I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：大连海事大学队伍名称：电航二队参赛队员：邱佳雄李冰洋贺海张佳兴带队教师：滕国库胡英IIIII目录目录.............................................................Ⅲ引言..............................................................1第一章系统总体设计...............................................21.1系统概述.....................................................21.2整车布局.....................................................3第二章机械系统设计及实现.........................................42.1智能车机械参数调节...........................................42.1.1前轮调整..............................................42.1.2其他部分调整..........................................62.2底盘高度的调整...............................................72.3编码器的安装.................................................72.4舵机转向结构的调整...........................................82.5摄像头的安装.................................................9第三章硬件系统设计及实现........................................113.1MK60FX512VLQ15主控模块.....................................123.2电源管理模块...............................................123.3摄像头模块.................................................143.4电机驱动模块...............................................153.5测速模块...................................................163.6陀螺仪模块.................................................163.7测距模块...................................................163.8通信模块...................................................163.9辅助调试模块...............................................17第四章软件系统设计及实现........................................184.1赛道中心线提取及优化处理....................................194.1.1原始图像的特点........................................194.1.2赛道边沿提取..........................................194.1.3推算中心..............................................204.1.4路径选择..........................................
