论文总字数：17147字

摘 要

智能小车成为近年以来嵌入式系统的一个发展热点，其技术领域涉及广，包括人工智能、传感器技术、机器人技术等交叉学科的理论基础。而嵌入式系统智能小车的一个重要的功能即规避障碍，由于当下社会上无人驾驶汽车的热门发展趋势，在规避障碍的基础上对障碍物进行性质的识别进而实现区别规避也成为自主避障环节的一个新的要求。本课题以红外传感技术为基础设计了一种红外识别障碍的嵌入式智能小车，实现对人体和普通障碍物的区别规避算法研究，其稳定性和适用场景较一般智能小车更加出色。

本文主要以stm32智能小车为硬件基础，论述了嵌入式智能小车单片机系统的构建和红外识别障碍的软件设计。首先主要介绍了智能小车领域在我国当今社会的发展现状，其次，通过介绍红外传感器的工作原理，提出一种障碍物性质识别的算法研究。通过对智能小车的传感器数据采集、小车避障路径规划和小车转速控制三个主要基础模块的设计和调试，实现了对嵌入式智能小车的总体避障功能要求。另外，本文详细介绍了基于Stm32F103ZET为主芯片的单片机最小系统设计，和多通道传感器数据采集模块的研究。

智能小车的最终测试结果表明，小车能够灵敏地分辨普通障碍物和移动中的人体，能够稳定实现区别规避的功能，过程中有不足之处也有总结和思考，论文最后附录了主要程序及相关研究的原理图。

关键词: 单片机 红外识别 智能小车 区别避障

Stm32 intelligent vehicle infrared identification module software design

Abstract

Smart car is becoming a hot spot in recent years a development of the embedded system, the technology involved is wide, including artificial intelligence, sensor technology, robotics and other interdisciplinary theoretical basis. And embedded systems a important function of the smart car to evade obstacles, because of the present social driverless cars on the popular trend, on the basis of evading obstacles to identification of the nature of obstacles and realize the difference between avoid also become autonomous obstacle avoidance process a new request. This topic is based on infrared sensor technology to design a kind of infrared identify obstacles embedded car, realize to the human body and common obstacle avoidance algorithm research, the difference between its stability and the scene more general intelligent car better.

Based on the stm32 smart car, this paper discusses the construction of single chip microcomputer system and the software design of infrared identification obstacle. First mainly introduces the intelligent car in today's society in our country development present situation, and secondly, through the introduction of the working principle of infrared sensor, a kind of barrier properties identification algorithm research. Through to the smart car sensor data collection, the car obstacle avoidance path planning and the car speed control three main basic module design and debugging, implement the overall obstacle avoidance function requirement of embedded intelligent car. In addition, the minimum system design of single chip microcomputer based on Stm32F103ZET and the data acquisition module of multi-channel sensor are introduced in detail.

Smart car final testing results show that the car can be sensitive to distinguish the common obstacles and moving body, can achieve stable difference between hedge function, inadequacies in the process are summarized and thinking, the paper finally appendix the schematic diagram of main program and related research.

Keywords: Single-chip Microcomputer;Infrared identification;smart car;Differential obstacle avoidance

目 录

摘 要 Ⅰ

Abstract Ⅱ

目 录 Ⅲ

第一章 引言 1

1.1概述 1

1.2国内外研究现状 1

1.3本课题研究的内容 3

第二章 智能小车的总体硬件结构设计 4

2.1智能小车Stm32主芯片 4

2.2智能小车的硬件组成 6

2.2.1智能小车供电系统 6

2.2.2智能小车驱动电机 8

2.2.3超声波测距模块 9

2.2.4测速系统的实现与设计 9

第三章 红外识别模块的设计与实现 11

3.1红外辐射基础知识 11

3.2基于热释电效应的红外传感技术 11

3.3热释电红外传感器 12

第四章 智能小车软件系统设计 15

4.1脉冲宽度调制(PWM） 15

4.2单片机中的脉宽调制技术（PWM） 16

4.3 小车软件设计方案 16

4.3.1 智能小车的路径规划 16

4.3.2 智能小车的软件运行流程 17

4.4 软件平台介绍 18

第五章 总结与展望 20

参考文献 21

致谢 22

附录 23

第一章 引言

1.1概述

目前，国内各高校和各大电子学科竞赛都有着关于智能小车的比赛项目，同时从参赛情况来看，红外传感技术理论的在此方面课题上的应用也十分广泛。不过显而易见的是，红外传感器大多被用于实现智能小车的轨迹识别上。本设计将红外传感器运用于识别障碍物性质，进而实现智能小车的避障模块。

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