智能车中英文外文翻译
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智能汽车作文英语模板英文回答:Intelligent Vehicles: Revolutionizing Transportation。
Intelligent vehicles, also known as smart cars, are the future of transportation. They are equipped with advanced technologies that allow them to sense their surroundings, make decisions, and operate autonomously. This has the potential to revolutionize the way we travel, making it safer, more efficient, and more convenient.Key Technologies of Intelligent Vehicles。
The key technologies that enable intelligent vehicles include:Sensors: Intelligent vehicles are equipped with a range of sensors, including cameras, radar, lidar, and ultrasonic sensors. These sensors collect data about thevehicle's surroundings, including the presence of other vehicles, pedestrians, and obstacles.Data Processing: The collected data is processed by powerful computers that use artificial intelligence (AI) algorithms to identify objects, predict their behavior, and make decisions.Actuators: The decisions made by the computer are implemented through actuators, which control the vehicle's steering, braking, and acceleration.Benefits of Intelligent Vehicles。
本科毕业设计(论文)中英文对照翻译专业班级:自动化07-5班学生姓名:黄子星指导老师:王素玲Intelligent vehicle information of the future2010 Beijing international auto show of the 11 th, low carbon environmental protection concept for a new energy vehicles become the market leaders, but actually saving energy technology, hybrid technology and electric technology just in the external energy restrictions, the restriction and policy environment under the restriction of a passive adjustment, electronic and the wide use of information technology is the next stage of the development of the car industry is the first productive force. When information technology to control the car, mature enough to HeShiSong throttle, which time point on the brakes, intelligent onboard computer secretly computed from start to the destination of the best route (not only consider of distance, even give attention to two or morethings road condition)...... The intelligent application will be between the a bit help we reduce oil consumption, energy saving resources and time cost.Smart cars is already not fresh concept, but Bill Gates once said "if the auto industry and the development of information technology, so we nearly as fast as early can leave the car on the moon" but reveals the bottleneck of intelligent vehicle development. Of course car manufacturers are also trying to information technology into intelligent vehicle, in the Beijing international auto show, saic group launched the independent brand "Internet car" roewe calls, the car is A 350 saic group aimed at the domestic market the most soar degrees of capacity fastest class A car segment market strategy models. Launch of the intelligent network traffic system InkaNet, relying on China unicom WCDMA 3 G network, to realize information retrieval, real-time traffic navigation, electricity zi lu books, stock exchange and communication of the Internetcommunity application, open Internet network information age domestic cars. After work, having through the car dashboard touch screen, inquires the and scheduled the restaurant, and the favorite car led to restaurants, is getting more clever cars are the owners of the drive to different experience.Not only is the combination of the Internet and cars, more intelligent technology should be applied to the car. The movie "2012", a vehicle with the Russian billionaire to shout out "Start" and answered, ford has will Start the sonic technology to China, Beijing auto show 2010 displayed on TouchTM MyFord car multi-media interactive system, including the sonic technology. In mandarin support Prior connect from a mobile phone to a camera on the dashboard port, when need to say the name of the contact cellphones, car will be called the contact, again through the car hands-free communication system, the whole process not pick up the phone, the future drivers will also can use a shorter voice commands to complete more control. Use the technology of the new ford sharp world will be at the end of 2010 to import entry into the Chinese market.In addition, the