Based On The Wireless Communication Network Of Smart Car Coordination Control System Study

The multi-intelligent vehicles coordinate control system can be seen as an application of multi-robot coordination in the transport sector. Intelligent vehicles of the multi-intelligent vehicles coordinate control system use sensor for autonomous navigation, use the wireless network exchange information, and then realize active coordination, so as to ensure the safety and efficiency of the system. Due to the use of actual vehicles, greatly increases the cost of experiments. This article uses model cars for building the multi-intelligent vehicles coordination and control system based on wireless communication network.To meet the multi-intelligent vehicles coordination system communicate real-time, reliability, and distributed collaboration requirements, this paper use the ZigBee software for designing wireless communication network for multi-intelligent vehicles coordination and control of the car, use car-car communication mode to exchange information between cars. ZigBee networks on the basis of the reference open interconnected system of the OSI seven layer model, according to the actual need to simplify the physical (PHY) layer and media access control (MAC) layer and logical link layer, network layer and application layer, five-story structure, to meet the multi-intelligent vehicles collaboration control system communication reliability, real-time requirements.Combined with the structure, functions and features of the real intelligent vehicle, design the intelligent car able to mimic the actual vehicle. The intelligent car selects microprocessor based on ARM Cortex-M3core as the control chip. The design of the intelligent car’s hardware is modular:wireless communication module, the magnetic field detection sensor, motor drive module and so on. The intelligent car use magnetic field detection navigation, use high precision rotary encoder to measure speed.Embedded μC/OS-Ⅱ real-time operating system has been transplanted in intelligent vehicles. The paper has designed hardware low-level drivers and coordination control applications of multi-intelligent vehicles, using positional PD directional control algorithm and incremental PI speed control algorithm to realize the direction control and speed control of single intelligent vehicle. Additionally, the paper has designed initialization, detection, control, serial port to receive, serial port to send, human-computer interaction and other software modules for coordination control of multi-intelligent vehicles.According to coordination control requirements of multi-intelligent vehicles, distributed autonomous decision-making process has been designed to achieve operation mode of free running, the run queue to follow and junctions collaboration. Control algorithm of team to follow based on linear optimal quadratic has been designed to achieve start and stop, constant speed, acceleration and deceleration speed tasks of formation control of multi-intelligent vehicles. Intersection cooperation algorithm based on communication consultation has been designed to realize crossroads coordination task of multi-intelligent vehicles.The experimental results clearly demonstrate that the designation of ZigBee wireless communication network and multi-intelligent vehicles could satisfy the requirements of coordination control system of multi-intelligent vehicles and realize formation control and crossroads coordination control of multi-intelligent vehicles.