<div class="document"> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">注：* 为必填项</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><strong><span style="color: #0093e6;">请在报名阶段填写 ↓</span></strong></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">* 1、项目功能介绍</h3> <hr class="horizontal-splitline normal-bold-2"> <p><strong>在追求极致速度与精准操控的竞赛中，本智能赛车采用了前沿的设计理念与工程技术。针对赛道环形赛道，我们精心设计了短轴距车体结构，通过CAD三维建模与模拟分析，确保车辆在高速行驶和急转弯时依然能够保持优异的稳定性和灵活性。</strong></p> <p><strong>不同于传统的四驱小车，我们引入了前轴主动转向系统，这一创新设计使得车辆在转弯时能够以前轮为引导，后轮根据前轮转向角度自动调整转速差，实现前后轮转向角度的完美同步。这种设计不仅提高了转弯效率，还显著降低了因循迹误差导致的偏离风险，让赛车在高速赛道上更加游刃有余。</strong></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*2、项目属性</h3> <hr class="horizontal-splitline normal-bold-2"> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;">原创</span></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">* 3、开源协议</h3> <hr class="horizontal-splitline normal-bold-2"> <p><span style="color: #000000;"><strong><span style="font-size: 14px;">使用GPL3.0开源协议</span></strong></span></p> <p style="line-height: 1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><strong><span style="color: #0093e6;">请在竞赛阶段填写 ↓</span></strong></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*4、硬件部分</h3> <hr class="horizontal-splitline normal-bold-2"> <p><strong>本智能赛车的硬件平台基于ESP32微控制器构建，该控制器以其强大的处理能力和丰富的外设接口，成为我们实现复杂控制逻辑与高精度传感器集成的理想选择。</strong></p> <p>·  循迹传感器：采用七路高精度数字循迹传感器阵列，密布于赛车前端，能够实时感知赛道边界信息，为赛车提供精准的导航指引。</p> <p>·  电机驱动与电源管理：L298N电机驱动模块搭配高性能12V直流电机，为赛车提供强劲动力；MP1584EN电源管理模块则负责将锂电池的高压安全转换为各组件所需的5V工作电压，确保系统稳定运行。</p> <p>·  舵机与速度检测：20kg级高精度舵机负责控制前轴转向，确保赛车能够迅速响应指令；而12V 370直流减速电机与霍尔传感器的结合，则实现了对后轮转速的精确监测与调节，保证赛车在转弯时左右轮速的协调一致。</p> <p>·  I2C扩展与接口标准化：为优化资源利用与布线管理，我们引入了PCF8574 I2C扩展模块，将数字信号以I2C通信方式传输给ESP32，有效减少了GPIO占用；同时，采用XH2.54标准接口进行模块间连接，增强了系统的稳固性与可维护性。</p> <p><strong>此外为了节约成本，可以将传感器换为七路模拟传感器，分别接入ESP32的ADC。</strong></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height: 1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*5、软件部分</h3> <p><strong>在软件层面，我们充分利用ESP32的双核特性，移植了FreeRTOS实时操作系统，为赛车提供了高效的任务调度与资源管理能力。基于FreeRTOS平台，我们设计了四个核心任务：</strong></p> <p>1.循迹传感器数据读取：实时采集并处理七路循迹传感器的数据，为赛车提供准确的赛道边界信息。</p> <p>2. 电机速度监测：通过霍尔传感器监测后轮转速，确保赛车在行驶过程中动力输出的稳定与可控。</p> <p>3.舵机转向控制：根据循迹传感器数据和预设算法调整舵机角度，实现赛车的精确转向。</p> <p>4.后轮转速调节：结合前轮转向角度与后轮转速监测数据，动态调整后轮转速差，确保赛车在转弯时能够保持稳定的行驶轨迹。</p> <p><strong>在控制算法上，我们摒弃了复杂的PID控制策略，转而采用基于传感器密集布局与微调策略的驾驶控制方法。通过精确调整舵机角度和后轮转速差，使赛车能够更自然地贴合赛道线条行驶，减少不必要的转向修正和速度波动。这种控制方法不仅简化了调试过程，还提高了赛车在高速赛道上的稳定性和响应速度。</strong></p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*6、BOM清单</h3> <hr class="horizontal-splitline normal-bold-2"> <table width="596"> <tr> <td align="right" width="149" height="19">2</td> <td width="149">100nF/50V</td> <td width="149">C3,C4</td> <td width="149">0603_C_JX</td> </tr> <tr> <td align="right" height="19">8</td> <td>M7</td> <td>D1,D2,D3,D4,D5,D6,D7,D8</td> <td>DO214AC_JX</td> </tr> <tr> <td align="right" height="19">1</td> <td>HDR-M-2.54_1x3</td> <td>J1</td> <td>HDR-M-2.54_1X3</td> </tr> <tr> <td align="right" height="19">1</td> <td>Fin_23.5*17*25_JX</td> <td>J2</td> <td>FIN_23.5*17*25_JX</td> </tr> <tr> <td align="right" height="19">2</td> <td>Red/LED</td> <td>LED1,LED2</td> <td>LED0805-FD</td> </tr> <tr> <td align="right" height="19">1</td> <td>HX2.54-10P</td> <td>P1</td> <td>CONN-TH_10P-P2.50-XH2.54-10P</td> </tr> <tr> <td align="right" height="19">1</td> <td>20K/1%</td> <td>R1</td> <td>0603_R_JX</td> </tr> <tr> <td align="right" height="19">1</td> <td>10K/1%</td> <td>R2</td> <td>0603_R_JX</td> </tr> <tr> <td align="right" height="19">2</td> <td>HDR-M-2.54_1x4</td> <td>RADAR1,RADAR2</td> <td>HDR-M-2.54_1X4</td> </tr> <tr> <td align="right" height="19">1</td> <td>ESP32-WROVER-DEV</td> <td>U1</td> <td>ESP32-WROVER-DEV</td> </tr> <tr> <td align="right" height="19">1</td> <td>PCF8574T</td> <td>U2</td> <td>SOP-16_L10.3-W7.5-P1.27-LS10.4-BL</td> </tr> <tr> <td align="right" height="19">1</td> <td>MTS-102钮子开关 拨动开关</td> <td>U3</td> <td>MTS102 拨动开关</td> </tr> <tr> <td align="right" height="19">2</td> <td>BX-XH2.54-6PWZ</td> <td>U4,U5</td> <td>CONN-TH_XH2.54-6P</td> </tr> <tr> <td align="right" height="19">1</td> <td>MINI560降压模块</td> <td>U6</td> <td>MINI560</td> </tr> <tr> <td align="right" height="19">1</td> <td>T插头</td> <td>U7</td> <td>T型插头</td> </tr> <tr> <td align="right" height="19">1</td> <td>L298N_JX</td> <td>U9</td> <td>MULTIWATT15V_JX</td> </tr> </table> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*7、大赛LOGO验证</h3> <hr class="horizontal-splitline normal-bold-2"> <p style="line-height: 1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/coksU68SnlxD06SsdZXFIlLn1xst0I8e6S1Ye4SQ.png"></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">* 8、演示您的项目并录制成视频上传</h3> <hr class="horizontal-splitline normal-bold-2"> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> </div>