Beijing auto show byd 'S6' is equipped with the door without keys into the touch of the button, electronic security systems, voice navigation system, electronic tail hidden reversing camera etc high-grade intelligent system. General motors in the auto show on display at the V electric network of EN concept car, innovative blend of the electrification and car networking two major technology. Through the integration of the global positioning system, car navigation technology to car communication technology, wireless communication and remote sensing technology to realize the driving and automatic driving compatible.Dongfeng automobile company one of dongfeng foison ECS concept car, then increase the electronics, information and intelligent and configuration, provide intelligent E service, intelligent driving and riding experience andhigher safety. The car will be 3G technology platform for for owners to provide based on 3G network access service, can be in the car to surf the Internet and stock trading, etc.; The AO concept car application a key type operation system, intelligent vehicle information management systems, such as digital system.In fact, the auto show has grown used in Toyota and lexus G-close intelligence in technology is opened, vice 3G era information the vanguard. The car At present, the Japanese people close to G-the reliance of the already high, in addition to the Toyota, Mazda, great, mitsubishi and other brands of products have also using G-close in intelligent vice. A Japanese overseas, "said G-close as a mobile information carrier, can be realized my work life and all kinds of seamless connection between." G-has been introduced into China close Toyota, just press function keys, information center will tell owners want to know all the news information and all kinds of information, with application deeply, G-close would implant more domestic consumer required functions.Software as a motor system is the most important element has made rapid development, and will become the next stage of the competition advantage of key car. Analysis showed that, in a single engine control, software content doubled every year. So car makers and has the good structure and integrated software development tools of supplier chain will gain a competitive advantage. Can do the development of software can use less engineers and improve the function of new products to market, and keep the warranty costs low..A few days ago, neusoft group and international industrial group formally announced haman establish strategic partner relationship, and separately in China shenyang and Hamburg, Germany a joint technology development center, and common development of cars and consumer electronics and other areas of advanced technology. According to neusoft neusoft group chairman LiuJiRen said, "neusoft in the beginning ofestablishment of automobile electronic aspects in the business, and in a car navigation technology also has a very long time. And the professional accumulation such as BMW, Mercedes, high-grade car in the world of entertainment system is to provide a large share of haman the, the Beijing Olympic Games exhibition and the Shanghai world expo in many large sound technology are also from haman. In this don't need to do anything the era of cooperation to provide us, a show enterprise own core competitive power in the platform. Through this and haman cooperation, will help neusoft will business to global platform for the world first-class and go up, the car manufacturers to provide services."In this year's Beijing international auto show, SK telecom also starting to electric car design of the first mobile car computer system MIV. According to information, the past only route navigation, information and data communication position to wait a few service can be connected through the car with the network's traditional remote information service provided. And MIV will can provide mobile communications, platform and content of the full integration, so as to improve service to new heights. Meanwhile SK telecom has started to seek and global car manufacturers, hope that 2012 years ago in the new model, through the custom assembly MIV IT solutions and