简易智能车毕业设计.docVIP

摘　　要 智能车是智能交通系统(ITS)中的关键环节，智能汽车自主驾驶技术在公路管理交通运输等方面有着广阔的应用前景，受到广泛的重视。本文以凌阳61芯片为单片机主控芯片，讨论了智能车系统的设计，在对智能车模型的硬件电路进行设计的基础上，对智能车自主行驶的控制算法进行了研究。 文章针对控制要求（循迹、避障、金属片检测和计数、智能调速、光源识别）对智能车的硬件和软件进行设计和调整。对智能车的硬件电路系统进行了设计和讨论，分别针对单片机的速度与路程模块、传感器模块、计数器模块和电源模块等部分电路进行设计，保证每部分的稳定性与电路硬件系统整体的稳定性和可靠性。对智能车的软件系统进行了设计和讨论，在C语言环境下编程，实现了控制要求，并保证了系统的稳定和可靠。 　　结果证明，所建立的控制系统具有适应性强，实时性好，简洁高效的特点，以该系统为控制核心的智能车模型能够正确而快速地对预期轨道进行辨识和跟踪。 关键词：智能车；凌阳61；C语言；传感器 Abstract Intelligent Vehicle system is an important component of the Intelligent Traffic System. The self-driving technology of Intelligent Vehicle has a great perspective in road management and traffic transport. In this paper, Intelligent Vehicle system is researched. Hardware of every component is discussed, then the control core model is described specifically, and the controller is established. The hardware and the software structure of the intelligent car model is discussed. The hardware system of the intelligent car model is designed and researched. All the components including Speed ??and distance modules, sensor modules, counter modules and power modules are particularly discussed. All the researches provide reliable and stable hardware to the system.The software system of the intelligent car model is designed and researched. In the C language environment, to achieve the control requirements, and ensure the system’s stability and reliability. It’s prove that the controller is adaptive, stable and high reliability. The self-adjustment control based Intelligent Vehicle model follows the anticipant track accurately and quickly. Key words：Intelligent Vehicle，Sunplus 61, C language, Sensor 目 录 摘　　要 I Abstract II 1 绪论 1 1.1 课题背景与意义 1 1.2 课题研究现状 1 1.3 本课题的研究内容与目标 2 1.3.1 基本要求 2 1.3.2 智能车在场地中所要实现的功能 3 2 方案设计 4 2.1 电路系统 4 2.2 执行部件 4 2.3 功能模块分划 4 2.3.1 黑色引导线检测的方案 5 2.3.2 薄铁板检测的方案 5 2.3.3 障碍物检测模块的论证与选择 5 2.3.4 路程检测模块的论证与选择 5 2.3.5 导航部分检测方案 6 2.4 硬件部分设计概述 6 2.5 软件部分设计概述 6 2.6 智能车机械结构设计 6 2.6.1 前轮定位 6 2.6.2 重心位置的控制与影响侧滑的因素 6 3 简易智能车的硬件设计 9 3.1 SPCE061