本文详细介绍了我们为首届全国智能车大赛而准备的智能车系统方案。该

系统以Freescale16 位单片机MC9S12DG128 作为系统控制处理器，采用基于的

摄像头的图像采样模块获取赛道图像信息，通过边缘检测方法提取赛道黑线，

求出小车与黑线间的位置偏差，采用PID 方式对舵机转向进行反馈控制。通过

自制的速度传感器实时获取小车速度，采用Bang-Bang 控制策略形成速度闭环

控制。小车还将通过特定算法分析出前方的路况，并根据路况的不同而为小车

分配以不同的速度。文中将介绍赛车机械结构和调整方法，赛车转向模块和驱

动模块的设计、参数和有关测试，图像采样模块的摄像头工作机制以及安装选

型、采样电路设计和采样策略，还将介绍自制的速度传感器的制作、安装方法

和对其可靠性所做的测试。我们将说明本系统的舵机转向策略、速度闭环控制

与速度分配策略。除智能车系统本身的介绍外，我们还将详细叙述该系统开发

过程中所用到的开发工具、软件以及各种调试、测试手段方法。-In this paper we will demonstrate an intelligent vehicle system scheme

prepared for the first national intelligent vehicle contest. The vehicle system, with

the Freescale16-bit single-chip MC9S12DG128 as its control microprocessor, uses

image-sensor module based on camera to obtain lane image information, then

abstract the black line on the contest lane by edge-detection method and calculate

the position difference between the vehicle and the black line with which we will

have a PID feedback control on the steering angle. The vehicle also uses a

speed-sensor made by ourselves to obtain the real time speed which will be used in a

speed feedback that adopts Bang-Bang control method. Certain algorithm will be

employed to analyze the lane styles in front of the vehicle and set different vehicle

speed according to the lane style. The mechanical structure and adjustment method

of the vehicle, the design, parameters, and relative tests of the vehicle steer module

and driving modul