mobile connection ascension of the auto industry of productivity.At present, the information system of the car by two parts, part of it is the vehicle itself internal network system, which consists of the network computer control; Another part is external contact network system of vehicles, including GPS monitoring center, the Internet and regional network service provider, vehicle service center, unit or home computers, etc. Thus, also appears the new car market after service mode. Such as the car distance service launched soon to mobile communication and the Internet to rely on, after the car market resources integration, service covers automobile rescue, roadweather, satellite navigation, multimedia entertainment, the telephone, mobile TV, etc.Therefore, we have reason to believe that all of the ideas about the intelligent car wash gargle, "get up, bathroom mirror switch into screen reports real-time news; open the refrigerator, to want to make the breakfast, refrigerator screen would show milk or eggs and other food shortage, then according to the stock several key will realize to order, distribution company will be active to food to their homes; the most needed to dazzle cruel way let the stolen vehicle hindrance to the fingerprint of the car, sit on it, also need not bother to map or see presented ferreting road signs, just press the button, and then told several destination, the other by the onboard computer fix, the next step is the way and friends, never will worry about time lost or traffic signal......" Yes, this is the classic movies starring Schwarzenegger "the sixth day" reflects the "seamless" life scenes, is also the future life, the epitome of intelligent car at this time, the life level and the high-end technology have as a whole.智能汽车的信息化未来2010年第十一届北京国际车展上,低碳环保理念让新能源车成为市场翘楚,但其实节能技术、混合动力技术和电动技术只是在外部能源限制、环境制约和政策制约下的一种被动调整,电子和信息技术的广泛应用才是整个汽车产业下阶段发展的第一生产力。
智能汽车英语作文英文回答:Smart cars, the future of transportation, are transforming the automotive industry. These vehicles are equipped with advanced technologies that enhance safety, comfort, and convenience. By utilizing sensors, cameras, and artificial intelligence (AI), smart cars can automate certain driving functions, making them more autonomous and efficient.One of the key features of smart cars is their ability to connect to the internet. This connectivity allows them to access real-time traffic data, weather updates, and entertainment options. Smart cars can also communicate with other vehicles on the road, sharing information about potential hazards or traffic congestion.In terms of safety, smart cars are designed with a variety of features to protect both drivers and passengers.These features include lane departure warning systems, automatic emergency braking, and blind spot monitoring. By detecting potential dangers and reacting accordingly, smart cars can significantly reduce the risk of accidents.Comfort and convenience are also key priorities for smart cars. They offer features such as adaptive cruise control, which automatically adjusts the car's speed to maintain a safe distance from the vehicle in front. Smart cars also provide voice-activated commands, allowingdrivers to control various functions without taking their hands off the steering wheel.Despite their numerous advantages, smart cars do come with some challenges. One concern is the potential for cyberattacks, as these vehicles are heavily reliant on technology. Additionally, the cost of smart cars can be higher compared to traditional vehicles, which may limit their widespread adoption.Overall, smart cars represent a significant advancement in the automotive industry. They offer enhanced safety,comfort, and convenience, and have the potential to revolutionize the way we travel. As technology continues to develop, we can expect smart cars to become even more autonomous and feature-rich, further transforming thefuture of transportation.中文回答:智能汽车,交通运输的未来,正在改变汽车工业。
