基于FPGA控制的智能小车的设计

Design of an Intelligent Car Based on FPGA

摘要:

为了设计能实现具有避障、循迹、遥控和测速功能的智能小车,利用Cyclone 2类型的FPGA作为控制核心,采用模块化的设计思路,使用红外对管、超声波传感器、蓝牙模块和霍尔元件实现小车的相关运动功能。分别设计了智能小车的硬件电路和软件程序。在软件编程中结合实际车辆运行情况,创新性的提出了一种智能小车的循迹方式,巧妙处理了转弯半径过小的循迹问题,并在实际现场调试测定了相关的控制参数,如小车转弯时的“倒车时间T”。经过现场的系统测试,设计的智能小车运行平稳,性能优良。

Abstract:

In order to design an intelligent car with obstacle avoidance, tracking, remote control and speed measurement functions, a Cyclone 2 chip is used as the control core of FPGA. The modular design concept is used to design the hardware circuit and software program of the intelligent car. Infrared tube, ultrasonic sensors, Bluetooth modules and Hall elements are used to achieve the functions of the car. In order to handle the tracking problem of small turning radius of software programming, a tracking method of intelligent car is innovatively put forward, which combines the actual operation of vehicles. Relevant control parameters are also measured in the actual field debugging, such as car Turnover Time T when turning. After the on-site system test, the designed smart car is running smoothly and with excellent performance.