主办：陕西省汽车工程学会
ISSN 1671-7988  CN 61-1394/TH
创刊：1976年
汽车实用技术

汽车实用技术 ›› 2023, Vol. 48 ›› Issue (10): 47-50.DOI: 10.16638/j.cnki.1671-7988.2023.010.009

• 智能网联汽车 • 上一篇    下一篇

基于 K60 单片机智能小车设计与实践

陈建辉 1，刘湘安*2   

  1. 1.电信科学技术第四研究所有限公司；2.长安大学 汽车学院
  • 出版日期:2023-05-30 发布日期:2023-05-30
  • 通讯作者: 刘湘安
  • 作者简介:陈建辉 （1981—），男，硕士，工程师，研究方向为车路协同和车联网。

Design and practice of smart vehicle based on K60 microcontroller

CHEN Jianhui1 , LIU Xiang'an*2   

  1. 1.Fourth Research Institute of Telecommunication Technology Company Limited, 2.School of Automobile, Chang'an University
  • Online:2023-05-30 Published:2023-05-30
  • Contact: LIU Xiang'an

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摘要： 为更好地参加全国大学生智能汽车竞赛，文章提出了基于 K60 的智能小车设计，设计 了以 MK60DN512ZVLQ10 作为核心控制器的硬件电路系统。软件系统通过处理单目摄像头所 拍摄的图像，得到小车的规划路径曲线；再通过单点预瞄最优曲率模型得到较优转向角，用 比例积分微分（PID）算法控制小车的转向，实现了小车的循迹功能。采用了障碍物膨胀法， 有效避免了碰撞的发生。试验结果表明，所设计的智能小车能够在赛道上直线行驶、转弯、 过十字路口等，具有基本的行驶功能，满足了设计目标要求。

关键词: 智能小车；K60 单片机；PID 算法；循迹功能

Abstract: In order to participate the national college students smart car competition with good score, this paper presents the design of an intelligent small car based on K60. A hardware circuit system with MK60DN512ZVLQ10 as the core controller is designed. The software system obtains the car planning path curve by processing the photos taken by the monocular camera. The better steering angle is obtained by the single-point preaiming optimal curvature model and the proportion integration differentiation (PID) algorithm controls the steering of the car to realize the tracking function. The obstacle expansion method is adopted to effectively avoid the collision. The test results show that the designed intelligent car can drive in a straight line, turn, cross the intersection and so on. It has basic driving functions and meets the design objectives and requirements.

Key words: Smart vehicle; K60 single chip machine; PID algorithm; Tracking function