智能车外文文献翻译(原文+中文)Intelligent Vehicle Our society is awash in “machine intelligence” of various kinds.Over the last century, we have witnessed more and more of the “drudgery” of daily living being replaced by devices such as washing machinesOne remaining area of both drudgery and danger, however, is the daily act ofdriving automobiles1.2million people were killed in traffic crashes in 2002, which was 2.1% of all globaldeaths and the 11th ranked cause of deathIf this trend continues, an estimated 8.5 million people will be dying every year in road crashes by 2020. in fact, the U.S. Department of Transportation has estimated the overall societal cost of road crashes annually in the United States at greater than $230 billion when hundreds or thousands of vehicles are sharing the same roads at the same time, leading to the all too familiar experience of congested traffic. Traffic congestion undermines our quality of life in the same way air pollution undermines public health.Around 1990, road transportation professionals began to apply them to traffic and road management. Thus was born the intelligent transportation system ITS. Starting in the late 1990s, ITS systems were developed and deployed。
能看、能听、有知觉、具嗅觉、会说话的智能汽车?还能自动驾驶?这听起来或许像是在做梦,但计算机革命正致力于把这一切变为现实。
智能汽车1 Even the automobile industry, which has remained largely unchanged for the last seventy years, is about to feel the effects of the computer revolution.即便是过去70年间基本上没有多少变化的汽车工业,也将感受到计算机革命的影响。
2 The automobile industry ranks as among the most lucrative and powerful industries of the twentieth century. There are presently 500 million cars on earth, or one car for every ten people. Sales of the automobile industry stand at about a trillion dollars, making it the world's biggest manufacturing industry.汽车工业是20世纪最赚钱、最有影响力的产业之一。
目前世界上有5亿辆车,或者说每10人就有1辆车。
汽车工业的销售额达一万亿美元左右,从而成为世界上最大的制造业。
3 The car, and the roads it travels on, will be revolutionized in the twenty-first century. The key to tomorrow's "smart cars" will be sensors. "We'll see vehicles and roads that see and hear and feel and smell and talk and act," predicts Bill Spreitzer, technical director of General Motors Corporation's ITS program, which is designing the smart car and road of the future.汽车及其行驶的道路,将在21世纪发生重大变革。
中英文资料对照外文翻译Intelligent VehicleOur society is awash in “machine intelligence” of various kinds.Over the last century, we have witnessed more and more of the “drudgery” of daily living being replaced by devices such as washing machines.One remaining area of both drudgery and danger, however, is the daily act ofdriving automobiles. 1.2million people were killed in traffic crashes in 2002, which was 2.1% of all globaldeaths and the 11th ranked cause of death . If this trend continues, an estimated 8.5 million people will be dying every year in road crashes by 2020. in fact, the U.S. Department of Transportation has estimated the overall societal cost of road crashes annually in the United States at greater than $230 billion .when hundreds or thousands of vehicles are sharing the same roads at the same time, leading to the all too familiar experience of congested traffic. Traffic congestion undermines our quality of life in the same way air pollution undermines public health.Around 1990, road transportation professionals began to apply them to traffic and road management. Thus was born the intelligent transportation system (ITS). Starting in the late 1990s, ITS systems were developed and deployed。
智能车外文文献翻译(原文+中文)Intelligent Vehicle Our society is awash in “machine intelligence” of various kinds.Over the last century, we have witnessed more and more of the “drudgery” of daily living being replaced by devices such as washing machinesOne remaining area of both drudgery and danger, however, is the daily act ofdriving automobiles1.2million people were killed in traffic crashes in 2002, which was 2.1% of all globaldeaths and the 11th ranked cause of deathIf this trend continues, an estimated 8.5 million people will be dying every year in road crashes by 2020. in fact, the U.S. Department of Transportation has estimated the overall societal cost of road crashes annually in the United States at greater than $230 billion when hundreds or thousands of vehicles are sharing the same roads at the same time, leading to the all too familiar experience of congested traffic. Traffic congestion undermines our quality of life in the same way air pollution undermines public health.Around 1990, road transportation professionals began to apply them to traffic and road management. Thus was born the intelligent transportation system ITS. Starting in the late 1990s, ITS systems were developed and deployed。
