基于随动式信息采集系统的智能车研究

Research on intelligent vehicles based on servo information acquisition system

为改善固定前瞻式信息采集系统模型车赛道检测范围有限、检测精度较低的缺点,提高智能模型车的行驶速度和稳定性,提出了基于随动式激光传感器采集系统的智能模型车设计及控制算法,通过将模型车的信息采集前瞻板安装在可以旋转的平台上,采用比例微分算法控制旋转平台,最终根据前瞻板的转动角度可以精确计算出赛道位置。测试结果表明,随动激光前瞻与固定前瞻相比增加了横向检测范围,提高了检测精度,减小了高速行驶状态下丢失赛道信息的概率,使转向控制更为平滑、精确。使用随动式激光前瞻系统使模型车平均行驶速度提高了0.6m/s。

To deal with the problem of the low detection accuracy and the small detection range ofintelligent vehicles with the fixed detection system, a servo detection system with laser sensors and a new control strategy are proposed. In the design of the system, the detection system is fixed on a servo platform, and finally the track information can be calculated by the angle between the platform and the body. Moreover, the PD strategy is adopted to control the servo platform. Our result shows that the detection range is extended, the detection accuracy is improved, and the possibility of losing the track information is reduced in the high speed mode. Besides, the average speed is increase by 0.6m/s with continuous and smooth steering.