Intelligent Vehicle System Design Based on MC9S12 Microcontroller

This paper introduces the system design of an intelligent vehicle, which is designed on basis of a 16-bit microcontroller, MC9S12DG128B. The system architecture and hardware modules are depicted in details. To solve the problem of precisely identifying navigation line under uneven light and realizing autonomous navigation of the intelligent vehicle, we propose a new method of dynamic threshold and give out its implementation. To enhance the perspective of the Visual Crawling, the system applies Charge Coupled Device (CCD) camera to collect path information. Image transformation is considered with elaborate method to avoid the wrong navigation information. Laboratory experiments have proved the stability and accuracy of the whole system.