智能车规划与控制系统的设计与实现
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摘要
车辆控制技术的飞速发展，使得智能车辆在国内外已经成为研究热点。智能车辆也称为无人驾驶车辆，它将环境感知、路径规划、车辆控制等技术集于一身，构成复杂系统，其原理是通过车载传感器系统获得道路状况、车辆位姿等信息，然后依据传感器获取的信息并结合车辆的反馈速度，给出前轮转角和电机速度的具体控制要求，从而完成车辆在道路上的自主行驶任务。
本文根据无人驾驶车辆自主行驶的任务要求设计了一套智能车规划与控制系统方案，全文围绕该方案的论证和实现而展开，首先对车辆闭环控制系统进行了分析，并根据分析结果提出了具体的设计目标和要求，然后围绕该系统中各部分所起的作用和功能，完成了规划与控制系统的整体方案设计。
整个系统以MC9S12XS128单片机为核心元件构成了硬件电路，主要包括最小系统电路、电源稳压电路、电机驱动电路以及外部阈值电路等；同时，本文详细阐述了车载CCD摄像头对车道图像的获取、处理和识别的过程，在采集并提取出车道信息的基础上，制定了车辆的横向和纵向控制策略；然后，重点介绍了PID控制算法在智能车规划与控制系统中的具体应用以及算法的程序实现；最后，通过实验室环境下实车试验，完成了智能车自主行驶的任务与要求。
另外，考虑到实车试验时可能会出现不同路况下PID参数不匹配、鲁棒性差、控制效果不理想等问题，因此，本文利用Plastid2智能车仿真系统进行了实时仿真测试，并利用MATLAB软件对仿真数据进行了直观分析。分析结果表明，通过仿真，提高了测试效率，增强了智能车的自主行驶能力。
The study of intelligent vehicle has being a hot topic both at home and abroadsince the rapid development of vehicle control technology. Intelligent vehicle is alsoknown as unmanned aerial vehicle, which is a complicated integration system ofenvironment-aware, path planning and vehicle control technology. The principle is asfollows: The vehicle sensors acquire the information like road condition and vehicleorientation, then the vehicle can complete the self-driving task by providing specificcontrol requirement for the front-wheel angle and motor speed by analysis theinformation and vehicle speed.
This thesis designed an intelligent vehicle planning and control system programaccording to the requirement of vehicle self-driving task. It is mainly about theprogram’s analysis, demonstration and realization. Firstly, it analysis thevehicle-driver-road closed loop control system from the manned prospective, and setup the requirements and objectives for the system according to the analysis result;Secondly, it formulated the overall system structure and program design.
This system completed the design of system hardware circuit by using themicrocontroller MC9S12XS128as the core processor. Hardware circuit including theminimum system circuit, voltage regulator circuit, the motor drive circuit and theexternal threshold value circuit. At the same time, this thesis elaborated the process ofhow the CCD camera accessing, processing and recognizing the road image, at thelast, it fully described how the PID control algorithm was used and its realization inthe intelligent vehicle planning and control system. Finally, after a series of realvehicle tests, the system finished the intelligent vehicle self-driving requirements andtask.
In addition, the real vehicle tests may occur the problems like PID parameters mismatch in different road conditions, poor robustness or unsatisfactory control result.After taking these problems into consideration, this thesis formulated the intelligentvehicle real-time simulation tests by using Plastid2simulation system and the visuallyanalyzed the simulation data by using MATLAB software. The analysis showed thatthe intelligent vehicle’s autonomous driving capability can be enhanced aftersimulation.
本文根据无人驾驶车辆自主行驶的任务要求设计了一套智能车规划与控制系统方案，全文围绕该方案的论证和实现而展开，首先对车辆闭环控制系统进行了分析，并根据分析结果提出了具体的设计目标和要求，然后围绕该系统中各部分所起的作用和功能，完成了规划与控制系统的整体方案设计。
整个系统以MC9S12XS128单片机为核心元件构成了硬件电路，主要包括最小系统电路、电源稳压电路、电机驱动电路以及外部阈值电路等；同时，本文详细阐述了车载CCD摄像头对车道图像的获取、处理和识别的过程，在采集并提取出车道信息的基础上，制定了车辆的横向和纵向控制策略；然后，重点介绍了PID控制算法在智能车规划与控制系统中的具体应用以及算法的程序实现；最后，通过实验室环境下实车试验，完成了智能车自主行驶的任务与要求。
另外，考虑到实车试验时可能会出现不同路况下PID参数不匹配、鲁棒性差、控制效果不理想等问题，因此，本文利用Plastid2智能车仿真系统进行了实时仿真测试，并利用MATLAB软件对仿真数据进行了直观分析。分析结果表明，通过仿真，提高了测试效率，增强了智能车的自主行驶能力。
The study of intelligent vehicle has being a hot topic both at home and abroadsince the rapid development of vehicle control technology. Intelligent vehicle is alsoknown as unmanned aerial vehicle, which is a complicated integration system ofenvironment-aware, path planning and vehicle control technology. The principle is asfollows: The vehicle sensors acquire the information like road condition and vehicleorientation, then the vehicle can complete the self-driving task by providing specificcontrol requirement for the front-wheel angle and motor speed by analysis theinformation and vehicle speed.
This thesis designed an intelligent vehicle planning and control system programaccording to the requirement of vehicle self-driving task. It is mainly about theprogram’s analysis, demonstration and realization. Firstly, it analysis thevehicle-driver-road closed loop control system from the manned prospective, and setup the requirements and objectives for the system according to the analysis result;Secondly, it formulated the overall system structure and program design.
This system completed the design of system hardware circuit by using themicrocontroller MC9S12XS128as the core processor. Hardware circuit including theminimum system circuit, voltage regulator circuit, the motor drive circuit and theexternal threshold value circuit. At the same time, this thesis elaborated the process ofhow the CCD camera accessing, processing and recognizing the road image, at thelast, it fully described how the PID control algorithm was used and its realization inthe intelligent vehicle planning and control system. Finally, after a series of realvehicle tests, the system finished the intelligent vehicle self-driving requirements andtask.
In addition, the real vehicle tests may occur the problems like PID parameters mismatch in different road conditions, poor robustness or unsatisfactory control result.After taking these problems into consideration, this thesis formulated the intelligentvehicle real-time simulation tests by using Plastid2simulation system and the visuallyanalyzed the simulation data by using MATLAB software. The analysis showed thatthe intelligent vehicle’s autonomous driving capability can be enhanced aftersimulation.
引文
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