智能汽车中英文对照外文翻译文献
自动驾驶汽车论文中英文对照资料外文翻译文献
自动驾驶汽车论文中英文对照资料外文翻
译文献
自动驾驶汽车是当今科技领域的热门话题之一。
以下是一些关于自动驾驶汽车的外文翻译文献，供参考：
1. 标题："自动驾驶汽车技术的现状与展望"
作者：John Smith
发表年份：2020年
摘要：本文介绍了自动驾驶汽车的历史发展、技术原理以及当前的研究状况。
作者对未来自动驾驶汽车的发展前景进行了展望，并提出了一些建议和挑战。
2. 标题："自动驾驶汽车的法律与伦理问题"
作者：Emily Johnson
发表年份：2018年
摘要：该文研究了自动驾驶汽车面临的法律和伦理问题。
作者讨论了自动驾驶汽车的责任分配、隐私保护以及道路交通规则等方面的挑战，并提出了解决方案。
3. 标题："自动驾驶汽车的安全性分析"
作者：David Brown
发表年份：2019年
摘要：本文通过对自动驾驶汽车的安全性进行分析，评估了其在各种情况下的表现和风险。
作者提出了一些改进措施，以提高自动驾驶汽车的安全性和稳定性。
以上是一些关于自动驾驶汽车的翻译文献，它们可以帮助研究者了解该领域的最新发展和挑战，为相关论文的撰写提供参考。
Unit 2 智能汽车参考译文
能看、能听、有知觉、具嗅觉、会说话的智能汽车？还能自动驾驶？这听起来或许像是在做梦，但计算机革命正致力于把这一切变为现实。
智能汽车1 Even the automobile industry, which has remained largely unchanged for the last seventy years, is about to feel the effects of the computer revolution.即便是过去70年间基本上没有多少变化的汽车工业，也将感受到计算机革命的影响。
2 The automobile industry ranks as among the most lucrative and powerful industries of the twentieth century. There are presently 500 million cars on earth, or one car for every ten people. Sales of the automobile industry stand at about a trillion dollars, making it the world's biggest manufacturing industry.汽车工业是20世纪最赚钱、最有影响力的产业之一。
目前世界上有5亿辆车，或者说每10人就有1辆车。
汽车工业的销售额达一万亿美元左右，从而成为世界上最大的制造业。
3 The car, and the roads it travels on, will be revolutionized in the twenty-first century. The key to tomorrow's "smart cars" will be sensors. "We'll see vehicles and roads that see and hear and feel and smell and talk and act," predicts Bill Spreitzer, technical director of General Motors Corporation's ITS program, which is designing the smart car and road of the future.汽车及其行驶的道路，将在21世纪发生重大变革。
智能小车中英文对照外文翻译文献
中英文资料对照外文翻译Intelligent VehicleOur society is awash in “machine intelligence” of various kinds.Over the last century, we have witnessed more and more of the “drudgery” of daily living being replaced by devices such as washing machines.One remaining area of both drudgery and danger, however, is the daily act ofdriving automobiles. 1.2million people were killed in traffic crashes in 2002, which was 2.1% of all globaldeaths and the 11th ranked cause of death . If this trend continues, an estimated 8.5 million people will be dying every year in road crashes by 2020. in fact, the U.S. Department of Transportation has estimated the overall societal cost of road crashes annually in the United States at greater than $230 billion .when hundreds or thousands of vehicles are sharing the same roads at the same time, leading to the all too familiar experience of congested traffic. Traffic congestion undermines our quality of life in the same way air pollution undermines public health.Around 1990, road transportation professionals began to apply them to traffic and road management. Thus was born the intelligent transportation system (ITS). Starting in the late 1990s, ITS systems were developed and deployed。
智能小车中英文对照外文翻译文献
