1/31第十一届“恩智浦”杯全国大学生智能汽车竞赛技术报告学校：电子科技大学队伍名称：过隙白驹参赛队员：朱强刘爽杨定宇带队教师：白利兵程玉华2/313/31摘要本文以第十一届全国大学生智能车竞赛为背景，介绍了智能赛车控制系统的软硬件结构和开发流程。该比赛采用大赛组委会统一指定的E型车模，以恩智浦半导体公司生产的32位单片机K60核心控制器,要求赛车在未知道路上沿着电磁信号以最快的速度完成比赛。整个系统涉及车模机械结构调整、传感器电路设计及信号处理、控制算法和策略优化等多个方面。赛车采用谐振电路对赛道进行检测，提取赛道位置，用PD方式对转向进行控制。同时通过编码器获取当前速度，采用PID控制实现速度闭环。关键词：恩智浦，智能车，电磁信号，PID4/31ABSTRACTInthebackgroundofthe11thNationalIntelligentCarContestforCollegeStudents,thisarticleintroducesthesoftwareandhardwarestructuresandthedevelopmentflowofthevehiclecontrolsystem.ThiscontestadoptingA-typecarmodelprescribedbythecontestorganizationcommittee,usingthe32-bitMCUK60producedbyNXPSemiconductorCompanyasthecorecontroller,requiresthecarfinishtheraceinthefastestspeed.Thewholesystemincludestheaspectsofthemechanismstructureadjustment,thesensorcircuitdesignandsignalprocess,controlalgorithmandstrategyoptimizationetc.Itcapturestheroadinformationthroughresonantcircuit,thenabstractstheroadposition.Afterthat,PDfeedbackcontrolisusedonthesteering.Atthesametime,thesystemobtainsthecurrentspeedusingaspeedsensor,sothatitcanrealizethefeedbackcontrolofthespeedbyPIDmethod.Keywords:NXP，Intelligentvehicle,Electromagneticsignals,PID5/31目录摘要.................................................................................................................第一章引言.................................................................................................1.1大赛介绍.......................................................................................35-5-1.2系统设计框架介绍.........................................................................-7-第二章智能车机械结构调整与优化..........................................................-8-2.1智能车参数要求.....
