CONTROL STRATEGY AND IMPLEMENTATION OF THE SMART CAR
Abstract
The smart car is a complex control system which integrates multiple functions such as path identification, planning decisions and racing. The abilities to track automatically, and finish the entire process along the ideal route as far as possible, are the ultimate goals of the smart car system. In order to achieve these goals, a fuzzy controller is designed in this paper, which can simulate the way of thinking about how to drive a car.
In order to complete the design of the fuzzy controller, the design process is divided into two parts: in the first half, we introduce the basic theory and architecture of a fussy controller, the general design approach and how to use S12 MCU to programme a fuzzy controller; In the second half, for the control objectives, we introduce the designs about the fuzzy controller inputs and outputs variables and their membership functions, the creation of fuzzy control rules table.
The smart car system ,which designed in this paper, use a CCD to collect track information. As the control method of the car is basised on the path location, extraction of track will have a direct impact on the intelligent car control results. In order to improve the anti-disturbance capacity , we design a programme, which is based on The continuity of the track, and strengthen the anti-jamming capability.
In order to simulate greatest the way of thinking, traffic in front of the car is also used as a fuzzy controller input, which is based on the curvature of the track.
Finally, we also design a PC track display programme, which is based on the MSComm widget and PictureBox widge in VB.
Keywords: Smart Car; S12; Fuzzy Control; Serial Communication
