摘要：智能汽车是一个集环境感知，在一个集成的系统实现自动驾驶功能，集中了自控程序，模式识别，传感技术，电气，计算机，机械，，是一个典型的高科技产品。在这篇文章中，展示了设计，生产和详细的智能车的调试过程。数据采集和处理，路径识别，转向齿轮，电机驱动，速度检测，速度控制的换档控制，以及电源管理，该硬件电路和软件算法。系统采用了STM32F103VCT6作为控制芯片。激光传感器用来检测道路情况，光电编码器用来检测车速，使用LM298芯片驱动电机。在调试的时候，通过软件将光电传感器采集的信息进行处理，使用PID算法来调节和控制车辆的速度和方向。利用闭环控制策略，使智能车沿黑轨道运行，并及时调整身体姿势，准确，快速地完成整个运行。62022

毕业论文关键词：智能车；ARM-STM32微控制器；激光传感器；闭环控制

 Design of Intelligent Vehicle Control System

ABSTRACT：Smart car also known as the wheeled mobile robot is a set of context-aware planning and decision-making, automatic driving functions in one integrated system, centralized application to automatic control, pattern recognition, sensor technology, electrical, computer, mechanical, multi-disciplines, is a typical high-tech complex. In this article, we present the design, production and process of debugging of the intelligent vehicle detailedly. Describing data acquisition and processing, path identification , gear shift control of the steering gear, motor drive, speed detection, speed control, as well as power management ,the hardware circuitry and the software algorithms. Our system is using Freescale microcontroller chip, STM32F103VCT6, as control chip. We use laser sensors as the major track detection sensor, use optical encoder as our car’s speed sensor.and LM298 as the motor driver chip. In the process of debugging, we use the software programmed by lab view to show the images which was collected by laser sensor and infrared sensor, consulting the PID algorithm to adjust and control the speed and the forward direction. With Combining of the closed-loop control strategy, we make the smart car run along the black track and adjust body posture in time, accomplish the whole run accurately and quickly.

Keywords: Smart car；S12 microcontroller；laser sensor；Closed-loop control

 1 绪论 1

1.1 课题背景与意义 1

1.2 智能小车研究现状 1

1.2.1 国外智能车研究现状 1

1.2.2 国内智能车研究现状 2

2 系统设计 1

2.1方案选定 1

2.2方案设计 1

3智能车硬件结构 4

3.1核心板 5

3.1.1  ARM 处理器:STM32F103VCT6 6

3.1.2  Wi-Fi 通信模块： 6

3.1.3  Zigbee 通信模块 6

3.1.4  LED 灯单元电路 7

3.1.5 独立按键单元 8

3.1.6 蜂鸣器单元 8

3.2 驱动板 8

3.2.1 光耦（TLP521-4、6LN17） 9

3.2.2  ULN2003 10

3.2.3  5V 稳压电路 10

3.2.4  L298N 电机驱动电路