基于视频导航的智能车系统的设计与实现 The smart car system based on video navigation design and implementation 摘要本课题以第十三届全国大学生智能车竞赛为背景，主要通过优化小车程序的算法继而提高智能车的速度和稳定性。此智能车系统是一个软硬件和机械结构组合而成的复杂系统，以“恩智浦”半导体公司生产的生产的 32 位单片机 MK60N512ZVLQ10 作为主控芯片，通过 MT9V032摄像头采集回来赛道视频图像，经过图像的去噪和二值化处理后，得到清晰的灰度图像，从而提取出中心线。由于智能车本身就是一个很大的积分计算，因此为了减小软件算法的计算量，电机驱动采用 PID 控制算法中的 PD 两项进行速度的控制，将 I 项置为零。为了打角转向的安全及计算量简便，采用了保守策略，舵机采用 PID 控制算法中的 P 项的固定值进行控制。整个智能车系统通过主控芯片的合理控制，最终能实现“直道全速行驶，弯道安全通过”的控制。关键词：智能车 摄像头 中心线 PID 控制算法AbstractThis topic in the thirteenth session of the national college students' smart car competition as the background, main cars by optimizing the program algorithm and improve the speed and stability of the smart car. The intelligent car system is a complex system composed of hardware, software and mechanical structure. The 32-bit single-chip computer MK60N512ZVLQ10 produced by "NXP" semiconductor company is used as the main control chip. The track video image is collected through MT9V032 camera. Because the smart car itself is a very big integral calculation, so in order to reduce the amount of calculation software algorithm, the PID control algorithm of motor drive speed control of PD two, will I set to zero. In order to ensure the safety of Angle steering and make the calculation easy, a conservative strategy is adopted. The steering gear is controlled by the fixed value of P in PID control algorithm. Through the reasonable control of the master control chip, the whole intelli...
