摘要
本文介绍了西北工业大学“勇毅”队为第二届“飞思卡尔”杯全国大学生智能汽车竞赛的设计方案。阐述了智能车的硬件以及软件方面的车道检测和运动控制算法。
本系统以 Freescale16 位单片机 MC9S12DG128 作为系统控制处理器，基于CCD传感器采集视频图像，通过对获得的图像进行处理分析，获得道路信息提取赛道黑线，并结合测速反馈实现对小车的闭环反馈控制。文中介绍了赛车的硬件设计和软件设计，详细介绍了车模机械结构调整、小车图像采集模块、转向模块和驱动模块的设计、参数和有关测试，以及摄像头工作机制以及安装选型和速度反馈的设计。除智能车系统本身的介绍外，文中还详细叙述该系统开发过程中所用到的开发工具、软件以及各种调试、测试手段方法。
关键词: 车道检测，图像采集，运动控制，测速反馈
ABSTRACT
In this paper，we will demonstrate an total intelligent vehicle system scheme prepared for the second session of the Freescale Intelligence Car Competition. We describe the details of the hardware of the circuit and the software including road recognition and motion control arithmetic.
The vehicle system, with the Freescale16-bit single-chip MC9S12DG128 as its control microprocessor, uses image-sensor module based on camera to obtain lane image information, through the acquired image processing, we get the road information and abstract the black line，then control the car on a way of closed-loop. This paper introduces the hardware and software design of the car, and presents the mechanical structure adjustment, the image acquisition module, and the design, parameters, and relative tests of the vehicle steer module, driving module. We also display the work mechanism and installation of the camera, the design of speed feedback. In addition to the demonstration of the intelligent vehicle itself, we will detailedly display the developing kit, software, and various debugging and testing methods during the development of this intelligent vehicle system.
KEY WORD: Road recognition, Image acquisition, motion control, Speed feedback
