基于STM32智能车设计与实现

浙江万里学院本科毕业设计(论文)(2013届)论文题目基于STM32智能车的设计与实现(英文)DesignandImplementationofSmartCarBasedonSTM32所在学院电子信息学院专业班级电子093班学生姓名罗志强学号2009017254指导教师柯博林职称副教授完成日期2013年05月06日基于STM32智能车的设计与实现罗志强（浙江万里学院电信学院电子093班）2013年5月摘要智能车是一种集环境感知、规划决策、多等级辅助驾驶等功能于一体的综合系统，它集中运用了微处理器、现代传感器、信息融合、通讯、人工智能及自动控制等技术，是典型的高新技术综合体。本论文提出了一种基于STM32嵌入式微处理器的智能车的设计。系统分为两部分：车载主机系统和手持主机系统。车载主机系统主要以履带式车轮为其机械平台，结合主控电路、超声波避障、无线通信、语音播报、GPS数据采集、碰撞保护功能，完成车载主体功能。手持主机系统主要包括无线通信、数据显示模块、体感操控，它主要负责控制智能车的运行姿态，实时车载数据的采集。整个方案的控制器核心为意法半导体公司的STM32F103VCT6处理器，利用其高速的数据处理能力和丰富的集成外设接口资源，充分发挥智能车的性能，也有利于智能车的程序设计和功能扩展。论文首先介绍了智能车领域的国内外研究现状，然后介绍智能车控制系统总体设计框架和整个开发流程，再是介绍了智能车系统硬件电路设计和软件设计流程和思想，最后介绍智能车系统的制作与调试以及对本次毕业设计总结。关键词：STM32F103;GPS定位;智能控制;uCOS-ii实时操作系统;AbstractThesmartcarisasetofsituationalawareness,planninganddecision-making,multi-leveldriverassistancefunctionsinanintegratedsystem，Itisatypicalhigh-techcomplexoffocusingontheuseofamicroprocessor,modernsensors,informationfusion,communications,artificialintelligenceandautomaticcontroltechnology.ThispaperpresentsadesignofsmartcarbasedonembeddedmicroprocessorofSTM32.Theentiresystemisdividedintotwoparts:CarhostsystemandHandheldhostsystem.ThecarhostsystemismajortocrawlerwheelsforitsmechanicalplatformtoCompletemainfunctionofVehiclemoduleCombinewithThemaincontrolcircuitmoduleultrasonicobstacleavoidance,voicebroadcast,GPSdatacollection.Handheldhostsystemmainlyincludesdataofreceivermodule,dataofshowmodule,controlofintelligentvehiclemoduleandadditionalentertainmentaudioandvideomodule.Handheldhostsystemismainlyresponsibleforrunningposturecontrolthesmartcar,real-timedataacquisitionofvehicleandhandheldentertainmentofaudioandvideo.ThemaincontrollercoreisSTMicroelectronics’processorofSTM32,Itshigh-speeddataprocessingcapabilitiesandawealthofintegratedperipheralsinterfaceresources,givefullplaytotheperformanceofthesmartcarsmartcar,butalsoconduciveprogrammingandextensions.Thepaperintroducesthefieldofsmartcar’sstatusofresearchandthecontrolsystemdesignframeworkandtheentiredevelopmentprocessofsmartcar,Thenitintroduceshardwaredesignofthesmartcar’ssystemanddesignprocessesandideasofsoftware.Finally,theproductionofthesmartcarsystemanddebugging,aswellastheSummaryofgraduationDesign.KeyWords：STM32F103；GPSpositioning；IntelligentControl；Real-timeoperatingsystem目录1绪论............................................................................................................................11.1课题国内外研究现状..........................................................................................11.1.1智能车系统国内研究现状...........................................................................11.1.2智能车系统国外研究现状...........................................................................21.3本文研究内容......................................................................................................31.3.1内容分析.......................................................................................................31.3.2开发流程.......................................................................................................32系统总体设计............................................................................................................52.1系统对象描述......................................................................................................52.2总体方案设计......................................................................................................52.3车载主机硬件设计..............................................................................................72.3.1车载主机功能需求描述...............................................................................72.3.2车载主机硬件设计方案...............................................................................72.3.3手持主机功能需求描述...............................................................................82.3.4手持主机硬件设计方案...............................................................................82.4系统软件设计......................................................................................................82.4.1软件设计思想.............................................................................................82.4.2软件设计流程.............................................................................................92.5系统方案可行性分析..........................................................................................93主机硬件设计与实现..............................................................................................103.1微处理器系统....................................................................................................103.1.1最小系统电路.............................................................................................103.2电源系统设计....................................................................................................123.3NRF24L01无线模块设计与实现.....................................................................133.3.1NRF24L01无线模块电路...........................................................................133.3.2NRF24L01无线模块应用电路...................................................................143.4GPS定位模块设计与实现....................