基于经典PID算法的智能车系统研究

如何根据各种传感器输入的信息快速识别出前方道路的情况,是智能车系统控制领域研究的难点。本文用MC9SDG128B作为核心处理器,完成智能车电源、驱动、数据采集处理和测速等模块的设计与实现,在此基础上提出了基于经典PID路况识别的控制算法。通过大量的实践和调试总结出PID算法的各项系数参考表,使我们的智能车系统在参赛时最终平均车速达到1.75m/s,入弯道时最大速度达到2m/s,基本上满足全程高速运行的要求。

Study systems of smart car based on classical PID control algorithm

In the smart car control systems,a key problem is how to recognize the road status by the information coming from sensors.In this paper,we designed a smart car based on a core processor of MC9SDG128B,including the power module,drive module,data processing and speed detecting module.In order to make the smart car recognize the road status well,we have given the classical PID control algorithm and its significant coefficients on many experiments.Finally,in the contest the average speed of our smart car has re...