Intelligent Vehicle Control System Based On MC9S12DG128

According to technical requirements of the “Freescale” Cup National University Intelligent Car Tournament, we design and make the intelligent car control system.The system is characterized by perfect function, stable operation and high reliability.It is composed of the controller module(MCU), power management module, path recognition module, motor drive module, servo control module, speed detection module and debugging accessorial module.The main control core of the intelligent car system is the MC9S12DG128, which is a 16-bit MCU produced by Freescale company. The system uses CCD sensor to recognition racetrack, and operates the steering machine to turn with line-tracking algorithm, simultaneously calculates the car’s given speed according to the current path characteristics. In order to improve the car movement stability, the system uses the digital PID controller in the motor control module, has overcome the impact on the vehicle speed given by the battery voltage fluctuation, road friction force and other factors. In order to enhance the reliability of system, it has adopted the anti-jam technology both in the software and hardware, including anti-electric magnetic interference techniques, digital filter technology and so on. The hardware part of the intelligent car system was designed through Protel DXP, and the software part was designed and debugged on CodeWarrior software platform.A series of tests carried on the self-made racetrack have successively indicated that this intelligent car can accurately identify the path, has achieved the goal of smooth and fast travel.