[优秀毕业设计精品]基于单片机的简易智能车控制系统

A1A1A1A2A0A2A3A4A5A7A6A8A9A10A11A12A13A14A15A16A17A18A19A20A21A22A23A24A25A26A27A28A29A30A8A9A10A11A12A13A31A32A10A33A34A35A36A13A37A38A8A9A39A40A41A42A43A44A41A42A16A45A41A42A46A47A35A48A49A50A51A14A21A41A42A15A21A52A53A54A46A55A56A57A58A59A60A27A28A49A61A62A58A63A49A64A65A66A67A49A68A26A69A70A49A69A71A49A9A72A20A49A20A73A74A75A76A77A78A79A80A77A81A21A57A58A82A83A52A84A85A86A87A25A88A21A89A90A79A80A91A74A77A92A27A28A60A68A26A69A70A77A78A77A67A93A94A21A95A91A79A96A97A98A99A21A100A101A21A102A86A103A40A104A105A106A107A108A21A109A110A43A111A79A112A113A114A97A115A17A116A77A81A117A118A119A120A25A88A21A95A91A79A80A17A121A122A77A78A123A124A77A67A93A94A21A95A125A126A97A48A127A128A115A79A129A130A112A97A115A17A68A26A131A56A21A117A119A120A79A132A133A131A56A21A134A135A104A41A42A136A137A138A139A140A141A21A142A143A117A86A144A145A26A146A79A147A148A149A150A151A21A138A139A95A152A48A153A154A155A49A91A156A49A157A158A49A140A159A21A120A32A160A161A162A163A37A96A104A164A165A41A42A79A143A166A44A167A168A169A25A170A143A171A172A148A26A173A173A174A29A30A175A176A79A177A135A178A179A180A181A23A182A183A108A184A185A104A186A187A79A26A146A117A86A144A145A188A24A25A162A163A29A30A21A189A190A191A192A193A194A104A195A49A50A51A14A21A118A190A41A42A196A181A10A95A197A13A50A51A14A190A198A192A148A16A17A18A19A20A21A117A86A27A28A199A27A28A61A32A26A148A200A201A21A202A203A204A117A118A205A206A48A207A79A148A159A208A61A32A26A205A206A209A127A60A113A202A210A202A203A21A211A95A212A79A202A198A48A207A21A213A214A215A216A215A99A104A96A217A21A41A42A196A181A97A218A219A220A203A174A58A63A61A221A21A8A9A220A222A223A224A225A8A9A190A226A21A64A65A199A79A227A206A121A39A21A194A228A52A9A72A229A220A69A20A230A86A61A221A21A8A9A231A84A167A104A163A165A69A20A230A86A61A221A27A28A230A86A69A20A232A233A69A234A135A178A235A61A32A26A236A237A79A126A135A80A61A32A26A238A237A79A135A178A235A40A116A239A185A240A217A241A49A158A242A243A244A245A242A69A174A79A246A210A247A248A249A250A251A84A167A80A17A69A20A21A27A28A104A252A220A253A20A21A8A9A231A84A167A104A254A220A118A27A28A199A21A222A223A104A255A249A0A222A199A1A21A2A181A3A79A239A4A190A226A74A222A223A224A225A190A226A21A27A28A199A104A5A220A237A6A7A8A61A221A21A8A9A104A26A237A7A8A79A80A26A237A227A206A201A140A9A10A27A28A79A222A223A83A11A21A69A174A235A61A32A26A205A206A21A12A13A14A104A15A220A69A16A21A8A9A104A255A249A17A76A61A221A21A69A16A190A226A8A9A0A18A190A21A209A234A69A16A104A19A220A20A21A69A174A21A8A9A104A20A21A69A174A40A17A61A32A26A43A44A20A21A22A23A79A135A178A24A25A61A32A26A27A28A69A174A21A17A153A26A27A178A60A37A103A28