基于Cmos黑白摄像头的智能车系统设计

his paper is under the background of The 5th Freescale Cup National Undergraduates Intelligent Smart Car Competition. We designed a smart car that can automatically identify roads in the specially designed track. This system is mainly composed with the MC9S12XS128 control core, the power source management unit, camera information processing unit, the vehicle speed examination module, the servo control unit and the DC motor drive unit. It takes Freescale's 16-bit single-chip S12XS128 as the control core, unifies the way recognition and the vehicle speed examination. By controlling the steering gear and the drive motor, the smart car can achieve the required system stability and fast requirements.In the experiment ,the combination of searching the trip point with Full-line search near the image and constraint range search in the distant image,is not only reduces the computation time but also improves the accuracy, the nonlinear processing of the P parameter in the actual debug has good control effect.