智能赛车控制策略与实现

论文编号:ZD1155    论文字数:19348,页数:51 附任务书，开题报告，文献综述，外文翻译

智能赛车控制策略与实现
摘要
 智能赛车是集合路径识别、规划决策、竞速等于一体的复杂控制系统。能够自动循迹、按照理想路线、以最快的速度跑完全程是智能赛车系统的最终目标。为了实现这一目标，本文设计了一个模糊控制器模拟人在控制赛车时的思维方式，对智能车进行控制。
 为了完成这一模糊控制器的设计，本文将设计过程分为两部分：在理论部分阐述了模糊控制系统的基本原理和构成方式，设计模糊控制器的一般方法以及使用S12单片机编程实现模糊控制的具体过程；在智能车软件设计部分，详细说明了针对智能赛车的控制目标，模糊控制器的输入、输出变量及其隶属度函数的设计，模糊控制规则表的建立。
 本文设计的智能赛车系统以CCD作为传感器采集赛道信息，由于智能赛车的控制以提取到的赛道位置为基础，因此赛道提取算法的好坏直接影响智能赛车的控制结果。为了提高该算法的抗干扰能力，本文以赛道的连续性特点为基础，提出了相应的赛道提取方案，加强了抗干扰能力。
 为了最大限度的模拟人的思维方式，本文将赛车前方路况也作为模糊控制器的输入，该路况的计算以赛道曲率为依据。
 最后，本文还设计了一个上位机的赛道显示程序，以VB串行通信控件MSComm和绘图功能为基础实现的。
关键词：智能车；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

目录
摘要 1
Abstract 2
1绪论 5
1.1背景简介 5
1.2论文结构 5
2理论基础 6
2.1模糊控制 6
2.2 VB串行通信及图形绘制 20
2.3本章小结 25
3智能赛车的软硬件设计 26
3.1智能赛车硬件实现 26
3.2智能赛车软件策略 34
3.3本章小结 41
结论 42
参考文献 43
附录A  VB赛道显示程序 44
附录B  S12单片机控制程序 47
致 谢 51