CAJ | 학술논문

该软件系统是以电动小车为研究对象，基于32位单片机MK60X256VLQ100开发的一种利用摄像头识别路径的智能车软件系统。通过CMOS摄像头实时获取路面信息，用边缘检测法提取赛道两边的黑线，然后计算出中线，使小车沿着中线平稳快速地前行。在此基础上，采用改进型的PID控制算法对电机和舵机进行控制，提出一种通过Matlab整定PID控制参数的办法，通过实验及仿真调整出合适的PID控制参数，有效地提升了小车的加减速能力和转弯能力。实验表明该系统具有良好的稳定性，能够满足小车各项性能指标的要求。
해연건계통시이전동소차위연구대상，기우32위단편궤MK60X256VLQ100개발적일충이용섭상두식별로경적지능차연건계통。통과CMOS섭상두실시획취로면신식，용변연검측법제취새도량변적흑선，연후계산출중선，사소차연착중선평은쾌속지전행。재차기출상，채용개진형적PID공제산법대전궤화타궤진행공제，제출일충통과Matlab정정PID공제삼수적판법，통과실험급방진조정출합괄적PID공제삼수，유효지제승료소차적가감속능력화전만능력。실험표명해계통구유량호적은정성，능구만족소차각항성능지표적요구。
The software system is the one using camera to recognise the path for intelligent car which takes small motor-driven car as the research object and is developed based on 32-bite single-chip MK60X256VLQ100.It obtains the road information timely through CMOS cam-era,extracts the black lines on both sides of the path using edge detection method,and then calculates the centre line so that the small car can fast and stably move forward along the centre line.On this basis,we control the motor and servo by using the advanced PID control algo-rithm,and put forward a method of tuning PID parameters by Matlab.The appropriate PID parameters tuned through experiment and simula-tion effectively enhance car's capabilities in acceleration and deceleration as well as bending.Experiment indicates that the system has a good stability,it can meet the requirements of small cars in all the performance indexes.