Photoelectric sensor and path based on the vehicle navigation system memory (1)

Introduction In response to the Ministry of Education on strengthening the college students the sense of innovation and the spirit of cooperation and innovation capability to the call of Culture, Tsinghua University automotive engineering team up actively participated in the first session "Freescale" Cup National Intelligent Vehicle Invitational college students. From December 2005 began to prepare for the last eight months, has been developed based on the photoelectric sensor 6 substituting the path identification programs, and developed a smart car simulation research platform, based on the proposed algorithm to the path memory and drive control strategy, in power management, noise suppression, driving distinctions all such aspects of the research work carried out by a large number of simulation tests, road tests and basic performance test, photoelectric sensor has been developed based on memory and the smart path to navigation systems, vehicle system for the excellent performance laid a solid foundation. This paper from the Smart car overall program, the path to identify options, and the drive to control and path in areas such as memory algorithm introduced. Second, the overall plan of smart cars Smart car system to Freescale's MC68S912DP256 at the core, by the power modules, sensor module, DC motor drive modules, steering motor control module, control parameter selection modules, SCM modules, and other components, as shown in figure 1. Smart car system operates from 1.6V, 5V, 7.2V combination of the three systems, of which 7.2 V used to drive motors and power steering gear shift, 5 V to speed sensors, photoelectric sensor and MCU reception of electricity, 1.6 V power supply to the glass . On-line control to facilitate the adjustment of parameters, but also set up a control parameter selection module, the keys can be set up through several, or a different procedure call control parameters to adapt to different venues terms. Figure 1 overall structure of the smart car Smart cars work model: photoelectric sensor detection circuit information, speed sensor detecting the current speed, battery voltage monitoring circuit battery voltage detection, and the importation of SCM information processing. Racing through the control algorithm to control orders issued through the steering servo motor drives the car and the trajectory and speed of real-time control. Smart car competition to obtain good results, model car chassis parameter optimization and hardware equipment reliability is very important. The front wheel positioning parameter optimization, servo arm of force to increase the focus position and chassis adjustment to the mechanical properties baby has a greater impact. Third, identify options and the path circuit design Path program is the first to identify the need to determine, there are the following issues. 1. Photoelectric identification or camera recognition; 2. How sensor with? How much spacing, shape how, single-row or double row; 3. The sensor can detect far forward; 4. Sensor signals using digital or analogue; 5. Circuit on how to achieve. As photoelectric identification program is simple and reliable, this paper used photoelectric identification programs. Fourth, digital and analogue photoelectric photoelectric Recognition Recognition Competition organizers asked for a maximum number of sensors 16, get rid of a speed sensor can be used to detect the path for the 15 sensors, and sensor allows the layout of the total width of 25 cm, if we adopt digital photoelectric sensor uniform distribution, the detection accuracy of the road can only reach about 17 mm This car is progressing very difficult process of achieving a high degree of control accuracy and response speed. In essence, the digital photoelectric sensor disadvantage lies in its path detection lost a large amount of information. Analog photoelectric sensor could theoretically be greatly improved path detection accuracy. Analog photoelectric sensors are luminous and receive certain cone angle conical space, its size and voltage sensors from the black lines marking the path of a quantitative relationship between distance: from the more recent black line, the lower the voltage, from the farther black lines, the higher the voltage (specific relationship with the models, as well as photoelectric the height), as shown in Figure 2. Figure 2 sensor voltage and offset distance relationship diagram Therefore, as long as the master of the sensor voltage - migration distance of relations, one can determine the size of the sensor voltage sensor with a black marker line distance (and not just a rough judgment whether the sensor on-line), then obtain body longitudinal axis line relative path marker line position, be the path for the distribution of information. According to real vehicle testing, can improve the accuracy of detection path to 1 mm. This sensor can guarantee that the information collected by the MCU can be accurately track information, so as to improve the precision control of the car provided a guarantee. 5, double-row forward with the design and In this paper the development of the intelligent vehicle performance simulation platform, the layout of the sensors conducted in-depth research. As to the steering, electrical and high-end cars are part of inertial delay from input to output needs a certain amount of time, and the sooner that the road in front of the information, the more they can reduce the input to the output from the delay. Detection car a certain distance in front of the track known as forward-looking, forward-looking in a certain area, the greater the vision sensor program, the speed limit will be higher, the process of moving its high-speed lines follow the guide also relatively high accuracy, the system's overall response to a better performance. Therefore Path Recognition module designed to form a lifted angle with the ground, the front sensors for forward-looking, rear sensors on the track starting point to identify, measure body longitudinal axis line with the centerline of the track bias slope to facilitate better adjust vehicles gesture. To ensure the greatest possible ground clearance photoelectric sensor where there are still large enough luminous intensity, we used high-current pulse triggering control luminescence method. According to the experimental test, in light of the luminous, after approximately 0.5 A of current. If 15 sensors, the instantaneous current of 7.5 A. Such a big battery voltage currents will certainly have a certain impact, to the detriment of the normal operation of the whole system. So before and after the row will Luminescence Sensor time stagger through two sets of trigger circuit to control light. This will effectively reduce the luminous infrared