基于視覺導(dǎo)航的汽車自動駕駛系統(tǒng)研究.pdf

1、北京機械工業(yè)學(xué)院碩士學(xué)位論文基于視覺導(dǎo)航的汽車自動駕駛系統(tǒng)研究姓名：竇秋英申請學(xué)位級別：碩士專業(yè)：機械制造與自動化指導(dǎo)教師：王國權(quán)童亮20080201AbstractABSTRACTInrecentyears，intelligentvehiclestechnologyisanimportantfieldintheintelligenttransportationstudyinmanycountriesAutomaticdrivingsy

2、stemisthefocusofthestudyinthisfieldThispaperpresentstheaimsatthecontroloftheautomaticdrivingsystemTheresearchonhardwareplatformofthecontrolsystemanditsrealizationoftheautomaticdrivingsystemhasbeendoneThemaincontentinclud

3、esthefollowingitems：1TheoverallcontroltestsystemhardwareplatformsoftheintelligentvehicleisdesignedTheIPC，microcontrollingunitsteppermotordriverspeedSL。IISOI“$andsteeringwheelangleSenSOrareselectedthemechanicalandelectric

4、alstructureofsteeringcontrolsystemandthespeedcontrolsystemaredesigned；2AccordingtotheinstructionsreceivingfromtheIPC，thesoftwareofthesteeringcontrolandspeedcontroloftheautomaticdrivingcontrolsystemoftheintelligentvehicle

5、aredesignedTheIPCandmicrocontrollingunitcommunicationprogramaswellasthesteeringcontrolandthevehiclespeedcontrolprogramwhichincludesteppermotordriving，theoperatingcontrolmoduleandthesensorsignalprocessingmodulearedesigned

6、3InordertotestthevehiclessteeringcontrolandthevehiclespeedcontrolvalidityandrobustnessthenavigationexperimentiscarriedOILFinallytheproblemsrequiringfurtherstudyaleonabriefdiscussionKeyWords：intelligentvehicle，automaticdr