System Design For Smart Car Based On Vision Process

Smart car technology is a High-tech synthesis which combines with computer?modern sense?navigation?communication?artificial intelligence?automation technology. However, visual tracking is the main stream development of smart car. The thesis develops a smart car system based on vision process using a chip called MC9S12XS128 made by FREESCALE Corporation. The system posses the characteristic of recognizing path automatically and high advanced intelligence.First of all, the thesis puts forward with total design scheme and all the parts of modules aimed at the feature of smart car. And the thesis sets up hardware system centre on the core controller of MC9S12XS128.DC machine drive module is brought in and displaces the traditional bridge drive circuit after designing power manage module?speed feedback module and camera interface module.And it solves the problem about the serious heat when the system is broken.Secondly, image data collected by Single Chip Computer is processed with smoothing filtering and binaryzation using dynamic threshold value combined the feature of image date on the foundation of hardware. Then the image date contained little noise can be obtained. The road condition angle and curvature information can be gained after extracting information of path edge based on feature of image. This method provides basis for the system running. Orientation?speeding up and slowing down are improved by means of appropriate control method which used to control system running. The thesis adopts the Fuzz-PID strategy finally through analyzing the time varying feature of smart car model and simulinking the smart car model by MATLAB.At the same time, considering the speed control and veer control in system having the feature of coupling, the thesis adopts two Fuzz controllers to be in charge of speed and veer respectively. It can make the smart car run in a high speed and steady performance by means of adjusting parameters.What is more, the thesis writes upper computer based on VB language after designing the lower computer of smart car system. It makes Human-Computer interface come true. And it can judge whether the image process algorithm and the control algorithm are reasonable through the real time image of upper computer and running curve.At last, the smart car based on vision can achieve the function along drive path in a high and steady speed and the real time and control precision reach a better effect by means of the experimental measurement.