Research And Implementation Of The Intelligent Tracing Car System Based On Image Sensor

According to the research of the intelligent tracking car system involved in many disciplines, such as vehicle engineering, computer science, automatic control, artificial intelligence, Sensor and image processing and so on. Visual information is the most important information in the traffic environment, the image sensor-based machine vision technology is an important part of an integral intelligent vehicle research.The intelligent vehicle system which is studied in this paper, using a16bit single chip MC9S12XS128MAL of Freescale Semiconductor Inc as micro controller, intelligent vehicle system controller in S3010type steering gear, image sensor acquisition path information to install in the rear of the vehicle as a digital camera OV7620, the H bridge circuit that with two pieces of BTS7960as the motor drive, hardware design circuit on the basis of this guarantee of smart car system has stable hardware support. In the aspect of processing the track images, the paper using the average filtering, wavelet packet transform, take maximum variance threshold binarization of image processing techniques, such as the measures, to some extent, it can solve the system hardware circuit’s interference for the image acquisition, making the sharpness of the processed image is increased sharply, these measures can guarantee the system of black guide lines for extraction and recognition reliable and efficient.In the control of the intelligent vehicle, the design process combined with the characteristics of steering gear and dc motor, adopted different control strategies respectively. First of all, for S3010steering gear’s control, this paper analyzes the intelligent car may encounter different traffic information, classifying all kinds of road conditions, according to the different traffic types of steering gear adopt different control strategies, Design using a PD control algorithm based on piecewise, to further improve the S3010steering response sensitivity. Second, according to the control of dc motor, the speed deceleration control basic strategy is to bend and straight accelerate, combining integral response characteristics of dc motor, after repeated tests, adopt the incremental PID algorithm to control dc motor speed.After a large number of experiments, the design of the intelligent vehicle tracking system that based on image sensor realizes the function of automatic identification and navigation, the system has the characteristics of simple and efficient, strong robustness, good real-time, which can quickly and accurately in identification and tracking of the path information.