The Research On Control System Of Intelligent Vehicle Based On Single-Chip Of The MC9S12XS128

Intelligent vehicle control system design involves the automatic control, artificial intelligence, information fusion, sensor, image processing, computer science and the content of other subjects. Intelligent vehicle control system is one of the most active research areas.The study of this thesis is such an intelligent vehicle system, which is based on the processor of 16-bit microcontroller produced by Freescale Semiconductor Inc, which regards the 7620-camera installed on the front of the vehicle as road image sensor ,which looks on H-Bridge as motor driver and which takes S3010-Steering engine for the controller of the direction.In order to solve the image interference problems caused by the constraints of camera hardware, the subject deals with the camera images obtained by the way of smoothing, median filter processing and other image process on the aspect of obtaining road information. After processing, image intelligibility has been improved effectively so that it provides the more accurate control of parameters for the follow-up controls.The subject adopts different control strategies according to different control objects about intelligent vehicle control.We adopt the way of classified strategies about the control of steering engine, namely in this research, we make a detailed analysis of road information which intelligent vehicle probably encountered and then we sort different circumstances of road, take the measures of classified control to Steering engine and improve the response speed of steering engine effectively.The response of drive motor has integral characteristic, which corresponds with the PI control, so we adopt the PI control when it is necessary meanwhile in order to overcome the poor adaptability of PI control and the shortcomings of control parameters' none self-tuning. We have introduced a fuzzy PI Control in practice and make the control of drive motor more precise and adaptable.I have made some achievements in fields of intelligent vehicle systems on the research, but there are still many imperfections so we need further study .