| Intelligent vehicle is also called mobile wheeled robot, it is the perfect combination of modern science and technology and automobile industry. It can independently complete automated driving between starting point and the target, is a collection of traffic environmental awareness, information processing, such as speed and steering control function in the integration of multivariate composite system, it focus on the modern computer, information fusion, sensor, communication and automatic control technology, automatic identification of a road barrier, automatic control, automatic keep a safe distance, speed and cruise control, etc. Its main characteristic is automatically controlling and driving car body under complex road conditions around obstacles and along a predetermined path. Smart car control system is an extremely complex control system, its research involving multiple disciplines, based on the electromagnetic navigation of intelligent vehicle as the research object, using Freescale semiconductor company produces the16-bit single chip computer MC9S12XS128as the processor, to install in the inductance coil in front of the car body as electromagnetic sensors, mainly to the path of magnetic signal detection and intelligent vehicle control system has carried on the deeper research.The main work of this thesis is as follows:1. An electromagnetic navigation intelligent vehicle signal detection system based on Bluetooth transmission is designed. Using inductance coil as sensors, the features of the inductance coil in the magnetic field is analyzed through Matlab. Sensors’ arrangement scheme is optimized. System Lower machine with MC9S12XS128SCM as the core of signal acquisition controller, using Bluetooth module as wireless sending and receiving devices, using Lab VIEW2012graphical programming integrated development environment to write upper machine program, and finally the wireless communication of the SCM and PC is realized.2. Research on intelligent vehicle multi variable control system based on PID neural network. The steering control and speed control of interrelated connected to each other, and influence each other, and has time-varying, for smart car when driving motor faster dynamic response, the steering gear of the characteristics of dynamic response time is shorter, the PID neural network (PIDNN) controller and its algorithm are put forward to improve the classic PID control. PIDNN control system does not rely on the mathematical model of intelligent car motor and steering gear, can according to the control effect of online training and learning, and adjust the network connection weights, eventually make the system objective function to minimize to realize accurate control of the smart car.The experimental results show that the system can real-time show the intelligent vehicle and the relative position of navigation line, and can be convenient to wireless program download, navigation conditions given judgment and speed. Matlab simulation tests show that the PIDNN control system fast response, small overshoot, no steady-state error, compared with the traditional PID control algorithm, greatly improves the performance of the intelligent vehicle control system. |
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