中英文资料对照外文翻译Intelligent VehicleOur society is awash in “machine intelligence” of various kinds.Over the last century, we have witnessed more and more of the “drudgery” of daily living being replaced by devices such as washing machines.One remaining area of both drudgery and danger, however, is the daily act ofdriving automobiles. 1.2million people were killed in traffic crashes in 2002, which was 2.1% of all globaldeaths and the 11th ranked cause of death . If this trend continues, an estimated 8.5 million people will be dying every year in road crashes by 2020. in fact, the U.S. Department of Transportation has estimated the overall societal cost of road crashes annually in the United States at greater than $230 billion .when hundreds or thousands of vehicles are sharing the same roads at the same time, leading to the all too familiar experience of congested traffic. Traffic congestion undermines our quality of life in the same way air pollution undermines public health.Around 1990, road transportation professionals began to apply them to traffic and road management. Thus was born the intelligent transportation system (ITS). Starting in the late 1990s, ITS systems were developed and deployed。
外文文献翻译中英文智能车辆研究
智能车辆研究外文文献翻译(含：英文原文及中文译文)文献出处：G Stark. The Intelligent Vehicle Initiative[J]. Traffic Technology International, 2013，3(1):31-41.英文原文The Intelligent Vehicle InitiativeG StarkIn the wake of the computer and information revolutions, motor vehicles are undergoing the most dramatic changes in their capabilities and how they interact with drivers since the early years of the century.In 1908, the emergence of the Henry Ford Model T represented a major breakthrough in car design. It not only pioneered the easy replacement of parts and mass production, but also its "user-friendly" mode of operation, so that anyone can easily drive. In the past 90 years, with fewer and fewer simple cars like the Ford Model T, the car has quickly become a sophisticated “mobile computer” that plays the role of a navigator, escort, and even a second driver. These new features not only changed our driving style, but also improved the quality of transportation services and the ability to save lives, and provided support for the competitiveness of the US industry.However, the performance of smart cars is not only that. Conversely, these components that make vehicles more intelligent, such as newinformation, safety and automation technologies, arrive on the market as spare parts, or as optional equipment, or as special accessories for after-sales services. In order to improve driver safety, these technologies have been continuously developed and put on the market. However, individual technologies have not yet been integrated and they cannot create fully intelligent vehicles that are highly collaborative with drivers.The automotive industry has realized and solved the influx of potential uncoordinated technologies. But their progress is hindered by technical and economic barriers, uncertain consumer preferences, and imperfect standards and guidelines. In addition, neither traditional car manufacturers nor government regulators (unless the security issues are obvious) can control the use of aftermarket products, especially in the use o f trucks and buses. However, there is no “people-oriented” smart vehicle that attempts to integrate and coordinate various technologies to solve problems. We may not only lose the opportunity to implement new in-vehicle technology, but may even unintentionally reduce the safety and performance of driving.Recognizing the importance of intelligent vehicles and the potential dangers of human factors in vehicle design, the Ministry of