基于视觉导航的智能小车调速控制器设计  

Design of Speed Controller of Small Intelligent Vehicle Based on Visual Navigation

作　　者：黄伟[1,2] 吴青[1,2,3] 马育林[1,2] 初秀民[1,2] 

机构地区：[1]武汉理工大学智能运输系统研究中心,武汉430063 [2]水路公路交通安全控制与装备教育部工程研究中心,武汉430063 [3]武汉理工大学物流工程学院,武汉430063

出　　处：《武汉理工大学学报》2010年第6期103-106,135,共5页Journal of Wuhan University of Technology

基　　金：国家自然科学基金(60874081)

摘　　要：智能小车控制是构建智能车路系统中汽车列队行驶模拟系统的基础。针对智能小车自主寻迹问题,通过对寻迹路径的偏差及偏差的导数进行模态划分,提出对应的模糊控制规则,进而以DSP TMS320F2812为主控芯片控制智能小车电机的转速,实现智能小车纵向自主控制。模型车运行实验表明智能小车速度调节算法可行。The control of small intelligent vehicle is the basis of vehicle platoon simulation system in intelligent vehicle-highway systems（IVHS）.A method based on fuzzy control algorithm is proposed for solving the problem of autonomous trace problem of small intelligent vehicle.The method divides the error of trace path and its derivative into several states,and the corresponding fuzzy control rules are proposed.Then the DSP TMS320F2812 is used as the main chip to control the speed of the motor,to realize the vertical autonomous control of small intelligent vehicle.The operation experiment of the model car shows that the speed control algorithm is feasible.

关 键 词：汽车列队 智能小车 模糊控制 DSP 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]