基于单片机的智能车自动导航系统算法研究

Research on the Algorithms of Automatic Navigation System of Intelligent Auto Based on Single Chip Microcomputer

智能车采用MC9S12XS128单片机作为系统核心芯片,HLSD-2010B型激光传感器作为路面信息采集器,系统软件是以CodeWarrior为开发环境,采用C语言为工具设计.侧重对智能车自动导航系统的算法进行研究,主要包含道路信号的采集算法、舵机角度的控制算法、车速控制算法.基于所研究算法的智能车自动导航系统可以使智能车按照任意给定的黑色引导线平稳而快速地行驶.测试结果表明,系统能很好地满足智能车对路径的自动识别,而且还具有很好的抗干扰能力,舵机转动时间快,电机控制稳定,具有良好的动态性能.

Intelligent auto has the single chip microcomputer MC9S12XS128B as its core system chip and the laser sensor HLSD-2010B as its road information collector. The system is de- signed with CodeWarrior as its development environment and C language as its tool. This study focuses on the algorithms of automatic navigation system of intelligent auto, which include road signal collection algorithm, steering angle control algorithm and the speed control algorithm. The suggested approach will render a smooth and fast run of intelligent auto along any given black guide line. Testing result shows that the new system can ensure a satisfying road identifi- cation and anti - intervention capacity. The fast speed adjustment of the steering engine and the stable motor control shows an excellent dynamic property.