飞思卡尔智能车摄像头组技术报告

第七届“飞思卡尔”杯全国大学生智能汽车竞赛技术报告（校徽）学校：*********队伍名称：******参赛队员：******************带队老师：******关于技术报告和研究论文使用授权的说明本人完全了解第七届“飞思卡尔”杯全国大学生智能汽车邀请赛关保留、使用技术报告和研究论文的规定，即：参赛作品著作权归参赛者本人，比赛组委会和飞思卡尔半导体公司可以在相关主页上收录并公开参赛作品的设计方案、技术报告以及参赛模型车的视频、图像资料，并将相关内容编纂收录在组委会出版论文集中。参赛队员签名：带队教师签名：日期：摘要本文以第七届全国大学生智能车竞赛为背景，介绍了智能赛车控制系统的软硬件结构和开发流程。该比赛采用组委会规定的标准车模，以Freescale半导体公司生产的16位单片机MC9S12X128为核心控制器，在CodeWarriorIDE开发环境中进行软件开发，要求赛车在未知道路上完成快速寻线。整个系统涉及车模机械结构调整、传感器电路设计及信号处理、控制算法和策略优化等多个方面。为了提高智能赛车的行驶速度和可靠性，对比了不同方案（如摄像头与光电管检测方案）的优缺点，并结合Labview仿真平台进行了大量底层和上层测试，最终确定了现有的系统结构和各项控制参数。它采用摄像头对赛道进行检测，通过边缘提取获得黑线位置，用PID方式对舵机进行反馈控制。通过速度传感器获取当前速度，采用增量式数字PID控制实现速度闭环，根据预判信息和记忆信息对速度进行合理分配。同时采用拨码开关和LCD显示屏实现人机交互系统。测试结果表明，在该控制系统下，自寻迹机器人小车具有良好的位置跟踪和快速切换速度性能。关键词：智能车，跟踪寻迹，摄像头，传感器，PID，最优曲率ABSTRACTInthebackgroundofthe7ndNationalIntelligentCarContestforCollegeStudents,thisarticleintroducesthesofthardwarestructuresandthedevelopmentflowofthevehiclecontrolsystem.Thiscontestadoptingthestandardmodelcarprescribedbythecontestorganizationcommittee,usingthe16-bitMCUMC9S12X128producedbyFreescaleSemiconductorCompanyasthecorecontroller,developingundertheCodeWarriorIDE,requiresthecartrackthelinefastontheroad.Thewholesystemincludestheaspectsofthemechanismstructureadjustment,thesensorcircuitdesignandsignalprocess,controlalgorithmandstrategyoptimizationetc.Inordertoincreasethespeedandthereliabilityofthecar,theadvantageanddisadvantageofthedifferentschemes(suchasthecameraandphotoelectriccellscheme)arecompared,andagreatnumberofthebottomlayerandtheupperlayertestsarecarriedoncombinedwiththeLabviewsimulationplatform.Atlast,thecurrentsystemstructureandeachcontrolparametersaredetermined.Itcapturestheroadinformationthroughacamera,thenabstractstheblacklinepositionbyedge-detectionmethod.Afterthat,PDfeedbackcontrolisusedonthesteering.Thesystemobtainsthecurrentspeedusingaspeedsensor,sothatitcanrealizethefeedbackcontrolofthespeedbytheincreaseddigitalPIDalgorithmcontrolmethod.Atthesametime,theuseofanLCDdisplaystrailsinformationandkeyboardisusedtoachievetheman-machineinteraction.Accordingtothepre-judgeinformandthememorizedinform,itallocatesthespeedproperly.Thetestresultsshowedthattheself-tracingrobotcarhadgoodpositiontrackingandfastspeedswitchingperformance.Keywords:intelligentvehicle,linetrack,camera,sensor,PID,optimalcurvature目录第一章：引言..................................................................................................................................11.1背景介绍...........................................................................................................................11.2发展现状...........................................................................................................................11.3章节安排...........................................................................................................................2第二章：系统整体框架...................................................................................................................32.1系统框架...........................................................................................................................32.1.1硬件系统................................................................................................................32.2.2软件系统................................................................................................................42.2方案简介...........................................................................................................................4第三章：机械设计..........................................................................................................................63.1汽车行驶的数学模型........................................................................................................63.2整体布局与调整................................................................................................................73.2.1车模分析................................................................................................................73.2.2车模布局思想.......................................................................................................83.3机械结构调整....................................................................................................................93.3.1前后轮定位............................................................................................................93.3.2其他机械模块调整................................................................................................93.3摄像头的安装....................................................................................................................93.4舵机的安装......................................................................................................................103.5编码器的安装..................................................................................................................10第四章：硬件电路设计.................................................................................................................124.1硬件设计方案.........................................................................................