A29A79A30A31A32A135A178A80A37A103A28A29A227A206A167A33A34A35A104A1A1A1A2A0A2A3A4A5A7A6A36A220A24A25A61A221A21A8A9A104A37A220A255A249A72A38A8A9A84A167A39A1A69A174A21A8A9A178A60A40A1A61A221A21A8A9A104A79A40A1A61A221A21A8A9A104A40A1A193A194A118A190A97A249A41A247A254A252A42A43A219A254A37A18A19A20A21A213A44A45A46A47A48A247A248A249A61A221A21A39A40A48A170A49A50A51A55A52A53A121A54A56A55A52A57A58A233A59A60A61A62A63A64A65A55A52A60A66A67A53A55A68A241A69A65A70A71A72A73A60A61A62A98A74A75A76A77A78A79A80A81A190A170A82A83A84A85A86A87A88A89A90国外概况美国国防远景研究规划局DARPA从2004年开始举办无人车大奖赛，以百万美元的奖金吸引各大高校和企业参与无人驾驶车辆的研究工作。2004年的比赛在沙漠中进行。但在全长近250公里的路线上，最远的一队也仅仅跑了1178公里而已。2005年的比赛有5辆车完成比赛，斯坦福大学SEBASTIANTHRUN教授带领的STANFORDRACINGTEAM的STANLEY赛车获得冠军，他们使用了一辆改装过的大众途锐R5柴油车。2006年的比赛难度再次加大，从沙漠移到了城市里，在加州的VICTORVILLE，队伍完全被置身于真实的道路状况之中，包括避让，拥堵，加入车流和遵G4444G1144G17902规G2029G12573。G2357G1881G3534G7769G19546大学最G13468获得冠军和200万美元的奖G2181，斯坦福获得G12544G1120G2529和100万美元，而G12544G989G2529被G13512G2525G4624G1134G10714工学G19510G3854得。2007年G5225在加G2045福G4624G1134G13512G1823G6188G13512G4584举办了G12544G989G4638G7246G14033G8785车大赛。一G8466G13475过改装的G7246G14033G2282G19646G1327G1860G252G252G3838和G17828G2172G3423G3822G2163G14033车在无人G6817G6523的G5785况G991行驶了6G1022G4579G7114，行G1225560G14533里G1343496公里，G3854得大赛冠军。美国国防G18108G5088G7407G7246G14033G8785车最G14033G3827用于军G1119，以使G3775G1865G7368加G4445全G727G8785车G2058G17908G2842G16760G1038，人工G7246G14033G13007G13491G4570G14033G5122人们驾驶，最G13468完全G6227G6297驾驶G1231G2165G727研究G13785G5088G7407他们的G6228G7427G4570有G2173于G1955G4581G1144G17902G1119G6937。G19901国大学G10995G7246G14033G8181G3423车G12466赛G7171G19901国G8733G19463大学G8785车G6523G2058实G20576G4472在G20146G5617G2357G4584G4560G1319公G2508G17176G2173G991举办的以HCS12G2345G10267G7438G1038G7692G5527的大学G10995G16850G3818G12197G6228G12466赛。G13464G4008G4570G6564G1391一G1022G7643G1946的G8785车G8181G3423G451G11464流G11017G7438和G2499G1817G11017G5347G11017G8756，参赛队伍G16213G2058作一G14033G3827G14270G1039G16794G2047路线的G7246G14033车，在G999门设计的跑道上G14270G2172G16794G2047道路行驶，跑完整G1022赛G12255用G7114最短且G6228G7427报告评分较高A91A91A91A92A93A92A94A95A96A97A99的参赛队G1038获胜G13785。G2058作G7246G14033G8181G3423车，G16213参赛队伍学习和应用嵌入G5347软件开发工具软件CODEWARRIOR和在线开发手段G14270行设计和G2058作G2499以G14270G2172G16794G2047路径的方案G451G11017G7438的驱G2172G11017路G451G8181G3423车的车速传感G11017路G451G8181G3423车转向伺服G11017G7438的驱G2172以及微G6523G2058器MC9S12DP256G6523G2058软件编G12255，G12573G12573。其G999业知G16794涉及G6523G2058G451G8181G5347G16794G2047G451传感G6228G7427G451G8785车G11017子G451G11017气G451计算G7438G451G7438械G12573G3822G1022学G12197，对学G10995的知G16794融合和实践G2172手G14033力的培养，对高G12573学校G6523G2058及G8785车G11017子学G12197学G7427水平的G6564高，具有良好的长期的推G2172作用。