The Design And Realize Of The Self-tracing Electric Vehicle Control System

Self-tracing electric vehicle is a kind of mobile robot, which is able to adapt various environments, humidity, space, magnetic radiation and gravity. Consequently the vehicle take the place of human to implement many tasks in the environment where human cannot set foot, which is applicable in many fields in the national defence and civilian. This project is to realize a control system of self-tracing electric vehicle, including sensor, circuit design, program design and control algorithm. The target of this design is to realize a self-tracing vehicle which can autonomously trace the road line to move on. The content of this design includes hardware, software and control algorithm.First of all, the hardware design is introduced. The platform of the vehicle hardware is16bit chip of Freescale HCS12XS128, which has good anti-jamming ability, high frequency and nice real-time ability. Hardware module includes power module, sensor module, incremental speed detecting module, motor driving module, keyboard module, WIFI module and MCU module, which can respectively realize input and output functions. All these modules consist of the hardware of the vehicle.Second, the software platform is Code Warrior for Freescale. The I/O and initialization are realized by initialization program, laser scanning program, keyboard program and display program. Take an example of the self-detection program which is used to avoid hardware failure. The paper use digital PID speed control and one-time curve on corners method to realize intelligent self-tracing algorithm. The road information is acquired for navigation by laser sensor in the front of the vehicle. The laser sensor recognizes the black line, the speed sensor detects the speed, the micro controller acquires current state to control corresponding circuit and then the vehicle’s speed and angle. In this way the self-tracing driving function is realized in the experimental environment. The hardware and software of this project are all the modular it has. The circuit is simple in structure and the function can be added or deleted according to requirement. In the experiment, the vehicle can autonomously adapt straight road, corners, crosses and dotted line. The speed is controlled at1.7m/s on average. The target of the self-tracing vehicle is met.