基于MC9S12XS128单片机的智能车控制系统的设计

为实现车辆的智能行驶,以电动小车为研究对象,设计了一种以MC9S12XS128单片机为控制核心,由电源模块、电机驱动模块、图像采集模块、舵机驱动模块等组成的硬件电路,以HQ7620摄像头采集道路信息的智能车控制系统.针对外界环境的干扰,提出了一种二值化与中值滤波相结合的滤波除噪的方法,结合边缘检测法提取有效的黑线,使小车能够沿着赛道精准快速前行.采用经典的PID控制算法对电机速度和舵机转向进行控制,通过MATLAB对PID控制参数进行整定,极大地提高了系统的实时性和稳定性.经试验验证:该系统可使小车达到1.5 m/s的稳定循迹速度,达到了自动控制的目的.

Design of Intelligent Car Control System Based on MC9S12XS128 Single-chip Microcomputer

An intelligent vehicle control system was designed that MC9S12XS128 single-chip microcomputer was used as control core,the hardware circuit was made up by the power module,motor-driven module,image acquisition module,steering gear-driven module,and so on,and the HQ7620 camera was used to acquire the road information.Aiming at the interference of external environment,a method to smooth noise by the combination of binarization and median filtering was put forward,which the edge method was combined to extract the effective black line so that the car could move along the track quickly and accurately.The classic PID control algorithm was used to control the motor speed and servo steering,and the PID control parameter was adjusted through MATLAB,which greatly improved real-time and stability of the system.The experiment confirmed this system made the speed of the car be up to a stability tracking speed at 1.5 m/s,and realized the purpose of automatic control.