Research On The Pilotless Automobile System

This paper mainly studies the pilotless automobile self-navigation under the regulated environment. That is to say we set automobile's running environment, such as we set the guiding-line, the barrier or we put the automobile in a good condition. According to the environment data, which various sensors obtain and unify the automobile's model, the pilotless automobile can realize self-navigation along the guiding-line.The system adopts the embedded single-chip computer MC9S12DG128B as the core control unit. It combines the infrared photoelectric sensor and the linear image sensor CCD in the road recognition. So the pilotless automobile can accurately obtain the road information. Meanwhile the system can forecast the road information with the Linear CCD. Using the multi-sensors fusion technology and the fuzzy control algorithm, the system can realize the anti-collision function. It employs the PWM controlling the DC-Motor and the Servo Motor. It uses the PID control algorithm to regulate the DC-Motor speed and angle of the Servo Motor how much to steer, achieving high, stable speed on the road. Besides, the automobile also adopts the memory controlling algorithm increasing the speed greatly.According to the system technical requirements, this paper mainly studies the road recognition, the anti-collision technology, the memory controlling algorithm, the intelligent control decision technology and so on. In addition, it adjusts the mechanism to meet the automobile's stable need. The system is a concentration of visual, tactile, real-time control, fuzzy control technology, decision-making control technology. It is just an integrated intelligent robot. The automobile can automatically find the optimal path possible, accurately measures where the obstacle is and safely travels to the designated location. The system achieves real-time monitoring of the automobile with the wireless communication module. It brings convenience for debugging the system's parameters such as PID and so on. It also provides a lot of help on the path memory algorithm research.After many experiments, the pilotless automobile can run smoothly under the road line. It can work well under different illumination conditions with good anti-interference capability. Importing the visual guidance and anti-collision technology, the system achieves auto-guiding, high and stable speed, good prospective and good anti-interference capability.