随着赛G1119的逐年开展，G4570不仅有G2173于大学G10995G14270G1039创新G14033力的G6564高，对于相关学G12197领域学G7427水平的G6564升也有一定G5122G2173，最G13468G4570有G2173于G8785车企业的G14270创新，得到企业的G16760G2499。上海G1144G17902大学G451法国国家信息与G14270G2172G2282研究所INRIA和葡萄牙COIMBRA大学联合G13464成的CYBERC3项目G13464，重点研究面向城市环境的无人G14270G2172驾驶车辆，旨在G1038未来的城市G6564G1391一种灵活G451高效G451G4445全G451环保的新G3423公共G1144G17902工具。G13475过研究，人们发现如果G14033把人放置在车G252G252路G13007G13491之G3818，便G2499以比较容易降低G1119G6937率。因此，车辆G14270G2172驾驶G7171G7246G14033G1144G17902G13007G13491的重G16213G13464成G18108分。国内概况“G20146G5617G2357G4584杯”全国大学G10995G7246G14033G8785车G12466赛G7171由教育G18108高G12573学校G14270G2172G2282G999业教学指G4560分G4008员会G1039办，G20146G5617G2357G4584半G4560G1319公G2508协办的全国性的比赛G727全国大学G10995G7246G14033G8785车G12466赛G7171在G13491一G8785车G8181G3423平台上，使用G20146G5617G2357G4584半G4560G1319公G2508的8位G45116位微G6523G2058器作G1038G7692G5527G6523G2058G8181块，G17902过增加道路传感器G451设计G11017G7438驱G2172G11017路编写相应软件以及装配G8181G3423车，G2058作一G1022G14033G3827G14270G1039G16794G2047道路的G8181G3423G8785车，按规定路线行进，以完成G7114间最短G13785G1038优胜。与以G5460的G999业G12466赛不G2528，G7246G14033G8785车G12466赛G7171以G5567速发展的G8785车G11017子G1038G13984景，G9097G11434了G6523G2058G451G8181G5347G16794G2047G451传感G6228G7427G451G11017子G451G11017气G451计算G7438G451G7438械G12573G3822G1022学G12197G1144G2461的G12197G6228创新比赛，已G13475成G1038各高校G12046G12197研成果和学G10995实践G14033力的重G16213途径，G2528G7114也G1038G12050会G17885G6312优G12180的创新人G6177G1391了重G16213平台。A100A100A100A101A102A101A103A104A105A106A107G6117国于2006年8G7388举办G12544一G4638“G20146G5617G2357G4584杯”全国大学G10995G7246G14033G8785车G18004G16843此次比赛吸引了来G14270全国59所G14891G2529学校的112G6915G1207G15932队的参与，大赛分G20056赛G1927赛G1016G1022G19466段。G6117国于2008年8G7388举办了G12544G989G4638“G20146G5617G2357G4584杯”全国大学G10995G7246G14033G8785车G18004赛，此次比赛吸引了来G14270全国的100G3822所G14891G2529学校的G1972百G6915G1207G15932队参与，由于参赛队较G3822，大赛分G1038分赛G2318比赛和全国G5647G1927赛G727全国共分G1008G2283赛G2318G451G2338赛G2318G451G2338G1008赛G2318G451G2338G2347赛G2318及G16211G2347赛G2318G1128G1022分赛G2318G727分赛G2318的G208115G2529优胜G13785参加全国的G5647G1927赛。G7424G4638比赛在G12544一G4638比赛的G3534G11796上增加了赛道的难度，增加G5379道和G15515G5430道在整G1022赛道中的比重，在G1927赛中G17836增加了不G2528G16294度的G3381道，G17837对参赛G17885手及G7246G14033G8181G3423车G13007G13491G6564G1998了G7368高的G16213G8726。全国大学G10995G7246G14033G8785车G12466赛已G13475成G2163举办了G989G4638，比赛规G8181不G7041G6205大G451比成G13501不G7041G6564高。G17902过比赛G1431进了高G12573学校G13044G17148教育，培养大学G10995的G13520合知G16794用G14033力G451G3534G7424工G12255实践G14033力和创新G5859G16794，G9620发大学G10995从G1119G12197学研究与G6518G13046的G1864G17271和G9520G14033，G1525G4560G10714G16782联G13007实G19481G451G8726真G2165实的学G20130和G3254队协作的人G7003G12946G12082，G1038优G12180人G6177的G14085G20074而G1998创G17908G7477件。