基于RISCV的智能车设计

论文总字数：16034字

摘 要

RISC-V是基于精简指令集计算(RISC)原理建立的开放指令集架构(ISA)，由加州大学伯克利分校的David Patterson教授带领完成。与大多数ISA相反，对于RISC-V而言，使用者可以免费进行RISC-V芯片和软件设计、制造和销售。它虽然不是第一个开源的的指令集(ISA)，但它是第一个被设计成可以根据具体场景可以选择适合的指令集的指令集架构。

RISC-V前景光明，其基金会吸引了大量行业内的科研机构、各大软、硬件厂商。包括Berkeley Architecture Research、中科院计算所等科研机构；包括高通、英伟达、NXP、三星、Microsemi、美光、中兴微电子、华为海思、联发科等半导体厂商；包括谷歌、IBM等IT公司；包括西数、希捷这两大硬盘厂商；还有SEGGER、Mentor Graphics、Express Logic等做开发工具的厂商。

基于RISCV指令集的内核设计的微处理器应用设计符合当下技术发展趋势，利用基于RISCV微处理器设计一款智能车具有重要意义。

智能车以基于RISC-V的Hifive微控制器为内核，连接外部模块包括四路避障模块，超声波测距模块，马达步进电机。通过传感器串口返回的数据配合内置避障算法达到自主寻迹，自主避障等功能。

关键词：RISCV；自主寻迹；自主避障；超声波测距；马达步进电机；

Design of Intelligent Vehicle Based on RISCV

Abstract

RISC-V is an Open Instruction Set Architecture (ISA) based on the principle of Reduced Instruction Set Computing (RISC), which is led by Professor David Patterson of the University of California, Berkeley. In contrast to most ISAs, RISC-V ISA can be used free of charge in all desired devices, allowing anyone to design, manufacture and sell RISC-V chips and software. Although it is not the first open source instruction set (ISA), it is the first instruction set architecture designed to select the appropriate instruction set according to specific scenarios.

RISC-V has a bright future. Its foundation has attracted a large number of leading research institutions, hardware manufacturers and software manufacturers in the industry. Including Berkeley Architecture Research, Academy of Chinese Sciences Institute of Computing and other research institutions; including Qualcomm, Yingweida, NXP, Samsung, Microsemi, Meiguang, ZTE Microelectronics, Huawei Haisi, Lianfengke and other semiconductor manufacturers; including Google, IBM and other IT companies; including Xishu, Seagate two major hard disk manufacturers; as well as SEGGER, Mentor Graphics, Express Logic and other development tools factory. Shang.

The application design of microprocessor based on RISCV instruction set is in line with the current technology development trend. It is of great significance to design a smart car using RISCV microprocessor.

Intelligent vehicle is based on RISC-V HIVE microcontroller as the core, connecting external modules including four-way obstacle avoidance module, ultrasonic ranging module, motor stepper motor. The data returned by the sensor serial port cooperates with the built-in obstacle avoidance algorithm to achieve the functions of autonomous tracking and obstacle avoidance.

Key words: RISCV; autonomous tracking; autonomous obstacle avoidance; ultrasonic ranging; Motor stepper motor;

目 录

第一章 绪 论 1

1.1设计的目的和意义 1

1.2背景介绍 1

1.2.1 RISC-V指令集架构介绍 1

1.2.2 Hifive1微控制器介绍 2

第二章 软件介绍及环境搭建 7

2.1 FreedomStudio软件 7

2.1.1 软件介绍 7

2.1.2 环境搭建 7

2.2 Ubuntu下arduino IDE环境搭建介绍 14

第三章 功能分析与具体设计 19

3.1简述循迹避障系统功能 19

3.2 循迹避障系统 19

3.2.1 确定系统功能模块 19

3.3 硬件设计 19

3.3.1 寻迹模块选择 20

3.3.2 马达驱动模块选择 20

3.3.3 超声波测距模块选择 21

3.3.4 单片机模块的选择 21

3.3.5 稳压模块的选择 22

3.4安装内容及结果 22

3.5 逻辑设计 23

3.5.1 基本行动功能 23

3.5.2循迹功能 23

3.5.3避障功能 24

3.6调试过程及结果 25

第四章 总结 26

感谢 27

参考文献 28

1. 绪 论

1.1设计的目的和意义

近年来，人工智能迅速发展，智能小型车作为人工智能技术应用的重要领域之一。在人们不断探讨、改造、认识自然中，制造机器人以代替人类工作一直是人类的梦想。具有感知环境、计划决定、自动驾驶等功能的综合系统，构成了今天的智能车。智能车应用领域非常广泛，集中运用计算机、感应、信息、通信、导航等技术。是典型的高科技复合体。

剩余内容已隐藏，请支付后下载全文，论文总字数：16034字