外文文献翻译(含:英文原文及中文译文)中文译文基于智能汽车的智能控制研究摘要本文使用一个叫做“智能汽车” 的平台进行智能控制研究,该小车采用飞思卡尔半导体公司制造的MC9S12DG128芯片作为主要的控制单元,同时介绍了最小的智能控制系统的设计和实现智能车的自我追踪驾驶使用路径识别算法。
智能控制智能车的研究包括:提取路径信息, 自我跟踪算法实现和方向和速度控制。
下文介绍了系统中不同模块的各自实现功能,最重要部分是智能车的过程智能控制:开环控制和闭环控制的应用程序包括增量式PID 控制算法和鲁棒控制算法。
最后一步是基于智能控制系统的智能测试。
关键词:MC9S12DG128;智能控制; 开环控制; PID ;鲁棒;1 研究背景随着控制理论的提高以及信息技术的快速发展, 智能控制在我们的社会中发挥着越来越重要的作用。
由于嵌入式设备有小尺寸、低功耗、功能强大等优点,相信在这个领域将会有一个相对广泛的应用, 如汽车电子、航空航天、智能家居。
如果这些技术一起工作,它将会蔓延到其他领域。
为了研究嵌入式智能控制技术,“智能汽车”被选为研究平台, 并把MC9S12DG128芯片作为主控单元。
通过智能控制, 智能汽车可以自主移动, 同时跟踪的路径。
首先, 本文给读者一个总体介绍智能车辆系统的[2、3]。
然后, 根据智能车辆的智能控制:提取路径信息, 自我跟踪算法实现中, 舵机的方向和速度的控制。
它提供包括了上述四个方面的细节的智能车系统信息。
此外, 本文强调了智能车的控制过程应用程序包括开环控制、闭环增量PID 算法和鲁棒算法。
2 智能车系统的总体设计该系统采用MC9S12DG128[4]作为主芯片,以及一个CCD 传感器作为交通信息收集的传感器。
速度传感器是基于无线电型光电管的原理开发。
路径可以CCD 传感器后绘制收集的数据,并且系统计算出相应的处理。
在同时,用由电动马达速度测试模块测量的智能汽车的当前速度进行响应的系统。
Unit2智能汽车参考译文能看、能听、有知觉、具嗅觉、会说话的智能汽车?还能自动驾驶?这听起来或许像是在做梦,但计算机革命正致力于把这一切变为现实。
智能汽车1 Even the automobile industry, which has remained largely unchanged for the last seventy years, is about to feel the effects of the computer revolution.即便是过去70年间基本上没有多少变化的汽车工业,也将感受到计算机革命的影响。
2 The automobile industry ranks as among the most lucrative and powerful industries of the twentieth century. There are presently 500 million cars on earth, or one car for every ten people. Sales of the automobile industry stand at about a trillion dollars, making it the world's biggest manufacturing industry.汽车工业是20世纪最赚钱、最有影响力的产业之一。
目前世界上有5亿辆车,或者说每10人就有1辆车。
汽车工业的销售额达一万亿美元左右,从而成为世界上最大的制造业。
3 The car, and the roads it travels on, will be revolutionized in the twenty-first century. The key to tomorrow's "smart cars" will be sensors. "We'll see vehicles and roads that see and hear and feel and smell and talk and act," predicts Bill Spreitzer, technical director of General Motors Corporation's ITS program, which is designing the smart car and road of the future.汽车及其行驶的道路,将在21世纪发生重大变革。
中英文对照外文翻译文献(文档含英文原文和中文翻译)原文:Intelligent vehicle is a use of computer, sensor, information, communication, navigation, artificial intelligence and automatic control technology to realize the environment awareness, planning decision and automatic drive of high and new technology. It in aspects such as military, civil and scientific research has received application, to solve the traffic safety provides a new way.With the rapid development of automobile industry, the research about the car is becoming more and more attention by people. Contest of national competition and the province of electronic intelligent car almostevery time this aspect of the topic, the national various universities are also attaches great importance to research on the topic, many countries have put the electronic design competition as a strategic means of innovative education. Electronic design involving multiple disciplines, machinery and electronics, sensor technology, automatic control technology, artificial intelligent control, computer and communication technology, etc., is a high-tech in the field of many. Electronic design technology, it is a national high-tech instance is one of the most important standard, its research significance is greatThe design though just a demo model, but is full of scientific and practical. First we according to the complex situation of road traffic, in accordance with the appropriate author to make a road model, including bend, straight and pavement set obstacles, etc. On curved and straight, the car along the orbit free exercise, when the small car meet obstacles, pulse modulation infrared sensors to detect the signal sent to the microcontroller, a corresponding control signal according to the program MCU control cars automatically avoid obstacles, to carry on the back, forward, turn left, turn rightSubject partsIntelligent vehicle is a concentration of environment awareness, planning decision, multi-scale auxiliary driving, and other functions in an integrated system, is an important part of intelligent transportation system.In military, civilian, space