G5415G2081在嵌入G5347领域8位G45116位G45132位的CPU种G12879G13333G3822，各有定位和G10317G14406，且一G1022G14467G10267中G19610成2G1022G10990G142793G1022CPU也不难G16277到。G7368G3809G7446的应用G2499以使用G3822G1022CPU的分G5079G5347G13007G13491，因此CPU的G17828算G14033力不再G7171设计G13785G20330G1820G13783G15397的。半G4560G1319G6228G7427的发展的不平G15925G5460G5460G15932现在G4396G1660器上。因此有人G6564G1998，嵌入G5347G13007G13491的设计应G16825不再以CPUG1038G7692G5527，而G7171以G4396G1660器G1038G7692G5527。A100A100A100A101A102A101A103A104A105A106A107A108A109A110A111A112A113A114A115A116A117A118A119A120A122A123A124A125A182A124A126A127A128A129A113A130A131A134A132A133A126A135A128A136A120A122A137A138A139A140A141A142A113A127A128A129A133A129A143A144A123A124A125A145A146A147A186A148A149A120A122A123A124A150A151A133A152A145A146A153A135A154A155A125A109A156A157A158A159A109A123A124A160A161A109A162A142A200A163A108A149A164A153A165A166A167A118A119A168A184A124A126A169A148A149A128A136A120A171A137A138A139A140A172A142A173A113A127A128A129A165A174A143A175A129A113A124A126A176A177A178A133A179A114A115A113A116A117A180A182A181A183A185A187A188A189A133A181A183A191A146A192A193A113A123A124A194A195A196A197A198A199A129A174A201A202A203A204A205A113A206A207A208A209A210A139A211A145A128A212A231A213A214A113A206A215A165A216A185A187A188A189A113A217A197A225A218A219A220A221A222A223A199A129A142A215A113A213A214A254A133A224A216A133A118A119A169A217A197A113A187A189A150A151A182A226A127A128A129A124A126A176A177A178A179A227A184A113A134A132A165A228A229A230A232A143A234A123A124A113A210A129A235A236A237A123A124A160A161A113A238A239A240A182A213A214A141A142A113A227A242A165A243A109A238A239A244A140A144A245A161A246A247A248A250A172A251A159A118A119A252A168A253A255A15A0A133A91A114A74A254A115A1A2A3A4A225A118A119A225A114A113A5A6A135A197A214A118A119A245A106A121A7A8A98A223A214A21A9A10A11A12A13A123A14A16A211A10A11A17A18A46A19A20A22A23A24A111A25A246A107A36A252A12A13A26A127A27A123A14A28A63A29A30A31A22A12A13A46A63A32A33A34A35A37A22A12A13A38A39A40A63A41A35A37A22A12A13A73A247A32A22A21A9A248A107A42A252A12A13A127A27A53A26A243A43A241A248A246A44A45A213A248A47A48A49A32A22A50A51A52A54A55A56A241A57A243A35A37A22A58A59A56A60A61A35A37A22A58A59A56A35A62A241A64A61A21A9A65A66A22A39A40A98A142A12A13A110A70A42A252A130A67A46A65A66A169A68A69A71A72A75A110A70A76A35A22A32A77A131A67A78A69A70A30A79A22A80A81A73A132A82A83A84A85A58A22A86A87A35A88A73A89A142A39A136A22A90A92A159A93A94A95A96A22A97A221A46A99A100A98A101A107A102A36A252A46A42A252A221