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该智能车控制系统的硬件以MC9S12DG128单片机为核心,包括路径检测模块、车速检测模块、舵机转向模块、直流电机驱动模块、电源模块和通讯调试模块等部分。路径检测采用CMOS摄像头,车速检测采用安装于后轴上的旋转编码器,从而分别构成了转向和车速两个闭环控制系统。转向控制采用不完全微分PD控制器,速度控制采用PID控制器。两个闭环控制系统的设定值均由主控程序给出,形成了具有分层结构的智能车控制系统。
The hardware of the intelligent vehicle control system is based on the MC9S12DG128 singlechip, including the path detection module, vehicle speed detection module, steering gear module, DC motor drive module, power module and communication debugging module. The path detection uses a CMOS camera, and the vehicle speed detection uses a rotary encoder mounted on a rear axle to form two closed-loop control systems for steering and vehicle speed, respectively. Steering control using incomplete differential PD controller, speed control using PID controller. Both closed-loop control system settings are given by the master control program to form a hierarchical structure of the intelligent car control system.