Control strategy design for smart car auto-tracing with visual

A control algorithm for smart car auto-tracing with visual is designed in this paper. The smart car is structured with a DC motor for running driver and a steer motor for turning control, which can run along a black line at a high speed. A control strategy for smart car turning is proposed based on the road visual, through the image of road, the smart car can tracking along the road and the running speed is adjusted according to the road shape. The control strategy based on road shape is established mainly depending on image process. This strategy fulfills the road recognition, the turning control and the speed control. First, the visual information of road was acquired through CCD camera and then sent to CPU process image. Second, the road shape is calculated through the road recognition algorithm. Finally, a PD turning control algorithm is used in the direction control, and the fuzzy control is used in the speed control. Through the test of in the real race field, the smart car could quickly response the control demand both direction and speed, best run along the road, and get a good score in the smart car race.