| 摘 要: 在全国大学生“飞思卡尔”杯智能汽车竞赛的背景下，设计出一种能够自动识别路径、跟踪赛道双边引导 线的智能小车软件控制系统。智能小车以飞思卡尔(Freescale)公司的MC9S12XS128为检测和控制核心，根据不同的环 境状况动态确定黑白二值化阈值之后，对摄像头采集到的图像进行处理，从而准确判断不同类型的赛道，进一步控制舵 机和电机。使用舵机转向闭环控制算法和电机速度闭环控制算法，结合经典的PID控制算法，实现直道加速、弯道减速 的优化。智能小车最终可以在黑色双边引导线的白色背景赛道上自动识别路径行驶。 |
| 关键词: 智能小车；MC9S12XS128；图像处理；闭环控制；PID控制 |
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中图分类号: TP311
文献标识码: A
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| Design of Smart Car Software System Based on Closed-Loop Control Algorithm and PID Optimization Algorithm |
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LI Biyue
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( Dept. of Electronic Engineering, College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China)
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| Abstract: Under the background of "Freescale" cup national college students smart car competition,design a control system software.Under this system,the smart car can automatically identify paths and trace the track of bilateral guide line.Tracking smart car system is designed based on the control chip of system of Freescale MC9S12XS128 MCU.After determine the black and white binarization threshold according to the different environmental conditions,run a series of processing on the images captured by the camera.Then,make an accurate judgment in the different shapes of the circuit to further control of steering gear and motor.Using steering gear steering closed-loop control algorithm and motor speed closedloop control algorithm,combined with the classic PID control algorithm to achieve optimization of car was straight-line acceleration,deceleration in bend.Smart car could eventually automatically identify route which has the bilateral guide line of the white on black background and run steadily |
| Keywords: smart car;MC9S12XS128;image processing;closed-loop control;PID control |