A103A104A137A55A73A182A105A76A108A103A138A109A69A70A85A75A112A71A113A231A116A174A117A22A139A118A119A119A119A120A122A120A124A125A126A128A129A141A133A134A135A22A221A116A151A140A246A143A213A144A167A246A143A223A248A144A192A145A146A135A147A148A246A143A223A101A144A167A248A143A213A44A144A19A20A17A72A12A13A248A143A213A213A144A167A248A143A223A248A144A39A149A248A143A223A101A144A167A101A143A213A144A93A150A90A92A101A143A223A144A167A101A143A223A44A144A99A152A52A153A12A13A131A163A101A143A223A44A144A167A101A143A223A246A144A12A13A137A55A101A143A223A246A144A167A154A143A213A248A144A155A156A157A158A26A155A156A160A161A141A56A162A164A158A165A166A213A168A170A171A66A172A48A49A32A111A25A38A39A173A175A176A177A178A177A179A180A87A181A183A184A166A223A168A185A186A187A188A189A190A191A193A194A195A196A197A180A87A198A199A200A201A76A202A203A204A205A206A147A148A207A208A152A209A180A87A166A246A168A185A186A187A196A197A180A87A198A188A189A190A191A193A194A195A199A200A201A76A210A204A205A206A147A148A212A175A180A87A166A248A168A215A216A199A200A201A76A217A34A21A9A31A10A11A12A13A73A218A219A180A87A217A34A55A19A73A223A44A44A154A166A101A168A220A222A224A226A227A228A93A150A12A13A229A185A230A183A232A73A175A176A233A218A219A180A87A181A183A184A73A213A47A47A47A166A154A168A243A43A241A248A246A44A45A213A234A235A236A237A238A239A240A242A244A245A240A249A250A251A253A253A254A255A184A184A0A0A0A214A190A1A2A3A4A2A4A5A253A3A4A6A214A2A5A184A192A7A253A7A8A251A9A9A253A184A190A8A254A248A246A44A184A190A8A254A248A246A44A39A7A8A9A184A243A43A241A248A246A44A3A9A10A1A8A253A9A3A11A10A12A1A192A9A214A254A192A186A166A153A168A13A14A15A16A17A18A19A243A43A241A248A246A44A234A235A236A237A238A251A253A253A254A255A184A184A192A4A0A5A6A4A7A192A214A4A12A3A192A9A194A214A2A5A184A39A39A8A11A12A254A6A4A7A192A246A153A248A248A213A248A184A186A1A6A9A8A11A246A47A184A4A12A3A192A9A194A11A154A246A154A47A20A213A45A40A21A246A153A22A214A254A192A186A166A20A168A23A24A23A25A26A27A28A29A30A31A32A33A34A35A36A37A38A41A42A166A47A168A86A43A63A63A205A206A44A45A185A163A183A211A46A112A213A100A172A214A47A181A183A184A166A213A44A168A61A4A2A12A190A9A5A253A4A3A192A9A3A5A12A190A39A9A3A255A243A226A246A246A20A20A154A216A9A194A153A214A44A48A45A3A9A9A8A2A7A6A9A43A9A190A1A2A4A5A192A12A2A253A4A3A73A44A153A184A223A44A44A101A166A213A213A168A243A226A47A43A213A223A218A43A223A101A154A216A9A186A9A3A9A5A2A9A243A7A5A12A7A6A73A45A3A9A9A8A2A7A6A9A43A9A190A1A2A4A5A192A12A2A253A4A3A44A223A184A223A44A44A47A219A49A214A50A51A222A219A49A214A50A229A223A52A232A233A223A44A213A213A104A143A144所在系（所）意见负责人（签章）2011年月日A53A53A53A54A55A54A56A57A58A59A60摘要G7246G14033车G6523G2058G13007G13491G7171G17902过G2345G10267G7438的G14270G2172G6523G2058器G6523G2058G8181G3423车在G4565G19393的跑道上G14270G1039G5502线G17828行，在保G16789不G1926G1998跑道的G2081G6564G991，跑完一G3292的G7114间G17246G4579成G13501G17246好。