本文详细介绍了我们队为第三屇Freescale智能汽车大赛而准备的智能车系统方案。该方案以Freescale公司的MC9S12DG128单片机作为系统的控制核心，采用CCD摄像头采集赛道信息，根据采集到的数据分析行驶路径以及对起跑线进行检测。采用PID算法对赛车的舵机和直流电机进行闭环控制，并根据跑道的弯曲程度采用不同的控制策略。-This paper describes our team for the third Tian Freescale Smart Car Competition an

基于stm32的摄像头路径识别系统，用于智能小车，大家可以参考下-Based stm32 camera path identification system for smart car, we can refer to the following

Single path or multipath Rayleigh fading channel simulation, Complete class-based image processing, contains all of the source code, auto image, Implemented with SDRAM run nios, while saving camera data SRAM.