| Intelligent vehicle which is one of the most active fields within research, collects many new achievements of some academic subjects, such as automatic control, artificial intelligence, information fusion, sensor technology, image processing technology and computer etc.The paper takes the smart car which is used in my school with the competition as the research object, researches the path around the identification, information collection and control system. A hardware circuit based on MC9S12DG128 processor is designed. The main comments and contributions of this thesis are as follows:First, an overview of the mobile robot, as well as the development of intelligent vehicles is introduced; second, the race car design with smart is discussed, realized the mechanical structure, such as the Kingpin Inclination, Caster, Camber and former Wheel beam, steering gear and the arm of force of the transformation of the location of the vehicle center of gravity adjustment. And then smart car and the structural were transformed, meanwhile the positioning parameters optimization were completed, the functional analysis of mechanical systems to determine the control system hardware designed and software were designed. the movement of intelligent vehicle control system design and implementation were discussed in detail, that is, the whole system of power modules, the path identification module, gun modules and the hardware driver modules; the installation of sensor and interface circuit design. With high processor speed and abundant interface unit, MC9S12DG128 works as the core processor of the control circuit. Finally, the road identification and information collection were researched on, as well as PID control algorithm mathematical model was studied to achieve the design of the software.Finally I finished the smart car race of all hardware and software design and manufacturing. And participated in the smart car Freescale Cup race was the second prize winner in the Southwest division. |
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