Road Terrain Classification Technology for Autonomous Vehicle by Shifeng Wang
Author:Shifeng Wang
Language: eng
Format: epub, pdf
ISBN: 9789811361555
Publisher: Springer Singapore
The four-wheel encoders in ABS are tapped through optical isolators and amplifiers, interfaced with a PIC microcontroller for digitizing. The microcontroller type chosen is a Microchip® PIC18F4431 product. Three external interruptions and an interrupt-on-change interruption are employed to detect four sine-like signals from four-wheel encoders. Each interrupt programme works as a counter while the main programme sends out counted numbers regularly (per 0.1 s). The microcontroller is connected to Computer No. 2 via RS-232 serial port with the sampling frequency of 10 Hz so that the data synchronization can be achieved effectively.
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