基于CMOS摄像头的智能车控制系统设计及实现

Intelligent Vehicle Control System Design and Realization Based on CMOS Camera

针对智能车因单条引导线信息量少而引起的误识别问题,设计一种能自动识别和跟踪双边引导线的智能车系统。智能车以Freescale公司MC9S12XSl28作为核心控制器,利用COMS(Complementary Metal OxideSemiconductor)摄像头OV7620作为路径信息采集装置,对采集图像进行二值化处理、去噪操作和边缘检测后提取路径信息、进而准确地判别跑道的形状,为舵机和电机提供控制依据,以使小车平稳快速地行驶。同时,提出将行驶状态与赛道信息综合考虑的措施,并通过PID(Proportional Integral Differential)控制策略以及实验测试,实现了对各种典型跑道的优化处理,使高速行进中的智能车具有良好的转向调节能力和加减速响应能力。智能车可以在以白色为底面颜色,两边有黑色引导线的跑道上运行,克服了因单条引导线信息量少而引起的误识别问题。

In order to overcome the risk of misrecoguition caused by a single guide line, an intelligent vehicle with the ability to automatically recognize and track path is designed. Freescale MC9S12XS128 and COMS （Complementary Metal Oxide Semiconductor） camera are chosen respectively as core controller and information collection device. Path information is indentified through the process of binary image, image denoising and edge detection, and the runway shape is identified, which are served as the control input of steering gear and motor to achieve a stable and fast running process of intelligent vehicle. Combining driving state and the road information, and using the PID （ Proportional Integral Differential） control strategies, the optimization of various typical track processing is realized, the ability of steering adjustment and a quick response of acceleration signal are guaranteed. It can run on a runway with white ground and black line on both sides, overcoming the risk of misrecognition caused by a single guide line.