Transport launched the Intelligent Vehicles Initiative (IVI) in 1997. This initiative aims to accelerate the development and integration of automotive systems to help cars, trucks and bus drivers operate more safely and effectively.The 1980s TV series “Knight Ranger” features smart vehicles that can cross over tall buildings, seem to drive the supersonic itself, spy on bad guys, and have English words and housekeepers. This car is not only smart but smart. Although smart vehicles in the real world will not be able to fly over traffic, they will have strong capabilities. As envisioned by the International Vaccine Research Institute, smart vehicles will be able to provide route instructions, feel objects, warn drivers that collisions will occur, auto signals help drivers stay alert in emergency situations, and may eventually be able to take over driving.The computer-based technology of information and motor vehicles, however, is not a new use. A wide range of automotive computers began the 1980s with the aim of improving vehicle operation and driver comfort. These technologies include the electronic control of the performance of fuel injection engines, especially the reduction of vehicle emissions, improved fuel economy, anti-lock braking systems to help drivers maintain control over slippery roads, and cruise control systems to reduce driver's driving for a long period of time. tedious. And these technologies are mainly to strengthen the vehicle, the latest wave in vehicle technology, of which the most interested is the purpose of the IVI's capabilities, and is intelligent transportation systems designed to strengthen the capabilities of the driver. These systems include early warning and information, driving assistance and automation technology.Research Plan The original research plan for the Mack IVI FOT included requirements to install the LDWS, TSA, and ACN systems on a test fleet of 36 tanker trucks operated by McKenzie Tank Lines in normal revenue service over a 19-month period. The final research plan was a revision of the original plan, because several technical problems with the data-acquisition and transmission systems delayed the start of the FOT. This in turn created logistical problems with the installation of systems and deployment of trucks in the test fleet. Consequently, the FOT was performed over a 12-month period, with a primary focus on the safety benefits of the LDWS, which was installed on 22 trucks. Since the Eaton VORAD (EVT-300) collision warning system (CWS) was standard equipment on the McKenzie Tank Lines tractors used in the FOT, this system was active throughout the FOT. The CWS was not disabled during the FOT, because driving with the CWS was considered to be valid baseline driving for McKenzie Tank Lines drivers, and it would be difficult to separate the effects of removing the CWS and adding the LDWS. All trucks were also equipped with data acquisition and communications equipment. LDWS Evaluation. Use of the LDWS was expected to affect driving performance in two ways. First, there is the immediate effect of warning the driver of a potential lane excursion, which gives the driver an opportunity to change his or her driving behavior before making a large lane excursion. Second, after