G6117们G17902过对整G1319方案G451G11017路G451算法的分G7524，G11840件G11017路G18108分G1039G16213G18331用MC33886G8181块G12295定G451有力G3332驱G2172G11464流G11017G2172G7438和G14345G7438，G18331用G9620G1821传感器实现道路G7828G8991，获G2474赛道信息，G2465G20316G13485G2345G10267G7438MSP430F149。G11017G7438驱G2172G18331用G3534于MC33886全G7737G11017G7438驱G2172G14467G10267。软件G13007G13491G18108分G1039G16213包括以G991与路径G16794G2047G13007G13491相关G8181块的算法，G2528G7114车速G7828G8991G8181块G18331用G1821G11017编G11733器G7828G8991G8181G3423车速度，G2465G20316G13485G2345G10267G7438G5430成G19393环的PID速度G6523G2058G727G2528G7114G18331用PWMG6228G7427G6523G2058G14345G7438得转向和G11017G7438转速。在G8617业设计的过G12255中，G6117们G4579G13464成员涉G10466G6523G2058G451G8181G5347G16794G2047G451传感G6228G7427G451G8785车G11017子G451G11017气G451计算G7438G451G7438械G12573G3822G1022学G12197，G17837次G11964G13463对G6117们的知G16794融合和实践G2172手G14033力的培养有G7509大的推G2172作用。关键词G726G7246G14033车路径G16794G2047G9620G1821传感器PIDMSP430F149G2345G10267G7438ABSTRACTA61A61A61A62A64A62A65A66A67A68A69INTELLIGENTVEHICLECONTROLSYSTEMDESIGNANDDEBUGGINGMCUISTHROUGHTHEDESIGNOFAUTOMATICCONTROLLERMODELCARINACLOSEDRUNWAYINDEPENDENTLINERUNNINGTHROUGH,ENSURINGTHECARISNOTOUTOFTHEPREMISEOFTHERUNWAY,FINISHTHELAPTIMEFORTHELESSUSEDTHEBETTERRESULTSTHROUGHTHEWHOLEPROGRAM,CIRCUIT,ALGORITHM,DEBUG,ANNALYSISOFVEHICLEPARAMETERS,WEDECIDEDTOUSESOMEOFTHEMAJORMC33886HARDWAREMODULETHATCANSTABILIZEAPOWERFULDCMOTORANDSERVODRIVEANDLASERSENSORSTOACHIEVETHEROADTESTINRESULTTOGETTRACKINFORMATION,ANDFINALLYFEEDBACKTOTHEMICROCONTROLLERMSP430F149SOFTWARESYSTEMS,INCLUDINGSOMEMAJORRECOGNITIONSYSTEMASSOCIATEDWITHTHEPATHOFTHEALGORITHMMODULEINADDITIONTOVEHICLESPEEDDETECTIONMODULEUSESOPTICALENCODERSTODETECTMODELCARSPEED,THEPURPOSEISTHATYOUCANFORMACLOSEDLOOPOFTHEPIDSPEEDCONTROLWHILECARSTEERINGCONTROLWITHPWMTECHNOLOGYWASSTREERINGANDMOTORSPEEDCODEWARRIORSOFTWAREDEVELOPMENTTOOLSENABLETHEDESIGNOFPROGRAMMINGANDDEBUGGINGWORKISGUARANTEEDALLINALL,THETEMPEROFOURKNOWLEDGEINTEGRATIONANDPRACTICALABILITYTOTRAINGREATROLEKEYWORDSSMARTCARPATHIDENTTIFICATIONLASERSENSORSPIDMSP430F149目录1绪论1A70A70A70A71A72A71A73A74A75A76A7711G16850G20076的发展G8022况G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258112G16850G20076G1881容与G5859G1053G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258213G7003G7424G13479G7512G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G25822智能车的整体设计421