基于多传感器的智能车系统设计

Design of an intelligent vehicle system based on multi-sensor technologies

主要介绍电磁、光电、CMOS摄像头和测速传感器在智能车控制系统中的应用。以MC9S12XS128单片机作为系统的控制核心,设计了能够自主循迹的智能车,着重叙述信号检测模块。信号检测包括路径和反馈速度检测,分别使用了电磁、光电、CMOS摄像头和编码器等传感器,并运用PID算法计算PWM对电机和舵机的控制。实际测试表明,智能车系统的传感器检测性能较强。

Several kinds of sensors in the control systems of intelligent vehicles are introduced mainly in this paper, including electromagnetic sensors, photoelectrical sensors, CMOS cameras and speed sensors. An intelligent vehicle which can follow the tracks independently is designed using MC9S12XS128 as system core. The focus is put on the signal detection modules, including the path and the feedback speed detection modules in which the electromagnetic sensors, photoelectrical sensors, CMOS cameras, speed sensors and so on are adopted respectively and PID algorithm is used to realize the PWM control of the motors and the steering gears. Experimental results show that the detection performances are good in the intelligent vehicle system.