gainingexperience using the LDWS, the driver’s overall driving performance may improve even without the use of the system. Another possibility is that a driver’s driving performance may decline when the system is disabled, because the driver may become dependent on the system. Three conditions were compared in the experimental design: ♦Phase I –Baseline Period: Data collected during this period would characterize the driving behavior of drivers who were not receiving LDWS feedback.♦ Phase II – Active Period: Data collected during this period would characterize the driving behavior of drivers receiving LDWS feedback.♦ Phase III – Post-Active Period: Data collected during this period would characterize the driving behavior of drivers after the LDWS feedback had been deactivated.Just as people have different professional capabilities, different types and levels of vehicle-mounted smart vehicle technology give “intelligence” to complement this driver. The driver information system expands the knowledge of the driver's route and location. Early warning systems, such as collision avoidance techniques, improve the driver's perception of what is happening in the surrounding environment. Automate and drive technical assistance and simulate the driver's thoughts and actions to actual operations or in case of emergency, long-term vehicles are temporary. However, in smart vehicles will expand the driver's ability, it may also increase the driver's traditional role. Inparticular, within the technology of the new car, the role of the person is expanded from sensory motor skills, writes Thomas Sheridan, professor who is responsible for the Human Machine Systems Laboratory at the Massachusetts Institute of Technology (MIT), "this plan, Programmers, ITS studies in automation, diagnosticians, monitoring learners and managers show the feasibility of the benefits of many technologies that will be applied in smart vehicles.The route guidance system will help drivers to better drive in unfamiliar streets or Finding the fastest route to their destination In 1992 and 1993, field trials conducted by the Department of Transportation at Orlando TravTek showed that a tourist-guided vehicle equipped with a route guidance system reduced the problem of 30% of vehicles turning the wrong corner. Compared with tourists with paper maps, it saves 20% of the time.The collision avoidance system can strengthen traffic safety regulations and completely prevent traffic accidents. According to studies, if drivers can respond for more than half a second, they can avoid 60% of the time. Road traffic accidents and 30% of head-on collisions, and 75% of vehicle accidents are caused by driver's devastation.The National Highway Traffic Safety Administration (NHTSA) estimates that each year The country’s use of these three types of collision avoidance system can avoid 1.1 million traffic accidents and account for 17% of the total number of traffic accidents, which can save 17,500 lives (belt and airbags save about10,500 people) and restore 26 billion US dollars. The other safety facilities are under test, including the automatic collision notification system. When the airbag of a car pops up, the system will automatically send a distress signal, and