Multi-Control Research Of Unmanned Vehicle

With the development of science and technology, electronic, informationization, networking and intelligentizing have become the development trend of the future vehi-cles. Unmanned vehicle is the best manifestation of the development trend. Unmanned vehicles have two types: one is the remote control vehicle, and the other is the autonomic vehicle. The main research targets of unmanned vehicle in this paper are guidance methods of machine vision, ZigBee-based wireless control and CAN bus-based cable control.Car model used in this paper is G768 from the National University Student Intelli-gent Car Competition. After designing of the right size of the control board, getting a lot reasonable vehicle centre-of-gravity position by a series of the mechanical structural adjustment.Based on deep study of PAL standard CCD camera's signal constitute and working principle, Freescale's 16-bit single-chip computer MC9S12XEP100 carries on video data acquisition and real-time displays the result on LCD in order to make it easier to monitor the result of the video acquisition and vision guide debug; After completing a series of algorithms on the video data then use it to control the vehicle speed and steering: to realize vehicle's acceleration, deceleration and reversing. After the completion of road recognition, different strategy of steering and speed control will be executed according to different road.Based on deep study of the ZigBee protocol, according to custom communication protocol, ZigBee controller sends commands to ZigBee receiver, then ZigBee receiver forwards data to the single-chip MC9S12XEP100, then calling the corresponding steering and speed control function in order to control running state of car model. At the same time, the main controller MC9S12XEP100 of the unmanned vehicles sends the current state to ZigBee receiver, ZigBee receiver forwards it to ZigBee controller and the computer. By Way of the wireless control, it completes monitoring the state of vehiclesand road control. Based on deep study of the CAN protocol, according to custom communication pro-tocol, CAN controller sends commands to CAN receiver, internal MSCAN controller of MC9S12XEP100 triggers interrupt request, then calling the corresponding steering and speed control function in order to control running state of car model. At the same time, MC9S12XEP100 sends the current state to the CAN controller and the computer. By way of the wired remote control, it completes monitoring the state of vehicles and run-ning control.After achieving these three kinds of control mode, analyzing the relative departure at different speed, by drawing graphics, lays a foundation for the next step.