【導(dǎo)讀】運(yùn)輸安全工程研究中心，教育部，武漢理工大學(xué)，武漢，湖北，430063，中國(guó)。自治智能車(chē)是基于考慮車(chē)輛和道路在內(nèi)的車(chē)輛編隊(duì)的物理仿真的基礎(chǔ)。本文在車(chē)輛道路綜合的情況。下，分析了車(chē)輛編隊(duì)系統(tǒng)的架構(gòu)，并提出了自制智能車(chē)控制系統(tǒng)的構(gòu)造和結(jié)構(gòu)。功能要求之后，本文設(shè)計(jì)了自治智能車(chē)關(guān)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(chē)導(dǎo)航。同時(shí)，它應(yīng)用直流電機(jī)實(shí)現(xiàn)智能車(chē)的驅(qū)動(dòng)和轉(zhuǎn)向，以及采用Zigbee技術(shù)來(lái)設(shè)。計(jì)無(wú)線(xiàn)通信模塊。和車(chē)輛編隊(duì)系統(tǒng)的進(jìn)一步研究的技術(shù)基礎(chǔ)。制復(fù)雜性，增加了運(yùn)輸可控性，有效地緩解了交通堵塞，并最終提高了行車(chē)安全性。定程度上減少車(chē)輛阻力和車(chē)輛油耗。列和控制方式和其他關(guān)鍵技術(shù)是系統(tǒng)的重要組成部分。然而，目前汽車(chē)隊(duì)列的結(jié)構(gòu)，行為特征和智能化。行程控制算法尚未完善。車(chē)道，引導(dǎo)車(chē)輛在路上順利的行駛?？紤]到單一的CMOS圖像傳感器不能理想的檢測(cè)車(chē)的距離，超車(chē)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. [3]Weifeng Lv, Wenjie Liao, Dongdong Wu, and Jiong Xie, “ A new road work model and its application in a traffic information system,” Autonomic and Autonomous Systems, , 2021. [4]Wei Li, Yuehong Qiu, and Jia Dong, “Design of video accessing system based on CMOS image sensor,” Microputer Information, , 2021. [5]Chen Dong,“Study and implement of the control system of the intelligent vehicle,” Southeast University, 2021. [6]Hu Ke, Zhuanghui Guo,and Lei Wang,“Research on wireless munication technology ZigBee,” Computer Knowledge and Technology, , , 2021. [7]MC9S12XDP512 Data Sheet, Freescale Semiconductor,2021. [8]Figneroa JF and Lam ancusa JS, “A method for accurate detection of time of arrival: analysis and design of an ultrasonic ranging system,” The Journal of the Acoustical Society of America, , , , January 1992. [9]Tao Zhang, Yushun Wang, and Xuehua Li,“Based on DSPIC solution for BLDC motor39。s openloop control system and the design of the hardware and software,” Journal of Qingdao University (Engineering amp。 Technology Edition), , , 2021. [10] C. Resendes, R. Cabral, and . Ribeiro,“An algorithm for the steering control of mobile robots,” IEEE International Workshop on Intelligent Robots and Systems IROS 39。90, , , 1990. [11]Caihong Liu,“Study on path tracking technology of intelligent vehicle,” Zhe Ziang University, 2021. [12]. Chang, W. Li, P. Devlin, A. Shaikhbahai, P. Varaiya, . Hedrick,D. McMahon, V. Narendran, D. Swaroop and J. Olds, “Experimentation with a vehicle platoon control system,” Vehicle Navigation and Information Systems Conference, , , 1991.