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| 基于龙芯架构和模糊PID的智能车控制系统 |
| Intelligent vehicle control system based on Loongson architecture and fuzzy PID |
| 投稿时间：2026-03-07 修订日期：2026-08-06 |
| DOI： |
| 关键词: 模糊pid控制 loongarch 架构 改进型迷宫法 |
| Key Words:fuzzy pid control loongarch architecture improved maze method |
| 基金项目:国家级大学生创新训练计划项目基金资助(编号:202510386001) |
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| 摘要:为提升智能车控制精度并满足工科教学需求，设计基于龙芯LoongArch架构与模糊PID的控制系统。系统以龙芯2K0300为核心，采用双动力与阿克曼转向构建多传感器感知方案。设计分层模糊PID，结合改进迷宫法与IPM校正提升视觉提取精度。实验表明系统能稳定完成复杂赛道任务。该国产平台低成本、高可靠，为智能车工程应用及电气电子实践教学提供参考方案。 |
| Abstract:To improve the control accuracy of intelligent vehicles and meet engineering teaching needs, a control system based on the LoongArch architecture and fuzzy PID algorithm is designed. Centered on the Loongson 2K0300, the system adopts dual power and Ackermann steering to construct a multi-sensor perception scheme. A hierarchical fuzzy PID controller is designed, combining an improved maze method and IPM correction to enhance visual extraction accuracy. Experiments show that the system can stably complete complex track tasks. This localized platform features low cost and high reliability, providing a reference scheme for the engineering application of intelligent vehicles and the electrical and electronic engineering. |
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