PAGE\*MERGEFORMAT26基于摄像头的智能车路径识别方案摘要：智能车硬件平台开采用飞思卡尔16位微控制器MC9S12DG128为核心的控制单元，由清华大学飞思卡尔嵌入式系统研发中心提供的开发板MC9S12EVKC单片机最小系统板，并在此基础上自行完成的外围硬件电路设计；软件开发环境使用Metrowerks公司为MC9S12系列单片机专门提供的全套开发工具CodeWarriorIDE。文中介绍了智能车的系统总体结构，软硬件模块及开发流程。其中重点介绍摄像头的硬件电路的设计，摄像头输出数字信号的采集,视频图像信号处理及控制系统硬件电路设计,速度与转向控制算法，以及包括调试中遇到的问题的解决方法。关键字：智能车，摄像头，视频数据采集，路径识别，速度与转向控制IntelligenceCarBasedOnDigitalCameraAbstract：Inthisarticle,articlepresenttheembeddedsystemsdesignresultsofWuxiprofessionalcollageofscienceandtechnologyzhenzemotorcadeworkingduringtheperiodofpreparingthefourthsessionoftheFreescaleIntelligenceCarCompetition,Includinghardwaredesign,softwaredesignofsmartcar.thehardwareplatformofthesmartcarbasesonS12developmentboardwhichfeaturesMC9S12DG128micro-controller,FreescaleEmbeddedSystems,TsinghuaUniversityR&DCenterprovidesthedevelopmentboardofthesmallestsingle-chipsystemboardMC9S12EVKC,AndonthisbasistothecompletionoftheexternalhardwarecircuitdesignsoftwaredevelopmentenvironmentsoftwaredevelopmentusedCodewarriorIDEasitstool,whichisMetrowerksCorporationtechnicallyprovideacompletesetofdevelopmenttoolstoMC9S12seriesofsingle-chip.Thisarticleintroducestheintelligentcarsystemsarchitecture,softwareandhardwaremodulesanddevelopmentprocess,WhichfocusesonCamerahardwarecircuitdesign,Cameraoutputdigitalsignalcollection,Videoimagesignalprocessing,Controlsystemhardwarecircuitdesign,speedanddirectcontrolalgorithm,Aswellasthesolutionofproblemindebugging.KeyWord:Intelligentcar,Camera,VideoSampleCollection,SpeedandDirectControl目录TOC\o"1-3"\u第一章绪论PAGEREF_Toc260048331\h41.1课程意义PAGEREF_Toc260048332\h41.2课题背景PAGEREF_Toc260048333\h41.3任务PAGEREF_Toc260048334\h5第二章硬件系统设计PAGEREF_Toc260048335\h62.1单片机主要元件介绍PAGEREF_Toc260048336\h62.1.1摄像头的介绍PAGEREF_Toc260048337\h62.2硬件总体框图PAGEREF_Toc260048338\h72.2.1电源、稳压电路PAGEREF_Toc260048339\h82.2.2单片机控制板PAGEREF_Toc260048340\h102.2.3测速电路PAGEREF_Toc260048341\h112.2.4摄像头电路PAGEREF_Toc260048