| The national smart car competition is one of the nine competitions in electric information field which funded by the Education Ministry, and it is introduced by Automation Specialty Teaching Instruction Committee of Education Ministry in 2006. This competition is aimed at enhancing graduate and undergraduate students' innovative spirit, team spirit and ability of engineering practice who related to automation specialty.According to the demands of competition, the hardware designing and making are accomplished in this project for power, motor control, steering gear control, speed detecting and road detecting. The hardware and control algorithm for smart car navigation is also researched. There are two different methods for smart car navigation: infrared and video. It is focused on video navigation in thesis.The road is denoted by a black line wide of 2.5cm in competition rules. The infrared sensor RPR220 which launch and receive all-in-one is selected for. The road is tracked by car through the different color reflection intensity of black and white. Based on infrared navigation, it is completed that hardware design, the algorithm for road detects and car control in thesis.The chip SAA7113, a video decoder, is used in video navigation. The analog video signals collection from camera is converted into digital through the SAA7113, and the valid row signals and parity field signals are extracted. The algorithms are designed for image thresholding, image filter and road detecting. It is given that optimal route selection, motor speed and steering gear angle control by researching navigation algorithms, and the shorter path and speed control policy are fulfilled.Experimental results have showed that the smart car navigation system designed in the project can judge road location accurately. The algorithms for navigation and pose of car are met the need of race. With two different navigation systems, smart car can drive along the track quickly and accurately. |
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