exploration and other fields has a broad application prospect. The design of smart car control system are studied, based on path planning is a process of the intelligent car control system2.1 theory is put forwardThe progress of science and technology of intelligent led products, but also accelerated the pace of development, MCU application scope of its application is increasingly wide, has gone far beyond the field of computer science. Small to toys, credit CARDS, big to the space shuttle, robots, from data acquisition, remote control and fuzzy control, intelligent systems with the human daily life, everywhere is dependent on the single chip microcomputer, this design is a typical application of single chip microcomputer. This design by implementing the driverless car, on the tests, by the reaction of the single chip microcomputer to control the car, make its become intelligent, automatic forward, turn and stop function, after continuing the perfection of this system also can be applied to road testing, security patrol, can meet the needs of society.In design, the use of the sensors to detect road surface condition, sensor central sea are faint and adopts a comparing amplifier amplification, and the signal input to the controller, the controlled end using stepper motor, because of the step motor is controlled electrical pulse, as long as the output from the controller to satisfy stepper motor merits of fixed control word. In operation of stepping motor and a drivingcircuit, it also to join a drive circuit in the circuit, each function module is different to the requirement of power supply current, the power supply part set up conversion circuit, so as to meet the needs of the various parts. After comparison choice element, design the circuit principle diagram and the circuit board, and do the debugging of hardware, system software and hardware is often the combination of organic whole. Software, on the use of the 51 single-chip timer interrupt to control pavement test interval and the car movement and speed. Due to take that road is simple, it is using more traditional assembly language for programming. For the correctness of the program design, using a commonly used keil c51 simulation software simulation validation, the last is integrated debugging of software and hardware, and prove the correctness and feasibility of the design scheme.2.2 electronic intelligent car design requirements(1) electric vehicles can be able to according to the course to run all the way; (2) electric vehicles can store and display the number of detected metal and sheet metal to the starting line in the distance; (3) are accurately electric cars after exercising all the way to the display of the electric vehicle the entire exercise time; (4) electric cars can't collisions with obstacles in the process of exercise.2.3 the general conception of computer network teaching websiteUsing 89 c51 as the car's control unit, sensor eight-way from outside,in the front of the car, as a black belt in the process of the car into the garage detecting element, at the rear end of the car when connected to eight-channel infrared sensors as the car pulled out of the garage of a black belt in detecting element, the LJ18A3-8 - Z/BX inductive proximity switch as garage iron detecting element, the microcontroller after receiving sensor detects the signal through the corresponding procedures to control the car forward, backward, turn, so that the car's performance indicators meet the requirements of the design.Intelligent car is a branch of intelligent vehicle research. It with the wheel as mobile mechanism, to realize the autonomous driving, so we call it the smart car. Smart car with the basic characteristics of the robot, easy to programming. It with remote control car the difference is that the latter requires the operator to control the steering, start-stop and in a more advanced remote control car can also control the speed (common model car belong to this type of remote control car); The smart car Is to be implemented by computer programming for the car stop, driving direction and speed control, without human intervention. Operator the smart car can be changed by a