基于飞思卡尔32位Kinetis-K60单片机的直立行驶智能车设计  

Design of Upright-moving Smart Car Based on 32-bit Kinetis-K60 Microcontroller of Freescale

作　　者：杨正才[1] 吕科[1] 朱乐[1] 

机构地区：[1]湖北汽车工业学院汽车工程学院,湖北十堰442002

出　　处：《湖北汽车工业学院学报》2014年第2期46-50,共5页Journal of Hubei University Of Automotive Technology

基　　金：汽车动力传动与电子控制湖北省重点实验室开放基金项目(ZDK201206)

摘　　要：介绍一种基于线性CCD传感器进行路径识别的智能车控制系统。进行了软硬件设计,利用线性CCD传感器采集路径信息,以及陀螺仪和加速度计采集角度偏转信息,提出转向控制策略和速度控制策略,控制2个电机的动作,从而实现了直立行驶。实验证明:该智能车抗干扰性强、精确度较高,可自主寻迹稳定行驶。A smart car control system based on path identification of linear CCD sensor was presented. The hardware and the software were designed. The path information was collected by the linear CCD sensor, and angle deflection information was collected by the gyroscope and accelerometer. The movement of the two motors was controlled by steering control strategy and speed control strategy so as to realize the result of upright-moving of the smart car. The experiments show that the smart car has strong calacity of resisting disturbance and high precision, and it can remain running stability by automatic tracking.

关 键 词：智能车 线性CCD传感器 直立行驶 PD 路径识别 

分 类 号：U463.51[机械工程—车辆工程]