Abstracts: Automatic line patrol control system prepared for the 4th national contest of Smart car was described in details in this paper. The paper introduces the overall framework, hardware design, camera image acquisition module, photo electrical encoder speed acquisition module, implementation module circuit design, power management module and system software design of the racing car. As for the hardware design, the racing car system, with single-chip MC9S12XS128 as its system control processor, uses CMOS digital camera to obtain the real-time track information, extracts the black line on the contest lane with the edge detection method, and calculates position deviation between the car and the black line, distinguishes the different shape of the lane, then PD control algorithm for steering engine steering control was given in this paper. Through the photo electrical encoder named YZ30D4S-2NA-200 to attain the real-time car speed, and uses incremental P strategy to achie

智能汽车.pdf

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