CN105652698A - Double-line tracking smart car control system - Google Patents
Double-line tracking smart car control system Download PDFInfo
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- CN105652698A CN105652698A CN201410625156.9A CN201410625156A CN105652698A CN 105652698 A CN105652698 A CN 105652698A CN 201410625156 A CN201410625156 A CN 201410625156A CN 105652698 A CN105652698 A CN 105652698A
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Abstract
The invention provides a double-line tracking smart car control system. A smart car acquires the black lines on the two sides of a track through a TSL1401 linear array CCD, and a single-chip microcomputer is used as a core control unit to achieve the automatic identifying and tracking function of the smart car. The application of cubic spline interpolation in smart car steering and speed control is explained in detail. The smart car can stably, accurately and quickly run along a good path.
Description
Technical field
The present invention relates to unmanned intelligent vehicle field, particularly a kind of two-wire tracking intelligent vehicle.
Background technology
The research and development of first the unmanned intelligent drives car in the whole world produce nineteen fifty-three now, and the type intelligent vehicle is by means of electromagnetic induction technology implementation path trace service of sunkening cord. Now along with sensor technology constantly improves, it is based more on the Continuous optimization of intelligent algorithm, make the unmanned designing technique controlling intelligent vehicle and level one tunnel high, more the integrated technology of height also manifests gradually, meanwhile, national college students' " Freescale " intelligent vehicle contest is one of big subject race of message area six of advocating of the Ministry of Education. Match, quickly to run through regulation racing track for target, improves car mould speed as far as possible, and this not only needs intelligent vehicle to have reliable hardware, also supports with greater need for good algorithm. Intelligent vehicle travels on continuous print racing track, smooth continuous print is needed to control stability and the rapidity of guarantee intelligent vehicle, cubic spline interpolation algorithm can guarantee that the seriality of interpolation point both sides track, has stability and flatness, the field such as gait planning being applied to robot.
Summary of the invention
For above-mentioned Problems existing, a kind of two-wire tracking intelligent vehicle is provided, avoid intelligent vehicle be prone to stray problem generation and can with the reliable and stable traveling in good path, and can reach the destination with speed fast as far as possible, demonstrate the effectiveness that cubic spline interpolation method is applied in intelligent vehicle path optimization.
A kind of two-wire tracking intelligence vehicle control, the parameter adjustment module such as including path detection sensor assembly, SD card module, motor drive module, micro controller module, toggle switch and button. It is characterized in that: image acquisition in three steps: start exposure, exposure, read AD value view data.
The intelligent automobile that this research relates to adopts TSL1401 linear CCD sensor as path detection acquisition module, and Freescale 16 8-digit microcontroller MC9S12XS128 is as control core, and Omron 500 line encoder is as speed acquisition module.
A kind of two-wire tracking intelligence vehicle control, image boundary extraction and deviation acquiring method: search line to both sides from the center of image, namely searching line starting point coordinate is fixing center, finds adjacent two pixel differences to be left margin toward the left side, in like manner turns right and find right margin.
A kind of two-wire tracking intelligence vehicle control, PD algorithm is in conjunction with the steering wheel course changing control of cubic spline interpolation, first have to find the corresponding deviation that various radius needs, thus the deviation that the information processing that linear CCD is collected obtains arranges corresponding discrete steering wheel dutyfactor value. Speed controlling adopts pid algorithm to control in conjunction with cubic spline interpolation.The method only determining speed according to current steering wheel deflection angle output valve, it is less obvious that the straight way of this method enters curved slowing effect, but good stability, the average speed that reality can reach be better than before speed preset method.
A kind of preferred version as image boundary extraction of the present invention and deviation acquiring method, dynamic central value is adopted to search line toward both sides, i.e. one two bit array middle2 of definition, the central value middle1 on the border extracted is as the starting point this time searching line toward both sides, thus solving the problem that bend loses line. Deviation bias asks for the coordinate figure being right boundary and deducts (total pixel of linear CCD), and the computational methods of this deviation can avoid the impact of racing track width.