computer program or some data to change its drive type. This change can be controlled through programming, the characteristics of the car driving way is the biggest characteristic of smart car. The control system of smart car research purpose is to make the car driving with higher autonomy. If any given car a path, through the system,the car can get system for path after image processing of data moving and Angle (a), and can be scheduled path, according to the displacement and Angle information.The control system structure analysisAccording to the above design idea, the structure of the intelligent car control system can be divided into two layers1, the planning layerPC control system, the planning layer provides the information of the whole car driving, including path processing module and communication module. It has to solve the basic problem(1) using what tools to deal with the car path graph;(2) the car movement model is established, the data to calculate the car driving;(3) set up the car's motion model, the data to calculate the car driving;Layer 2, behaviorLower machine control system, the behavior is the underlying structure of a smart car control system, realize the real-time control of the car driving, it includes communication module, motor control module and data acquisition module. It to solve the basic problems are:(1) receiving, processing, PC sends data information;(2) the design of stepping motor control system;(3) information collection and the displacement and Angle of the car, car positioning posture, analysis system control error;The total design schemeSmart car control system are obtained by system structure, order process:(1) start AutoCAD, create or select a closed curve as the cart path, pick up the car starting $path graph(2) to choose the path of the graphics processing, make the car turning exist outside the minimum turning radius of edges and corners with circular arc transition(3) to generate a new path to simulate the motion process of car;(4) to calculate the displacement of the car driving need and wheel Angle, and then sends the data to the machine(5) under the machine after receiving data, through software programming control the rotation speed and Angle of the car wheels and make it according to the predetermined path A complete control system requirements closely linked to each function module in the system, according to the order process and the relationship between them, the total design scheme of the system is available.Design of basically has the following several modulesPart 1, the information acquisition module, data collection is composed of photoelectric detection and operation amplifier module,photoelectric detection were tracing test and speed test of two parts. To detect the signal after budget amplifier module lm324 amplifier plastic to single chip, its core part is several photoelectric sensor.2, control processing module: control processing module is a stc89c52 MCU as the core, the microcontroller will be collected from the information after the judgement, in accordance with a predetermined algorithm processing, and the handling results to the motor drive and a liquid crystal display module, makes the corresponding action.3, perform module: executable module consists of liquid crystal display (LCD), motor drive and motor, buzzer of three parts. LCD is mainly based on the results of single chip real-time display, convenient and timely users understand the current state of the system, motor driver based on single chip microcomputer instruction for two motor movements, can according to need to make the corresponding acceleration, deceleration, turning, parking and other movements, in order to achieve the desired purpose. Buzzer is mainly according to the requirements in a particular position to make a response to the report.译文一、引言智能车辆是一个运用计算机、传感、信息、通信、导航、人工智能及自动控制等技术来实现环境感知、规划决策和自动行驶为一体的高新技术综合体。
中英文对照资料外文翻译文献自治智能车在模拟车辆列队中的设计摘要自治智能车是基于考虑车辆和道路在内的车辆编队的物理仿真的基础。
本文在车辆道路综合的情况下,分析了车辆编队系统的架构,并提出了自制智能车控制系统的构造和结构。
在分析了自治智能车的功能要求之后,本文设计了自治智能车关键的硬件和软件。
它把芯片作为控制器,以及用摄像头和超声波传感器作为行车导航。
同时,它应用直流电机实现智能车的驱动和转向,以及采用Zigbee技术来设计无线通信模块。
我们提出的关于识别导航线和运动控制的关键算法,这其中包括路径提取和控制算法。
