The Design Of Intelligent Vehicle System Based On Path Recognition

The research on intelligent vehicle involves many fields, such as computer measurement and control, computers vision, sensor data fusion and vehicle engineering, etc. It mainly includes safety monitoring, intelligent anticollision, aided driving, auto driving, behavior planning decision-making, system structure, and synthetical integration, etc. The sensor and control algorithm are major factors influencing the development of intelligent vehicle. This paper studies an intelligent vehicle based on chip of Freescale MC9S12XSl28, that incudes automatic recognition and finished special function. It is simple and applied, lower requirement to hardware and has capability of adapting existing structured road environment.Firstly, this thesis in detail surveys the Chinese and English literatures summarizes the research status quo and developing direction. Then, the design and improvement of the mechanical structure of intelligent vehicle is discussed.Caster angle,toe-angle and the ground are rectified and optimized.And then set up me hardware system of vision-guided, controller system of intelligent vehicle.Secondly, the image processing is a key technique among the research of intelligent vehicle. It realizes the autonomous intelligent vision guiding.Finally, According to path information, the system uses different methods to control the speed and direction of intelligent vehicle. It also uses PID controller (Bang-Bang controller) to control direct current motor. PID controller technology is well developed with simple structure and very high flexibility. The controller can adjust parameters on-line based on experiments and experience instead of an accurate digital model. The direction controlling module of the system adopts a fuzzy inference engine. The system uses MC9S12XSl28 instruction to predigest and shorten fuzzy operation, to be propitious to realize fuzzy inference.