【導讀】運輸安全工程研究中心，教育部，武漢理工大學，武漢，湖北，430063，中國。自治智能車是基于考慮車輛和道路在內(nèi)的車輛編隊的物理仿真的基礎。本文在車輛道路綜合的情況。下，分析了車輛編隊系統(tǒng)的架構，并提出了自制智能車控制系統(tǒng)的構造和結構。功能要求之后，本文設計了自治智能車關鍵的硬件和軟件。它把芯片作為控制器，以及用攝像頭和超聲。波傳感器作為行車導航。同時，它應用直流電機實現(xiàn)智能車的驅(qū)動和轉(zhuǎn)向，以及采用Zigbee技術來設。計無線通信模塊。和車輛編隊系統(tǒng)的進一步研究的技術基礎。制復雜性，增加了運輸可控性，有效地緩解了交通堵塞，并最終提高了行車安全性。定程度上減少車輛阻力和車輛油耗。列和控制方式和其他關鍵技術是系統(tǒng)的重要組成部分。然而，目前汽車隊列的結構，行為特征和智能化。行程控制算法尚未完善。車道，引導車輛在路上順利的行駛。考慮到單一的CMOS圖像傳感器不能理想的檢測車的距離，超車距

　　

【正文】 mong them. of single smart car velocity control Change the value of Kp,Ki,Kd in the formulate (2) and measure the relationship of motor control and time when smart car is running in high speed, the relationship see figure 11. Xcoordinate is the measure cycle and ycoordinate is the impulse of measured speed, curve 1 indicates objectspeed, curve 2 and curve 3 are the speed respectively when Kp, ki, kd is changed. In experiment, we find Kp influence the system mostly. Figure 11 shows that different amplitude vibration will occur due to different value of PID parameters in the process of speed adjustment. Especially when the speed decline in the response, more steadystate error. 18 of antidisturbing and test of munications Under normal circumstances, autonomous smart car runs on the track line without derailing premise running speed less than safe speed. After increasing the light artificially or covering some of the roads marks, the autonomous smart car automatically stopped when ran into the blind spot, so the system need to be improved by increasing the ability of antidisturbing. At the same time the test is carried out on the autonomous smart car, which demonstrates that munication systems can accept instructions correctly and make right execution. 6. Conclusion and Prospect Vehicles platoon control based on cooperation of road vehicles is very hot in the field of intelligent traffic, and the semiphysical simulation technology is an important research tool for vehicles platoon control. The car with the ability of munication is the base to construct the simulation system of vehicles platoon’s physical simulation. In this paper, 16 bits microchip MC9S12XDP1512 is used for the core control. Besides this, CMOS camera ov6620 sensor which is used to collect traffic information cooperated with ultrasonic sensors, DC motors and other ponents which pose the autonomous smart car control system, Zigbee which is used for munication meet the requirements of intelligentization, informationization, autonomy and stability of single car in vehicles queue. Tests show that autonomous smart car can automatically identify the path, run in the traffic lane stability at highspeed. Data transmission of Zigbee module transmits data stably and correctly in the munications, and the autonomoussmart car can control another smart car according to munication protocol. Ultrasonic sensor having location accuracy of 4 mm can effectively detect the surrounding obstacles. The construction of the car provides test platform and technical basis for the next step of development of intelligent vehicle road system and implementation autonomy running control of vehicle queue. In the future, further study will be made on the autonomous smart car, the vehicles queue controller algorithms and control strategies[12]. The study includes automatic tracking algorithm and automatic obstacle avoidance algorithm of autonomous smart 19 car, munication protocol between a number of vehicles, the bination of vehicle dynamics model and refinement control strategies of movement model. Acknowledgement It is a project supported by the National Natural Science Foundation of China () and the HiTech Research and Development Program (863) of China (No. 2021AA11Z215). References [1]Yibing Wang and Zengjin Han,“Stability of an aut omated vehicle platoon,” Proceedings of the 1998, American Control Conference, , , 1998. [2]L. Cai, . Shen, and W. Ye, “The traffic flow model for single intersection and its traffic light intelligent control strategy,” Proceedings of th e 6th World Congress on Intelligent Control and Automation Piscataway, NJ, USA: IEEE, ~8562, 2021. 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