Beneficial effect: the present invention employs single-chip microcomputer own resource to the full extent, the velocity pulse value of expectation steering wheel dutycycle corresponding to various radius and setting is cooked up by cubic spline interpolation, control steering wheel in conjunction with PD algorithm to turn to, motor speed is controlled in conjunction with pid algorithm, avoid intelligent vehicle to be prone to the generation of problem of stray and with the reliable and stable traveling in good path, and can reach the destination with speed fast as far as possible.
Accompanying drawing explanation
Fig. 1 is the system block diagram of the present invention.
Labelling in figure: 1-steering wheel, 2-toggle switch, 3-motor, 4-velocity measuring module, 5-SD mould card, 6-PC machine, 7 path detection modules-, 8-CPU.
Detailed description of the invention
A kind of two-wire tracking intelligence vehicle control, including path detection sensor assembly, SD card module, motor drive module, micro controller module, the parameter adjustment module such as toggle switch and button, gathered and analyze the racecourse information that current sensor module sends to calculate steering wheel pinch and the parameter such as motor speed by microcontroller, so that intelligent carriage can on going to the traveling of fast and stable, it is characterized in that: image acquisition in three steps: start exposure, exposure, read AD value view data, time delay is exposed with implement of interruption function, so can process other tasks at exposure stage. image procossing: first taking dynamic threshold to image binaryzation, white value is 250, and black level value is 0, then extracts the information of binary image again. overall procedure is that system first initializes, and re-sampling two changes process, it is determined that position, successively starts servos control and motor controls, finally repeat the next cycle.
A kind of two-wire tracking intelligence vehicle control, it is characterized in that: image boundary extraction and deviation acquiring method: search line to both sides from the center of image, namely searching line starting point coordinate is fixing center, finds adjacent two pixel differences to be left margin toward the left side, in like manner turns right and find right margin. Another kind of method is to adopt dynamic central value to search line toward both sides, i.e. one two bit array middle [2] of definition, the central value middle [1] on the border extracted is as the starting point this time searching line toward both sides, thus solving the problem that bend loses line, deviation bias asks for the coordinate figure being right boundary and deducts total pixel of 128(linear CCD), the computational methods of this deviation can avoid the impact of racing track width.
Conventional racing track type mainly includes little S, straight way, various different radiis curved, sum up, the element of racing track can be regarded as the curved composition of various different radii substantially, wherein straight way is that radius is infinitely-great curved, therefore, utilizes the deviation in the better path of the curved correspondence of different radii to be controlled the direction of dolly into main thought.So first having to find the corresponding deviation that various radius needs, thus the deviation that the information processing that linear CCD is collected obtains arranges corresponding discrete steering wheel dutyfactor value, facts have proved, under the relatively simple road conditions of racing track type, dolly can be advanced with good path, such as advance on the racing track that radius is 60cm, the deviation that linear CCD obtains has the equilibrium point of this radius applicable with the dutycycle of setting, namely when input deviation absolute value is about 75, the output duty cycle of steering wheel is about 270, make the intelligent vehicle can with this equilibrium point with fixing stable traveling of pinching. but the racing track of relative consecutive variations or more complicated racing track type, this discrete corresponding relation is difficult to meet requirement, even causes concussion. the method solved is that pair radius subdivides, and obtains the more table of discrete point, however again to radius to carry out thinner division be unrealistic, and expend time in, thus introducing cubic spline interpolation algorithm so that pinch continuously. the main thought of spline interpolation is, according to existing data point, finds one group of polynomial fitting, in fitting of a polynomial process, to often organizing adjacent data point, removes the curve between fitting data point with multinomial. steering wheel adopts PD to control simultaneously, the input quantity of servos control is the deviation that linear CCD sampling gets, control car mould by steering wheel steering angle difference and turn to the deviation eliminating car mould distance road-center, the near-optimization PD of the nonlinear system according to dynamic compensation controls, ratio P adopts dynamic value, , namely the value of cubic spline interpolation gained is divided by deviation gained, the effect of differential D is used to make intelligent vehicle keep the dutycycle needed for corresponding deviation when motion, the subsidiary effect turned in advance simultaneously, choosing of D should from little toward big value, until concussion occurring again somewhat toward ditty, by reasonably choosing D value, good path can be realized.
