基于CMOS摄像头的智能车路径识别与方向控制外文翻译.docxVIP

英文原文 Route Identification and Direction Control of Smart Car Based on CMOS Image Sensor Abstract This paper is designed for the 2nd Freescale Cup National Undergraduate Smart Car Competition. With MC9S12DG128 single chip and smart car model supplied by the committee, a CMOS image sensor is applied to detect the black track on white raceway, which extends the detection range and is helpful to predict the forward path. In this paper, ten-line pixels in an image are analyzed to locate the black track, and the PD algorithm based on PID is employed to control the direction and angle of the steering gear respectively. By repeated testing, the smart car can run stably on the given raceway at a high speed. Keywords: route identification, direction control, smart car, MC9S12DG128 single chip, image sensor, PID algorithm. 1. Introduction The rules of 2nd Freescale Cup National Undergraduate Smart Car Competition [1] may be summarized as follows: the raceway consists of a lot of white boards on which a black track is attached; the smart car designed by participants runs along the black track;every car runs two circles in this game and the best times of two circles will be the final score of this car, and apparently the team whose car takes the best times will bear the palm. According to the rules, we should ensure that the car can distinguish the black track from white board in order to make the smart car run stably. There are two common methods for route identification: one is using infrared diode as the sensor, and another is using CCD/CMOS image sensor [2]. This paper using CMOS image sensor as route identification sensor, the reasons for which are as follows: (1) The range which is covered by a infrared diode sensor is much smaller than a CMOS image sensor covers, and only we can do is to use several diode sensors, but the maximum number of diode sensors used in the smart car is 16; (2) The working voltage of a CMOS image sensor(3.3V) is less than a CCD(12V) or 16 infrared