Research On Control Technology For The Intelligent Vehicle

Intelligent vehicle, also is called as wheeled robot, most suits in the environment which these human beings are unable to work, the technology can be applied to unmanned vehicles, unmanned production lines, warehouses, service robots, aerospace and other fields. As the major achievements in the field of automation of the 20th century, robotics and human society has been inseparable in production and daily life. Therefore, in order to let the intelligent vehicle in the best condition the further research and improve its speed and direction control is very necessary.Firstly, the hardware system design is introduced in detail. MC9S12DG128B which program with C, C++ and compilation language works as the core processor of the control circuit. The system is designed based on the CodeWarrior software platform. The hardware design of control system include power module, path identification module, velocity measurement module, driving module and Steering gear module. In driving module, a way of PWM used to increase the sensors' exploration distance, which control sensors' on and off. So that a high instantaneous current can be get as well as an average current could below maximum current of the sensor.In the aspect of mechanical system design, the adjective methods of mechanical and structure parameters are discussed according to automobile technical theory, such as caster angle, kingpin inclination, toe-in and camber of wheels. Meanwhile, the calibrated method of steering system is discussed in order to make two front tires achieve accordant turning. Transforming and building up the car in order to do the experiment next.Furthermore, calculate the coordinates of the black line by the product of sensor's sensitive distance and its relative output value, which will adjustment the direction of the car.Moreover, in the aspect of software design of control system, the clock module, PWM module, ECT Module, A/D module and mathematic modeling of control algorithm for car body have been designed based on the system's hardware and control strategy.Finally, simulation and experiment on the car demonstrate the good reliability of control algorithm.From the work which has been done in this project, the conclusion can be draw that the intelligent vehicle and its control algorithm not only has the virtues of high-performance, high-reliability, but also has the auto tracing. This paper presented an experimental base for the further research.