视觉导引车控制系统硬件设计

本文以第七届“飞思卡尔”杯全国大学生智能汽车竞赛为背景，根据竞赛规则要求，设计了基于视觉导引的智能汽车控制系统。首先，进行了大赛新规则解读，针对赛道由中间黑线改为双边黑线所带来的困难进行分析，提出系统总体方案，针对新方案进行单片机系统总体构造和功能模块设计；将模块化设计思想进行实践即进入硬件设计阶段，针对智能车的硬件系统，采用自上而下的模块化方法进行设计，针对MCU最小系统模块、电源管理模块、路径识别模块、电机驱动模块、舵机模块、测速模块、隔离模块、人机接口模块和无线监控模块分别选择相应元器件并利用电路知识进行电路设计，然后，根据EMC理论及车体外形详细设计了全套PCB板。最后，根据模块化思想进行硬件电路的功能实现，即：根据车模及相关汽车知识，对车体的整体结构进行了机械上的优化和改造。最后完成了硬件电路各功能模块调试以及整车系统联调工作。实际结果表明，系统性能优良，满足设计要求。10382
关键词智能汽车视觉导引路径识别硬件设计
毕业设计说明书（论文）外文摘要
Title Design and Realization of Smart Car for The Seventh Freescale Cup Smart Car Contest —— Hardware Design of Visual Guidance Intelligent Vehicle Control System
Abstract
According to the Seventh Freescale Cup National Undergraduate Smart Car Contest, the visual guidance intelligent vehicle control system is proposed in this thesis. First of all, the difficulty caused by the new rule is analyzed. And then a overall system scheme is caught up . The overall structure and the microcontroller system module design are taken on after that. To transfer the Modular design idea into practice, the top-down modular approach is used to design hardware system for the smart cars. Appropriate components is selected for the MCU module, power management module, path recognition module, motor drive module, servo module, speed measurement module, isolation module, man-machine interface module and wireless communication module. According to the EMC theory and body shape, the whole PCB is designed particularly. Finally, The optimization of the mechanical structure is made. Also, the debugging of each functional module of hardware circuit and the alignment of the vehicle system are achieved. Practical results show that the hardware system performance is excellent and meets the requirements.
Keywords Smart Car Visual Guidance Path Recognition Hardware Design
目次
1 引言   1
1.1 课题研究背景及意义   1
1.2 智能车辆研究的主要内容   1
1.3 智能车辆研究方向   2
1.4 国内外智能车发展现状   3
1.5 飞思卡尔智能车比赛简介   5
1.6 本文主要研究内容安排及说明   6
2 视觉导引车总体设计方案   8
2.1 整体方案设计   8
2.2 系统总体结构描述   9
2.3 系统工作原理   9
2.4 本章小结   11
3 视觉导引车硬件电路设计   12
3.1 硬件电路整体设计框图   12
3.2 系统控制模块   13
3.3 电源管理模块   16
3.4 视频信号采集处理模块   22
3.5 舵机驱动模块   26 视觉导引车控制系统硬件设计:http://www.751com.cn/zidonghua/lunwen_9426.html