luminescence when the battery voltage shocks. Introduction In response to the Ministry of Education on strengthening the college students the sense of innovation and the spirit of cooperation and innovation capability to the call of Culture, Tsinghua University automotive engineering team up actively participated in the first session "Freescale" Cup National Intelligent Vehicle Invitational college students. From December 2005 began to prepare for the last eight months, has been developed based on the photoelectric sensor 6 substituting the path identification programs, and developed a smart car simulation research platform, based on the proposed algorithm to the path memory and drive control strategy, in power management, noise suppression, driving distinctions all such aspects of the research work carried out by a large number of simulation tests, road tests and basic performance test, photoelectric sensor has been developed based on memory and the smart path to navigation systems, vehicle system for the excellent performance laid a solid foundation. This paper from the Smart car overall program, the path to identify options, and the drive to control and path in areas such as memory algorithm introduced. Second, the overall plan of smart cars Smart car system to Freescale's MC68S912DP256 at the core, by the power modules, sensor module, DC motor drive modules, steering motor control module, control parameter selection modules, SCM modules, and other components, as shown in figure 1. Smart car system operates from 1.6V, 5V, 7.2V combination of the three systems, of which 7.2 V used to drive motors and power steering gear shift, 5 V to speed sensors, photoelectric sensor and MCU reception of electricity, 1.6 V power supply to the glass . On-line control to facilitate the adjustment of parameters, but also set up a control parameter selection module, the keys can be set up through several, or a different procedure call control parameters to adapt to different venues terms. Figure 1 overall structure of the smart car Smart cars work model: photoelectric sensor detection circuit information, speed sensor detecting the current speed, battery voltage monitoring circuit battery voltage detection, and the importation of SCM information processing. Racing through the control algorithm to control orders issued through the steering servo motor drives the car and the trajectory and speed of real-time control. Smart car competition to obtain good results, model car chassis parameter optimization and hardware equipment reliability is very important. The front wheel positioning parameter optimization, servo arm of force to increase the focus position and chassis adjustment to the mechanical properties baby has a greater impact. Third, identify options and the path circuit design Path program is the first to identify the need to determine, there are the following issues. 1. Photoelectric identification or camera recognition; 2. How sensor with? How much spacing, shape how, single-row or double row; 3. The sensor can detect far forward; 4. Sensor signals using digital or analogue; 5. Circuit on how to achieve. As photoelectric identification program is simple and reliable, this paper used photoelectric identification programs. Fourth, digital and analogue photoelectric photoelectric Recognition Recognition Competition organizers asked for a maximum number of sensors 16, get rid of a speed sensor can be used to detect the path for the 15 sensors, and sensor allows the layout of the total width of 25 cm, if we adopt digital photoelectric sensor uniform distribution, the detection accuracy of the road can only reach about 17 mm This car is progressing very difficult process of achieving a high degree of control accuracy and response speed. In essence, the digital photoelectric sensor disadvantage lies in its path detection lost a large amount of information. Analog photoelectric sensor could theoretically be greatly improved path detection accuracy. Analog photoelectric sensors are luminous and receive certain cone angle conical space, its size and voltage sensors from the black lines marking the path of a quantitative relationship between distance: from the more recent black line, the lower the voltage, from the farther black lines, the higher the voltage (specific relationship with the models, as well as photoelectric the height), as shown in Figure 2. Figure 2 sensor voltage and offset distance relationship diagram Therefore, as long as the master of the sensor voltage - migration distance of relations, one can determine the size of the sensor voltage sensor with a black marker line distance (and not just a rough judgment whether the sensor on-line), then obtain body longitudinal axis line relative path marker line position, be the path for the distribution of information. According to real vehicle testing, can improve the accuracy of detection path to 1 mm. This sensor can guarantee that the information collected by the MCU can be accurately track information, so as to improve the precision control of the car provided a guarantee. 5, double-row forward with the design and In this paper the development of the intelligent vehicle performance simulation platform, the layout of the sensors conducted in-depth research. As to the steering, electrical and high-end cars are part of inertial delay from input to output needs a certain amount of time, and the sooner that the road in front of the information, the more they can reduce the input to the output from the delay. Detection car a certain distance in front of the track known as forward-looking, forward-looking in a certain area, the greater the vision sensor program, the speed limit will be higher, the process of moving its high-speed lines follow the guide also relatively high accuracy, the system's overall response to a better performance. Therefore Path Recognition module designed to form a lifted angle with the ground, the front sensors for forward-looking, rear sensors on the track starting point to identify, measure body longitudinal axis line with the centerline of the track bias slope to facilitate better adjust vehicles gesture. To ensure the greatest possible ground clearance photoelectric sensor where there are still large enough luminous intensity, we used high-current pulse triggering control luminescence method. According to the experimental test, in light of the luminous, after approximately 0.5 A of current. If 15 sensors, the instantaneous current of 7.5 A. Such a big battery voltage currents will certainly have a certain impact, to the detriment of the normal operation of the whole system. So before and after the row will Luminescence Sensor time stagger through two sets of trigger circuit to control light. This will effectively reduce the luminous infrared luminescence when the battery voltage shocks.