基于RISC-V的嵌入式智能小车行进控制系统  

Embedded Motion Control System in Intelligent Car Based on RISC-V

作　　者：杨金宇 张浩天 张玲玲[1] 顾晖[1] 梁惺彦[1] YANG Jin-Yu;ZHANG Hao-Tian;ZHANG Ling-Ling;GU Hui;LIANG Xing-Yan(School of Information Science and Technology,Nantong University,Nantong 226019,China;School of Cyberspace Security,Zhengzhou University,Zhengzhou 450002,China)

机构地区：[1]南通大学信息科学技术学院,南通226019 [2]郑州大学网络空间安全学院,郑州450002

出　　处：《计算机系统应用》2021年第11期41-45,共5页Computer Systems & Applications

基　　金：南通大学教学改革研究课题(2019B35,2019B40);江苏省大学生创新训练项目(161503202734387523);江苏省高校品牌专业建设工程二期项目。

摘　　要：本文介绍了基于RISC-V的嵌入式智能小车控制系统的硬件连接方案、基于状态机的智能小车状态分析方法和不同应用场景下的电机控制方案.系统以运行RISC-V软核的FPGA开发板作为智能小车的主控板,通过RISC-V的GPIO模块采集智能小车的超声波传感器和红外传感器信号来分别检测小车前方和后方的障碍物,利用GPIO中断对碰撞检测传感器和倾斜角传感器信号作出快速响应,利用PWM模块实现不同场景下的电机控制.测试结果表明,本文介绍的控制系统能够实现智能小车的自主避障、碰撞检测和姿态检测等功能.This study introduces the hardware connection scheme for an embedded intelligent car control system based on RISC-V, the state analysis method of an intelligent car based on a state machine, and the motor control scheme in different application scenarios. The system takes the FPGA development board running the RISC-V softcore as the main control board of the intelligent car and collects the signals from the ultrasonic sensor and infrared sensor of the intelligent car through the GPIO module of RISC-V to detect the obstacles in front and rear of the car respectively. Moreover, it uses the GPIO interrupt to respond quickly to the signals from the collision detection sensor and tilt angle sensor and adopts the PWM module for the motor control in different scenarios. The test results show that the control system introduced in this paper can fulfill the functions of the intelligent car, such as autonomous obstacle avoidance, collision detection, and attitude detection.

关 键 词：RISC-V 行进控制 智能小车 电机控制 碰撞检测 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]