基于CCD传感器的智能车辆控制系统设计  

Design of Intelligent Vehicle Control System Based on CCD Sensor

作　　者：付永领[1] 付剑[1] 张晔[1] 陈曦[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《仪表技术与传感器》2010年第2期82-85,共4页Instrument Technique and Sensor

摘　　要：针对智能车辆控制系统的高速度、高精度的特点,结合CCD传感器获取的路径信息,设计了一种智能控制方案。采用变速积分PID算法快速跟踪并控制智能车辆的速度,实现柔性加减速;采用参数自整定模糊控制算法精确的控制舵机的转向,实现柔性转弯。实验结果表明:该控制系统集高鲁棒性、灵活性和可扩展性于一体,提升了自主运行的快速性和稳定性,并有效地解决了图像采集技术的误差和干扰。Aimed at high speed and precision of intelligent vehicle control system, acquired useful information provided by CCD sensor, a kind of intelligent control method was proposed. It adopted shift-integral PID arithmetic to track and control the speed of intelligent vehicle which implemented flexible acceleration, and adopted parameter self-tuning fuzzy control arithmetic to precisely control the steering of actuator which implemented flexible turning. Experiment results demonstrate this control system satisfies high robustness, flexibility and scalability demands, improved the rapidity and stability of autonomous operation, and effectively solved the problem of the error and interference in the process of signal acquisition.

关 键 词：CCD传感器 车辆控制系统 模糊控制 变速积分PID 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]