智能賽車控制策略與實現

論文編號:ZD1155    論文字數:19348,頁數:51 附任務書，開題報告，文獻綜述，外文翻譯

智能賽車控制策略與實現
摘要
 智能賽車是集合路徑識別、規劃決策、競速等于一體的復雜控制系統。能夠自動循跡、按照理想路線、以最快的速度跑完全程是智能賽車系統的最終目標。為了實現這一目標，本文設計了一個模糊控制器模擬人在控制賽車時的思維方式，對智能車進行控制。
 為了完成這一模糊控制器的設計，本文將設計過程分為兩部分：在理論部分闡述了模糊控制系統的基本原理和構成方式，設計模糊控制器的一般方法以及使用S12單片機編程實現模糊控制的具體過程；在智能車軟件設計部分，詳細說明了針對智能賽車的控制目標，模糊控制器的輸入、輸出變量及其隸屬度函數的設計，模糊控制規則表的建立。
 本文設計的智能賽車系統以CCD作為傳感器采集賽道信息，由于智能賽車的控制以提取到的賽道位置為基礎，因此賽道提取算法的好壞直接影響智能賽車的控制結果。為了提高該算法的抗干擾能力，本文以賽道的連續性特點為基礎，提出了相應的賽道提取方案，加強了抗干擾能力。
 為了最大限度的模擬人的思維方式，本文將賽車前方路況也作為模糊控制器的輸入，該路況的計算以賽道曲率為依據。
 最后，本文還設計了一個上位機的賽道顯示程序，以VB串行通信控件MSComm和繪圖功能為基礎實現的。
關鍵詞：智能車；S12；模糊控制； CCD；串行通信

CONTROL STRATEGY AND IMPLEMENTATION OF THE SMART CAR
Abstract
 The smart car is a complex control system which integrates multiple functions such as path identification, planning decisions and racing. The abilities to track automatically, and finish the entire process along the ideal route as far as possible, are the ultimate goals of the smart car system.  In order to achieve these goals, a fuzzy controller is designed in this paper, which can simulate the way of thinking about how to drive a car.
 In order to complete the design of the fuzzy controller, the design process is divided into two parts: in the first half, we introduce the basic theory and architecture of a fussy controller, the general design approach and how to use S12 MCU to programme a fuzzy controller; In the second half, for the control objectives, we introduce the designs about the fuzzy controller inputs and outputs variables and their membership functions, the creation of fuzzy control rules table.
 The smart car system ,which designed in this paper, use a CCD to collect track information. As the control method of the car is basised on the path location, extraction of track will have a direct impact on the intelligent car control results. In order to improve  the anti-disturbance capacity , we design a programme, which is based on The continuity of the track, and strengthen the anti-jamming capability.
 In order to simulate greatest the way of thinking, traffic in front of the car is also used as a fuzzy controller input, which is based on the curvature of the track.
 Finally, we also design a PC track display programme, which is based on the MSComm widget and PictureBox widge in VB.
Keywords:  Smart Car; S12; Fuzzy Control; Serial Communication

目錄
摘要 1
Abstract 2
1緒論 5
1.1背景簡介 5
1.2論文結構 5
2理論基礎 6
2.1模糊控制 6
2.2 VB串行通信及圖形繪制 20
2.3本章小結 25
3智能賽車的軟硬件設計 26
3.1智能賽車硬件實現 26
3.2智能賽車軟件策略 34
3.3本章小結 41
結論 42
參考文獻 43
附錄A  VB賽道顯示程序 44
附錄B  S12單片機控制程序 47
致 謝 51