the drowsy driver warning system can prevent the driver from getting drowsy while the car is driving. To sleep.The in-vehicle automation system can take over driving in case of an emergency or autopilot if it allows long periods of driving. In 1996, the National Highway Traffic Safety Administration began field testing an intelligent cruise control system that can automatically adjust the vehicle's speed to maintain a safe distance from the vehicle in front of it to assess the safety impact of this technology. The more dramatic scene appeared in the drive called "Let's open your hands and let your feet go." Last summer, the National Association of Autonomous Highway Systems (NAHSC), jointly organized by the Ministry of Transport and nine other public and private organizations, demonstrated a prototype of a future fully-automated vehicle on a 12-km section of the I-15 road in Santiago. In the future, the automatic road management system will increase the supervision of traffic managers by 2-3 times at higher speeds and shorter distances. The system may also eliminate the occurrence of human-induced traffic accidents and improve road safety.In addition to providing passengers with safe and efficient transportation, the federal government expects that the inherentdevelopment trend of smart cars may also increase the economic competitiveness of the United States.In order for smart cars to reach their maximum potential, they must be able to communicate with intelligent transportation infrastructure systems and other smart cars. For example, communicating with intelligent infrastructure systems can enable smart cars to understand the occurrence of accidents and then actively choose routes in real time. . The smart car can also act as a probe and send information about the road conditions to the intelligent infrastructure system to create richer road conditions basic information. In addition, fully automated vehicles should also be able to rely, to some extent, on the guidance provided by intelligent infrastructure systems and other smart cars. For example, not long ago, the American Helicopter Association (AHS) in San Diego showed that an automatic car equipped with a magnetic sensor under a bumper was successfully guided by a 1.2 m magnet implanted under the surface of the road.In the next 5 to 10 years, we should be able to see the first generation of products with special drive information and alarm system capabilities. With the development of information these systems will be increasingly perfect. Although the anti-collision system will provide some automatic assistance, drivers still have full control of the car. In addition, because of the initial communication capabilities with the intelligentinfrastructure system, the car will be more intelligent in terms of real-time detection of road conditions.In about 10 to 15 years, the application of some improvement measures will bring us better and smarter second-generation products. Although the driver still has full control of the car, the collision avoidance system will be able to take temporary control in emergency situations. In addition, more sophisticated voice recognition systems will be incorporated into the driver's interaction with the car. Vehicles can