Design And Implementation Of Control System For Intelligent Micro-Vehicle

With the development of embedded system, intelligent sensors and automaticcontrol technologies, the intelligent vehicles are widely applied in many fields suchas the Intelligent Transportation System and the Internet of Things.The actual traffic environment makes it difficult to provide test sites and scenesfor the real car intelligent driving technology research test, therefore,it need toestablish a microfilm scale three-dimensional traffic environment. it can simulate realenvironment and is repeatable, verifiable, even can be evaluated for intelligent drivingtechnology research. On this platform, intelligent micro-vehicle will be able tosimulate the driving behavior of a real car in the environment. It can study and verifythe the autonomous driving simulation method based on visual and auditoryinformation and make the intelligent driving and multi-car interaction become possible.The control system of the intelligent micro-vehicle which is developed by KinetisK60microcontrollers with ARM Cortex-M4kernel is introduced in this thesis. Thevehicle can take advantage of imaging technology, gyroscopes and other sensors toperceive their own status and environmental information, and through the CAN-busconnect with other monitoring or communication modules to further constitute avehicle network system suitable for Intelligent Transportation System and the Internetof Things.The general system design, the hardware design, includes the detailed circuits ofthe main control module, the drive module, the information collection, the displaymodule and communication module, the design of a four-layer PCB are described inthis thesis.This thesis introduces the system software architecture design and the underlyingfunction and application layer functions. The basic principle of the miniatureintelligent car image acquisition and the design of information extraction and roadtravel path planning algorithm are described. The design can control the direction andspeed of car by PID, also make it be able to achieve in a laboratory environment on theroad lane line remains to be traveling in the continuous curve of the lane, and therecognition of the obstacle and the obstacle avoidance. Image detection algorithm hasbeen given, which is used for system debugging in the PC. Tested sub-module of the intelligent vehicle, and the results verify the correctnessof the system design.