摘要
本文介绍了以Freescale 16位单片机MC9S12DG128作为系统控制处理器的智能车控制系统,该系统采用基于反射式光电传感器路径检测模块,获得赛道信息,求出小车与黑线间的位置偏差,采用PD控制策略对舵机转向进行控制。并通过速度传感器实时获取小车速度,运用PID控制策略形成速度闭环控制。
A smart car system is introduced based on the Freescale 16-bit single-chip MC9S12DG128 as its control microprocessor. The system uses image-sensor module based on photoelectric sensor obtain lane information, then calculates the position difference between the vehicle and the black line with which MCU will have the PD control on the steering gear. The system uses a speed-sensor to obtain the real time speed which will be used in the speed feed- back for the PID control method.
出处
《苏州大学学报（工科版）》
CAS
2009年第6期44-48,共5页
Journal of Soochow University Engineering Science Edition (Bimonthly)
