基于视觉的自动寻迹智能车系统设计与实现

以全国大学生智能汽车比赛为背景,设计一种在专门赛道上自动行驶的智能车控制系统,能够在遵守大赛的一系列规则下,最短时间内跑完全程并不脱离跑道。本系统以飞思卡尔公司的16位单片机MC9S12XS128为控制核心,提出一种基于模糊预瞄跟踪控制算法。以模拟人类驾车的方式,根据不同赛道情况,通过模糊预瞄器在线调节预瞄距离,并通过判断预瞄点位置来调节速度和转向角度。该方法使智能车系统达到要求的稳定性及快速性。实际运行结果表明,该系统具有较好的稳定性和鲁棒性.

Design and Realization of Automatically Tracing Intelligent Vehicle Based on Singlehanded Vision

With the influance of Intelligeat Automible Competition for College Students,this paper aims at designing a control system for intelligent vehicle running automatically on the runway,which can guarantee to finish the whole journey under the game rules in short period of time.This system mainly includes the MC9S12XS128 as central control part and uses preview control.By imitating driving behavior of human,the fuzzy controller adjusts the velocity,the number of preview points and the preview distance online in different road conditions.It enables the intelligent vehicle system to achieve stability and high speed.The experimental results show that the system designed here is excellent at speed,stability and robustness.