【正文】 μ C/OSII 操作系統(tǒng)運(yùn)行，車(chē)載主機(jī)和手持主機(jī)的調(diào)試與功能驗(yàn)證，最終實(shí)現(xiàn)整機(jī)的功能測(cè)試和穩(wěn)定性檢驗(yàn)，大致的流程就是這樣，詳細(xì)的模塊流程見(jiàn)第四章。 L 3 G 4 2 0 0 D T R 體 感S T M 3 2 F 1 0 3 Z E T 6N R F 2 4 L 0 1 無(wú) 線i l i 9 3 2 0 液 晶 圖 23 手持主機(jī) 硬件設(shè)計(jì)圖 系統(tǒng) 軟件設(shè)計(jì) 本 系統(tǒng) 實(shí)現(xiàn)軟件功能主要使用 C 作為開(kāi)發(fā)語(yǔ)言，而軟件開(kāi)發(fā)平臺(tái)為 ARM 公司旗下的 Keil for ARM。 車(chē)載主機(jī) 硬件設(shè)計(jì)方案 車(chē)載主機(jī)系統(tǒng) 硬件設(shè)計(jì) 如 圖 22 所示 。 （ 3） 語(yǔ)音播報(bào)功能 。 車(chē)載主機(jī)系統(tǒng)和手持主機(jī)系統(tǒng)的總體框架圖如圖 21 所示。 浙江萬(wàn)里學(xué)院本科畢業(yè)論文 5 2 系統(tǒng) 總體設(shè)計(jì) 本課題研究基 于 STM32 的智能車(chē)的設(shè)計(jì)與實(shí)現(xiàn) ， 本章描述該 智能 系統(tǒng)的總體設(shè)計(jì) 。車(chē)載主機(jī) 是本系統(tǒng)主要實(shí)現(xiàn)功能對(duì)象的主體， 在手持主機(jī)通過(guò) NRF34L01 無(wú)線發(fā)送模塊發(fā)出 三種主要 指令 ，當(dāng)指令為陀螺儀體感操作指令時(shí)，智能車(chē)的運(yùn)行受到手持主機(jī)中陀螺儀傳感器的控制，當(dāng)指令為超聲波自動(dòng)避障時(shí)，智能車(chē)車(chē)載主機(jī)的超聲波模塊運(yùn)行，采集環(huán)境數(shù)據(jù)給主控，經(jīng)過(guò)程序代碼算法的運(yùn)行實(shí)現(xiàn)超聲波自動(dòng)避障，當(dāng)指令為 UI 界面 控 制 時(shí)，觸控界面的方位按鈕可以實(shí)現(xiàn)智能車(chē)的運(yùn)行姿態(tài)，無(wú)線模塊發(fā)送模塊是連接車(chē)載主機(jī)和手持主機(jī)的橋梁，通過(guò)一系列的指令實(shí)現(xiàn) 車(chē)載主機(jī)的運(yùn)行狀態(tài)以及數(shù)據(jù)的實(shí)時(shí)采集 。這是一個(gè)雙目視覺(jué)系統(tǒng)，具浙江萬(wàn)里學(xué)院本科畢業(yè)論文 3 有極高的穩(wěn)定性。進(jìn)入 80 年代中期，設(shè)計(jì)和制造智能車(chē)輛的浪潮席卷全世界，一大批世界著名的公司開(kāi)始研制智能車(chē)輛平臺(tái)。 1954 年美國(guó) Barrett Electronics 公司研究開(kāi)發(fā) 出 世界上第一臺(tái)自主引導(dǎo)車(chē)系統(tǒng) AGVS（ Automated Guided Vehicle System）。目前，國(guó)內(nèi) 眾多 高校和科研院所都在進(jìn)行 ITS 關(guān)鍵技術(shù)、設(shè)備的研究。 Abstract The smart car is a set of situational awareness, planning and decisionmaking, multilevel driver assistance functions in an integrated system， It is a typical hightech plex of focusing on the use of a microprocessor, modern sensors, information fusion, munications, artificial intelligence and automatic control technology. This paper presents a design of smart car based on embedded microprocessor of STM32. The entire system is divided into two parts: Car host system and Handheld host system. The car host system is major to crawler wheels for its mechanical platform to Complete main function of Vehicle module Combine with The main control circuit module ultrasonic obstacle avoidance, voice broadcast, GPS data collection. Handheld host system mainly includes data of receiver module, data of show module, control of intelligent vehicle module and additional entertainment audio and video module. Handheld host system is mainly responsible for running posture control the smart car, realtime data acquisition of vehicle and handheld entertainment of audio and video. The main controller core is STMicroelectronics’ processor of STM32,Its highspeed data processing capabilities and a wealth of integrated peripherals interface resources, give full play to the performance of the smart car smart car, but also conducive programming and extensions. The paper introduces the field of smart car’s status of research and the control system design framework and the entire development process of smart car, Then it introduces hardware design of the smart car’s system and design processes and ideas of software. Finally, the production of the smart car system and debugging, as well as the Summary of graduation Design. Key Words： STM32F103； GPS positioning； Intelligent Control； Realtime operating system 目 錄 1 緒論 ............................................................................................................................1 課題國(guó)內(nèi)外研究現(xiàn)狀 ..........................................................................................1 智能車(chē) 系統(tǒng)國(guó)內(nèi)研究現(xiàn)狀 ...........................................................................1 智能車(chē)系統(tǒng)國(guó)外研究現(xiàn)狀 ...........................................................................2 本文研究?jī)?nèi)容 ......................................................................................................3 內(nèi)容分析 .......................................................................................................3 開(kāi)發(fā)流程 .......................................................................................................3 2 系統(tǒng)總體設(shè)計(jì) ............................................................................................................5 系統(tǒng)對(duì)象描述 ......................................................................................................5 總體方案設(shè)計(jì) ......................................................................................................5 車(chē)載主機(jī)硬件設(shè)計(jì) ..............................................................................................7 車(chē)載主機(jī)功能需求描述 ...............................................................................7 車(chē)載主機(jī)硬件設(shè)計(jì)方案 ...............................................................................7 手持主機(jī)功能需求描述 ...............................................................................8 手持主機(jī)硬件 設(shè)計(jì)方案 ...............................................................................8 系統(tǒng)軟件設(shè)計(jì) ......................................................................................................8 軟件設(shè)計(jì)思想 .............................................................................................8 軟件設(shè)計(jì)流程 .............................................................................................9 系統(tǒng)方案可行性分析 ..........................................................................................9 3 主機(jī)硬件設(shè)計(jì)與實(shí)現(xiàn) ..............................................................................................10 微處理器系統(tǒng) ....................................................................................................10 最小系統(tǒng)電路 .............................................................................................10 電源系統(tǒng)設(shè)計(jì) ....................................................................................................12 NRF24L01 無(wú)線模塊設(shè)計(jì)與實(shí)現(xiàn) .....................................................................13 NRF24L01 無(wú)線模塊 電路 ...........................................................................13 NRF24L01 無(wú)線模塊應(yīng)用電路 ...................................................................14 GPS 定位模塊設(shè)計(jì)與實(shí)現(xiàn) ................................................................................14 主控電路 .............................................................................