摘要根据双车追逐组的比赛规则，提出了双车追逐模式下智能车控制系统的总体设计方案，并进行了双车追逐模式下智能车控制算法的研究与软件设计。首先进行了前轮转向模型以及后轮驱动模型的构建。其次根据控制系统的设计要求设计了路径识别和赛道类型判别算法、前轮转向模糊控制算法、后轮驱动PID控制算法以及双车协同最优二次型控制算法和超车算法。然后基于32位微控制器MK60DN512ZVLQ10进行系统的软件总体设计和各模块详细设计，并重点分析了图像处理及双车通信。最后进行了系统各个模块的调试以及系统软硬件整体联调。实验结果表明，设计的算法和软件可以确保智能车在双车追逐模式下稳定运行。41880

毕业论文关键词  双车追逐  最优控制  图像处理  双车通信

毕业设计说明书外文摘要

Title    Design and Implementation of Intelligent Vehicle for the   Eleventh NXP Cup----Control Algorithm and Software Design of  Intelligent Vehicle Control System  in Dual Vehicle  Cooperative Mode                                          

Abstract

Based on the Eleventh NXP Cup National Smart Car Competition，this paper puts forward the overall design scheme of the intelligent vehicle control system under the double car chase mode, and carries out the research and software design of the intelligent vehicle control algorithm. Firstly, the front wheel steering model and rear wheel drive model are constructed. Secondly, according to the design requirements of the control system, the path identification and track type identification algorithm, the front wheel steering fuzzy control algorithm, the rear wheel drive PID control algorithm, overtaking algorithm and the double car synergistic quadratic optimal control algorithm are designed. Then, based on 32-bit microcontroller software MK60DN512ZVLQ10, the overall design and detailed design of each module of the system is designed, and the image processing and doouble car communications are analyzed. Finally, the debugging of each module and the overall debugging of the system hardware and software are carried out. The experimental results show that the design of algorithms and software can ensure the stable operation of the smart car under the double car chase mode.

Keywords  double car chase  optimal control  image processing  double car communication

目   次

1  引言 1

1.1  课题研究背景及意义 1

1.2  智能车国内外研究现状 1

1.3  全国大学生智能车竞赛简介 3

1.4  本文研究内容概括 3

2  双车追逐模式下智能车控制系统总体设计 5

2.1  智能车整体设计要求 5

2.2  智能车系统组成结构 6

2.3  智能车系统工作原理 7

2.4  本章小结 8

3  双车追逐模式下智能车控制系统建模 9

3.1  前轮转向系统建模 9

3.2  后轮驱动系统建模 9

3.3  本章小结 15

4  双车追逐模式下智能车控制系统控制算法设计 16