【正文】 imental platform of the smart parking garage in School of Information Engineering, the automatic car parking storage system is designed on the basis of the Freescale intelligent car. Including the minimum system circuit, power management part, motor drive circuit, servo drive circuit, path recognition circuit and the geminate transistors circuit, the system takes the MC9S12XS128 SCM as its microcontroller. Besides, relative calculations of parameters are also given. In this automatic car parking garage system, the smart car is designed to drive to the assigned garage automatically from the entrance and to park in the storage accurately, though identifying information of roads, traffic lights and garages. Firstly, the system is used to deal with the information searched by CCD camera, then to find the deviation between the position of the car and the central black line, and correct the car through a steering gear. In addition, the infrared tubes can be installed in front of the car to determine the locations of the empty parking spaces and the signal lights. Similarly, the directions of signal lights can be detected by CCD camera as well to make the car drive in the garage correctly. Key words: Automatic parking garage。 在小車自動(dòng)停車入庫系統(tǒng)中，小車通過 采集道路信息、交通燈信息以及車庫信息，自動(dòng)從車場入口行駛至指定空車位，并準(zhǔn)確停車入庫。 I 內(nèi)蒙古科技大學(xué) 本科生畢業(yè)設(shè)計(jì)說明書（畢業(yè)論文） 題 目： 小車自動(dòng)停車入庫系統(tǒng)設(shè)計(jì) 專 業(yè)：測控技術(shù)與儀器 班 級：測控 20xx2 班 II 摘要 本設(shè)計(jì)在信息工程學(xué)院 智能停車場實(shí)驗(yàn)平臺(tái)上 ,以飛思卡爾智能車為模型設(shè)計(jì)并實(shí)現(xiàn)了小車自動(dòng)停車入庫系統(tǒng)。該系統(tǒng) 將 Freescale16 位單片機(jī) MC9S12XS128 作為系統(tǒng)微控制器，設(shè)計(jì)了單片機(jī)最小系統(tǒng)、電源管理模塊、電機(jī)驅(qū)動(dòng)電路、舵機(jī)驅(qū)動(dòng)電路、路徑識(shí)別電路及對管定位電路，并介紹了電路相關(guān)參數(shù)的計(jì)算方法。通過 CCD 攝像頭采集道路信息并對其處理，提取出路中央黑線與小車位置的偏差，從而控制舵機(jī)動(dòng)作來矯正行駛中小車的狀態(tài)；通過安裝在車頭的紅外線對管來確定空車位及信號燈的位置；同樣采用 CCD 攝像頭來提取信號燈的指向，進(jìn)而指引小車正確駛向車庫。 Intelligent vehicle system。 Freescale16bit singlechip IV 目錄 摘要 ............................................................................................................................................II Abstract ..................................................................................................................................... III 第一章 引言 .............................................................................................................................. 1 設(shè)計(jì)背景及意義 ......................................................................................................... 1 設(shè)計(jì)目標(biāo) ..................................................................................................................... 2 第二章 總體設(shè)計(jì) ...................................................................................................................... 3 系統(tǒng)硬件結(jié)構(gòu) ............................................................................................................. 3 設(shè)計(jì)方案分析 ............................................................................................................. 3 道路識(shí)別方案分析 .......................................................................................... 4 交通燈識(shí)別方案分析 ...................................................................................... 5 小車自動(dòng)入庫方案分析 .................................................................................. 5 系統(tǒng)硬件安裝 ............................................................................................................. 6 智能車系統(tǒng)硬件安裝 ...................................................................................... 6 車場硬件安裝 .................................................................................................. 7 第三章 硬件設(shè)計(jì) ...................................................................................................................... 8 單片機(jī)最小系統(tǒng)電路 ................................................................................................. 8 單片機(jī) MC9S12XS128 簡介 ........................................................................... 8 單片機(jī)時(shí)鐘電路設(shè)計(jì) ...................................................................................... 9 復(fù)位電路設(shè)計(jì) .................................................................................................. 9 BDM 接口電路設(shè)計(jì) ...................................................................................... 10 電源電路設(shè)計(jì) ........................................................................................................... 11 5V 電源電路設(shè)計(jì) .......................................................................................... 11 6V 電 源電路設(shè)計(jì) .......................................................................................... 12 12V 電源電路設(shè)計(jì) ........................................................................................ 12 直流電機(jī)及電機(jī)驅(qū)動(dòng)電路 ....................................................................................... 14 電機(jī) RS380 簡介 .......................................................................................... 14 電機(jī)驅(qū)動(dòng)電路 ................................................................................................ 14 視頻采集電路 ........................................................................................................... 16 V CCD 攝像頭的工作原理 ............................................................................... 16 視頻分離電路 ................................................................................................ 17 舵機(jī)及舵機(jī)驅(qū)動(dòng)電路 ............................................................................................... 18 紅外對管電路 ........................................................................................................... 19 第四章 軟件設(shè)計(jì) .................................................................................................................... 21 主函數(shù) ....................................................................................................................... 21 初始化程序設(shè)計(jì) ....................................................................................................... 22 鎖相環(huán)初始化設(shè)計(jì) .........