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

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