The smart car based on laser control

In this essay, we mainly discuss the philosophy and designing experience of self-directed smart car model based on the chip XS128 produced by Freecale company. The smart car system, with the Fresscale 16-bitsingle-chip MC9S12XS128 as its control microprocessor, uses signal acquisition module to obtain lane image information, and adopts signal PID control strategy together with PWM technology to have a control on the steering angle and speed of the system. The main function that the intelligent car may achieve is that the car should track the black-guide- line automatically and move forward following the line as fast and stable as possible. This thesis includes hardware design and algorithm control mainly. The hardware design is consisted of four parts which are power supply module, motor drive module, servo motor module, laser sensor module and the chip MC9S12XS128 schematic. The servo subsystem formed by servo motor which is used to control the direction of laser sensor, the driver subsystem formed by DC-motor and the mechanism of gears, the directing subsystem formed by the other servo motor and the mechanism of connecting bar, the speed detecting subsystem and the circuit subsystem finally form the whole vehicle model. The algorithm control is used by PID theory. Finally, on the smart car's overall debugging and testing, the results show the smart car hardware system stability, better meet the requirements of control.