说明：  本文详细介绍了以第四届全国飞思卡尔智能车大赛为背景的竞速车模自 动循线控制系统方案。文中主要介绍了竞速车模的整体框架、硬件设计、摄像 头图像采集模块、光电编码器速度采集模块、执行模块电路设计、电源管理模 块以及系统软件设计。在硬件设计方面，结合大赛选用芯片的要求，自行设计 实现了系统的电路板，实践证明，该电路板较好的集成了智能车所需电路，使 得整车的集成度提高， 性能更加可靠。软件系统以Freescale16 位单片 MC9S12XS128作为系统控制处理器，采用CMOS数字摄像头OV6620获取实时赛道信 息，通过边缘检测方法提取赛道黑线，求出小车与黑线间的位置偏差，采用PD 控制算法对舵机转向进行控制。通过光电编码器YZ30D4S-2NA-200实时获取小车 速度，采用P控制策略形成速度闭环控制。经过大赛实践证明，该套方案能够使 智能汽车稳定并且快速运行。
(Abstracts: Automatic line patrol control system prepared for the 4th national contest of Smart car was described in details in this paper. The paper introduces the overall framework, hardware design, camera image acquisition module, photo electrical encoder speed acquisition module, implementation module circuit design, power management module and system software design of the racing car. As for the hardware design, the racing car system, with single-chip MC9S12XS128 as its system control processor, uses CMOS digital camera to obtain the real-time track information, extracts the black line on the contest lane with the edge detection method, and calculates position deviation between the car and the black line, distinguishes the different shape of the lane, then PD control algorithm for steering engine steering control was given in this paper. Through the photo electrical encoder named YZ30D4S-2NA-200 to attain the real-time car speed, and uses incremental P strategy to achie)