【正文】 和 S 型軌跡控制算法：當(dāng)智能車系統(tǒng)檢測(cè)彎曲軌跡時(shí)，它可以在快捷的方式下運(yùn)行，換句話說(shuō)，就是智能車沿內(nèi)部軌跡而不是 接下來(lái) 的軌跡移動(dòng)。因此，智能車將會(huì)加快。 一個(gè)智能車的位置，是由反饋光電傳感器的值所決定的。目前，智能車正在全速運(yùn)行，在這種情況下，智能車可以實(shí)現(xiàn)最高速度，當(dāng)光電傳感器 0 號(hào)， 3號(hào)或 6號(hào)和 9 號(hào)之間總是低級(jí)有效時(shí)，可以聲稱是光電傳感器檢測(cè)到的 S型或彎曲的軌跡。 布局，數(shù)量和間隔光電傳 感器都是密切相關(guān)的控制算法。我們提出了一個(gè)常用的對(duì)上述原則基于離散識(shí)別算法的方法。這種跟蹤算法具有以下優(yōu)勢(shì)：集合，離散信號(hào)點(diǎn)少的集合，在抗干擾能力強(qiáng)的環(huán)境下，信息處理控制算法 舵機(jī)馬達(dá) 智能車 智能車運(yùn)行參數(shù) 跑道 跑道檢測(cè) 12 只需很短的時(shí)間響應(yīng)和較低的成本。 圖 1。為了使智能車沿移動(dòng)以合理的速度軌跡，路徑檢測(cè)信息，直流伺服電機(jī)控制和驅(qū)動(dòng)電機(jī)控制必須掛在一起的單芯片。該算法利用的位置和路線作為輸入信號(hào)的錯(cuò)誤參數(shù)，以規(guī)范舵機(jī)輸出角。 Astronautics Press, 2020. [5] Shao Beibei. The online development methodology of Singlechip embedded applications . Tsinghua University Press, Beijing 2020. [6] Zheng Kougen, Tang Jie, and He Tongneng, Embedded systems the Design and Application used 68HC12 and HCS12 , Electronics Industry Press, Beijing, 2020. [7] Stephen Prata. , C++ primer plus , Postsamp。 Calculating the PWM duty cycle: PWM=PIDCalc(amp。// Output limiter int Output。 // Integral Const int Derivative。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 determine the relative location of the smart car and the path information. The layout, the number and the interval of photoelectric sensors are all closely related to the control algorithm. In order to predict the farther distance and achieve higher efficiency, we adopt a solution that 1 type showed in Figure 2. 10 photoelectric sensors are used. Photoelectric sensors are arranged in unequal spacing. Such nonlinear form has superiority and scientificalness. The black dots represent the installation position of photoelectric sensors, symmetrical distribution on both sides. The distance between the adjacent two photoelectric sensors is set into 22, , , , 10, , , and 22 respectively. The unit is millimeter. The circuit board is fixed on Ubracket by screw. The whole body is fixed in the front of the smart car. Figure 2. The layout of photoelectric sensors B. The Algorithm of Stable Operation System The tracking control algorithm is used to regulate the motor speed and the steering gear angle. When the photoelectric sensors between and are always lowlevel effective, it can be claimed that photoelectric sensors have detected the straight trajectory. At the moment, the smart car will run in full speed. In this case the smart car can achieve the maximum speed. When the photoelectric sensors between and or between and are always lowlevel effective, it can be claimed that photoelectric sensors have detected the Stype or curvy trajectories. In this case the smart car should slow down in advance and turn left or right. The speed of the smart car should not be too high to avoid running out. We adopt a speed limited strategy to solve the problem. When the distance of tow photoelectric sensors is 22mm, the maximum speed is 3m/s. When the distance of photoele