摘要随着时代的发展，科技的进步，人们对生活质量的要求越来越高。智能化已经成为越来越多产品的发展方向，首先是智能手机的发展，使消费者体会到了智能化所带来的生活体验，接着智能电器等一大批电子产品都在努力向智能化的方向发展。无人驾驶汽车由于传感器、人工智能和大数据的发展，最近几年正在蓬勃发展。智能小车作为轮式机器人的一种，它的发展涉及到了很多方面的知识和技术，首先其从外界获取信息需要使用到各式各样的传感器，然后将信号传送到单片机对其进行分析，下达执行命令。对智能小车的研究水平从一定程度上反映了其在集成电路方面的发展水平。本次智能小车设计主要是实现小车的蓝牙通信、LCD显示、运动控制、红外循迹和超声波避障功能，主控芯片是STC的IAP15W4K58S4单片机，它内置有增强型PWM发生电路，只需要对寄存器进行设置，就可以输出一定占空比的PWM波形，进而实现对电机转速的控制，单片机与手机之间的通信采用主从一体的HC-05蓝牙模块对小车进行控制。使用LCD1602对小车的运动状态进行显示，通过HC-SR04超声波传感器测距，当距离小于设定值时，小车通过相应的动作避开障碍物，完成小车的避障功能。小车的循迹使用三路红外光电传感器HⅢ-IR1根据黑色和白色对红外光的反射不同来判断黑线的位置完成循迹。关键词：LCD1602;蓝牙通信；PWMM;循迹；避障Design of Intelligent Car Based on IAP15W4K58S4AbstractWith the development of the times and the progress of science,people's quality of liferequirements are getting higher and higher.Intelligent has become more and more productdevelopment direction.First of all,the development of smart phones,so that consumersunderstand the intelligent life experience.Then,a large number of electronic products,such assmart appliances,are trying to develop in an intelligent way.Unmanned vehicles are boomingin recent years due to the development of sensors,artificial intelligence and large dataIntelligent car as a kind of wheeled robots,its development involves a lot of knowledgeand technology.First,it needs to use a variety of sensors to get information from the outsideworld.And then send the signal to the microcontroller to analyze it,and finally issued acommand.The level of research on smart cars reflects development of the integrated circuit.The intelligent car design is mainly to achieve the car's Bluetooth communication,LCDdisplay,motion control,infrared tracking and ultrasonic obstacle avoidance function.Masterchip is STC IAP15W4K58S4 microcontroller,which built-in enhanced PWM generatorcircuit.Through the register settings,a certain duty cycle PWM waveform can be output,andthen to achieve the control of the motor speed.The communication between themicrocontroller and the mobile phone uses the master-slave HC-05 Bluetooth module tocontrol the car.Display car movement state by LCD1602.Measure the distance by HC-SR04.When the distance is less than the setting value,the car avoids the obstacle through thecorresponding action,and completes the obstacle avoidance function of the car.The car'stracing uses a three-way infrared photoelectric sensor HJ-IRI to determine the position of theblack line based on the black and white reflections of the infrared light.Key Words:LCD1602;Bluetooth communication;PWM;tracking;obstacle avoidanceII-目录摘要Abstract.1.1课题来源及研究目的和意义1.2国内外智能小车的历史和现状21.2.1国外研究现状21.2.2国内研究现状…31.3本文内容及结构41.3.1主要设计内容1.3.2本文结构1.4本章小结52智能小车设计原理.…52.1智能小车自动循迹原理…2.1.1小车循迹原理的比较与选择.2.1.2红外对管原理介绍2.2智能小车自动避障原理…2.2.1超声波传感器工作原理2.2.2超声波传感器分类.…72.2.3超声波传感器测距原理72.3电机驱动部分原理82.3.1两路直流电机驱动原理…82.4蓝牙技术原理…2.4.1蓝牙协议.…92.4.2蓝牙发射和接收技术….102.5本章小结…3本设计开发环境及单片机介绍.…3.1 Keil u Visi0n4集成开发环境介绍..123.1.1编程前准备工作.123.1.2应用Keil新建项目和编辑程序.133.2智能小车主控芯片IAP15W4K58S4的介绍3.2.1引脚功能介绍153.2.2IAP15W4K58S4功能寄存器介绍17III