文档介绍：基于路径识别的车辆智能导航
李静,吴云平,李润泽,杨宗昂
(吉林大学汽车工程学院,长春 130022)

摘要: 提出基于路径识别的车辆智能导航控制算法。在确
控制系统方案设计
定控制系统硬件结构的基础上,完成了传感器选型与布置以 1
及控制软件流程设计,描述了基于路径识别的车辆导航控制硬件结构
算法。设计了交叉、蛇形等典型路径,完成了智能导航软硬如图 1 所示,控制系统输入寻迹和车速传感器
件的调试。进行了典型赛道试验,结果表明:导航车辆能有信号,输出转向、速度及显示控制信号。单片机最
效识别路径、并以较快车速完成寻线行驶。小系统采用飞思卡尔 MC9SDG128B 开发板,采用 8
关键词:汽车工程;机器人技术;路径识别;智能导航位 A/D 进行寻线信号模数转换,采用 16 位脉冲累
中图分类号: TP24;U27 加器 PACA 采集车速信号。
Intelligent navigation of vehicle based
on path recognition
LI Jing,WU Yunping,LI Runze,YANG Zongang 图 1 控制系统硬件结构
传感器选型与布置
(College of Automotive Engineering, Jilin University,
寻迹传感器选用探测距离长、抗干扰能力强的
Changchun 130022, China)
JY043W 红外光电传感器;车速传感器采用 ZVH-4
Abstract: Intelligent navigation control algorithm of vehicle is
光电编码器,采用齿轮传动测得后轮速代替车速。
presented. Based on the configuration of control system, the
车头处寻迹传感器布置型式有图 2 所示的三种。
selection and allocation of sensors pleted, the

procedure of control software was designed, and intelligent

navigation control algorithm based on path recognition was
a)正弧形 b)直线形 c)倒弧形
described. Such typical paths as cross and snake were designed
图 2 寻线传感器布置方案
plete debugging software and hardware of control system.
正弧形中间传感器靠前,可提前预知前方赛道
The tests on typical path were made, the results indicating that
较小的曲率变化,但两侧传感器对前方赛道较大的
intelligent navigation vehicle could recognize path effectively
曲率变化的预知有一定延迟,赛车易冲出赛