communicate with each other to improve their anti-collision ability. Of course, communication with intelligent infrastructure systems will also be more active and effective.In about 20 years, in the third generation of products, we will be able to see fully automated road systems, integrated systems for vehicles and infrastructure, and closer interaction between drivers and cars, such as the use of visual enhancements and visual displays.Looking back at a century of flooding technology, cars stand out as a particularly dynamic invention. In the next century, this vitality will promote the development of information and computer technology. Our next challenge is to integrate new information, security and automation technologies to create people-oriented smart vehicles that improve safety, ground drive efficiency and economic competitiveness.中文译文智能车辆研究G Stark本世纪初期,在计算机和信息革命的影响下,汽车经历了性能和与驾驶者之间的互动方面最富戏剧性的变革。
智能车外文文献翻译(原文中文)(可编辑)
智能车外文文献翻译(原文+中文)Intelligent Vehicle Our society is awash in “machine intelligence” of various kinds.Over the last century, we have witnessed more and more of the “drudgery” of daily living being replaced by devices such as washing machinesOne remaining area of both drudgery and danger, however, is the daily act ofdriving automobiles1.2million people were killed in traffic crashes in 2002, which was 2.1% of all globaldeaths and the 11th ranked cause of deathIf this trend continues, an estimated 8.5 million people will be dying every year in road crashes by 2020. in fact, the U.S. Department of Transportation has estimated the overall societal cost of road crashes annually in the United States at greater than $230 billion when hundreds or thousands of vehicles are sharing the same roads at the same time, leading to the all too familiar experience of congested traffic. Traffic congestion undermines our quality of life in the same way air pollution undermines public health.Around 1990, road transportation professionals began to apply them to traffic and road management. Thus was born the intelligent transportation system ITS. Starting in the late 1990s, ITS systems were developed and deployed。
智能汽车中英文外文翻译文献
外文文献翻译(含：英文原文及中文译文)中文译文基于智能汽车的智能控制研究摘要本文使用一个叫做“智能汽车” 的平台进行智能控制研究,该小车采用飞思卡尔半导体公司制造的MC9S12DG128芯片作为主要的控制单元,同时介绍了最小的智能控制系统的设计和实现智能车的自我追踪驾驶使用路径识别算法。
智能控制智能车的研究包括:提取路径信息, 自我跟踪算法实现和方向和速度控制。
下文介绍了系统中不同模块的各自实现功能,最重要部分是智能车的过程智能控制:开环控制和闭环控制的应用程序包括增量式PID 控制算法和鲁棒控制算法。
最后一步是基于智能控制系统的智能测试。
关键词:MC9S12DG128;智能控制; 开环控制; PID ;鲁棒;1 研究背景随着控制理论的提高以及信息技术的快速发展, 智能控制在我们的社会中发挥着越来越重要的作用。
由于嵌入式设备有小尺寸、低功耗、功能强大等优点,相信在这个领域将会有一个相对广泛的应用, 如汽车电子、航空航天、智能家居。
如果这些技术一起工作,它将会蔓延到其他领域。
为了研究嵌入式智能控制技术,“智能汽车”被选为研究平台, 并把MC9S12DG128芯片作为主控单元。
通过智能控制, 智能汽车可以自主移动, 同时跟踪的路径。
首先, 本文给读者一个总体介绍智能车辆系统的[2、3]。
然后, 根据智能车辆的智能控制:提取路径信息, 自我跟踪算法实现中, 舵机的方向和速度的控制。
它提供包括了上述四个方面的细节的智能车系统信息。
此外, 本文强调了智能车的控制过程应用程序包括开环控制、闭环增量PID 算法和鲁棒算法。
2 智能车系统的总体设计该系统采用MC9S12DG128[4]作为主芯片,以及一个CCD 传感器作为交通信息收集的传感器。
速度传感器是基于无线电型光电管的原理开发。
路径可以CCD 传感器后绘制收集的数据,并且系统计算出相应的处理。
在同时,用由电动马达速度测试模块测量的智能汽车的当前速度进行响应的系统。
关于智能汽车的英文作文