The present invention adopts pid algorithm in conjunction with cubic spline interpolation to control the speed of drive motor. In general speed controlling is not the most difficult, and intelligent vehicle to complete whole process with the shortest time, and car is in the speed preset of different racing track section and is only the most difficult. First we consider as follows: straight way should as quickly as possible, and bend also will as quickly as possible, and straight way enters curved to slow down, and bend goes out straight way can suitably accelerate. For this, we adopt deviation value to carry out setting speed value at first, finally found that effect is not as, and analyze reason as follows: little S has deviation, cause slowing down; There will be deviation at bends such as big S little, car body does not also return to suitable attitude, just gives bigger velocity amplitude, and the attitude after causing is bad control also, has a strong impact on path. Finally this invention takes a kind of the method determining speed according to current steering wheel deflection angle output valve, it is less obvious that the straight way of this method enters curved slowing effect, but good stability, the average speed that reality can reach be better than before speed preset method. Same, when speed being arranged discrete corresponding relation, owing to velocity variations difference is bigger, ground to differentiated friction power, can make speed can not reach steady statue when radius is constant due to overshoot on speed regulates, have a strong impact on path, so in the stabilized speed situation finding different radii, velocity variations should be made smooth continuously, make full use of the feature of different radii friction speed so that speed arranges and reaches optimum.
Claims (6)
1. a two-wire tracking intelligence vehicle control, the parameter adjustment module such as including path detection sensor assembly, SD card module, motor drive module, micro controller module, toggle switch and button, it is characterized in that: image acquisition is divided into: start exposure, exposure, read AD value view data.
2. a kind of two-wire tracking intelligence vehicle control according to claim 1, it is characterized in that, described intelligent automobile adopts TSL1401 linear CCD sensor as path detection acquisition module, Freescale 16 8-digit microcontroller MC9S12XS128 is as control core, and Omron 500 line encoder is as speed acquisition module.
3. a kind of two-wire tracking intelligence vehicle control according to claim 1, it is characterized in that: image boundary extraction and deviation acquiring method: search line to both sides from the center of image, namely searching line starting point coordinate is fixing center, find adjacent two pixel differences to be left margin toward the left side, turn right and find right margin.
4. a kind of two-wire tracking intelligence vehicle control according to claim 1, it is characterised in that: adopt the servos control of cubic spline interpolation to turn to.
5. the speed control system of a kind of two-wire tracking intelligent vehicle according to claim 1, it is characterised in that: adopt pid algorithm in conjunction with cubic spline interpolation.
6. a kind of two-wire tracking intelligence vehicle control according to claim 1, it is characterized in that: method adopts dynamic central value to search line toward both sides, define two bit array middle2, the central value middle1 on the border of extraction as the starting point this time searching line toward both sides.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106990786A (en) * | 2017-05-12 | 2017-07-28 | 中南大学 | The tracking method of intelligent carriage |
| CN108549393A (en) * | 2018-06-22 | 2018-09-18 | 洛阳理工学院 | Orbit determination tracking vehicle system and orbit determination tracking method |
| CN113467480A (en) * | 2021-08-09 | 2021-10-01 | 广东工业大学 | Global path planning algorithm for unmanned equation |
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2014
- 2014-11-10 CN CN201410625156.9A patent/CN105652698A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106990786A (en) * | 2017-05-12 | 2017-07-28 | 中南大学 | The tracking method of intelligent carriage |
| CN108549393A (en) * | 2018-06-22 | 2018-09-18 | 洛阳理工学院 | Orbit determination tracking vehicle system and orbit determination tracking method |
| CN108549393B (en) * | 2018-06-22 | 2024-01-26 | 洛阳理工学院 | Track-setting tracking vehicle system and track-setting tracking method |
| CN113467480A (en) * | 2021-08-09 | 2021-10-01 | 广东工业大学 | Global path planning algorithm for unmanned equation |
| CN113467480B (en) * | 2021-08-09 | 2024-02-13 | 广东工业大学 | Global path planning algorithm for unmanned equation |
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Application publication date: 20160608 |
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| WD01 | Invention patent application deemed withdrawn after publication |