试验表明自治智能车有一个良好的稳定性能,满足了车辆编队系统的功能要求,这款车将提供测试平台和车辆编队系统的进一步研究的技术基础。
1.简介近年来,随着横向和纵向的智能车辆控制技术等智能交通技术的发展,车辆列队研究已成为在智能交通领域的热点,它融合了一些技术,这其中包括车辆间相互通信,公路通信技术,智能控制技术等。
在车辆道路综合的基础上的车辆队列控制系统可以通过提高单个车辆的智能化水平,提高与交通环境交互信息的能力,以及增加车辆密度来提高道路通行能力。
与此同时,它减少了控制对象,简化了交通控制复杂性,增加了运输可控性,有效地缓解了交通堵塞,并最终提高了行车安全性。
此外,它可以在一定程度上减少车辆阻力和车辆油耗。
图1显示了基于车辆道路行驶的车辆队列架构系统,这表明智能车辆控制,车路信息交互技术,车辆队列和控制方式和其他关键技术是系统的重要组成部分。
然而,目前汽车队列的结构,行为特征和智能化行程控制算法尚未完善。
因此,有必要研究一些基础东西,这包括车辆队列,车辆队列模型,及车辆小队控制方法的行为特征,这些研究需要在建设有硬件循环仿真的车辆队列系统中进行。
图1基于车辆道路的车辆队列系统的体系结构为实现对队列行驶车辆的模拟,智能控制和交换信息是必要的。
该系统需要智能控制,信息交互、自治的稳定性。
图2是的自治智能车系统的结构。
自治智能车采用单片机作为控制器,并使用摄像头、导航传感器和超声波传感器,基于Zigbee 技术的无线通信模块。
本文将首先分析基于自治智能车功能要求的整体设计方案,然后介绍了横向和纵向的控制和导航的硬件实现方式和如何处理的关键问题,并讨论如何通过优化控制算法和软件来提高汽车的稳定性和智能化水平,随后根据实际过程的测量自治智能汽车的性能介绍它的自治的策略。
图2自治智能小车控制系统2. 自治智能模拟车整体设计自治智能车包括四个部分:检测系统,电力系统,通信系统,控制和决策系统。
检测系统是最重要的,其主要工作是导航。
我们选择CMOS 摄像机作为检测传感器,它可以检测出车道,引导车辆在路上顺利的行驶。
考虑到单一的CMOS 图像传感器不能理想的检测车的距离,超车距离和其他运动参数,我们选择了超声波传感器。
单片机 距离测量传感器速度测量传感器 纵向信息 无线传输和接受模块摄像头 横向信息角度传感器行驶 电机 转向 电机 横向控制纵向控制 道路 交通运输类监控层道路汽车调度层车辆队列控制层信息进程 执行传感器 汽车1汽车2汽车n道路和环境电力系统主要控制电机的转向角度和直流电机的速度。
该控制过程如下:首先,检测系统收集路径信息,然后驱动器系统使直流电动机产生适当的转速,转向电机根据控制和决策系统的分析和判断给出一个正确的转向角,所以自治智能汽车可以跑得快而且平稳。
为了通过车队仿真控制得到更实际的行为特征,自治智能车在该系统中采用后轮驱动和前轮转向的结构。
在车辆与车辆之间和车辆与道路之间的无线通信网络中,我们选择了基于IEEE802.15.4无线标准的ZigBee 技术。
多节点的网络需要大的网络容量和自组织无线通信技术,相较于其他无线通讯技术,Zigbee 有更高的数据传输速率和执行时的更稳定。
它的网络能够支持上千个节点,是在小范围内监测和控制的最好选择。
控制和决策系统以飞思卡尔16位单片机- MC9S12XDP512作为其主要控制芯片,它的40M 的主频能够满足实时检测和信息处理的需要。
此外,它可以提供丰富的I/ O 端口,精确的时钟输入捕捉和时钟资源。
XDP512连接所有的子模块,收集周围的车辆信息,并处理数据,根据控制算法输出控制信号。
图3系统框架3.自治智能车硬件系统设计硬件设计对自治智能车的运行效果有直接的影响,根据自治智能车总体的分析,硬件应该含有以下模块:(1)导航模块,这其中包括数字CMOS 摄像头和超声波无障碍检测传感器(2)控制模块,包括行驶和转向运动电机(3)Zigbee 无线通信模块(4)单片机控制模块。
3.1、导航装置(1)摄像头模块设计使用摄像头作为路径检测传感器提前扫描前面的道路,以便汽车更顺畅的操作。
由于CMOS 图像传感器具有高集成度,低功耗,低像素的缺陷和其他优势,我们选择了356* 292分辨率OmniVision 的OV6620彩色CMOS 图像传感器。
图4是图像采集过程。
首先,单片机控制摄像头采集信息,然后传输图像数据到FIFO 缓冲存储器,变换并行及串行数据,最后由单片机的SPI 端口读取这个数据。
HCSX12控制核心 Zigbee 模块 PC 检测和控制车辆之间通信 车辆道路通信CMOS 传感器 超声波传感器 前轮横向控制器后轮纵向控制图4 图像采集过程图像采集过程有两种模式:上电模式和SCCB模式。
该系统采用SCCB模式:经过SCCB初始化OV6620和启用VSYNC,系统判断是否已获得一帧图像,FIFO存储了一帧图像之后,系统通过单片机获取数据。
(2)超声波模块设计如果让智能汽车能自动避开障碍和导航,则它需要建立在行驶中车辆的距离测量系统。
超声波测距系统,可避开障碍并定位他们,根据摄像头获得的信息进行决策控制,并协助路径的规划。
但是少量的超声波传感器不能满足高精度测距和避障的要求。
为了确保高精确度,汽车需要增加测量距离的电路通道,用来补偿传感器角度的限制。
该系统采用8个超声波测量通道,利用角度补偿手段使主要障碍的位置和距离的信息更加准确。
图5是安装结构图,图6是距离测量系统的数据流结构图。
智能车图5超声波传感器安装结构该系统通过检测从发射到返回的时间间隔来计算距离。
因为时间与超声波的路程成正比,当超声波发射端发送几个振荡的脉冲,微控制器开始计时;当接收器接收到第一个反馈脉冲,时间停止。
测量距离如下:D=CT/2。
(1)在公式(1),C是空气中的声速,T为从发射到返回的时间间隔。
图6如下:3.2 控制单元(1)直流电机驱动,速度检测RS -380S 型直流电动机是用于速度控制,自治智能车采用闭环控制技术,并以MC33886 H 桥驱动器作为电机驱动器。
如果电机采用开环控制,它会受到许多干扰,如电池电压,电气传动摩擦,路面摩擦力和由前轮转向角引起正向电阻,这些因素将导致智能车的运行不稳定。
因此,闭环控制方法是迫切需要的。
闭环控制系统测量速度,并采用PID 算法,它需要在很短的间隔内获得速度变化,计算出瞬时速度和期望速度之间的差值,速度传感器采用欧姆龙E6A2- CWZ3C 编码,其精度可达360 P/ R 。
(2)转向电机控制转向电机控制由直接改变输入PWM 占空比的不同来转动不同的角度,该转向电机输出角与给定的PWM 信号有一定的线性关系。
由于电机的转向力矩足够大,单片机计算横向控制量,并直接给出了PWM控制信号,使电机实现转向。
3.3无线通信模块自治智能车的通信系统包括以ZigBee 为基础的通信卫星网络,它由一个网络协调器和一些网络终端节点组成。
网络协调员负责网络的管理工作,而终端节点一方面获得模拟数据;在另一方面,把这些模拟数据通过无线网络传输给协调员。
通过这种方式,不仅降低了ZigBee 网络的复杂性,而且也方便了数据的集中管理。
图7描述了通信网络的设计方案效果:在PAN 无线网络覆盖里,网络终端节点的数目已经确定。
在这个系统中,每台车是一个智能终端节点。
装载着MC13192无线收发器的汽车通过MC13192与XDP512之间的数据交换来进行无线通信。
MC9S12XDP512 超声波发射方波发生器比较电路红外接收功率驱动放大电路图7 自治智能车通信系统结构3.4.单片机及其外围电路模块XDP51是自治智能车的核心部件,它控制着所有其他模块,获得路径、速度、无线信号和其他数据,并在此基础上将参数归类并计算出最优的控制策略。
因此,该系统必须拥有非常高的稳定性。
为了提高单片机的稳定性,设计的主要措施已经采取如下:①MCU电源电路设计;②滤波电路的优化;③单片机系统PCB板的布局;④单片机时钟电路。
4.自治智能车和相关算法的软件系统设计该智能车系统软件包括以下模块:初始化模块,实时路径检测模块,防冲突模块,横向和纵向闭环控制模块,通信模块。
该系统的软件流程图如图8所示。
在大多数时候,微控制器处理数据和图像。
因此,高效的图像处理算法和闭环控制算法可以节省单片机的CPU资源,提高自治智能车的反应速度和它的整体性能。
路径提取算法和运动图像采集后的反馈控制算法如下。
4.1路径提取算法路径是目标检测线边缘的准则。
算法是:一个灰度图像中的每个设定的阈值的二维矩阵,得到两个相邻像素的自顶向下的差值。
如果边缘大于或等于阈值,它的下一个点对应的像素是指向边缘的,该像素被认为是特征点,在同一时间记录它。
当发现边缘的排列,我们可以找出靠近这一行的下一行近的边缘,因此花更少的时间找到了这一点。
该算法能始终在每一列的边缘附近跟踪这一列,并找出下一行的边缘,所以它是高效的。
在横向控制,我们根据坐标来使电机转向,该查表方法可以控制横向方向。
图8 自治智能车系统的软件流程图 4.2运动反馈控制算法在纵向控制中,我们建立一个二维数组,有10*33种元素,每一行对应一个速度值,在一定的速度下,每个排列对应着不同的角。
在纵向控制的过程中,我们根据当前的速度和道路状况设置安全速度值,所谓的安全速度值是车能拐过拐角的速度。
当反馈速度小于设定速度,汽车加快速度,如果反馈速度等于设定速度,汽车保持原来的状态,否则减慢或加快。
加速和减速算法公式(2):u(k)=Kp[e(k)-e(k-1)]+Kie(k)+Kd[e(k)-2e(k-1)+e(k-2)] (2) △u(k)是速度变量的增值、e(t)是控制误差、Kp 相当增益,Ki= KpT /Ti 是积分系数,Kd = KpTd/T 是微分系数,Ti 是积分时间常数,Td 是导数时间常数,T 是采样时间。
5.自治智能车测试和分析如图9所示的是智能车的外观,我们从四个方面测试它的性能表现。
开始初始化检测路径检测障碍 控制需要反馈需要停止 外部指令 新策略数据融合Y 停止YNY图9智能车的外观5.1智能车的巡线经调整后,智能车的巡线功能实现了。