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沈阳理工大学学士学位论文I摘要智能车辆是当今车辆工程领域研究的前沿，它体现了车辆工程、人工智能、自动控制、计算机等多个学科领域理论技术的交叉和综合，是未来汽车发展的趋势。本论文介绍了基于摄像头引导的智能汽车控制系统。智能车采用仿真车模，硬件平台采用带MC9S12XS128处理器的S12环境，软件平台为CodeWarriorIDE开发环境。整个智能车系统的设计与实现包括了车模的机械结构调整、传感器电路的设计与信号的处理、控制算法和策略优化、系统调试等多个方面。通过对比不同方案的优缺点，在保证提高智能赛车的行驶速度和可靠性，我们最终确定了现有的系统结构和各项控制参数。此外，文中还将详细说明赛车机械结构和调整方法，叙述赛车系统开发过程中所用到的开发工具、软件以及各种调试、测试手段方法等。通过本次毕业设计研究，将进一步完善智能车的控制系统，使得智能小车不仅能够完成在特定轨道上的正确行驶，还能快速安全的通过轨道。关键字：智能车；控制系统；图像处理；路径识别沈阳理工大学学士学位论文IIAbstractIntelligentvehicleisthevehicleengineeringfieldtheforefrontofresearch,itembodiesthevehicleengineering,artificialintelligence,automaticcontrol,computer,andotherdisciplinestheoryandtechnologycrossoverandcomprehensive,isthedevelopmenttrendoffutureautomobiles.Thispaperintroducestheplayersinpreparationforthe7thfreescalecupintelligentcarraceinthedesignprocessbasedonvisualguideintelligentautocontrolsystem.Intelligentcarmodelsusingthecompetitioncommitteeofthesimulationmodelsprovideunity,hardwareplatformusingthebeltMC9S12XS128processorS12environment,softwareplatformforCodeWarriorIDEdevelopmentenvironment.Thispaperintroducesthehardwareandsoftwareofthecontrolsystemofintelligentvehiclestructureanddevelopmentprocess.Thesmartcarthedesignandrealizationofthesystemincludingthemodelsofmechanicalstructureadjustment,sensorcircuitdesignandsignalprocessing,controlalgorithmandthestrategyoptimization,systemcommissioning,etc.Bycomparingtheadvantagesanddisadvantagesofdifferentoptions,improveintelligenceinguaranteeofthespeedandreliabilityofthecar,wefinallydeterminedtheexistingsystemstructureandvariouscontrolparameters.Inaddition,thepaperalsowilldetailthecarmechanicalstructureandadjustingmethod,narrativeracingsystemdevelopmentprocessfordevelopmenttools,softwareandvariouscommissioning,testmeansmethod,etc.Throughthissubjectresearch,willfurtherimproveintelligencecontrolsystemofthecar,makeintelligencethecartobeabletocompletenotonlyincertaintrackontherightoftheroad,alsocanrapidsafethroughtheorbit.Keywords：intelligentcar；controlsystem；imageprocessing；pathrecognition沈阳理工大学学士学位论文III目录1引言........................................................................................................................12视频循迹智能车发展前景......................................................................................32.1智能控制的产生............................................................................................32.2视频智能车的发展前景................................................................................33整车设计思路..........................................................................................................53.1摄像头设计....................................................................................................63.2智能车的控制系统设计................................................................................73.3系统软件结构................................................................................................73.3.1软件功能概述......................................................................................73.3.2软件整体结构......................................................................................74智能车硬件系统设计..............................................................................................94.1硬件电路总体结构........................................................................................94.2核心控制模块..............................................................................................104.3电源模块......................................................................................................114.3.15V电源..............................................................................................114.3.26V电源..............................................................................................124.3.33.3V电源...........................................................................................124.4路径识别模块..............................................................................................134.4.1图像处理............................................................................................134.4.2图像预处理........................................................................................144.4.3二值化处理........................................................................................144.4.4基于二值图像的中值滤波................................................................144.4.5黑线中心提取....................................................................................154.4.6摄像头的设计....................................................................................154.4.7摄像头的选择....................................................................................164.4.8视频分离电路....................................................................................174.5舵机驱动模块..............................................................................................184.5.1舵机力臂调整....................................................................................18沈阳理工大学学士学位论文IV4.5.2舵机驱动接口....................................................................................184.6速度传感器..