第十一届全国大学生“恩智浦”杯智能汽车竞赛技术报告学校：洛阳理工学院队伍名称：洛理摄像头一队参赛队员：王鹏辉张继春李开创带队教师：葛运旺姚惠林III摘要文中介绍了我们的智能车控制系统软硬件结构和开发流程，整个智能车涉及车模机械调整，传感器选择，信号处理电路设计，控制算法优化等许多方面。本文设计的智能车系统以MK10DN512VLQ10微控制器为核心控制单元，基于COMS摄像头OV7725的图像采样获取赛道图像信息，提取赛道中心线，计算出小车与黑线间的位置偏差，采用PD方式对舵机转向进行反馈控制。使用PID控制算法调节驱动电机的转速，结合特定算法分析出前方赛道信息实现对模型车运动速度的闭环控制。关键字：智能车，MK10DN512VLQ10，OV7725，PIDAbstractThispaperintroducestheoursmartcarcontrolsystemhardwareandsoftwarestructureanddevelopmentprocess,theentireintelligentcarinvolvesthemechanicaladjustmentmodels,sensorselection,signalprocessingcircuitdesign,controlalgorithmoptimizationandmanyotheraspects.Inthispaper,designoftheintelligentvehiclesystemwithMK10DN512VLQ10microcontrollerasthecorecontrolunit,basedontheCOMScameraOV7725imagesamplingcircuitofimageinformation,toextractthecenterlineofthetrackcalculatedbetweenthecarandblacklinepositiondeviation,ofthesteeringgearsteeringbywayofPDfeedbackcontrol.UsingPIDcontrolalgorithmtoadjustthespeedofthedrivemotor,combinedwiththespecificalgorithmanalysisinformationoutofthetrackaheadofmodelcarspeedclosed-loopcontrol.KEYWORDS:INTELLIGENTCAR,MK10DN512VLQ10,OV7725,PIDIII目录第一章系统总体设计......................................................................................................................11.1引言.....................................................................................................................................11.2系统概述.............................................................................................................................11.3整车布局及机械系统设计................................................................................................21.4智能汽车前轮定位的调整....................................................