关于智能汽车的英文作文英文：Smart cars, also known as intelligent cars, arevehicles that use advanced technology to enhance the safety, comfort, and efficiency of driving. These cars are equipped with sensors, cameras, and other devices that allow them to collect and analyze data about the environment, traffic,and road conditions. Based on this information, they can make decisions and take actions that help drivers avoid accidents, reduce fuel consumption, and improve the overall driving experience.One of the main benefits of smart cars is their ability to communicate with other vehicles and infrastructure. This is known as Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I) communication. For example, if a car detects that it is about to collide with another vehicle,it can send a warning signal to the other car, allowing the driver to take evasive action. Similarly, if a car isapproaching a red light, it can receive a signal from the traffic light and adjust its speed accordingly, reducing the need for sudden braking and accelerating.Smart cars also have advanced driver assistance systems (ADAS) that can help drivers stay safe and avoid accidents. These systems include features such as lane departure warning, blind spot detection, and automatic emergency braking. They use sensors and cameras to monitor the vehicle's surroundings and provide alerts or take action when necessary. For example, if a driver starts to drift out of their lane, the car can sound an alarm or even steer itself back into the correct lane.In addition to safety features, smart cars also offer a range of convenience and entertainment features. For example, they can connect to the internet and provide access to music, news, and other services. They can also use voice recognition technology to allow drivers tocontrol various functions without taking their hands off the wheel or their eyes off the road.Overall, smart cars are a significant advancement inthe automotive industry. They offer a range of benefitsthat can enhance the driving experience and improve safety on the roads.中文：智能汽车，也称为智能车辆，是利用先进技术提高驾驶安全性、舒适性和效率的车辆。
- 1、下载文档前请自行甄别文档内容的完整性，平台不提供额外的编辑、内容补充、找答案等附加服务。
- 2、"仅部分预览"的文档,不可在线预览部分如存在完整性等问题,可反馈申请退款(可完整预览的文档不适用该条件!)。
- 3、如文档侵犯您的权益，请联系客服反馈,我们会尽快为您处理(人工客服工作时间：9:00-18:30)。
智能汽车中英文对照外文翻译文献(文档含英文原文和中文翻译)翻译：基于智能汽车的智能控制研究摘要：本文使用一个叫做“智能汽车”的平台进行智能控制研究，该小车采用飞思卡尔半导体公司制造的MC9S12DG128芯片作为主要的控制单元，同时介绍了最小的智能控制系统的设计和实现智能车的自我追踪驾驶使用路径识别算法。
智能控制智能车的研究包括:提取路径信息,自我跟踪算法实现和方向和速度控制。
下文介绍了系统中不同模块的各自实现功能，最重要部分是智能车的过程智能控制：开环控制和闭环控制的应用程序包括增量式PID控制算法和鲁棒控制算法。
最后一步是基于智能控制系统的智能测试。
关键词：MC9S12DG128；智能控制;开环控制；PID；鲁棒；1.背景介绍随着控制理论的提高以及信息技术的快速发展,智能控制在我们的社会中发挥着越来越重要的作用。
由于嵌入式设备有小尺寸、低功耗、功能强大等优点，相信在这个领域将会有一个相对广泛的应用,如汽车电子、航空航天、智能家居。
如果这些技术一起工作，它将会蔓延到其他领域。
为了研究嵌入式智能控制技术，“智能汽车”被选为研究平台,并把MC9S12DG128芯片作为主控单元。
通过智能控制,智能汽车可以自主移动,同时跟踪的路径。
首先,本文给读者一个总体介绍智能车辆系统的[2、3]。
然后,根据智能车辆的智能控制:提取路径信息,自我跟踪算法实现中,舵机的方向和速度的控制。
它提供包括了上述四个方面的细节的智能车系统信息。
此外,本文强调了智能车的控制过程应用程序包括开环控制、闭环增量PID算法和鲁棒算法。
2.智能车系统的总体设计该系统采用MC9S12DG128[4]作为主芯片，以及一个CCD传感器作为交通信息收集的传感器。
速度传感器是基于无线电型光电管的原理开发。
路径可以CCD传感器后绘制收集的数据，并且系统计算出相应的处理。
在同时，用由电动马达速度测试模块测量的智能汽车的当前速度进行响应的系统。
最后，路径识别系统利用所述路径信息和当前的速度，以使智能汽车在不同的道路条件的最高速度运行。
图1示出了智能车辆系统的框图。
3、跟踪算法的自我实现智能汽车的自我控制基于其上由CCD传感器[5]收集的路径信息。
CCD传感器的数据采集速率为25帧/秒。
一个帧被划分为两个部分：奇数场和偶数场，也就是说，50场/秒。
为了使该电流路径的准确判断？我们放大频率为32MHz。
最后，该系统将得到后MC9S12DG128 ATD模块逆向其由CCD传感器收集的数据35 *307阵列，并忽略一些消隐数据。
智能汽车有根据的滞后运行时，为了提高速度，收集前瞻性路径信息变得尤为重要。
基于上述理由，我们选择某一行远程数据作为智能车控制基本数据阵列的第一行。
相应地，第150行和第300行被选择作为辅助数据，然后我们得到一个新的3* 35二维阵列。
在阵列的基础上，我们可以通过大量的实验和测试转弯最佳值适应的每293行的最佳速度。
对应的速度和转弯最佳曲线是基于上述数据绘制。