G13007G13491G5647G1319方案的G17885定G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258422G13007G13491G5647G1319设计G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G25863硬件设计及说明1431G7692G5527G6523G2058G8181块32G11017G9316G8181块设计G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G2581933G9620G1821传感器的设计G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G2581434G11017G7438驱G2172G8181块设计与实现G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G2581735G14345G7438的G4445装与G6523G2058G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G2581936速度G7828G8991G8181块37显G12046G8181块4软件设计说明2441G13007G13491软件流G12255图G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G2582442所用PWMG8181块说明G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G2582543G8181糊PIDG6523G2058算法的实现G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G2582744输入捕捉G2163G14033的实现G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258G258参考文献33致谢34附录一35附录二58A78A78A78A79A80A79A81A82A83A84A85A78A78A78A79A80A79A81A82A83A84A851绪论11课题的发展概况全国大学G10995G7246G14033车G12466赛的计划G7171在2005年暑假举行的G2345G10267G7438嵌入G5347G13007G13491教书讨G16782会上，由G20146G5617G2357G4584公G2508的金G2163九博G3775建议的。G6117们得知，G19901国G14279今已举办过5G4638，不但得到G20146G5617G2357G4584公G2508的赞G2173，G17836得到了G19901国G14891G2529G2058G17908G2842的赞G2173。G20146G5617G2357G4584公G2508的G2081身摩G6188罗拉公G2508半G4560G1319G18108，在过去10年中曾每G1016年一G4638，举办过G1128G4638“MOTOROLA”杯全国G2345G10267G7438应用设计G12466赛。比赛方G5347G7171参赛人G6564G1998G2345G10267G7438应用的创G5859，G13475过G999家评审G17885G19983050G1022应用方案，然后再由公G2508G6564G13918位G45116位G45132位以及DSP传感器G12573产品的样G10267和开发工具，用四G1022G7388的G7114间完成，并进行G1927赛，比赛对参赛人的G13984景没有限G2058此G12879G12466赛对中国G2345G10267G7438的推广应用已G13475起到了一定的G1431进作用。G5415G2081在嵌入G5347领域8位G45116位G45132位的CPU种G12879G13333G3822，各有定位和G10317G14406，且一G1022G14467G10267中G19610成2G1022G10990G142793G1022CPU也不难G16277到。G7368G3809G7446的应用G2499以使用G3822G1022CPU的分G5079G5347G13007G13491，因此CPU的G17828算G14033力不再G7171设计G13785G20330G1820G13783G15397的。半G4560G1319G6228G7427的发展的不平G15925G5460G5460G15932现在G4396G1660器上。因此有人G6564G1998，嵌入G5347G13007G13491的设计应G16825不再以CPUG1038G7692G5527，而G7171以G4396G1660器G1038G7692G5527。在G7424次设计中，G18331用16位微G6523G2058器MSP430F149作G1038G7692G5527G6523G2058G2345元，G14270G1039G7512G5617G6523G2058方案及G13007G13491设计，包括传感器信号G18331G19610处G10714G451G6523G2058算法及执行G451G2172力G11017G7438驱G2172G451转向G14345G7438G6523G2058G12573。111国外概况美国国防远景研究规划局DARPA从2004年开始举办无人车大奖赛，以百万美元的奖金吸引各大高校和企业参与无人驾驶车辆的研究工作。2004年的比赛在沙漠中进行。但在全长近250公里的路线上，最远A86A86A86A87A88A87A89A90A91A92A93的一队也仅仅跑了1178公里而已。2005年的比赛有5辆车完成比赛，斯坦福大学SEBAST