Study And Implement Of The Control System Of The Intelligent Vehicle

Intelligent Vehicle is also called as wheeled robot. Hardware system, navigation control and multi-sensor data fusion of the intelligent vehicle is researched. A hardware circuit based on TMS320F2812 processor is designed and implemented and fuzzy logic inference is introduced to realize the navigation control and the data fusion of the intelligent vehicle.At first, the key technology of intelligent vehicle is summarized. In order to acquire enough information about the environment and its status, several sensors are installed on the intelligent vehiacle. With high processor speed and abundant interface units, such as ADC, SCI, SPI, CAN, etc., TMS320F2812 work as the core processor of the control circuit. A control circuilt of intelligent vehicle is designed and all the interface circuits are presented . This control circuit affords an extensible platform for the intelligent vehicle.The navigation is the emphasis of this discussion. Being of the uncertainty and nonlinear of the control system, fuzzy logic inference methods is adopted. Fuzzy logic inference allows the uncertainty of knowledge and acts alike human to control the system. Simulation on MATLAB demonstrates the good performance of fuzzy logic inference.The another emphasis is the milti-sensor data fusion. Mixed data fusion structure and fuzzy distributed coherence data fusion is introduced. A simple experiment on the object recognition prove the validity of this method.