速度曲线和转弯曲线的拟合过程将使用本文中的第1行数据，例如声明。
图2示出了智能车与路径之间的位置关系（精确地黑色轨道）当车转身时L 表示该CCD传感器收集的最远基准线与汽车之间的距离。
S表示最远中间点的基准线和所述轨道线之间的距离。
R表示的转弯半径。
计算R的过程如下：从三角函数推导，我们制定出：通过测量，L= 0.6米，在90度角范围内，黑色磁道位置和车体位置的垂直中心线之间的距离为约0.2667米。
这意味着S的范围从0到0.2667米。
根据向心力式：极限速度可从公式推导：（4）智能车进入角时可以用下式计算出每个基准点的速度，同时该速度也是最大值。
为了计算速度V，我们需要测量的摩擦参数。
在本文中，计算摩擦参数的方法如下：首先，智能车放置在KT板上，然后将板的一侧被升高直到智能车可以从板滑动。
测量是在地面与KT板之间的角度。
其结果是大约60°该图3示出了智能汽车的机械分析以下等式可以得到车体状况力量的平衡：mgsin60 = mgsin30KT板的摩擦系数，可以计算，u=0.577该智能车识别图像阵列的每一行由35个点组成。
从左至右，参考点是从1编号到35。
在该论文中，0到17点被选择作为例子进行申报。
这些点的最大速度被计算，并且这些数据将被显示在表中转弯的半径和速度表如可从表中可以看出，智能汽车的最大速度为2.1596米/秒。
经过测试，结果表明，速度是2.0米/秒时，PWM等于2400。
当智能车从一条直线进入弯道前，速度可能比最大速度更快。
与此同时，惯性因素作用于智能车。
该系统通过了许多次基于最大值的实验，最后，在表格4中的基准点的速度曲线是基于从许多实验中测试得到的实验数据。
弯道曲线拟合智能小车方向由转向器的控制。
舵机的转向范围从-45°到+ 45°。
在本文中，MCU总线频率被PLL乘到32MHz，20ms可以被分成60000计数。
由于2〜5ms的延迟和5％的误差，这时适当的设置精度为1.5°。
通过计算，当角度增加1.5°PWM值增加40。
所以可以如下得出：PWMDTY01= 4500+40 index_angleIndex_angle=I=index ccd-index_center和index_center是17.indel_ccd 代表在黑线位置。
如果INDEX_angle值大于0，则当前黑线是在智能汽车的中心线右侧的。
PWMDTY01的值可以通过上述等式来计算，所述信号驱动器转向齿轮到右侧。
反之，如果index_angle值小于0，PWMDTY01的值驱动所述转向器转向左侧。
在运行过程中，智能小车花费大量时间在跟踪直线。
通过实验，我们可以发现，智能车将剧烈摆动，影响智能车的速度。
如果智能车跑的路程直线过长，这将是糟糕的时候。
因此，调整该系统转弯策略。
当index_ccd值接近中心线，转动角是在小范围内限定。
如果角度在7-25指涉点之间，则在大的角度内调整。
调整后的曲线如图5所示。
C.自行控制导向线由四种不同类型的曲线，包括线性，90度角的曲线，大S曲线，和小S 曲线。
为了达到最快的速度，该系统已经开发了以下的控制策略。
智能小车的自我驱动策略是基于二维的3*35阵列上。
这意味着该系统能检测已捕获的黑线做出快速行动来调整智能的转动角度和速度。
通过大量的实验，当智能汽车运行在大的S曲线时候，可以发现该行的参考点在行和行之间移动[1] [27]。
与此同时，因为高速行驶速度，大S的小弧度，和它的前瞻性能力小车可以以近似直线的方式在大S曲线上运行。
当智能车进入小S曲线或90度的直角弯，参考点线或行[1] [35]将确定的黑线，这意味着黑色引导线出现在边缘最远的线路。
如果小车继续在小转角和高速对应的状态下运行，智能车将冲出赛道或大幅摆动。
在这一点上，系统的策略是交出控制线[2]，它是说基于数据的中间一行自我驱动控制的速度和转向角度。
通过拟合曲线，我们可以看到该行[2]的参考点的转角更尖锐，而且速度比前行[1]低。
智能车可以迅速改变其塑像，以保持它运行到轨道。
如果行的黑点[2] [1]或线路的黑线[2] [35]设置为1，则进一步的策略是交出控制线的参考点[3]，以降低车速，增加的角度范围。
驱动通过曲线后智能车将行驶到轨道上的直线。
该如何从曲线控制改变策略到直线控制就显得尤为重要。
为此，该系统引入了计时器的概念：当智能汽车的行驶距离是约5cm，速度为3m/ s的范围内（这意味着在0.015s），线[1] [17]将连续检测，直到找到黑线。
该系统将把它作为智能车返回到比赛笔直的道路处理，并给回线的控制权[1]。
4.速度控制和弯道控制它是用于智能汽车，以增加贴近控制的实际值，包括转向角的多少和行驶速度，来在智能汽车驾驶中更接近所需速度的重要因素。
因此，采用开环控制理论和闭环控制理论控制汽车。
开环控制系统[6]在开环控制系统装置中，控制对象的输出（控制量），不影响在此控制系统中的控制器输出。
它不依赖于反馈形成任何封闭环。
闭环控制系统[7]闭环控制系统的特征在于，该系统控制对象的输出（控制量）反馈影响控制器的输出。
A.旋转控制当智能车行驶过程中遇到需要使用的控制转向策略后，该MC9S12DG128可以通过PWM信号实现对转向的控制。
该系统采用开环伺服控制来实现平稳，快速的转向控制。
尽管在实现所需的角度值时，闭环控制PID算法优于开环控制，但选择不当PID 参数可以导致容易过冲，使得智能车摇摆急，齿轮不顺利工作。
同时，在用于智能汽车的跟踪的时候，转向齿轮的旋转总是从一个方向到另一个方向。
旋转也不会出现突然逆转的情况。
开环控制的是从偏离所希望的值接近期望值，这功能是适合于转向控制的。
因此，系统选择开环控制来实现转向控制。
B.速度控制智能汽车使用步进电机作为动力装置。
在MAX33886系统中可以通过输入各种占空比的电信号控制电机的转速。
为了使智能车辆迅速达到所需的值，在最短的时间内实现增长，减速，该系统采用闭环控制模式，以调整速度。
C.增量式PID控制在实践中，PID调节被广泛用于闭环控制[8,9]，这是比例，积分，微分控制。
随着控制理论的完善，有一个增量式PID控制。
增量式PID控制算法推导如下：由递推公式（5）它们时与采样周期，比例系数，积分时间常数，微分时间常数有关的系数。
如可以看到的，一般的计算机控制系统采用恒定的采样周期T，当KP，KI，Kd值设定，只要得到的作为使用偏差的前三次测量参数就可以。
在增量式PID处理的过程中，有一个步骤在你得到U（K）后。
你输入的PWM到电机时，则必须判断U（k）的值。
如果该值小于0，则输入PWM信号为0，如果它大于最大PWM信号，则输入的最大值。
该系统使用一个增量PID算法，公式如下error = speed_v- infrared_value 7pwmtemp = PWMDTY 23 + PID_P*（error-last_error）+PID_I*（error）+PID_D（error+pre_error-2*last_error）在该式中，speed_v代表标准速度，infrared_value代表实时从ATD1转换速度值。
计算它们的误差的差异，并使用增量式PID控制算法计算得到pwmtemp。
该pwmtemp是作为输入信号来驱动电动机。
因此，PID算法的主要功能是通过实时反馈速度，以使速度接近所希望的速度尽可能的闭环系统。
就是说，该系统可以从路径所需的速度确定模块和实时速度形成速度检测模块，然后调整PWM信号，以适应不同的路径的条件。
D.鲁棒控制策略通过使用增量PID调节，我们可以迅速调整模型车辆的速度到理想值。
然而，实验表明，当模型车突然拐弯，从一条直线或运行到一个绕来绕去弯道后，不能加快速度或立即减速。