

4.3.2稳压模块电路........................................................... 19 .........

4.3.3驱动模块电路........................................................... 20 .........

第五章：软件系统设计................................................................ 22 .........

5.1软件各功能模块设计.......................................................... 22 .........

5.1.1时钟模块............................................................... 22 .........

5.1.2 PWM输出模块......................................................... 23 .........

5.1.3 ECT 模块.............................................................. 24 .........

5.1.4夕卜部中断............................................................ 24 .........

5.2视频采集与图像处理.......................................................... 24 .........

5.2.1摄像头工作原理........................................................ 24 .........

5.2.2图像处理............................................................... 26 .........

5.3路径识别思想................................................................. 29 .........

5.4舵机转向和速度调节.......................................................... 31 .........

5.4.1PID控制算法介绍........................................................ 32 .........

5.4.2舵机转向控制........................................................... 34 .........

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