基于视频循迹的智能车软件设计  

Software design of intelligent vehicle based on video tracking

作　　者：刘力[1] 

机构地区：[1]安徽中烟工业有限责任公司阜阳卷烟厂,安徽阜阳236067

出　　处：《企业技术开发》2014年第2期28-30,共3页Technological Development of Enterprise

摘　　要：以智能车竞赛为背景,文章介绍了智能赛车控制系统的软件开发流程,以Freescale公司的MC9S12XS128单片机作为系统的控制核心,采用CCD摄像头采集赛道信息,通过边缘提取获得黑线位置,根据采集到的数据分析行驶路径以及对起跑线进行检测,采用PID算法对赛车的舵机和直流电机进行闭环控制,并根据跑道弯曲程度采用不同的控制策略。完成视频循迹的智能车软件设计。In the background of the Intelligent Car Contest,this article introduces the software and the development flow of the vehicle control system.Firstly,microcontrollers MC9S12XS128 of Freescale company is employed as the core control of the system.Secondly, CCD image-sensor are applied to obtain lane image information,then edge detector are used to abstract the position of black line. Thirdly,based on the information from the sensor,travel path is analysed and starting line is also detected.Fourthly,PID feedback al-gorithm is applied to control steering engine and continuous current dynamo,different control strategies are selected according to the crook degree of the lane.At last,software design of intelligent vehicle based on video tracking is completed.

关 键 词：智能车 寻线 S12单片机 图像采集 CCD摄像头 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]