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第六届“飞思卡尔”杯全国大学生智能汽车竞赛技术报告学校：长安大学队伍名称：摄像头二队参赛队员：底翔岑刚飞万宏基带队老师：韩毅梁景雨关于技术报告和研究论文使用授权的说明本人完全了解第六届“飞思卡尔”杯全国大学生智能汽车竞赛关于保留、使用技术报告和研究论文的规定，即：参赛作品著作权归参赛者本人，比赛组委会和飞思卡尔半导体公司可以在相关主页上收录并公开参赛作品的设计方案、技术报告以及参赛模型车的视频、图像资料，并将相关内容编纂收录在组委会出版论文集中。参赛队员签名：带队教师签名：日期：II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。本文是在第六届飞思卡尔全国大学生智能汽车竞赛背景下诞生的，介绍了一种基于CCD摄像头的智能寻迹赛车的设计和实现。赛车系统以Freescale16位单片机MC9S12XS128作为系统控制处理器，采用基于摄像头的图像采样模块获取赛道图像信息，通过PID控制策略来对赛车的方向和速度进行控制，完成的主要功能是能够自主识别黑色引导线并根据黑线走向实现快速稳定的寻线行驶。本文阐述了智能小车系统的设计方案，具体介绍了赛车硬件系统的设计，包括电源模块、图像采集模块、电机驱动模块、测度采集模块等，同时提出了基于CCD摄像头的黑线识别算法并对其相应的控制策略进行了详细的介绍。此外，文中还将详细说明赛车机械结构的调整优化方法，并且为了提高模型车的速度和稳定性，使用无线模块、SD卡模块、键盘模块等调试工具，进行了大量硬件与软件测试。实验结果表明，该系统设计方案确实可行。关键字：智能车，MC9S12XS128，CCD，PID，SD卡IIIIVAbstractIntelligentvehicleisacutting-edgeresearchinvehicleengineering,itistheembodimentofvehicleengineering,artificialintelligence,automaticcontrol,computerandotherdisciplinesoftheintersectionoftechnologyandintegrated.Itisthefuturedevelopmenttrendofcars.ThispaperisinthesixthfreesacleNationalUniversityintelligentcarcontestagainstthebackgroundofthebirth,introducedonekindbasedontheCCDcameraintelligent-searching-trackracecardesignandimplementation.ThecarsystembasedontheFreescale16microcontrollerMC9S12XS128asthesystemcontrolprocessor,basedonthecameraimagesamplingmoduleaccesstothetrackimageinformation,throughthePIDcontrolstrategiesonthecar'sdirectionandspeedcontrol,themainfunctionistobeabletoidentifyindependentlyblackguidelineandaccordingtotheblacklinetoachieverapidandstablelinerunning.Thispaperexpoundstheintelligentcarsystemdesign,introducedthespecificcarhardwaresystemdesign,includingpowermodule,animageacquisitionmodule,motordrivemodule,dataacquisitionmodule,atthesametimemeasure,proposedbasedonCCDcamerablacklinerecognitionalgorithmandthecorrespondingcontrolstrategiesareintroducedindetail.Inaddition,thepaperalsodetailstheracingmachinerystructureadjustmentoptimizationmethod,andtoimprovethemodelofvehiclespeedandstability,theuseofawirelessmodule,SDcardmodule,keyboardmoduledebuggingtools,hadalargenumberofhardwareandsoftwaretesting.Theexperimentalresultsshowthat,thesystemdesignisfeasible.Keywords:Intelligentvehicle，MC9S12XS128，CCD，PID，SDcard目录摘要...............................................................................................IIIAbstract...........................................................................................IV第一章引言.....................................................................................11.1大赛背景介绍................................................................................11.2本文结构........................................................................................1第二章智能汽车整体设计.............................................................32.1总体策略........................................................................................32.2系统设计方案................................................................................32.2.1系统硬件设计方案................................................................................42.2.2系统软件设计方案................................................................................5第三章机械结构的调整与优化.....................................................73.1C型车模整体结构..........................................................................73.2底盘结构调整................................................................................83.2.1底盘调整................................................................................................83.2.2底盘的加固............................................................................................93.3舵机安装位置调整........................................................................93.4摄像头的安装..............................................................................103.5车体重心位置调整......................................................................103.6其他部分优化..............................................................................11第四章硬件系统的设计与实现...................................................134.1电路板设计与制作......................................................................134.2电源模块......................................................................................134.3图像采集模块..............................................................................144.3.1摄像头简介..........................................................................................144.3.2电路设计..............................................................................................164.4速度采集模块..............................................................................174.5电机驱动模块..............................................................................18第五章软件系统的设计与实现...................................................195.1图像的采集与处理......................................................................195.1.1黑线提取..............................................................................................195.1.2路径选择..............................................................................................205.1.3起跑线的识别...