基于Kinetis K60的智能车控制系统设计

Control System Design of Smart Car Based on Kinetis K60

针对目前智能车控制中,控制电路复杂以及控制芯片内部资源有限导致系统稳定性差等问题,提出了一种基于飞思卡尔Kinetis K60(简称K60)的智能车控制系统,并设计了系统硬件和软件。采用CMOS高速数字摄像头,简化了硬件电路,提高了系统实时性。最后,应用增量式PID控制算法完成舵机和电机控制,并通过实验调试确定了系统参数。

In view of the poor stability and other problems caused by the complex control circuit and limited internal resource of control chip in the existing smart car control system,a control system for smart car based on Kinetis K60（ K60 for short） is proposed.The hardware and software for the system are designed.The hardware circuit is simplified and the instantaneity of system is improved by using CMOS high speed digital camera.At last,incremental PID control algorithm is applied to control the steering gear and motor,and the system parameter is set by experimental debugging.