基于单片机和OpenMV的具有自动泊车功能小车的设计  

Design of a Car with Automatic Parking Function Based on SCM and OpenMV

作　　者：王柯竣 胡乃瑞 

机构地区：[1]沈阳航空航天大学电子信息工程学院,辽宁沈阳110000 [2]中国科学院沈阳自动化研究所,辽宁沈阳110000

出　　处：《工业控制计算机》2023年第7期140-141,143,共3页Industrial Control Computer

基　　金：2022年大学生省级创新创业训练计划项目(S202210143038);2022年大学生校级创新创业训练计划项目(X202210143090)。

摘　　要：为满足当前时代人们对无人驾驶的需求,并解决在狭小空间内停车不准确的问题,利用和实际汽车相仿的汽车模型作为研究对象,设计一种基于CH32V307单片机和OpenMV结合的自动泊车系统;根据车身大小以及所处环境,利用总钻风和OpenMV双路摄像头、霍尔编码器、ICM-20602陀螺仪,计算出最优泊车路线,通过编写程序代码对舵机和电机进行转向打角和后轮PID算法驱动控制。实验结果表明,该系统可以准确实现小车自动泊车功能,具有较高的稳定性。In order to meet the needs of people for driverless cars in the current era and solve the problem of inaccurate parking in a small space,an automatic parking system based on CH32V307 microcontroller and OpenMV is designed by using a car model similar to the actual car as the research object.According to the size of the car body and the environment,the optimal parking route is calculated by using the total drilling wind,OpenMV dual-channel camera,Hall encoder and ICM-20602 gyroscope.The steering gear and motor are controlled by writing program code for steering gear and motor steering angle and rear wheel PID algorithm drive control.

关 键 词：自动泊车 CH32V307 OpenMV 总钻风摄像头 霍尔编码器 ICM-20602陀螺仪 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]