Design Of Self-tracing Intelligent Vehicle Controller Based On MC9S12DG128

Intelligent vehicle is the latest science and technology achievements such aselectronic computers and modern automotive product of combining the cause and"understanding". Usually it has to be automatic driving, automatic transmission,and even with the function of automatic identification road. This article from thetracing intelligence on the single chip computer MC9S12DG128car system asthe core, combined with sensors, motor, steering gear, battery and correspondingdriving circuit, it can recognition the path independent， control model carhigh-speed stability operation on the runway.The hardware design of intelligent vehicle, we study both mechanicalstructure and the hardware circuit, mechanical structure, installation position ofsteering gear, camera position, the center of the site researched and modification;Hardware circuit primarily on the system’s power module; Image acquisitionmodule, motor driver module was studied, and we design the single chipmicrocomputer smallest system, motor drive circuit, steering gear circuit, thepower supply circuit.Intelligent car track recognition, we through the dynamic threshold valuemethod to obtain the image extraction black line sure track information, becauseintelligent car in running at a high speed, meet more urgent corners, easy to gowrong, or present a frame image not collected to the effective when black line,often appear corner control quantity and the runway lag, in view of this, thispaper proposes a new prediction——algorithm-center value method is proposedto ensure that the intelligent vehicles to the operation of the high-speed stability.Intelligent controller is the whole car since tracing system of intelligent car"the nerve center", to the entire system plays an important role, we through thesingle chip microcomputer PWM signal output of steering gear control, and then control intelligence to the car, the fuzzy control algorithm of intelligent controlthe speed of the car, in intelligent car in advance process, according to thedifferent traffic information, give different speed a given value, and then,adjustable speed.The intelligent car system is the basis of the previous and makecorresponding improvement, to modify the mechanical structure; Improve theintelligent car response speed and in the original algorithm is put forward a newprediction algorithm-center value algorithm, not only increase the intelligence ofthe car track recognition ability to ensure that the smart car high-speed operation,and the stability of the corner...