【正文】 1 英文翻譯 翻譯資料 (英文 ) Study of Control Algorithm for Smart Car System 翻譯資料 (中文 ) 智能汽車系統(tǒng)控制算法的研究 院 系 ： 電子與信息工程學(xué)院 專 業(yè)： 電子信息工程 二Ｏ一一 年 十二 月 二十八 日 2 2020 Fourth International Conference on Information and Computing Study of Control Algorithm for Smart Car System Ruixian li School of Transportation and Vehicle Engineering Shandong University of Technology Zibo, China 。Email: Abstract—In this paper, target identification and trajectory technology are analyzed. The tracking control algorithm based on the photoelectric sensors is proposed. The algorithm utilizes the errors of the location and the signal of route as input parameters, to regulate the output angle of the steering gear. The smart car system includes the straight trajectory control algorithm, the curvy trajectory control algorithm and the Stype trajectory control algorithm according to the different characteristic of the trajectories. The experiment shows that, by using the proposed algorithm, the smart car can move smoothly along the straight trajectory, the curvy trajectory and the Stype trajectory with satisfied accuracy. Index Terms—photoelectric sensor, black trajectory, smart car I. INTRODUCTION A smart car system is posed of the power supply module, the sensor module, the Direct Current (DC) driving motor module, the path identification module, the munication and debugging module and the singlechip module. In order to make the smart car move along the trajectory with reasonable speed, the detection of the path information, the DC servo motor control and the driving motor control must be hung together by the singlechip. If the data of the sensor is not properly collected and identified, and the steering servo motor control has a wrong operation, the smart car will seriously shake or even deviate from the runway. If the DC driving motor control is ineffective, it may also result in a slower speed in the straight line or too fast speed in the curvy trajectory. From Figure 1, we can see how the smart car system runs. Figure 1. Total control program for the smart car In this paper, we adopt the photoelectric sensors to detect the information of the reference trajectories for a smart car to track. In order to achieve preferable stability for a smart car running along the reference trajectories, we put forward a solution according to the main control function of the smart car system, which includes the information identification of the black line, the angle control of steering gear and the speed regulation control of the driving motor. In the entire smart car system, photoelectric sensors as the smart car39。s eyes must accurately identify the path information to make the smart car system run steadily. The tracking control strategies include the straight line algorithm, the curvy line algorithm, the Stype line algorithm and the errorhandling mechanism algorithm respectively. This tracking algorithm has the following advantages: the less collection of the discrete signal points, the antiinterference ability to the ambient light, the short time of response and a low cost. The simulation shows that the tracking control algorithm holds similar 3 effects with those of CCD for the smart car if the layout of photoelectric sensors is arranged properly. II. THE IMPLEMENTATION OF THE TRACKING CONTROL ALGORITHM A. Photoelectric sensor layout The photoelectric sensor is made up of a series of lightemitting and lightreaccepting diodes. A black trajectory is the runway. Light intensity reflected from the black trajectory is different from that of the white trajectory. We propose a mon method which is discrete recognition algorithm based on above the principle. The diode voltage value will be sent into the microcontroller through the I/O ports . CPU determines whether or not the sensor is on the top of the marked line according to the input port voltage. The smart car system screens out those sensors on the top of the black trajectory. At the moment, the smart car system can dete